To make it possible to eliminate a light streak even if the light streak is reflected in an image shot by a camera unit, and appropriately generate a section line.SOLUTION: A forward travelling environment recognition unit 13 is configured to: set a section line retrieval area Ad on the basis of a section line L(n-1) sectioning a travelling lane recognized in an image before one frame, to the image taken by a camera part 11 (S2); when recognizing a section line L from a change in luminance within the section line retrieval area Ad, set a light streak retrieval area As adjacent to the section line retrieval area Ad, and retrieving a light streak to be reflected in the image (S3); check out whether a light streak Sa vertically crossing the light streak retrieval area As is retrieved (S5 and S6); when the crossing light streak Sa is retrieved, determine whether the light streak Sa reaches the section line retrieval area Ad (S8); and, when it is determined that the light streak Sa reaches the section line retrieval area, perform mask processing of prohibiting retrieval of the section line with respect to the light streak Sa (S9).SELECTED DRAWING: Figure 4

    【課題】カメラユニットで撮像した画像に光の筋が映り込まれても、この光の筋を排除して、区画線を適切に生成できるようにする。【解決手段】前方走行環境認識部13は、カメラ部11で撮像した画像に、1フレーム前の画像で認識した走行車線を区画する区画線L(n-1)に基づいて区画線探索領域Adを設定し(S2)、区画線探索領域Ad内における輝度変化から区画線Lを認識するに際し、区画線探索領域Adに隣接して画像に映り込まれる光の筋を探索する光筋探索領域Asを設定し(S3)、光筋探索領域Asを縦方向に横切る光の筋Saが探索されたか否かを調べ(S5,S6)、横切る光の筋Saが探索された場合、光の筋Saが区画線探索領域Adに達しているか否かを判定し(S8)、光の筋Saが区画線探索領域に達していると判定した場合、光の筋Saに対し、区画線の探索を禁止するマスク処理を施す(S9)。【選択図】図4


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    Title :

    SECTION LINE RECOGNITION DEVICE


    Additional title:

    区画線認識装置


    Contributors:

    Publication date :

    2022-04-14


    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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