PROBLEM TO BE SOLVED: To provide a lane shape recognition device and lane recognition method that can improve recognition efficiency of a faraway lane.SOLUTION: A lane shape recognition ECU 20 comprises: a first shape calculation unit 23 that calculates a first lane shape approximating a shape of a lane boundary where vehicles in a shot image travel on the basis of a plurality of characteristic points indicative of the lane boundary; a position detection unit 24 that detects a deterioration position where a coincidence degree with the characteristic point in the calculated first lane shape deteriorates over a distant lane of the vehicle in the shot image from a near lane of the vehicle therein; a second shape calculation unit 25 that, when the deterioration position is detected, calculates a second lane shape approximating a shape of a lane boundary of the distant lane of the vehicle from the deterioration position in the shot image; and a recognition unit 26 that recognizes a lane boundary of the near lane of the vehicle from the deterioration position due to the first lane shape, and recognizes a lane boundary of the distant lane of the vehicle from the deterioration position due to the second lane shape.SELECTED DRAWING: Figure 1
【課題】遠方の走路の認識性能を向上させることができる走路形状認識装置、及び走路形状認識方法の提供を目的とする。【解決手段】走路形状認識ECU20は、撮像画像内における車両が走行する走路境界を示す複数の特徴点に基づいて走路境界の形状を近似した第1の走路形状を算出する第1形状算出部23と、算出された第1の走路形状における特徴点との一致度が悪化する悪化位置を、撮像画像における車両近方から車両遠方にかけて検出する位置検出部24と、悪化位置が検出された場合に、撮像画像内における悪化位置から車両遠方の走路境界の形状を近似した第2の走路形状を算出する第2形状算出部25と、悪化位置から車両近方の走路境界を前記第1の走路形状により認識し、悪化位置から車両遠方の走路境界を第2の走路形状により認識する認識部26と、を備える。【選択図】 図1
LANE SHAPE RECOGNITION DEVICE, AND LANE SHAPE RECOGNITION METHOD
走路形状認識装置、走路形状認識方法
2018-01-11
Patent
Electronic Resource
Japanese
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