PROBLEM TO BE SOLVED: To provide a travel compartment line recognition apparatus capable of stably excluding edges of other vehicles and suppressing false recognition of a travel compartment line and reduction in recognition rate.SOLUTION: A travel compartment line recognition apparatus comprises: white-line-candidate extraction means 30 extracting road compartment line candidates from an image taken by an on-vehicle camera 10; certainty-factor calculation means 40 calculating a certainty factor at which each extracted compartment line candidate is a compartment line; and selection means (white line recognition means) 50 selecting the compartment line candidate used for the recognition of the compartment line on the basis of the calculated certainty factor. The certainty-factor calculation means 40 includes stereoscopic-object processing means 42 setting a suppression region based on the recognition of stereoscopic objects including vehicles, and lowering the certainty factor of the compartment line candidate present in the set suppression region, and the suppression region includes a front suppression region set at a position at which a front surface of the other vehicle is recognized to cover the front surface, and side suppression regions formed by extending the front suppression region in a depth direction by a predetermined vehicle length and set to cover side surfaces.
【課題】他車両のエッジの除外を安定して行い、走行区画線の誤認識及び認識率の低下を抑制可能な走行区画線認識装置を提供する。【解決手段】車載カメラ10により撮影された画像から、道路の区画線候補を抽出する白線候補抽出手段30と、抽出された区画線候補の区画線である確信度を算出する確信度算出手段40と、算出された確信度に基づいて、区画線の認識に用いる区画線候補を選択する選択手段(白線認識手段)50と、を備える。確信度算出手段40は、車両を含む立体物の認識に基づいて抑制領域を設定するとともに、設定した抑制領域内に存在する区画線候補の確信度を低下させる立体物処理手段42を含み、抑制領域は、他車両の正面が認識された位置に正面を覆うように設定される正面抑制領域、及び正面抑制領域を奥行き方向へ所定車長延ばして形成される側面を覆うように設定される側面抑制領域を含む。【選択図】図1
TRAVEL COMPARTMENT LINE RECOGNITION APPARATUS AND TRAVEL COMPARTMENT LINE RECOGNITION PROGRAM
走行区画線認識装置及び走行区画線認識プログラム
2015-10-22
Patent
Elektronische Ressource
Japanisch