PROBLEM TO BE SOLVED: To provide a travel path demarcating compartment line detector capable of suppressing fault detection.SOLUTION: A travel path demarcating compartment line detector comprises: a white line demarcation selector 35 detecting travel path demarcations on a road surface on the basis of information on an image picked up by a camera 15; and a travel path parameter re-estimation unit 37 searching a travel path demarcating compartment line on the road surface on the opposite side on the basis of a position of the travel path demarcation on one side out of the travel path demarcations on both sides of a vehicle. The travel path parameter re-estimation unit 37 sets a plurality of search lines on the basis of shape information on the travel path demarcation on one side, compares search-line luminance information on the plurality of search lines, and determines whether there is a search line at the highest probability as a search line that can be used as a travel path demarcating compartment line candidate. If it is determined that there is such a search line at the highest probability, the search line is selected as the travel path demarcating compartment line candidate. If it is not determined that there is such a search line at the highest probability, none of the plurality of search lines are selected as travel path demarcating compartment line candidates.
【課題】誤った検出が行われることを抑制することのできる走路境界区画線検出装置を提供する。【解決手段】カメラ15で撮像された画像情報に基づいて路面上の走路境界を検出する白線境界選択部35と、車両の両側の走路境界のうちの片側の走路境界の位置に基づいて、反対側の路面上に走路境界区画線を探索する走路パラメータ再推定部37と、を備える。走路パラメータ再推定部37は、複数の探索線を片側の走路境界の形状情報に基づいて設定し、複数の探索線の探索線上輝度情報を比較することにより、走路境界区画線候補に用いることができる探索線として最も蓋然性の高い探索線があるか否かを判定する。蓋然性の高い探索線があると判定される場合は、当該探索線を走路境界区画線候補線として選択し、蓋然性の高い探索線があると判定されない場合は、複数の探索線のいずれも走路境界区画線候補線として選択しない。【選択図】図3
TRAVEL PATH DEMARCATING COMPARTMENT LINE DETECTOR
走路境界区画線検出装置
2015-11-02
Patent
Elektronische Ressource
Japanisch
TRAVEL COMPARTMENT LINE RECOGNITION APPARATUS AND TRAVEL COMPARTMENT LINE RECOGNITION PROGRAM
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