PROBLEM TO BE SOLVED: To provide a road marking recognition device capable of mitigating computation load and suppressing degradation in a recognition rate for distant road markings.SOLUTION: A road markings recognition device comprises: division means 30 dividing a region for extracting edge points constituting road markings into a near region 71 and a distant region 72 in an image of a road around a vehicle acquired by an on-vehicle camera 10; extraction-region setting means 51 setting an extraction region for extracting distant edge points in part of the distant region 72; distant-edge-point extraction means 52 extracting distant edge points within the extraction region set by the extraction-region setting means 51; and distant-road-parameter estimation means 53 estimating distant road parameters based on the distant edge points extracted by the distant-edge-point extraction means 52, the extraction-region setting means 51 predicting positions of road markings in the distant region 72 using an acquired lane curvature acquired in advance, and setting the extraction region so as to contain the predicted positions of the road markings.

    【課題】演算負荷を低減させるとともに、遠方区画線の認識率の低下を抑制することが可能な走行区画線認識装置を提供する。【解決手段】車載カメラ10により取得された車両周辺の道路の画像において、道路の区画線を構成するエッジ点を抽出する領域を、近傍領域71と遠方領域72とに二分する分割手段30と、遠方領域72の一部に遠方エッジ点を抽出する抽出領域を設定する抽出領域設定手段51と、抽出領域設定手段51により設定された抽出領域内の遠方エッジ点を抽出する遠方エッジ点抽出手段52と、遠方エッジ点抽出手段52により抽出された遠方エッジ点に基づいて、遠方の道路パラメータを推定する遠方道路パラメータ推定手段53と、を備え、抽出領域設定手段51は、予め取得された車線曲率を用いて、遠方領域72における区画線の位置を予測し、予測した区画線の位置を含むように抽出領域を設定する。【選択図】 図1


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    Titel :

    ROAD MARKING RECOGNITION DEVICE AND ROAD MARKING RECOGNITION PROGRAM


    Weitere Titelangaben:

    走行区画線認識装置及び走行区画線認識プログラム


    Beteiligte:
    UEDA YUSUKE (Autor:in) / KAWASAKI NAOTERU (Autor:in) / KUMANO TOSHIYA (Autor:in) / SUZUKI SHUNSUKE (Autor:in) / TAKATO TETSUYA (Autor:in)

    Erscheinungsdatum :

    2015-10-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    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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