PROBLEM TO BE SOLVED: To improve the accuracy of recognizing a lane when lane markings are broken lines.SOLUTION: A lane recognition apparatus images a road ahead and a road located at the side of a vehicle, detects an edge of a lane marking indicated on a road surface by means of a forward image and a side image, and determines whether the lane marking is a broken line or not, according to continuity of the edges. When the lane marking are broken lines, the broken lines are complemented according to a detection degree of edges detected in the forward image and a detection degree of edges detected in the side image, to recognize a lane on the basis of a result of complementary processing. When the detection degree of the edges detected in the side image is larger than the detection degree of the edges detected in the forward image, complementary processing is performed in the forward image, according to the detection degree of the edges detected in the side image.
【課題】通行区分線が破線であるときの走行車線の認識精度を向上させる。【解決手段】自車両における前方及び側方の走行路を撮像し、その前方画像及び側方画像で、路面に標示された通行区分線のエッジを検出し、エッジの連続性に応じて、通行区分線が破線であるか否かを判定する。通行区分線が破線であると判定したときに、前方画像で検出したエッジの検出度合、及び側方画像で検出したエッジの検出度合の大小関係に応じて、破線の補完を行い、この補完結果により車線を認識する。例えば、前方画像で検出したエッジの検出度合よりも、側方画像で検出したエッジの検出度合の方が大きいときには、側方画像で検出したエッジの検出度合に応じて、前方画像で補完を行う。【選択図】図1
LANE RECOGNITION APPARATUS AND LANE RECOGNITION METHOD
走行車線認識装置、走行車線認識方法
2015-11-24
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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