Road line recognition apparatus
First Claim
1. A road line recognition apparatus, comprising:
- an imaging section imaging a progress path of an own vehicle including a road to output a couple of images;
an image processing section calculating a distance from the own vehicle to a pixel in a real space, wherein the pixel is in a set region of at least an image on one side based on the imaged couple of images; and
a detection section detecting a road line;
wherein the detection section includes;
a road line candidate point detection and conversion processing unit detecting a pixel on a road surface as a road line candidate point based on luminance and the distance with regard to the image on one side, and performing Hough conversion of the road line candidate point;
a road line straight line detection processing unit detecting one straight line proper to the road line on each of a right side and a left side of the own vehicle based on at least a position or a behavior of the own vehicle out of straight lines obtained by the Hough conversion; and
a road line detection processing unit detecting the road line by recording a road line position which is a road line candidate point indicating a road line among the road line candidate points based on the detected straight line.
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Accused Products
Abstract
A road line recognition apparatus, including: an imaging section imaging a progress path of a own vehicle including a road to output a couple of images; an image processing section calculating a distance in a real space in a set region of at least an image on one side based on the imaged couple of images; and a detection section detecting a road line; wherein the detection section includes: a road line candidate point detection and conversion processing unit detecting a pixel on a road surface as a road line candidate point based on luminance and the distance with regard to the image on one side, and performing Hough conversion of the road line candidate point; a road line straight line detection processing unit detecting one straight line proper to the road line on each of a right side and a left side of the own vehicle based on at least a position or a behavior of the own vehicle between straight lines obtained by the Hough conversion; and a road line detection processing unit detecting the road line of a shape of a straight line or a curved line by recording a road line position which is a road line candidate point indicating a road line among the road line candidate points based on the detected straight line.
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Citations
26 Claims
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1. A road line recognition apparatus, comprising:
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an imaging section imaging a progress path of an own vehicle including a road to output a couple of images; an image processing section calculating a distance from the own vehicle to a pixel in a real space, wherein the pixel is in a set region of at least an image on one side based on the imaged couple of images; and a detection section detecting a road line; wherein the detection section includes; a road line candidate point detection and conversion processing unit detecting a pixel on a road surface as a road line candidate point based on luminance and the distance with regard to the image on one side, and performing Hough conversion of the road line candidate point; a road line straight line detection processing unit detecting one straight line proper to the road line on each of a right side and a left side of the own vehicle based on at least a position or a behavior of the own vehicle out of straight lines obtained by the Hough conversion; and a road line detection processing unit detecting the road line by recording a road line position which is a road line candidate point indicating a road line among the road line candidate points based on the detected straight line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification