LANE RECOGNITION DEVICE, VEHICLE, LANE RECOGNITION METHOD, AND LANE RECOGNITION PROGRAM
First Claim
1. A lane recognition device which recognizes a lane along which a vehicle is traveling by detecting a lane mark on the road defining the lane, from an image of the road acquired via an imaging device mounted on the vehicle, comprising:
- an object detection unit which detects an object other than the lane mark existing ahead of the vehicle; and
a lane mark detection unit which detects the lane mark on the basis of data obtained by removing the area corresponding to the object detected by the object detection unit from data related to the image of the road.
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Abstract
A lane recognition device recognizes a lane along which a vehicle travels by detecting a lane mark provided on the road to define the lane, from an image of the road acquired via an image acquisition device mounted on the vehicle. The lane recognition device is equipped with an object detection unit which detects an object other than the lane mark existing ahead of the vehicle, and a lane mark detection unit which detects the lane mark on the basis of the data from which the area corresponding to the object detected by the object detection unit is removed. By doing so, when recognizing the lane along which the vehicle travels by detecting the lane mark from the image of the road, the recognition accuracy of the lane is improved by appropriately removing influence of the object other than the lane mark captured in the image of the road.
24 Citations
12 Claims
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1. A lane recognition device which recognizes a lane along which a vehicle is traveling by detecting a lane mark on the road defining the lane, from an image of the road acquired via an imaging device mounted on the vehicle, comprising:
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an object detection unit which detects an object other than the lane mark existing ahead of the vehicle; and a lane mark detection unit which detects the lane mark on the basis of data obtained by removing the area corresponding to the object detected by the object detection unit from data related to the image of the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A lane recognition method which recognizes a lane along which a vehicle is traveling by detecting a lane mark on the road defining the lane, from an image of the road acquired via an imaging device mounted on the vehicle, comprising the steps of:
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an object detection step which detects an object other than the lane mark existing ahead of the vehicle; and a lane mark detection step which detects the lane mark on the basis of data obtained by removing the area corresponding to the object detected in the object detection step from data related to the image of the road.
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12. A lane recognition program which makes a computer execute the process which recognizes a lane along which a vehicle is traveling by detecting a lane mark on the road defining the lane, from an image of the road acquired via an imaging device mounted on the vehicle, comprising the functions of making the computer execute the process of:
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an object detection process which detects an object other than the lane mark existing ahead of the vehicle; and a lane mark detection process which detects the lane mark on the basis of data obtained by removing the area corresponding to the object detected in the object detection step from data related to the image of the road.
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Specification