BOUNDARY LINE RECOGNITION APPARATUS
First Claim
1. A boundary line recognition apparatus comprising:
- an on-vehicle camera configured to acquire an image of an area around a vehicle and to output image data;
a boundary line candidate extracting processor extracting one or more boundary line candidates which are present on a driving lane of the vehicle from the image data obtained by the on-vehicle camera;
a driving lane surface feature extracting processor extracting, from the image data obtained by the on-vehicle camera, a feature containing a first pattern of an area outside of a subject boundary line candidate, and a feature containing a second pattern of the subject boundary line candidate, wherein the subject boundary line candidate is part of the one or more boundary line candidates;
a boundary line feature calculating processor calculating a likelihood which represents a degree of probability that the subject boundary line candidate is a boundary line on the driving lane, wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate when a difference between the first pattern and the second pattern is not more than a predetermined value, and the likelihood is calculated for each of the one or more boundary line candidates; and
a boundary line selecting processor selecting a final boundary line candidate having a maximum likelihood as the boundary line on the driving lane from among the one or more boundary line candidates.
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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.
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Citations
5 Claims
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1. A boundary line recognition apparatus comprising:
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an on-vehicle camera configured to acquire an image of an area around a vehicle and to output image data; a boundary line candidate extracting processor extracting one or more boundary line candidates which are present on a driving lane of the vehicle from the image data obtained by the on-vehicle camera; a driving lane surface feature extracting processor extracting, from the image data obtained by the on-vehicle camera, a feature containing a first pattern of an area outside of a subject boundary line candidate, and a feature containing a second pattern of the subject boundary line candidate, wherein the subject boundary line candidate is part of the one or more boundary line candidates; a boundary line feature calculating processor calculating a likelihood which represents a degree of probability that the subject boundary line candidate is a boundary line on the driving lane, wherein the boundary line feature calculating processor decreases the likelihood of the subject boundary line candidate when a difference between the first pattern and the second pattern is not more than a predetermined value, and the likelihood is calculated for each of the one or more boundary line candidates; and a boundary line selecting processor selecting a final boundary line candidate having a maximum likelihood as the boundary line on the driving lane from among the one or more boundary line candidates. - View Dependent Claims (2, 3, 4, 5)
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Specification