To provide a lane boundary detection apparatus configured to reduce computational load required for a process to detect a boundary line of a travel lane of a vehicle from an image.SOLUTION: An apparatus for detecting a lane boundary includes: a classifier 31 configured to input an image representing a region around a vehicle 10, the image being obtained by an imaging unit 2 mounted on the vehicle 10, into a classifier which is trained to identify types of objects represented in pixels for each pixel, to identify types of objects represented in each of pixels of the image: and a detection unit 32 configured to detect a boundary of a travel lane by determining, for each of pixel lines in a direction crossing the travel lane in the image, whether the position corresponding to a pixel group including a predetermined number of contiguous pixels is inside the travel lane in order along a scanning direction from one end to the other end of the pixel line, depending on the order of the types of objects represented in the pixel group and the result of determination whether the position corresponding to the immediately preceding pixel group with respect to the scanning direction is inside the travel lane.SELECTED DRAWING: Figure 3

    【課題】画像から、車両が走行中の車線の境界線を検出するための処理に要する演算負荷を軽減できる車線境界検出装置を提供する。【解決手段】車線境界検出装置は、車両10に搭載された撮像部2により得られた、車両10の周辺領域を表す画像を、画素ごとにその画素に表されている物体の種別を識別するように学習された識別器に入力することで、画像の各画素に表された物体の種別を識別する識別部31と、画像において自車線と交差する方向の画素列ごとに、その画素列の一端から他端へ向かう走査方向に沿って順に、連続する所定数の画素群に表された物体の種別の並び順、及び、走査方向における直前の画素群に相当する位置が自車線内か否かの判定結果に応じて、その画素群に相当する位置が、自車線内か否かを判定することで自車線の境界を検出する検出部32とを有する。【選択図】図3


    Access

    Download


    Export, share and cite



    Title :

    LANE BOUNDARY DETECTION APPARATUS, LANE BOUNDARY DETECTION METHOD, AND COMPUTER PROGRAM FOR DETECTING LANE BOUNDARY


    Additional title:

    車線境界検出装置、車線境界検出方法及び車線境界検出用コンピュータプログラム


    Contributors:
    TANABE KEN (author)

    Publication date :

    2022-10-06


    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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



    LANE BOUNDARY DETECTION APPARATUS

    KATAOKA YUSUKE | European Patent Office | 2015

    Free access

    TRAVEL LANE BOUNDARY ESTIMATION APPARATUS AND TRAVEL LANE BOUNDARY ESTIMATION METHOD

    UEDA HIROTOSHI / YAMAGUCHI ICHIRO / TSUCHIYA CHIKAO | European Patent Office | 2017

    Free access

    LANE BOUNDARY SETTING APPARATUS AND LANE BOUNDARY SETTING METHOD

    OKADA MASAYA / UEMATSU TAKUMI | European Patent Office | 2020

    Free access

    LANE BOUNDARY MONITORING METHOD AND LANE BOUNDARY MONITORING DEVICE

    TAKANO HIROYUKI / YANAGI HIROYOSHI | European Patent Office | 2018

    Free access

    Lane boundary estimation device and lane boundary estimation method

    TAKEMAE YOSHINAO / KIDONO KIYOSUMI | European Patent Office | 2015

    Free access