PROBLEM TO BE SOLVED: To provide a road recognition device for improving precision in recognizing a road shape of an own vehicle lane.SOLUTION: A road recognition device 20 includes: a compartment line recognition section for extracting a feature point from an image captured by an on-vehicle camera 10 and recognizing compartment lines comparting the lane of a road on the basis of the feature point; a change point detection section for detecting a shape change point where the shape of a compartment line is changed; a branch lane determination section for determining whether a change compartment line including a shape change point comparts a branch lane branching from an own vehicle lane where an own vehicle 50 travels when the shape change point is detected; and a road recognition section for recognizing the shape of an own vehicle lane with the use of not a shape change point but only a feature point on a side closer to the own vehicle 50 in the right and left compartment lines of the own vehicle lane when the shape change point is detected and also before a determination result by the branch lane determination section is obtained.SELECTED DRAWING: Figure 1

    【課題】自車線の道路形状の認識の精度を向上させる道路認識装置を提供する。【解決手段】道路認識装置20は、車載カメラ10により撮影された画像から特徴点を抽出し、特徴点に基づいて、道路の車線を区画する区画線を認識する区画線認識部と、区画線の形状が変化する形状変化点を検出する変化点検出部と、形状変化点が検出された場合に、形状変化点が含まれる変化区画線が、自車両50が走行する自車線から分岐する分岐車線を区画するものであるか否かを判定する分岐車線判定部と、形状変化点が検出された場合にあって、分岐車線判定部による判定結果が得られる前は、自車線の左右の区画線において前記形状変化点よりも自車両50に近い側の特徴点のみを用いて自車線の形状を認識する道路認識部と、を備える。【選択図】 図1


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    Titel :

    ROAD RECOGNITION DEVICE


    Weitere Titelangaben:

    道路認識装置


    Beteiligte:
    KONO YASUKI (Autor:in) / KAWASAKI NAOTERU (Autor:in) / SUZUKI SHUNSUKE (Autor:in) / WATANABE AKIHIRO (Autor:in)

    Erscheinungsdatum :

    2018-01-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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