To provide a travelling lane recognition device that can prevent a non-normal distant travel lane shape from being continuously recognized.SOLUTION: A travelling lane recognition device 100j which is loaded in a vehicle and recognizes travel lanes of the vehicles, comprises: a vicinity shape calculation unit 101 that repeatedly calculates a vicinity travel lane shape on the basis of photographed images to be repeatedly obtained by an imaging device 21 loaded in the vehicle; a distant shape calculation unit 102 that sets a processing area in each photographed image on the basis of the vicinity travel lane shape, and repeatedly calculates a distant travel lane shape serving as the distant travel lane shape of the vehicle in the processing area; and a normality determination unit 118 that determines normality of the distant travel lane shape. The distant shape calculation unit is configured not to calculate the distant travel lane shape when it is determined that the distant travel lane shape is not normal.SELECTED DRAWING: Figure 34

    【課題】正常ではない遠方走路形状が連続して認識されることを避けることができる走路認識装置を提供する。【解決手段】車両に搭載され、車両の走路を認識する走路認識装置100jは、車両に搭載された撮像装置21により繰り返し得られる撮像画像に基づき、近傍走路形状を繰り返し算出する近傍形状算出部101と、近傍走路形状に基づき各撮像画像における処理領域を設定し、処理領域内における車両の遠方の走路形状である遠方走路形状を繰り返し算出する遠方形状算出部102と、遠方走路形状の正常性を判定する正常性判定部118と、を備える。遠方形状算出部は、遠方走路形状が正常でないと判定された場合に、遠方走路形状を算出しない。【選択図】図34


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    Title :

    TRAVELLING LANE RECOGNITION DEVICE


    Additional title:

    走路認識装置


    Contributors:

    Publication date :

    2019-01-31


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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