A lane boundary line recognition apparatus acquires an image. Based on edge points extracted from the image, a lane boundary line candidate is extracted, and a lane boundary line probability thereof is calculated. A lane boundary line candidate of which the lane boundary line probability exceeds a threshold is recognized. As the threshold, a first threshold, larger than a second threshold in normal mode, is set when a first condition is met and also a second condition is met. The first condition is that a single lane boundary line is recognized on a roadside side of a lane in which the own vehicle is traveling, and a composite lane boundary line is recognized on a side opposite the roadside side. The second condition is that a state in which a lane boundary line cannot be recognized on at least the opposite side continues for a predetermined amount of time.
LANE BOUNDARY LINE RECOGNITION APPARATUS
2016-06-30
Patent
Electronic Resource
English
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
LANE BOUNDARY LINE RECOGNITION APPARATUS AND PROGRAM FOR RECOGNIZING LANE BOUNDARY LINE ON ROADWAY
European Patent Office | 2015
|Lane boundary line recognition apparatus and program for recognizing lane boundary line on roadway
European Patent Office | 2017
|