PROBLEM TO BE SOLVED: To provide a lane boundary line recognition device capable of suppressing a recognition error of a lane boundary line.SOLUTION: A lane boundary line recognition device (1) comprises: an image acquisition unit (3) for acquiring an image; an edge point extraction unit (5) for extracting an edge point from the image; a lane boundary line candidate extraction unit (7) for extracting a lane boundary line candidate based on the edge point; a lane boundary line likelihood calculation unit (9) for calculating lane boundary line likelihood of the lane boundary line candidate; a lane boundary line recognition unit (11) for recognizing the lane boundary line candidate whose lane boundary line likelihood exceeds a threshold; a three-dimensional object recognition unit (13) for recognizing a three-dimensional object; a block detection unit (15) for detecting block of the lane boundary line by the three-dimensional object; and a lane boundary line likelihood correction unit (21) for, when the block is detected, suppressing the lane boundary line likelihood on at least a partial area which is outside of the blocked lane boundary line.SELECTED DRAWING: Figure 1
【課題】車線境界線の誤認識を抑制できる車線境界線認識装置を提供すること。【解決手段】画像を取得する画像取得ユニット(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(5)と、エッジ点に基づいて車線境界線候補を抽出する車線境界線候補抽出ユニット(7)と、車線境界線候補の車線境界線らしさを算出する車線境界線らしさ算出ユニット(9)と、車線境界線らしさが閾値を超える車線境界線候補を車線境界線として認識する車線境界線認識ユニット(11)と、立体物を認識する立体物認識ユニット(13)と、立体物による車線境界線の遮蔽を検出する遮蔽検出ユニット(15)と、遮蔽を検出した場合、遮蔽された車線境界線よりも外側にある少なくとも一部の領域における車線境界線らしさを抑制する車線境界線らしさ補正ユニット(21)とを備えることを特徴とする車線境界線認識装置(1)。【選択図】図1
LANE BOUNDARY LINE RECOGNITION DEVICE
車線境界線認識装置
2016-06-20
Patent
Electronic Resource
Japanese
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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