To provide a stop line detection device capable of avoiding erroneous detection of a white line or the like at a position away from a crosswalk as a stop line.SOLUTION: A stop line detection device recognizes a road on which a self-vehicle travels and a boundary line of a lane based on an image captured by a front camera of the self-vehicle and detects a stop line of a crossing ahead of the self-vehicle, and includes: a crossing area detection unit for setting a crossing area corresponding to a crossing in a road on which the self-vehicle travels based on the image captured by the front camera; a pedestrian crossing detection unit for detecting a pedestrian crossing in the crossing area based on the image captured by the front camera; a stop line search area setting unit for setting a stop line search area extending from the pedestrian crossing to a near side in the lane on which the self-vehicle travels; and a stop line detection unit for detecting the stop line in the stop line search area. A depth of the stop line search area in an extending direction of a travel lane is smaller than twice a depth of the pedestrian crossing.SELECTED DRAWING: Figure 5
【課題】横断歩道から離れた位置の白線などを停止線として誤検出することを避けることができる停止線検出装置を提供する。【解決手段】自車両の前方カメラの撮像画像に基づいて、自車両の走行する道路及び車線の境界線を認識すると共に自車両の前方の交差点の停止線を検出する停止線検出装置であって、前方カメラの撮像画像に基づいて、自車両の走行する道路内で交差点に対応する交差点エリアを設定する交差点エリア検出部と、前方カメラの撮像画像に基づいて、交差点エリア内の横断歩道を検出する横断歩道検出部と、自車両の走行する車線内で横断歩道から手前側に延びる停止線探索エリアを設定する停止線探索エリア設定部と、停止線探索エリア内の停止線検出を行う停止線検出部と、を備え、走行車線の延在方向における停止線探索エリアの奥行は横断歩道の奥行の二倍より小さい長さである。【選択図】図5
STOP LINE DETECTION DEVICE
停止線検出装置
2023-09-27
Patent
Electronic Resource
Japanese