To prevent erroneous recognition by accurately distinguishing between a lane marking as a recognition object and a non-recognition object confused with the lane marking as the recognition object in image recognition for a lane marking painted on a road.SOLUTION: A recognition processing unit 11 recognizes a candidate for a paint line painted on a road from an image captured by an on-vehicle camera 20 and connects the recognized candidate for a paint line to lane markings recognized from past images to recognize lane marking candidates being candidates for a lane marking. The recognition processing unit 11 specifies lane marking candidates closest to the left and the right of a vehicle out of the recognized lane marking candidates, as lane markings for the vehicle. If determining that the lane marking candidates closest to the left and the right of the vehicle are not parallel, the recognition processing unit 11 excludes one of the lane marking candidates closest to the left and the right of the vehicle, of which the difference from a direction represented by specific reference information allowing for estimating a direction of a lane along which the vehicle is traveling is larger than that of the other, from the lane markings for the vehicle.SELECTED DRAWING: Figure 1

    【課題】道路に描かれた区画線の画像認識において、認識対象の区画線と認識対象の区画線と紛らわしい非認識対象物とを的確に区別し、誤認識を抑制する。【解決手段】認識処理部11は、車載カメラ20によって撮像された画像から道路に描かれたペイント線の候補を認識し、認識されたペイント線の候補を過去の画像から認識された区画線につなげて区画線の候補である区画線候補を認識する。認識処理部11は、認識された区画線候補の中から、車両の左側及び右側の直近にある区画線候補を自車区画線として特定する。認識処理部11は、車両の左側及び右側の直近にある区画線候補が平行ではないと判断した場合、車両の左側及び右側の直近にある区画線候補のうち、車両が走行している車線の方向を推定し得る特定の基準情報で表される方向に対して差異が大きい方の区画線候補を、自車区画線から除外する。【選択図】図1


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    Title :

    LANE MARKING RECOGNITION DEVICE


    Additional title:

    区画線認識装置


    Contributors:

    Publication date :

    2019-10-31


    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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