PROBLEM TO BE SOLVED: To provide a technology of recognizing a branch road accurately.SOLUTION: A branch road recognition apparatus extracts a white line candidate by image processing from an image obtained by an in-vehicle camera capturing the surrounding of a vehicle, calculates a degree of certainty of likelihood of a white line, selects a white line to be recognized on the basis of the calculated degree of certainty, calculates the amount of deviation, on the selected white line, between a reference line formed by temporally smoothing a result of recognizing the white line and a white-line edge point obtained by recognizing the white line instantly, and determines whether there is a branch road or not by use of the calculated amount of deviation as a feature. The deviation is generated on both sides, during pitching or in a sharp curve. A difference in deviation between both sides is defined as a feature quantity. A false branch determination is prevented and early determination can be made. A branch road can be recognized accurately, accordingly.
【課題】分岐路を精度良く認識する技術を提供する。【解決手段】本発明の分岐路認識装置によれば、車載カメラで取得した車両周囲の画像から画像処理により白線候補を抽出し、前記白線候補の白線らしさの確信度を算出し、算出した確信度に基づき、認識する白線を選択し、選択された白線に関して、白線を認識した結果を時間的に平滑化された基準線と、白線を瞬時に認識した結果の白線エッジ点とのずれ量を算出し、その算出したずれ量を特徴として用いて分岐路の有無を判定する。この特徴は、自車ピッチング、急カーブ等において、左右に同様のずれ量が発生することから、左右の差を特徴量とすることで、分岐誤判定を抑制しつつ、早いタイミングで判定を下すことができる。したがって、分岐路を精度良く認識することができる。【選択図】図3
BRANCH ROAD RECOGNITION APPARATUS
分岐路認識装置
2015-09-24
Patent
Electronic Resource
Japanese
ROAD SIGN RECOGNITION APPARATUS AND ROAD SIGN RECOGNITION METHOD
European Patent Office | 2015
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