Lane recognition apparatus for vehicle, vehicle thereof, and lane recognition program for vehicle
First Claim
1. A lane recognition apparatus for a vehicle which recognizes a lane along which a vehicle is traveling from a color image of a road acquired via an imaging device mounted on the vehicle, comprising:
- a lane mark detection image acquisition device which acquires a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device;
a clustering device which performs clustering in which the first image region of the lane mark detection image is divided into subregions each composed of adjacent pixels;
a color determination device which determines a color of the subregions of the first image region obtained by the division in the clustering;
a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color by the color determination device as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; and
a vehicle equipment control device which controls equipment of the vehicle according to a recognition result of the lane recognition device.
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Accused Products
Abstract
A lane recognition apparatus for the vehicle includes: a lane mark detection image acquisition device which acquires an image divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels from a color image of a road; a clustering device which divides the first image region into subregions each composed of adjacent pixels; a color determination device which determines a color of the subregions; a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; and a vehicle equipment control device which controls equipment of a subject vehicle according to the lane recognition result.
37 Citations
10 Claims
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1. A lane recognition apparatus for a vehicle which recognizes a lane along which a vehicle is traveling from a color image of a road acquired via an imaging device mounted on the vehicle, comprising:
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a lane mark detection image acquisition device which acquires a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device; a clustering device which performs clustering in which the first image region of the lane mark detection image is divided into subregions each composed of adjacent pixels; a color determination device which determines a color of the subregions of the first image region obtained by the division in the clustering; a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color by the color determination device as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; and a vehicle equipment control device which controls equipment of the vehicle according to a recognition result of the lane recognition device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle equipped with an imaging device and having a function of recognizing a lane along which the vehicle is traveling from a color image of a road acquired via the imaging device, comprising:
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a lane mark detection image acquisition device which acquires a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device; a clustering device which performs clustering in which the first image region of the lane mark detection image is divided into subregions each composed of adjacent pixels; a color determination device which determines a color of the subregions of the first image region obtained by the division in the clustering; a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color by the color determination device as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; and a vehicle equipment control device which controls equipment of the vehicle according to a recognition result of the lane recognition device.
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10. A lane recognition program for a vehicle which causes a computer to recognize a lane along which a vehicle is traveling from a color image of a road acquired via an imaging device mounted on the vehicle, the program having functions of causing the computer to perform:
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lane mark detection image acquisition for acquiring a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device; clustering for dividing the first image region of the lane mark detection image into subregions each composed of adjacent pixels; color determination for determining a color of the subregions of the first image region obtained by the division in the clustering; lane recognition for performing line component extraction for each group, considering the subregions determined to have the same color by the color determination as a single group, and recognizing a line position of the lane defined by the lane mark from the extracted line component; and vehicle equipment control for controlling equipment of the vehicle according to a result of the lane recognition.
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Specification