Stop line recognition device
First Claim
Patent Images
1. A stop line recognition device comprising:
- capturing means for capturing an image of a front environment outside an own vehicle including a carriageway of the own vehicle;
stop line recognition means for recognizing a stop line on the carriageway of the own vehicle based on an image captured by the capturing means;
traffic signal recognition means for recognizing one or more traffic signals in front of the own vehicle, along the carriageway of the own vehicle; and
permission determining means for permitting the stop line recognition means to execute a stop line recognition operation based on a detection, by the traffic signal recognition means, that a traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle is displaying a red light, whereinthe permission determining means is configured such that when the traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle changes to green after the permission determining means permits the stop line recognition means to execute a stop line recognition operation, the permission determining means cancels the permission to execute the stop line recognition operation.
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Abstract
An image processing unit 4 performs the recognition of a traffic signal in front of an own vehicle on the carriageway thereof. When the image processing unit 4 recognizes that there is a traffic signal front closet to the vehicle on the carriageway within a set distance L2 and the traffic signal is displaying red light, the process shifts to a stop line recognition mode and the image processing unit 4 performs stop line recognition. Accordingly, unnecessary execution of stop line recognition can be accurately avoided. Therefore, a stop line that is necessary for the control of the own vehicle can be recognized with a high accuracy without generating excessive calculation load.
54 Citations
21 Claims
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1. A stop line recognition device comprising:
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capturing means for capturing an image of a front environment outside an own vehicle including a carriageway of the own vehicle; stop line recognition means for recognizing a stop line on the carriageway of the own vehicle based on an image captured by the capturing means; traffic signal recognition means for recognizing one or more traffic signals in front of the own vehicle, along the carriageway of the own vehicle; and permission determining means for permitting the stop line recognition means to execute a stop line recognition operation based on a detection, by the traffic signal recognition means, that a traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle is displaying a red light, wherein the permission determining means is configured such that when the traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle changes to green after the permission determining means permits the stop line recognition means to execute a stop line recognition operation, the permission determining means cancels the permission to execute the stop line recognition operation. - View Dependent Claims (2, 4, 6, 9, 11, 12, 13, 14, 19)
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3. A stop line recognition device comprising:
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capturing means for capturing an image of a front environment outside an own vehicle including a carriageway of the own vehicle; stop line recognition means for recognizing a stop line on the carriageway of the own vehicle based on an image captured capturing means; traffic signal recognition means for recognizing one or more traffic signals in front of the own vehicle, along the carriageway of the own vehicle; and permission determining means for permitting the stop line recognition means to execute a stop line recognition operation based on a detection, by the traffic signal recognition means, that a traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle is displaying a red light, wherein the stop line recognition means is configured to set a stop line recognition frame on an image captured by the capturing means, with the stop line recognition frame extending in the vehicle width direction and being variably positioned on the image based on the position on the image of the traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle, as recognized by the traffic signal recognition means, and the stop line recognition means is configured to recognize the stop line based on a time-series change of luminance in the stop line recognition frame. - View Dependent Claims (5, 7, 10, 15, 16, 17, 18, 20, 21)
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8. A stop line recognition device comprising:
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capturing means for capturing an image of a front environment outside an own vehicle including a carriageway of the own vehicle; stop line recognition means for recognizing a stop line on the carriageway of the own vehicle based on an image captured by the capturing means; traffic signal recognition means for recognizing one or more traffic signals in front of the own vehicle, along the carriageway of the own vehicle; and permission determining means for permitting the stop line recognition means to execute a stop line recognition operation based on a detection, by the traffic signal recognition means, that a traffic signal that is in front of the own vehicle, along the carriageway of the own vehicle, and closest to the own vehicle is displaying a red light, wherein the permission determining means is configured such that when a predetermined time period elapses after the permission determining means permits the stop line recognition means to execute a stop line recognition operation, the permission determining means cancels the permission to execute the stop line recognition operation.
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Specification