PROBLEM TO BE SOLVED: To facilitate a specification of a parking section, and improve recognition accuracy of a parking section line.SOLUTION: A broad recognition unit 22 is configured to conduct detection processing of detecting candidate lines from a broad image area, and recognize each parking section line on the basis of a pair of detected candidate lines to specify a parking section upon a forward movement of a vehicle. A forward movement tracking unit 32 is configured to, upon the forward movement of the vehicle, use each parking section line recognized by the broad recognition unit 22 as an object section line to track a location of each object section line on the basis of a recognition result recognized by the broad recognition unit 22. A rearward movement tracking unit 34 is configured to, upon rearward movement of the vehicle, track the location of each object section line on the basis of a tracking result by the forward movement tracking unit 32 and behavior information on the vehicle. An area setting unit 40 is configured to set a narrow image area on the basis of the location of each object section line recognized by the broad recognition unit 22. When detecting one candidate line from the narrow image area set by the area setting unit 40, a narrow recognition unit 24 is configured to recognize each object section line on the basis of the detected one candidate line and the tracking result by the rearward movement tracking unit 34.SELECTED DRAWING: Figure 3
【課題】駐車区画を特定しやすくし、且つ、駐車区画線の認識精度を向上させる。【解決手段】広域認識部22は、広域画像領域から候補線を検出する検出処理を行い、検出された一対の候補線を基に各駐車区画線を認識して駐車区画を車両の前進時に特定する。前進時追跡部32は、車両の前進時に、広域認識部22により認識された各駐車区画線を対象区画線とし、広域認識部22による認識結果を基に各対象区画線の位置を追跡する。後進時追跡部34は、車両の後進時に、前進時追跡部32による追跡結果と、車両の挙動情報とを基に各対象区画線の位置を追跡する。領域設定部40は、広域認識部22により認識された各対象区画線の位置を基に狭域画像領域を設定する。狭域認識部24は、領域設定部40により設定された狭域画像領域から1つの候補線を検出すると、検出した1つの候補線と、後進時追跡部34による追跡結果とを基に各対象区画線を認識する。【選択図】図3
PARKING SECTION RECOGNITION DEVICE AND PARKING SECTION RECOGNITION METHOD
駐車区画認識装置、駐車区画認識方法
2017-04-20
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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