A road environment recognition device is equipped with: a connecting line determination unit, which determines primary connecting lines (85, 90) indicating lane marks by setting candidate points (81, 86) at a position near a vehicle as starting points, and sequentially connecting two or more candidate points (81-84, 86-89) along a first direction (D1), which is a direction away from the vehicle; and branch point determination unit, which determines whether a branch point (96) exists on the primary connecting lines (85, 90) on the basis of the positional relationships between the primary connecting lines (85, 90) and a residual candidate point (100) that does not form part of the primary connecting lines (85, 90).
Road environment recognition device
2015-04-08
Patent
Elektronische Ressource
Englisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |