PROBLEM TO BE SOLVED: To provide a travelling section line recognition device that can suppress wrong recognition of a travelling section line in a connection part between a straight part of a vehicle lane and a curve part thereof.SOLUTION: A travelling section line recognition device comprises: extraction means that extracts a section line candidate from a photograph image by an on-vehicle camera 10; degree-of-confidence calculation means that calculates a degree of confidence which is a travelling section line of the section line candidate on the basis of an amount of characteristic of the travelling section line including a vehicle lane width; selection means that selects the section line candidate serving as a recognition object from the section line candidates on the basis of the calculated degree of confidence; learning means that learns a width of the vehicle lane on the basis of the selected section line candidate to acquire a learning value, the learning value of the width of the vehicle lane is used by the degree-of-confidence calculation means for calculation of the degree of confidence; determination means that determines transition from a straight line part of the vehicle lane to a curve part thereof, and transition from the curve part to the straight line part; and change means that, when the transition from the straight line part to the curve part is determined, expands the learning value, and when the transition from the curve part to the straight line part is determined, narrows down the learning value of the vehicle lane width.SELECTED DRAWING: Figure 2
【課題】車線の直線部と曲線部との接続部分において、走行区画線の誤認識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による撮影画像から、区画線候補を抽出する抽出手段と、車線幅を含む走行区画線の特徴量に基づいて、区画線候補の走行区画線である確信度を算出する確信度算出手段と、算出された確信度に基づいて、区画線候補から認識対象となる区画線候補を選択する選択手段と、選択された区画線候補に基づいて、車線の幅を学習して学習値を取得する学習手段と、を備え、確信度算出手段は、車線幅の学習値を用いて確信度を算出する。車線の直線部から曲線部への移行及び曲線部から直線部への移行を判定する判定手段と、直線部から曲線部への移行が判定された場合に、車線幅の学習値を広げるとともに、曲線部から直線部への移行が判定された場合に、車線幅の学習値を狭める変更手段と、を備える。【選択図】 図2
TRAVELLING SECTION LINE RECOGNITION DEVICE
走行区画線認識装置
2016-09-05
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |