The driving support system extracts edge points based on luminance of pixels, in which up edge point is the edge point where the luminance of the inner pixel is smaller than that of the outer pixel, down edge point is the edge point where the luminance of the outer pixel is smaller than the luminance of inner pixel. The system determines, among a plurality of line candidates acquired in accordance with the edge points location, a lane candidate excluding the line candidate that satisfies a predetermined exclusion condition, to be the lane marking, the line candidate determined as the lane marking being located most closely to the vehicle position. The exclusion condition includes a condition where the number of edge points of the up edge line is larger than or equal to a predetermined point threshold, compared to the number of edge points of the down edge line.
Driving support system
2021-05-11
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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