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Boundary line recognition apparatus

  • US 20100259617A1
  • Filed: 04/07/2010
  • Published: 10/14/2010
  • Est. Priority Date: 04/09/2009
  • Status: Active Grant
First Claim
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1. A boundary line recognition apparatus comprising:

  • an on-vehicle camera that acquires image of an area around a vehicle and outputs image data;

    boundary line candidate extracting means that extracts a boundary line candidate which is present on a driving lane of the vehicle from the image data obtained by the on-vehicle camera;

    one or more boundary line feature calculating means that calculate likelihoods which represent degrees of probability of each of the boundary line candidates, to be a boundary line on the driving lane, extracted by the boundary line candidate extracting means;

    boundary line feature combining means that multiplies the likelihoods of each of the boundary line candidates obtained by the boundary line feature calculating means, and outputs the combined likelihood; and

    boundary line selecting means that selects the boundary line candidate having a maximum likelihood as the boundary line on the driving lane.

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