PROBLEM TO BE SOLVED: To provide a travel zone line recognition device capable of accurately determining a branch road, even when a vehicle comes across the branch road suddenly.SOLUTION: A travel zone line recognition device comprises: extraction means 30 for extracting zone line candidates being candidates of a road zone line on the basis of images of the road around a vehicle imaged by an on-vehicle camera 10 for every frame; and branch determination means 40 for calculating a certainty factor that one of the zone line candidates extracted by the extraction means 30 is the zone line of a branch road, and for determining whether or not, the zone line candidate is the zone line of the branch road on the basis of the calculated certainty factor. The branch determination means 40 increases the certainty factor of the zone line candidate in which a recognition distance L being a distance to a farthest end which can be recognized, is decreased monotonously, among the zone line candidates extracted by the extraction means 30, in a predetermined frame number of images.SELECTED DRAWING: Figure 1
【課題】急な分岐路であっても高精度に分岐路を判定することが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によりフレーム毎に撮影された車両周辺の道路の画像に基づいて、道路の区画線の候補である区画線候補を抽出する抽出手段30と、抽出手段30により抽出された区画線候補が分岐路の区画線である確信度を算出し、算出した確信度に基づいて、区画線候補が分岐路の区画線であるか判定する分岐判定手段40と、を備え、分岐判定手段40は、所定フレーム数の画像において、抽出手段30により抽出された区画線候補のうち、認識可能な最遠端までの距離である認識距離Lが単調減少している区画線候補の確信度を増加させる。【選択図】 図1
TRAVEL ZONE LINE RECOGNITION DEVICE AND PROGRAM
走行区画線認識装置及び走行区画線認識プログラム
2016-02-01
Patent
Elektronische Ressource
Japanisch
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