To provide a lane marking recognition device for a vehicle capable of properly recognizing a lane marking regardless of gray color of the lane marking relative to a road surface.SOLUTION: A lane marking recognition device 4 for a vehicle includes: edge detection means for detecting an edge point P based on luminance change in a horizontal direction within a detection area of a lane marking set in an image obtained by imaging an own vehicle traveling environment; and approximate line calculation means for calculating approximate lines Ll and Lr of a point group composed of edge points. The lane marking recognition device for a vehicle has a first mode for mainly searching for a standard edge candidate point PS with high luminance relative to a road surface and a second mode for mainly searching for a reverse edge candidate point PO with low luminance relative to the road surface, and selectively switches between the first mode and the second mode depending on the number of detected reverse edge candidate points PO.SELECTED DRAWING: Figure 6
【課題】 路面に対する車両区画線の濃淡色を問わず好適に車両区画線の認識が行える車両の車線区画線認識装置の提供。【解決手段】 車両の車線区画線認識装置4は、自車走行環境を撮像した画像に設定された車線区画線の検出領域内での水平方向の輝度変化に基づいてエッジ点Pを検出するエッジ点検出手段と、エッジ点からなる点群の近似線Ll、Lrを演算する近似線演算手段と、を備え、路面に対する輝度が高い標準エッジ候補点PSを主に探索する第1のモードと、路面に対して輝度が低い逆エッジ候補点POを主に探索する第2のモードと、を有し、検出された逆エッジ候補点POの数によって、第1のモードと第2のモードを選択的に切り替える。【選択図】図6
LANE MARKING RECOGNITION DEVICE FOR VEHICLE
車両の車線区画線認識装置
14.04.2022
Patent
Elektronische Ressource
Japanisch