To solve the problem that a processing load applies to generation of a bird's-eye image since the bird's-eye image needs to be generated to recognize a lane boundary line as a compartment line for indicating a position of a lane boundary.SOLUTION: Edge points are extracted based on a luminance value of a pixel within a photographed image. From among the edge points, an edge point in which luminance of an inner pixel smaller than luminance of an outer pixel is set to be an up edge point 63a, and an edge point in which luminance of an outer pixel is smaller than luminance of an inner pixel is set to be a down edge point 64a. From among line candidates obtained based on the positions of the edge points, a candidate closest to a vehicle position excluding a line candidate satisfying an exclusion condition is set as a line boundary line. The exclusion condition includes a condition that the number of edge points belonging to the up edge line for composing the line candidate is equal to or more than a predetermined point threshold as compared with the number of edge points belonging to the down edge line.SELECTED DRAWING: Figure 7
【課題】車線境界の位置を表す区画線である車線境界線を認識するために俯瞰画像を生成する必要があり、俯瞰画像の生成に処理負荷がかかっていた。【解決手段】撮像画像中の画素の輝度値に基づいてエッジ点を抽出する。エッジ点のうち、内側画素の輝度の方が外側画素の輝度より小さいエッジ点をアップエッジ点63a、外側画素の輝度の方が内側画素の輝度より小さいエッジ点をダウンエッジ点64aとする。エッジ点の位置に基づいて求められた線候補のうち、除外条件を満たす線候補を除いた車両位置に最も近い線候補を車線境界線として設定する。除外条件には、線候補を構成するアップエッジ線に属するエッジ点の数がダウンエッジ線に属するエッジ点の数に比べ、あらかじめ決められた点閾値以上であることが含まれる。【選択図】図7
DRIVING SUPPORT SYSTEM
運転支援システム
2019-06-06
Patent
Elektronische Ressource
Japanisch
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