To extend a distance of compartment lines which can be calculated in a travel path recognition device which calculates right and left compartment lines of a travel path from a picked-up image around a vehicle to recognize a road shape.SOLUTION: A travel path recognition device 10 of a vehicle is provided with: an edge calculation part 12 constituted to calculate coordinates of an edge point at which a predetermined pixel parameter changes by a predetermined reference value or more on an image on the basis of the image picked up by an imaging part; and a compartment line recognition part 14 constituted to recognize right and left compartment lines of a travel path on the basis of a calculation result of the edge calculation part. The edge calculation part changes the reference value to be used for calculating the coordinates of the edge point so that a recognized distance becomes longer when the recognized distance of the compartment lines recognized by the compartment line recognition part is short.SELECTED DRAWING: Figure 2

    【課題】車両周囲の撮像画像から走行路の左右の区画線を算出して道路形状を認識する走行路認識装置において、算出可能な区画線の距離を延ばすこと。【解決手段】車両の走行路認識装置10は、撮像部にて撮像された画像に基づき、画像上で所定の画素パラメータが所定の基準値以上変化するエッジ点の座標を算出するよう構成されたエッジ算出部12と、エッジ算出部の算出結果に基づき、走行路の左右の区画線を認識するよう構成された区画線認識部14と、を備える。エッジ算出部は、区画線認識部にて認識された区画線の認識距離が短い場合に、認識距離が長くなるよう、エッジ点の座標を算出するのに用いる基準値を変化させる。【選択図】図2


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    Title :

    TRAVEL PATH RECOGNITION DEVICE OF VEHICLE AND TRAVEL CONTROLLER


    Additional title:

    車両の走行路認識装置及び走行制御装置


    Contributors:

    Publication date :

    2019-10-24


    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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