To highly accurately recognize a distant travel lane shape even when travelling through or parking in an intersection or an area in the vicinity of the intersection.SOLUTION: A travelling lane recognition device (100, 100a to 100k) comprises: a vicinity shape calculation unit (101) that repeatedly calculates a vicinity travel lane shape on the basis of photographed images; a distant shape calculation unit (102) that sets processing areas (Er1 to Er4, and El1 to El4) in each photographed image on the basis of the vicinity travel lane shape, and repeatedly calculates a distant travel lane shape in the processing area; an intersection determination unit (116) that determines whether a vehicle is travelling through an intersection area or parking therein; and a direction identification unit (117) that detects a plurality of paints constituting a fringe pattern of a pedestrian crosswalk in the photographed image, and identifies a longitudinal direction of the plurality of detected paints. The distant shape calculation unit is configured to: when it is determined that the vehicle is not travelling or parking, set the processing area on the basis of the vicinity travel lane shape; and when it is determined that the vehicle is travelling or parking, set the processing area, using the longitudinal direction of the plurality of paints.SELECTED DRAWING: Figure 31

    【課題】交差点内又はその近傍の領域を走行中又は停車中の場合にも遠方走路形状を精度良く認識する。【解決手段】走路認識装置(100、100a〜100k)は、撮像画像に基づき近傍走路形状を算出する近傍形状算出部(101)と、近傍走路形状に基づき各撮像画像における処理領域(Er1〜Er4、El1〜El4)を設定し、処理領域内における遠方走路形状を繰り返し算出する遠方形状算出部(102)と、車両が交差点領域内を走行中又は停車中であるか否かを判定する交差点判定部(116)と、撮像画像において横断歩道の縞模様を構成する複数のペイントを検出し、検出された複数のペイントの長手方向を特定する方向特定部(117)と、を備え、遠方形状算出部は、走行中又は停車中でないと判定された場合に近傍走路形状に基づき処理領域を設定し、走行中又は停車中であると判定された場合に複数のペイントの長手方向を利用して処理領域を設定する。【選択図】図31


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    Titel :

    TRAVELLING LANE RECOGNITION DEVICE


    Weitere Titelangaben:

    走路認識装置


    Beteiligte:
    KUMANO TOSHIYA (Autor:in) / MAEDA MASARU (Autor:in) / KAWASAKI NAOTERU (Autor:in) / KINOSHITA OSAMU (Autor:in)

    Erscheinungsdatum :

    2019-01-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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