To realize stable road lane line recognition operation even under adverse conditions such as nighttime and bad weather.SOLUTION: A road lane line recognition device (5) for recognizing road lane lines from a captured image includes: a plurality of line type candidate determination units (7) for performing line type candidate determination, which is line type determination in lane line candidates, based on line information, which is information on shape characteristics in the lane line candidates to be candidates for the road lane lines, obtained from the captured image; and a line type determination selection unit (8) for performing line type determination as to which line type of road lane line the lane line candidate corresponds to, by selecting one of the line type candidate determination results by the plurality of line type candidate determination units or each of the plurality of line type candidate determination units. The plurality of line type candidate determination units have different determination algorithms.SELECTED DRAWING: Figure 2
【課題】夜間や悪天候等の悪条件下においても、安定した道路区画線認識動作を実現すること。【解決手段】撮影画像から道路区画線を認識する道路区画線認識装置(5)は、前記撮影画像から取得した、道路区画線の候補となる区画線候補における形状的特徴に関する情報である線情報に基づいて、前記区画線候補における線種の判定である線種候補判定を実行する、複数の線種候補判定部(7)と、複数の前記線種候補判定部、または、複数の前記線種候補判定部の各々による線種候補判定結果の中から、いずれか1つを選択することで、前記区画線候補がいずれの線種の道路区画線に該当するかに関する線種判定を実行する、線種判定選択部(8)とを備え、複数の前記線種候補判定部は、判定アルゴリズムが互いに異なる。【選択図】図2
ROAD LANE LINE RECOGNITION DEVICE AND ROAD LANE LINE RECOGNITION PROGRAM
道路区画線認識装置および道路区画線認識プログラム
2024-06-07
Patent
Electronic Resource
Japanese
Springer Verlag | 2023
|Wiley | 2022
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