PROBLEM TO BE SOLVED: To provide a travel zone line recognition device capable of suppressing such a phenomenon that a recognized travel zone line is pulled to a branch road, and improving recognition accuracy of the travel zone line.SOLUTION: A travel zone line recognition device comprises: white line detection means 30 for detecting white line candidates being candidates of a white line of a road, based on images imaged for every frame, by an on-vehicle camera 10; branch determination means 40 for determining whether or not, one of the detected white line candidates is the white line of a branch road or not; and white line recognition means 50 for calculating a feature amount of each detected white line candidate including a curvature ρ of the white line candidate, and recognizing the white line on the basis of the calculated feature amount. The white line recognition means 50 comprises: exclusion means 51 for excluding the white line candidate which is determined as the white line of the branch road, from the white line candidates used for recognition of the white line; curvature calculation means 53 for calculating the curvature ρ on the basis of an estimation value of a time change amount of the curvature ρ; and suppression means 51 for, returning the curvature ρ to the curvature ρ which was calculated before by the predetermined frame number when determined that the white line is the white line of the branch road, and resetting the time change amount of the curvature ρ to zero.SELECTED DRAWING: Figure 1
【課題】認識する走行区画線が分岐路へ引きずられる現象を抑制し、走行区画線の認識精度を向上させ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画像に基づいて、道路の白線の候補である白線候補を検出する白線検出手段30と、検出された白線候補が分岐路の白線であるか判定する分岐判定手段40と、検出された白線候補の曲率ρを含む特徴量を算出し、算出した特徴量に基づいて白線を認識する白線認識手段50と、を備える。白線認識手段50は、分岐路の白線と判定された白線候補を、白線の認識に用いる白線候補から除外する除外手段51と、曲率ρの時間変化量の推定値に基づいて曲率ρを算出する曲率算出手段53と、分岐路の白線と判定された場合に、曲率ρを所定フレーム数前に算出した曲率ρに戻すとともに、曲率ρの時間変化量の推定値をゼロにリセットする抑制手段51とを含む。【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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