PROBLEM TO BE SOLVED: To provide a road marking recognition device capable of highly accurately recognizing a shape of a marking on a road surface where a mobile is moved.SOLUTION: A road marking recognition device comprises: a front imaging unit which picks up a front image of a mobile; a front marking detection unit which detects a shape of a marking on a road surface as a front marking shape and calculates a reliability of the front marking shape as a first reliability; a peripheral imaging unit which picks up a peripheral image of the mobile; a peripheral marking detection unit which detects a shape of a marking on the road surface as a peripheral marking shape from the image picked up by the peripheral imaging unit and calculates a reliability of the peripheral marking shape as a second reliability; and a marking shape discrimination unit which selects or combines the front marking shape and the peripheral marking shape on the basis of the first reliability and the second reliability, thereby discriminating a shape of a marking on the road surface where the mobile is moved.SELECTED DRAWING: Figure 1
【課題】移動体が移動する路面上の区画線の形状を高精度に認識することができる路上区画線認識装置を得る。【解決手段】移動体の前方を撮像する前方撮像部と、前方撮像部が撮像した画像から、路面上の区画線の形状を前方区画線形状として検出するとともに、前方区画線形状の信頼度を第1信頼度として算出する前方区画線検出部と、移動体の周辺を撮像する周辺撮像部と、周辺撮像部が撮像した画像から、路面上の区画線の形状を周辺区画線形状として検出するとともに、周辺区画線形状の信頼度を第2信頼度として算出する周辺区画線検出部と、前方区画線形状と周辺区画線形状とを、第1信頼度および第2信頼度に基づいて選択または組み合わせることで、移動体が移動する路面上の区画線の形状を判定する区画線形状判定部とを備える。【選択図】図1
ROAD MARKING RECOGNITION DEVICE, ROAD MARKING RECOGNITION METHOD, DRIVING SUPPORT DEVICE WITH ROAD MARKING RECOGNITION DEVICE, AND DRIVING SUPPORT METHOD WITH ROAD MARKING RECOGNITION METHOD
路上区画線認識装置、路上区画線認識方法、路上区画線認識装置を備えた運転支援装置、および路上区画線認識方法を備えた運転支援方法
2018-05-24
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 / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
ROAD MARKING RECOGNITION DEVICE AND ROAD MARKING RECOGNITION PROGRAM
European Patent Office | 2015
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