To provide a technique for appropriately and quickly executing white line recognition in a driving support device for controlling a vehicle on the basis of white line recognition information.SOLUTION: A driving support device includes a white line recognition unit 12 for recognizing a white line around a self vehicle using an image and a state amount, and calculating white line recognition information, and an alarm/vehicle control unit 13 for performing alarm and/or control of the vehicle on the basis of the white line recognition information. The white line recognition unit includes a line candidate extraction unit 17 for extracting a line candidate that becomes a candidate of a boundary line of a travel road of the vehicle, a boundary line selection unit 18 for selecting a boundary line from the line candidate, a boundary line recognition unit 20 for recognizing the boundary line on the basis of learning by deep learning, and a class identification unit 21 for imparting class identification. The boundary line selection unit includes a feature calculation unit 33 for calculating a feature amount for selecting a boundary line from the line candidate. The feature calculation unit calculates a percentage ratio that is a ratio of a feature amount identified as a road surface class or a white line class in the line candidate, and the boundary line selection unit 18 determines whether or not the line candidate is a noise line on the basis of the percentage content.SELECTED DRAWING: Figure 7
【課題】白線認識情報に基づき車両を制御する運転支援装置において、適切かつ速やかに白線認識を実行する技術を提供する。【解決手段】画像と状態量とを用いて自車の周囲の白線を認識し白線認識情報を算出する白線認識部12と、白線認識情報に基づいて警報および自車の制御を行う警報/車両制御部13とを備え、白線認識部は、自車の走行路の境界線の候補となる線候補を抽出する線候補抽出部17と、線候補から境界線を選択する境界線選択部18と、ディープラーニングによる学習に基づき境界線を認識する境界認識部20と、クラス識別を付与するクラス識別部21とを備える。境界線選択部は、線候補から境界線を選択するための特徴量を算出する特徴算出部33を備える。特徴算出部は、線候補において路面クラスまたは白線クラスと識別された特徴量の割合である含有率を算出し、境界線選択部18は、含有率に基づき線候補がノイズ線であるか否かを判定する。【選択図】 図7
DRIVING SUPPORT DEVICE
運転支援装置
2023-04-11
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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