COMPLEX MARKING DETERMINING DEVICE AND COMPLEX MARKING DETERMINING METHOD
First Claim
1. A complex marking determining device comprising:
- an imaging portion that captures an image of a traveling road of a vehicle, and obtains a traveling road image;
a region setting portion configured to set a lane marking display region in a position where a lane marking is displayed, in the traveling road image obtained by the imaging portion, and set a road surface display region in a position that is closer to a center of the traveling road than the lane marking display region, and where a road surface other than the lane marking is displayed, in the traveling road image;
a brightness state calculating portion configured to calculate a lane marking representative value indicative of a brightness state of a plurality of pixels that make up the lane marking display region, and calculate a road surface representative value indicative of a brightness state of a plurality of pixels that make up the road surface display region; and
a complex lane marking determining portion configured to determine that the lane marking is a complex marking at least when a degree of deviation between the lane marking representative value and the road surface representative value is equal to or greater than a first threshold value.
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Abstract
A complex marking determining device includes a brightness state calculating portion configured to calculate a lane marking representative value indicative of a brightness state of a plurality of pixels that make up a lane marking display region, and calculate a road surface representative value indicative of a brightness state of a plurality of pixels that make up the road surface display region; and a complex marking determining portion configured to determine that the lane marking is a complex marking at least when a degree of deviation between the lane marking representative value and the road surface representative value is equal to or greater than a first threshold value.
12 Citations
7 Claims
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1. A complex marking determining device comprising:
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an imaging portion that captures an image of a traveling road of a vehicle, and obtains a traveling road image; a region setting portion configured to set a lane marking display region in a position where a lane marking is displayed, in the traveling road image obtained by the imaging portion, and set a road surface display region in a position that is closer to a center of the traveling road than the lane marking display region, and where a road surface other than the lane marking is displayed, in the traveling road image; a brightness state calculating portion configured to calculate a lane marking representative value indicative of a brightness state of a plurality of pixels that make up the lane marking display region, and calculate a road surface representative value indicative of a brightness state of a plurality of pixels that make up the road surface display region; and a complex lane marking determining portion configured to determine that the lane marking is a complex marking at least when a degree of deviation between the lane marking representative value and the road surface representative value is equal to or greater than a first threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A complex marking determining method comprising:
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capturing an image of a traveling road of a vehicle, and obtaining a traveling road image; setting a lane marking display region in a position where a lane marking is displayed, in the traveling road image, and setting a road surface display region in a position that is closer to a center of the traveling road than the lane marking display region, and where a road surface other than the lane marking is displayed, in the traveling road image; calculating a lane marking representative value indicative of a brightness state of a plurality of pixels that make up the lane marking display region, and calculating a road surface representative value indicative of a brightness state of a plurality of pixels that make up the road surface display region; and determining that the lane marking is a complex marking when a degree of deviation between the lane marking representative value and the road surface representative value is equal to or greater than a preset threshold value.
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Specification