PROBLEM TO BE SOLVED: To detect a white line even when the white line cannot be distinguished from asphalt in an image or when the white line is located too far to be detected with a laser beam.SOLUTION: A road mark detection apparatus images a road surface area forward of a vehicle, as an image, irradiates the forward road surface with electromagnetic waves, measures reflection intensity and a reflection position of a reflected wave, estimates a road mark position on the basis of the reflection intensity and the reflection position, extracts luminance intensity characteristics of an image area corresponding to the road mark position in all areas of the image, and recognizes a road mark for all areas of the image, on the basis of the luminance intensity characteristics.SELECTED DRAWING: Figure 2
【課題】画像内で白線とアスファルトとの区別がつき難い場合や、レーザー光で検出できない遠方の白線である場合でも、白線の検出ができるようにする。【解決手段】路面標示検出装置において、車両前方の路面領域を画像として撮像し、車両前方の路面に電磁波を照射し、その反射波の反射強度及び反射位置を計測し、反射強度及び反射位置に基づき、路面標示位置を推定し、画像の全領域のうち路面標示位置に対応する画像領域の輝度強度特徴を抽出し、輝度強度特徴を基準として画像の全領域を対象として路面標示を認識する。【選択図】図2
ROAD MARK DETECTION APPARATUS AND ROAD MARK DETECTION METHOD
路面標示検出装置及び路面標示検出方法
2016-12-08
Patent
Elektronische Ressource
Japanisch
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