PROBLEM TO BE SOLVED: To obtain a road section line recognition device capable of recognizing a shape of a section line on a road surface highly precisely.SOLUTION: A road section line recognition device comprises: a front imaging part that images a road surface in front of a moving body; a front section line detection part that detects a shape of a section line on the road surface, as a front section line shape, from the image imaged by the front imaging part; a peripheral imaging part that images a road surface in the periphery of the moving body; a peripheral section line detection part that detects the shape of the section line on the road surface, as a peripheral section line shape, from the image imaged by the peripheral imaging part; and a section line shape recognition part that recognizes the shape of the section line on the road surface on the basis of the front section line shape and the peripheral section line shape. In the section line shape recognition part, when recognizing the shape of the section line on the road surface, the peripheral section line shape is made easy to reflect to the front section line shape for an off-set distance of the moving body and the section line and an inclination component of the section line.SELECTED DRAWING: Figure 1
【課題】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】路上区画線認識装置は、移動体の前方の路面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前方区画線検出部と、移動体の周辺の路面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に基づいて、路面上の区画線の形状を認識する区画線形状認識部とを備え、区画線形状認識部は、路面上の区画線の形状を認識するにあたって、移動体と区画線とのオフセット距離および区画線の傾き成分については、前方区画線形状に対して周辺区画線形状が反映されやすいようにする。【選択図】図1
ROAD SECTION LINE RECOGNITION DEVICE, ROAD SECTION LINE RECOGNITION METHOD, DRIVING SUPPORT DEVICE WITH THE ROAD SECTION LINE RECOGNITION DEVICE, AND DRIVING SUPPORT METHOD WITH THE ROAD SECTION LINE 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
2018-09-27
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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