Lane detection apparatus
A lane detection apparatus includes a capture means, a vehicle detection means, a subject lane detection means, and an additional lane detection means. The capture means captures an image around a subject vehicle. The vehicle detection means detects an object vehicle around the subject vehicle. The subject lane detection means detects a subject lane. The additional lane detection means detects an additional lane different from the subject lane based on a positional relationship between the object vehicle detected by the vehicle detection means and the subject lane detected by the subject lane detection means.
1. A lane detection apparatus comprising:
a capture means for capturing an image around a subject vehicle;
a vehicle detection means for detecting an object vehicle around the subject vehicle;
a subject lane detection means for detecting a subject lane where the subject vehicle is traveling based on the image captured by the capture means; and
an additional lane detection means for detecting an additional lane different from the subject lane based on a positional relationship between the object vehicle detected by the vehicle detection means and the subject lane detected by the subject lane detection means,
wherein the vehicle detection means detects a distance to the object vehicle, a velocity of the subject vehicle and a relative velocity of the object vehicle relative to the subject vehicle,
wherein the additional lane detection means detects a traveling direction of the additional lane based on at least one of a change in distance to the object vehicle and the relative velocity of the object vehicle,
wherein the additional lane detection means determines that the traveling direction of the object vehicle in the additional lane is the same as the traveling direction of the subject vehicle when the distance to the object vehicle is decreasing and the relative velocity of the object vehicle is smaller than the velocity of the subject vehicle,
wherein the additional lane detection means determines that the traveling direction of the object vehicle in the additional lane is opposite to traveling direction of the subject vehicle when the distance to the object vehicle is decreasing and the relative velocity of the object vehicle is greater than the velocity of the subject vehicle, and
wherein the additional lane detection means determines that the traveling direction of the object vehicle in the additional lane is the same as the traveling direction of the subject vehicle when the distance to the object vehicle is increasing.
2. The lane detection apparatus of claim 1 , further comprising:
a search area setting means for specifying a search area of a boundary line of the additional lane based on a lane width of the subject lane; and
a boundary line detection means for detecting the boundary line in the search area specified by the search area setting means,
wherein the additional lane detection means detects the additional lane when the boundary line detection means does not detect the boundary line.
3. The lane detection apparatus of claim 1 ,
wherein the additional lane detection means detects the additional lane when
the object vehicle is detected by the vehicle detection means and the object vehicle is not in the subject lane.
4. The lane detection apparatus of claim 1 ,
wherein the subject vehicle is under at least one of two circumstances that the object vehicle is not detected by the vehicle detection means and that the object vehicle is detected only in the same lane as the subject lane,
wherein the lane detection apparatus employs a search area setting means for specifying a search area of a boundary line of the additional lane based on a lane width of the subject lane and a boundary line detection means for detecting the boundary line in the search area specified by the search area setting means, and
wherein the additional lane detection means detects the additional lane when the boundary line detection means detects the boundary line of the additional lane.