VEHICLE TRAVEL SUPPORT DEVICE, VEHICLE, VEHICLE TRAVEL SUPPORT PROGRAM
First Claim
1. A vehicle travel support device configured to recognize a travel environment of a vehicle according to an image indicating a situation in a travel direction of the vehicle which is obtained by an imaging device mounted in the vehicle, comprising:
- a first processing element configured to generate an edge image through performing on the image an edge extraction process which extracts a line segment with a luminance varying greater than a threshold in a scanning direction as an edge,a second processing element configured to perform a Hough transform process on the edge image generated by the first processing element and evaluate a vote value of a line segment in a ρ
-θ
space according to the Hough transform result, anda third processing element configured to determine the presence of a recognition inhibiting factor which reduces recognition accuracy of a lane mark on a road where the vehicle is traveling according to whether or not the votes of a specified vote value evaluated by the second processing element in a specified region denoting a predicted travel region of the vehicle in the real space is equal to or greater than a threshold in the ρ
-θ
space, wherein a boundary of the specified region is set in such a way that the votes of the specified vote value is smaller than the threshold in the specified region for a road without the presence of the recognition inhibiting factor of the lane mark.
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Accused Products
Abstract
A vehicle travel support device determines presence of a recognition inhibiting factor of a lane mark on a road on which a vehicle is traveling with high accuracy irrespective of an imaging history by a vehicular camera from the same position. The vehicle travel support system generates an edge image by extracting an edge or actualizing an edge in an image obtained through the vehicular camera. When Hough transform of the edge image is performed, votes for a specified vote value of a linear component is evaluated in a ρ-θ space (Hough space). Presence of a recognition inhibiting factor of a lane mark on a road is determined by determining whether or not the votes of a specified vote value in a specified region denoting a standard travel lane of a vehicle in the real space is ≧a threshold in the ρ-θ space.
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Citations
7 Claims
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1. A vehicle travel support device configured to recognize a travel environment of a vehicle according to an image indicating a situation in a travel direction of the vehicle which is obtained by an imaging device mounted in the vehicle, comprising:
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a first processing element configured to generate an edge image through performing on the image an edge extraction process which extracts a line segment with a luminance varying greater than a threshold in a scanning direction as an edge, a second processing element configured to perform a Hough transform process on the edge image generated by the first processing element and evaluate a vote value of a line segment in a ρ
-θ
space according to the Hough transform result, anda third processing element configured to determine the presence of a recognition inhibiting factor which reduces recognition accuracy of a lane mark on a road where the vehicle is traveling according to whether or not the votes of a specified vote value evaluated by the second processing element in a specified region denoting a predicted travel region of the vehicle in the real space is equal to or greater than a threshold in the ρ
-θ
space, wherein a boundary of the specified region is set in such a way that the votes of the specified vote value is smaller than the threshold in the specified region for a road without the presence of the recognition inhibiting factor of the lane mark. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification