PROBLEM TO BE SOLVED: To accurately detect the compartment lines present around an own vehicle on a main track.SOLUTION: A compartment line detection system comprises: a compartment line candidate detection unit detecting compartment line candidates based on image information of an imaging device 10 and detecting compartment line candidates relating to an own vehicle; a compartment line correction unit correcting, on the basis of a position of one of the compartment line candidates relating to the own vehicle out of the two compartment line candidates relating to the own vehicle detected on both sides of the own vehicle, a position of the other compartment line candidate relating to the own vehicle; a center line determination unit determining whether at least one of the compartment line candidates relating to the own vehicle is a center line; a validity determination unit determining whether the center line is a valid center line if at least one of the compartment line candidates is a center line, the compartment line candidate detection unit, the compartment line correction unit, the center line determination unit, and the validity determination unit are provided in a compartment line detection ECU 20, and the compartment line correction unit corrects the other compartment line candidate relating to the own vehicle on the basis of the position of the valid center line if the center line is the valid center line and does not correct the position based on the position of the center line if the center line is not the valid center line.
【課題】主走行路における自車両の区画線を精度良く検出すること。【解決手段】撮像装置10の画像情報に基づいて区画線候補を検出し、区画線候補に基づいて自車両区画線候補を検出する区画線候補検出部と、自車両の両側に検出された2本の自車両区画線候補の内の一方の位置に基づいて、他方の自車両区画線候補の位置を補正する区画線補正部と、その内の少なくとも1本がセンタラインであるのか否かを判定するセンタライン判定部と、その内の少なくとも1本がセンタラインである場合、そのセンタラインが有効センタラインであるのか否かを判定する有効性判定部と、を区画線検出ECU20に備え、区画線補正部は、センタラインが有効センタラインである場合、有効センタラインの位置に基づいて他方の自車両区画線候補の位置を補正する一方で、センタラインが有効センタラインでない場合、センタラインの位置に基づいた補正を行わないこと。【選択図】図1
COMPARTMENT LINE DETECTION SYSTEM
区画線検出システム
2015-10-01
Patent
Elektronische Ressource
Japanisch
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