PROBLEM TO BE SOLVED: To provide a lane recognition apparatus capable of improving accuracy in detecting a lane.SOLUTION: A lane recognition apparatus includes: an edge extraction part 303 for generating an overhead view image from an image picked up by a vehicle-incorporated camera 202 and extracting an edge from the overhead view image; an edge coordinate retention part 305 for storing a coordinate of the extracted edge contained in the image; an edge evaluation part 306 for evaluating a likelihood of the extracted edge being a lane; an edge coordinate update part 308 for updating the coordinate of the edge in accordance with a movement amount provided by a vehicle speed sensor 307; an edge likelihood disposition correction part 310 for selecting an edge from among edges stored in the edge coordinate retention part 305 so that distribution of the likelihood of lane is minimized; and a position-attitude estimation part 312 for estimating a lane on the basis of the selected edge.

    【課題】車線の検出精度を向上させることのできる車線認識装置を提供することにある。【解決手段】車両に搭載されたカメラ202にて撮像された画像から俯瞰画像を作成し、該俯瞰画像からエッジを抽出するエッジ抽出部303と、抽出されたエッジの、画像中の座標を記憶するエッジ座標保持部305と、抽出されたエッジの、車線尤度を評価するエッジ評価部306と、エッジの座標を、車速センサ307より与えられる移動量に応じて更新するエッジ座標更新部308と、エッジ座標保持部305に記憶されているエッジから、車線尤度の分布のばらつきが小さくなるように、エッジを選択するエッジ尤度配置補正部310と、選択されたエッジに基づいて、車線を推定する位置姿勢推定部312を備える。【選択図】 図2


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    Title :

    LANE RECOGNITION APPARATUS


    Additional title:

    車線認識装置


    Contributors:

    Publication date :

    2015-11-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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