PROBLEM TO BE SOLVED: To provide a lane marking detection system that can reduce a processing load while ensuring detection accuracy and is advantageous for securing real time property.SOLUTION: A lane marking detection device 10 includes an on-vehicle camera that images a surrounding road surface; a data storage unit that a look-up table and a reference histogram are stored, the look-up table for converting coordinates of a lane marking search range set in an input image acquired by a camera into the coordinates of the lane marking search range in an overhead view image in which a road surface is viewed from above, the reference histogram corresponding to an appearance frequency distribution in a vehicle width direction of all the coordinates described in the look-up table; and a lane marking detection processing unit that detects a lane marking edge pixel existing within the lane marking search range of the input image, acquires an input histogram in a horizontal axis coordinate of the lane marking edge pixel, divides the input histogram by the reference histogram to obtain a corrected histogram, and detects a horizontal axis coordinate exceeding a prescribed threshold value in the corrected histogram as a lane marking.SELECTED DRAWING: Figure 1

    【課題】検出精度を確保しつつ処理の負荷を低減でき、リアルタイム性を確保するうえで有利な区画線検出システムを提供する。【解決手段】区画線検出装置10は、周囲路面を撮像する車載のカメラと、カメラに取得される入力画像に設定された区画線探索範囲の座標を、路面を上方から俯瞰した俯瞰画像における区画線探索範囲の座標に変換するためのルックアップテーブルおよびルックアップテーブルに記載された全座標の車幅方向の出現度数分布に対応する基準ヒストグラムを格納したデータ格納部と、入力画像の区画線探索範囲内に存在する区画線エッジピクセルを検出し、区画線エッジピクセルの横軸座標における入力ヒストグラムを取得し、入力ヒストグラムを基準ヒストグラムで除算して補正ヒストグラムを取得し、補正ヒストグラムにおいて所定の閾値を超えた横軸座標を区画線として検出する区画線検出処理部とを備える。【選択図】図1


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    Title :

    LANE MARKING DETECTION SYSTEM


    Additional title:

    区画線検出システム


    Contributors:

    Publication date :

    2018-05-17


    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 / 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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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