To accurately recognize a position of a lane line on a road.SOLUTION: A lane line recognition device recognizes a lane line on a road from a plurality of images captured respectively by a plurality of cameras 101 mounted on a self-vehicle and comprises: a travel distance estimation unit 203 which estimates a travel distance of the self-vehicle; a lane line position estimation unit 201 which estimates positions of a plurality of white line candidates recognized respectively as candidates for a lane line from the plurality of images; and a lane line position determination unit 205 which determines a position of a current white line on the basis of the travel distance of the self-vehicle estimated by the travel distance estimation unit 203 and a history of the positions of the white line candidates estimated by the lane line position estimation unit 201.SELECTED DRAWING: Figure 2
【課題】道路上の区画線の位置を正確に認識する。【解決手段】区画線認識装置は、自車両に搭載された複数のカメラ101でそれぞれ撮影された複数の画像から道路上の区画線を認識する装置であり、自車両の移動量を推定する移動量推定部203と、複数の画像から区画線の候補としてそれぞれ認識された複数の白線候補の位置を推定する区画線位置推定部201と、移動量推定部203が推定した自車両の移動量と、区画線位置推定部201が推定した白線候補の位置の履歴とに基づいて、現在の白線の位置を決定する区画線位置決定部205とを備える。【選択図】図2
LANE LINE RECOGNITION DEVICE
区画線認識装置
2020-04-02
Patent
Elektronische Ressource
Japanisch
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