To provide a lane line detection device that can improve detection accuracy of a vehicle lane line indicated on a road.SOLUTION: In a lane line detection device, a processor 23 includes: a lane line candidate pixel detection unit 31 for detecting a lane line candidate pixel from an image obtained by an imaging unit installed on a vehicle, setting a first reliability level for a lane line candidate pixel having a value indicating reliability of lane line imaging that is equal to or greater than a predetermined threshold among the lane line candidate pixels, and setting a second reliability level lower than the first reliability level for a lane line candidate pixel having the value that is less than the predetermined threshold; a reliability level correction unit 33 for correcting the reliability level of the lane line candidate pixel for which the second reliability level is set on a first scanning line whose one end is a vanishing point in the image to the first reliability level when the lane line candidate pixel is positioned on the first scanning line in a number equal to or more than a first predetermined number; and a lane line detection unit 34 for detecting a straight line where the lane line candidate pixel for which the first reliability level is set is located in a number equal to or more than a second predetermined number as a vehicle lane line.SELECTED DRAWING: Figure 3
【課題】道路上に表示された車線区画線の検出精度を向上できる区画線検出装置を提供する。【解決手段】区画線検出装置においてプロセッサ23は、車両に搭載された撮像部により得られた画像から区画線候補画素を検出し、検出された区画線候補画素のうち、車線区画線が写っている確からしさを表す値が所定の閾値以上である区画線候補画素に対して第1の信頼度を設定し、その値が所定の閾値未満である区画線候補画素に対して第1の信頼度よりも低い第2の信頼度を設定する区画線候補画素検出部31と、画像の消失点を一端とする第1の走査線上に第1の所定数以上の区画線候補画素が位置する場合、第1の走査線上の第2の信頼度が設定された区画線候補画素の信頼度を第1の信頼度に修正する信頼度修正部33と、第1の信頼度が設定された区画線候補画素が第2の所定数以上位置する直線を車線区画線として検出する区画線検出部34とを有する。【選択図】図3
LANE LINE DETECTION DEVICE AND LANE LINE DETECTION METHOD
区画線検出装置及び区画線検出方法
2020-05-21
Patent
Electronic Resource
Japanese
LANE DIVISION LINE DETECTION DEVICE, LANE DIVISION LINE DETECTION METHOD, AND PROGRAM
European Patent Office | 2015
|Springer Verlag | 2023
|Wiley | 2022
|European Patent Office | 2024
|