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Travel division line recognition apparatus and travel division line recognition program

  • US 9,665,780 B2
  • Filed: 03/23/2015
  • Issued: 05/30/2017
  • Est. Priority Date: 03/24/2014
  • Status: Active Grant
First Claim
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1. A travel division line recognition apparatus mounted to an own vehicle, comprising:

  • a processor configured to;

    extract a travel division line candidate from an image of a surrounding environment including a road, captured by an on-board camera mounted in the own vehicle, the travel division line candidate being a candidate for a travel division line on the road;

    calculate a degree of reliability that the travel division line candidate extracted by the processor will be the travel division line;

    select the travel division line candidate based on the degree of reliability calculated by the processor, and recognize the travel division line using the selected travel division line candidate; and

    recognize solid objects including vehicles, set a suppression area based on the recognized solid objects, and reduce the degree of reliability of the travel division line candidate present within the suppression area,the suppression area including;

    a frontal-face suppression area that is set so as to cover a frontal face of another vehicle in a position in which the frontal face has been recognized;

    a side-face suppression area that is set so as to cover a side face that is formed by extending the frontal-face suppression area in a depth direction by a predetermined vehicle length; and

    a distant suppression area that is set so as to cover an area beyond the predetermined vehicle length from the frontal-face suppression area and wider in a lateral direction than the frontal-face suppression area.

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