PROBLEM TO BE SOLVED: To provide a division line detection technique for enabling setting of a region of interest where vehicle side ends of division lines are included within a region even when vehicle side ends of two division lines indicating a parking zone are deviated in a direction of the division lines.SOLUTION: A division line detection section includes a detection section, a generation section, a position calculation section, and an end point coordinate calculation section. The detection section detects first and second division lines from camera capturing images. The generation section generates first and second reference lines corresponding to the first and second division lines. The position calculation section calculates a target parking position on the basis of end points and directions of the first and second reference lines. The end point coordinate calculation section calculates respective end point coordinates of the first and second reference lines on the basis of a target parking position, an average direction of the first and second reference lines, and a direction between the respective end points of the first and second reference lines. The detection section sets a region of interest on the basis of the respective end point coordinates of the first and second reference lines calculated by the end point coordinate calculation section.SELECTED DRAWING: Figure 1
【課題】駐車区画を示す2本の区画線の車両側端部同士が区画線の方向に沿ってずれている場合でも区画線の車両側端部が領域内に含まれる関心領域を設定することができる区画線検出技術を提供する。【解決手段】区画線検出装置は、検出部と、生成部と、位置算出部と、端点座標算出部と、を備える。検出部は、カメラ撮影画像から第1,2の区間線を検出する。生成部は、第1,2の区間線に対応する第1,2の基準線を生成する。位置算出部は、第1,2の基準線の端点及び方向に基づいて目標駐車位置を算出する。端点座標算出部は、目標駐車位置と第1,2の基準線の平均方向と第1,2の基準線の各端点間の方向とに基づいて第1,2の基準線の各端点座標を算出する。検出部は、端点座標算出部によって算出された第1,2の基準線の各端点座標に基づいて関心領域を設定する。【選択図】図1
DIVISION LINE DETECTION DEVICE, DIVISION LINE DETECTION SYSTEM, AND DIVISION LINE DETECTION METHOD
区画線検出装置、区画線検出システム、及び区画線検出方法
2018-07-26
Patent
Electronic Resource
Japanese
DIVISION LINE DETECTION DEVICE, DIVISION LINE DETECTION SYSTEM, AND DIVISION LINE DETECTION METHOD
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