To properly recognize a lane marking.SOLUTION: A lane marking recognition apparatus 10 includes: a mark recognition unit 13 which recognizes a mark on a road on the basis of detection information detected by an in-vehicle detector 2 that detects surroundings of a vehicle; and a lane marking recognition unit 14 which recognizes a lane marking on the road on the basis of the mark recognized by the mark recognition unit 13. The lane marking recognition unit 14 sets a coordinate system in accordance with a current position and an advancing direction of the vehicle, generates a function to approximate multiple marks in the coordinate system after excluding a mark that is located a predetermined interval or more away from other marks in a direction which intersects the advancing direction, out of multiple marks recognized by the mark recognition unit 13, and interpolates a lane marking in a section that is not recognized by the mark recognition unit 13 on the basis of a curve of the function.SELECTED DRAWING: Figure 1
【課題】区画線を適切に認識すること。【解決手段】区画線認識装置10は、自車両の周囲の状況を検出する車載検出器2で検出された検出情報に基づいて、道路上の標示を認識する標示認識部13と、標示認識部13で認識された標示に基づいて、道路の区画線を認識する区画線認識部14と、を備え、区画線認識部14は、自車両の現在位置および進行方向に応じた座標系を設定するとともに、標示認識部13で認識されている複数の標示のうち、他の標示から進行方向と交差する方向に所定間隔以上外れた標示を除外してから、複数の標示を座標系において近似する関数を生成し、標示認識部13で認識されていない区間の区画線を関数の曲線に基づいて補間する。【選択図】図1
LANE MARKING RECOGNITION APPARATUS
区画線認識装置
2023-10-13
Patent
Electronic Resource
Japanese