Lane boundary detector
A boundary detector includes a candidate line detecting unit that detects a candidate line of a lane boundary position drawn on the road surface based on image information from a camera. The detector also includes a lane boundary position selecting unit that selects the lane boundary position based on the candidate line; an additional lane boundary position selecting unit that selects a lane boundary position of an additional lane that is added to a main lane based on the candidate line; and an additional processing unit that stops adopting the lane boundary position for a predetermined time period when the additional lane boundary position selecting unit selects a lane boundary position of the additional lane.
1. A boundary detector comprising:
a camera that is mounted on a vehicle and picks up an image of a road surface;
a candidate line detecting unit that detects a candidate line of a lane boundary position drawn on the road surface based on image information of the image supplied from the camera;
a lane boundary position selecting unit that selects the lane boundary position based on the candidate line of the lane boundary position detected by the candidate line detecting unit;
an additional lane boundary position selecting unit that selects a lane boundary position of an additional lane that is added to a main lane based on the candidate line of the lane boundary position detected by the candidate line detecting unit; and
a processing unit that stops adopting the lane boundary position selected by one of the lane boundary position selecting unit and the additional lane boundary position selecting unit for a predetermined time period when the additional lane boundary position selecting unit selects a lane boundary position of the additional lane.
2. The boundary detector according to claim 1 , wherein the processing unit adopts the lane boundary position prior to the selection of the lane boundary position of the additional lane when the additional lane boundary position selecting unit selects the lane boundary position of the additional lane.
3. The boundary detector according to claim 1 , wherein the additional lane boundary position selecting unit recognizes the detected lane boundary position as the lane boundary position of the additional lane one of(i) when a road curvature calculated based on the lane boundary position is larger than a first predetermined value and (ii) when a pitch angle is out of a predetermined range and the road curvature is larger than a second predetermined value smaller than the first predetermined value.
4. The boundary detector according to claim 1 , wherein the predetermined time period where it is stopped to adopt the lane boundary position selected by one of the lane boundary position selecting unit and the additional lane boundary position selecting unit is a time period in which the vehicle moves by a predetermined distance from a lane position of the vehicle at a time the additional lane boundary position selecting unit selects the, lane boundary position of the additional lane.
5. The boundary detector according to claim 1 , wherein the additional lane is one of a right turn lane to guide the vehicle to turn right and a left turn lane to guide the vehicle to turn left at an intersection ahead along the main lane, and the predetermined time period in which it is stopped to adopt the lane boundary position selected by one of the lane boundary position selecting unit and the additional lane boundary position selecting unit is a time period until the intersection is detected.
6. A boundary detecting method comprising:
detecting a candidate line of a lane boundary position drawn on a road surface based on image information of an image supplied from a camera that is mounted on a vehicle and that picks up the image of the road surface;
selecting the lane boundary position based on the candidate line of the detected lane boundary position;
selecting a lane boundary position of an additional lane that is added to a main lane based on the candidate line of the detected lane boundary position detected; and
stopping adopting one of the lane boundary positions for a predetermined time period when a lane boundary position of the additional lane is selected.
7. The boundary detecting method according to claim 6 , wherein stopping of adapting the lane boundary position includes adopting the lane boundary position prior to the selection of the lane boundary position of the additional lane when the lane boundary position of the additional lane is selected.
8. The boundary detecting method according to claim 6 , wherein selecting the lane boundary position of the additional lane includes recognizing the detected lane boundary position as the lane boundary position of the additional lane one of (i) when a road curvature calculated based on the lane boundary position is larger than a first predetermined value and (ii) when a pitch angle is out of a predetermined range and the road curvature is larger than a second predetermined value smaller than the first predetermined value.
9. The boundary detecting method according to claim 6 , wherein the predetermined time period where it is stopped to adopt one of the lane boundary positions is a time period in which the vehicle moves by a predetermined distance from a lane position of the vehicle at a time the lane boundary position of the additional lane is selected.
10. The boundary detecting method according to claim 6 , wherein the additional lane is one of a right turn lane to guide the vehicle to turn right and a left turn lane to guide the vehicle to turn left at an intersection ahead along the main lane, and the predetermined time period in which it is stopped to adopt one of the lane boundary positions is a time period until the intersection is detected.