PROBLEM TO BE SOLVED: To provide a travel section line recognition apparatus for facilitating recognition of a travel section line even during changing lanes.SOLUTION: A travel section line recognition apparatus (1) includes: a pickup unit (3) for picking up the ahead of a vehicle itself (101) to generate an image; an edge point extraction unit (9) for extracting an edge point from the image; a travel section line candidate detection unit (11) for detecting a travel section line candidate on the basis of the edge point; a travel section line likelihood calculation unit (13) for calculating a travel section line likelihood of the travel section line candidate; a travel section line recognition unit (15) for recognizing, as a travel section line, one whose travel section line likelihood is equal to or more than a pre-set threshold, from among the travel section line candidates; a lane change detection unit (17) for detecting an event that the vehicle itself is in changing lanes; and a condition change unit (19) for changing (a) a condition for calculating a travel section line likelihood so that a travel section line likelihood tends to increase in comparison with the case of not changing lanes, or (b) lowering the threshold in comparison with the aforementioned case, in a case where the vehicle itself is changing lanes.SELECTED DRAWING: Figure 1

    【課題】レーンチェンジ中でも走行区画線を認識しやすい走行区画線認識装置を提供すること。【解決手段】自車両(101)の前方を撮影し、画像を生成する撮影ユニット(3)と、画像からエッジ点を抽出するエッジ点抽出ユニット(9)と、エッジ点に基づき走行区画線候補を検出する走行区画線候補検出ユニット(11)と、走行区画線候補の走行区画線らしさを算出する走行区画線らしさ算出ユニット(13)と、走行区画線候補のうち、走行区画線らしさが予め設定された閾値以上であるものを走行区画線として認識する走行区画線認識ユニット(15)と、自車両がレーンチェンジ中であることを検出するレーンチェンジ検出ユニット(17)と、レーンチェンジ中である場合は、レーンチェンジ中でない場合よりも、(a)走行区画線らしさの算出条件を、走行区画線らしさが大きくなりやすいものに変更するか、(b)閾値を小さくする条件変更ユニット(19)とを備えることを特徴とする走行区画線認識装置(1)。【選択図】図1


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    Title :

    TRAVEL SECTION LINE RECOGNITION APPARATUS


    Additional title:

    走行区画線認識装置


    Contributors:

    Publication date :

    2016-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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