PROBLEM TO BE SOLVED: To reduce the occurrence rate of erroneous detection and detection failure when associating a white line detected by a laser range finder with an image.SOLUTION: An image of a road surface region around a vehicle is captured, and an image feature quantity of pixels of the image is calculated. An electromagnetic wave is emitted to the road surface region around the vehicle to measure a reflection intensity of its reflected wave, and the reflection intensity of the reflected wave is used to detect a boundary of a road surface marking, and an amount of movement of the vehicle is measured, and the boundary of the road surface marking and the amount of movement of the vehicle are used to store a road surface marking historical position showing a history of positions of the road surface marking. A position on the image of the road surface marking historical position is taken as a reference to set a search region for the road surface marking in the image, and the road surface marking is detected on the basis of an image feature quantity within the search region to obtain a road surface marking detection position, and the search region in a direction going away from the vehicle is adjusted on the basis of the difference between the road surface marking historical position and the road surface marking detection position.SELECTED DRAWING: Figure 2

    【課題】レーザーレンジファインダーで検出した白線を画像に対応付ける際に誤検出及び非検出の発生率を低減する。【解決手段】車両の周囲の路面領域の画像を撮像し、画像の画素の画像特徴量を算出し、車両の周囲の路面領域における電磁波を照射し、その反射波の反射強度を計測し、反射波の反射強度を用いて、路面標示の境界を検出し、車両の移動量を計測し、路面標示の境界と車両の移動量とを用いて、路面標示の位置の履歴を示す路面標示履歴位置を記憶し、路面標示履歴位置の画像上での位置を基準にして、画像における路面標示の探索領域を設定し、探索領域内の画像特徴量に基づいて、路面標示を検出して路面標示検出位置を求め、路面標示履歴位置と路面標示検出位置との差に基づき、車両から離れる方向への探索領域を調整する。【選択図】図2


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    Titel :

    ROAD SURFACE MARKING DETECTION DEVICE AND ROAD SURFACE MARKING DETECTION METHOD


    Weitere Titelangaben:

    路面標示検出装置及び路面標示検出方法


    Beteiligte:
    TANAKA SHINYA (Autor:in)

    Erscheinungsdatum :

    05.01.2017


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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