Boundary line recognition apparatus
First Claim
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.
1 Assignment
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Accused Products
Abstract
In a boundary line recognition apparatus, a boundary line candidate extracting part extracts boundary line candidates from image data obtained by an on-vehicle camera based on known image processing such as pattern matching and Hough transform. One or more kinds of boundary line feature calculating parts calculate one or more likelihoods of each boundary line candidate. The likelihood indicates a degree of probability to be the boundary line. A boundary line feature combining means multiplies the likelihoods of each boundary line candidate and outputs a combined likelihood. A boundary line candidate selecting part selects the boundary line candidate having a maximum likelihood as the boundary line. The boundary line feature calculating part further calculates the likelihood of the boundary line candidate using a dispersion of brightness and an internal edge amount, and changes the likelihood based on an additional likelihood obtained by a driving lane surface feature extracting part.
30 Citations
9 Claims
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1. A boundary line recognition apparatus comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification