PROBLEM TO BE SOLVED: To precisely detect an arrow signal lamp even from a relatively distant place based on an image photographed with an on-vehicle camera.SOLUTION: An arrow signal recognition part 14, based on an image photographed with an on-vehicle camera 2, and based on an inter-signal lamp distance Ls between a red signal lamp 21r which is turned on at a traffic signal 21 and an own vehicle 1, sets arrow signal areas N1-N6. A color tone effective pixel number IOK that is considered to be turned on in the areas N1-N6 is counted, and further, among the color tone effective pixels, a color tone ineffective pixel is searched and counted based on the pixel information around respective color tone effective pixels. Based on a difference between the color tone effective pixel number IOK and a color tone ineffective pixel number ING, an arrow effective pixel number YOK is calculated.
【課題】車載カメラで撮影した画像に基づき比較的遠方からでも矢印信号灯を精度良く検出することができるようにする。【解決手段】矢印信号認識部14は、車載カメラ2で撮影した画像に基づき、信号機21の点灯している赤色信号灯21rと自車両1との間の信号灯間距離Lsに基づき、矢印信号エリアN1〜N6を設定し、各エリアN1〜N6内において点灯していると看做される色味有効画素数IOKをカウントし、更に色味有効画素の中から、各色味有効画素の周辺の画素情報に基づき色味無効画素を探索してカウントし、色味有効画素数IOKと色味無効画素数INGとの差から矢印有効画素数YOKを算出する。【選択図】図1
ARROW SIGNAL RECOGNITION DEVICE
矢印信号認識装置
2015-07-06
Patent
Electronic Resource
Japanese
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