PROBLEM TO BE SOLVED: To provide a lane detection device with which it is possible to accurately detect a lane that a vehicle is driving down from an image obtained by photographing the periphery of the vehicle.SOLUTION: A lane detection device has: a demarcation line candidate detection unit 21 for detecting, in an image generated by an image-capturing unit 2 mounted in a vehicle 10 and in which the periphery of the vehicle 10 is seen, a demarcation line candidate that is a candidate for a lane demarcation line representing the boundary of a lane that the vehicle 10 is driving down; a lane shape parameter calculation unit 24 for calculating a lane shape parameter representing the shape of the lane on the basis of the demarcation line candidate; a model generation unit 25 for generating a plurality of models representing the shape of the vehicle depending on whether or not the position of a lane demarcation line represented by the demarcation line candidate is changed to a direction in which the lane width is expanded; a model determination unit 26 for specifying a model, among the plurality of models, that most resembles the shape of a lane represented by a lane shape parameter found from an image in the past; and a correction unit 27 for correcting the lane shape parameter so as to represent the shape of a lane that corresponds to the specified model.SELECTED DRAWING: Figure 4

    【課題】車両の周囲を撮影して得られる画像からその車両が走行中の車線を正確に検出できる車線検出装置を提供する。【解決手段】車線検出装置は、車両10に搭載された撮像部2により生成された、車両10の周囲が写った画像上で車両10が走行中の車線の境界を表す車線区画線の候補となる区画線候補を検出する区画線候補検出部21と、区画線候補に基づいて車線の形状を表す車線形状パラメータを算出する車線形状パラメータ算出部24と、区画線候補が表す車線区画線の位置を、車線の幅を拡大する方向へ変更するか否かにより車線の形状を表す複数のモデルを生成するモデル生成部25と、複数のモデルのうち、過去に得られた画像から求められた車線形状パラメータが表す車線の形状と最も類似するモデルを特定するモデル判定部26と、車線形状パラメータを特定されたモデルに対応する車線の形状を表すように補正する補正部27とを有する。【選択図】図4


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    Title :

    LANE DETECTION DEVICE AND LANE DETECTION METHOD


    Additional title:

    車線検出装置及び車線検出方法


    Contributors:

    Publication date :

    2017-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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