Image capturing device

1. An image capturing device, which is mounted in a vehicle, comprising:

a first camera which captures a first image; and

a control device which recognizes a first compartment line and a second compartment line that regulate a lane in the first image,

wherein the control device comprises a lane width determination unit which determines presence or absence of a change in width of the lane based on relationships among widths of the first compartment line at two points on the first image at which distances from the vehicle are different, widths of the second compartment line at the two points on the first image, and distances between the first compartment line and the second compartment line at the two points on the first image, and

wherein, when a first straight line and a second straight line, which are two straight lines that pass through the two points, respectively, and are parallel to each other, are set on the first image,

a width of the first compartment line, a width of the second compartment line, and a distance between the first compartment line and the second compartment line at one of the two points on the first image are a width of the first compartment line, a width of the second compartment line, and a distance between the first compartment line and the second compartment line on the first straight line, and

a width of the first compartment line, a width of the second compartment line, and a distance between the first compartment line and the second compartment line at another point of the two points on the first image are a width of the first compartment line, a width of the second compartment line, and a distance between the first compartment line and the second compartment line on the second straight line.

2. The image capturing device according to claim 1 , wherein, when a first straight line and a second straight line, which are two straight lines that pass through the two points, respectively, and are parallel to each other, are set on the first image, an intersection point between the first straight line and a left end of the first compartment line is P 1 , an intersection point between the first straight line and a right end of the first compartment line is P 2 , an intersection point between the first straight line and a left end of the second compartment line is P 3 , an intersection point between the first straight line and a right end of the second compartment line is P 4 , an intersection point between the second straight line and a left end of the first compartment line is P 5 , an intersection point between the second straight line and a right end of the first compartment line is P 6 , an intersection point between the second straight line and a left end of the second compartment line is P 7 , an intersection point between the second straight line and a right end of the second compartment line is P 8 , and following Formulas (1) to (7) are set,

(1) distance between two points P 2 and P 3 /distance between two points P 1 and P 3 =distance between two points P 6 and P 7 /distance between two points P 5 and P 6

(2) distance between two points P 1 and P 3 /distance between two points P 1 and P 2 =distance between two points P 5 and P 7 /distance between two points P 5 and P 6

(3) distance between two points P 2 and P 3 /distance between two points P 1 and P 3 =distance between two points P 6 and P 7 /distance between two points P 5 and P 7

(4) distance between two points P 2 and P 3 /distance between two points P 3 and P 4 =distance between two points P 6 and P 7 /distance between two points P 7 and P 8

(5) distance between two points P 2 and P 4 /distance between two points P 2 and P 3 =distance between two points P 6 and P 8 /distance between two points P 6 and P 7

(6) distance between two points P 3 and P 4 /distance between two points P 2 and P 4 =distance between two points P 7 and P 8 /distance between two points P 6 and P 8

(7) distance between two points P 2 and P 3 /distance between two points P 1 and P 4 =distance between two points P 6 and P 7 /distance between two points P 5 and P 8 ,

the lane width determination unit determines that there is no change in the width of the lane in a case of considering that any one of the above Formulas (1) to (3) and any one of the above Formulas (4) to (6) are established, a case of considering that any one of the above Formulas (1) to (3) and the above Formula (7) are established, or a case of considering that any one of the above Formulas (4) to (6) and the above Formula (7) are established, and determines that there is the change in the width of the lane in a case other than the above cases.

3. The image capturing device according to claim 1 , wherein the lane width determination unit determines whether the width of the lane is constant based on a result of the determination on the presence or absence of the change in the width of the lane.

4. The image capturing device according to claim 1 , wherein the control device further includes a branch road determination unit which determines that the lane branches when the lane width determination unit determines that there is the change in the width of the lane.

5. The image capturing device according to claim 1 , further comprising a second camera which captures a second image,

wherein the control device further includes:

a parallax calculation unit which calculates a parallax based on the first image and the second image;

a parallax correction unit which corrects the parallax calculated by the parallax calculation unit based on a position of a vanishing point, which is an intersection point between contour lines of the first compartment line and the second compartment line, when the lane width determination unit determines that there is no change in the width of the lane; and

a distance calculation unit which calculates a distance to an object based on the parallax corrected by the parallax correction unit.

6. The image capturing device according to claim 1 , wherein a case where the lane width determination unit determines that there is no change in the width of the lane is a case where the presence or absence of the change in the width of the lane between the two points is determined based on a plurality of first images obtained at different capturing times, and it is determined that there is no change in the width of the lane in all of a plurality of determinations.

7. The image capturing device according to claim 1 , wherein the first compartment line and the second compartment line are parallel.

8. A vehicle control system comprising:

the image capturing device according to claim 1 ;

a vehicle control device which comprises a steering angle command calculation unit that calculates a steering angle command for control of a steering angle of steered wheels of the vehicle based on an external environment recognition result of the image capturing device; and

a steered wheel drive device which drives the steered wheels of the vehicle based on the steering angle command output from the steering angle command calculation unit,

wherein the vehicle control device further includes a parallel determination unit that calculates an extending direction of one of the first compartment line and the second compartment line and a traveling direction of the vehicle and determines whether the extending direction and the traveling direction of the vehicle are parallel, and

the steering angle command calculation unit corrects a steering angle regulated by the steering angle command to be zero when the steering angle regulated by the steering angle command is not zero in a case where the lane width determination unit determines that there is no change in the width of the lane and the parallel determination unit determines that the extending direction and the traveling direction of the vehicle are parallel.

9. An image capturing device, which is mounted in a vehicle, comprising:

a first camera which captures a first image; and

a control device which recognizes a first compartment line that regulates a lane in the first image,

wherein the control device comprises a lane width determination unit which determines presence or absence of a change in width of the lane based on relationships among widths of the first compartment line at two points on the first image at which distances from the vehicle are different and distances between the vehicle and the first compartment line at the two points when the vehicle travels along the first compartment line, and

wherein, when a first straight line and a second straight line, which are two straight lines that pass through the two points, respectively, and are parallel to each other, are set on the first image, one of intersection points between the first straight line and the first compartment line is P 11 , another intersection point between the first straight line and the first compartment line is P 12 , an intersection point between the first straight line and a third straight line indicating the traveling direction of the vehicle is P 13 , one of intersection points between the second straight line and the first compartment line is P 15 , another intersection point between the second straight line and the first compartment line is P 1 , an intersection point between the second straight line and the third straight line is P 17 , and following Formulas (11) to (13) are set,

(11) distance between two points P 12 and P 13 /distance between two points P 11 and P 12 =distance between two points P 16 and P 17 /distance between two points P 15 and P 16

(12) distance between two points P 11 and P 13 /distance between two points P 11 and P 12 =distance between two points P 15 and P 17 /distance between two points P 15 and P 16

(13) distance between two points P 12 and P 13 /distance between two points P 11 and P 13 =distance between two points P 16 and P 17 /distance between two points P 15 and P 17 ,

the lane width determination unit determines that there is no change in the width of the lane in a case of considering that one of the above Formulas (11) to (13) is established, and determines that there is the change in the width of the lane in another case.