Travel lane marking recognition system
First Claim
1. A travel lane marking recognition system comprising:
- an on-board camera that captures an image of a travel lane ahead of an own vehicle;
at least one state acquisition apparatus other than the on-board camera that acquires an acquired value indicating a state of the own vehicle;
a recognizing unit that recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera;
a reliability level setting unit that sets a reliability level of the travel lane marking recognized by the recognizing unit based on the acquired value acquired by the state acquisition apparatus; and
a driving assisting unit that performs driving control of the own vehicle based on the travel lane marking recognized by the recognizing unit when the reliability level set by the reliability level setting unit is higher than a first predetermined threshold, and performs a deviation warning of deviation from the travel lane based on the travel lane marking recognized by the recognizing unit when the reliability level is lower than the first predetermined threshold, whereinthe at least one state acquisition apparatus includes a solid object detection apparatus that detects a solid object in a periphery of the own vehicle, andthe reliability level setting unit reduces the reliability level of the travel lane marking in a periphery of the solid object when the solid object is detected, by the solid object detection apparatus, in a position corresponding to a periphery of the travel lane marking recognized by the recognizing unit.
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Accused Products
Abstract
An on-board camera captures an image of a travel lane ahead of an own vehicle. At least one state acquisition apparatus acquires an acquired value indicating a state of the own vehicle. A travel lane marking recognition system recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera. The travel lane marking recognition system sets a reliability level of the recognized travel lane marking based on the acquired value of the at least one state acquisition apparatus. When the reliability level is higher than a first predetermined threshold, the travel lane marking recognition system performs driving control of the own vehicle based on the recognized travel lane marking. When the reliability level is lower than the first predetermined threshold, the travel lane marking recognition system performs a deviation warning of deviation from the travel lane based on the recognized travel lane marking.
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Citations
26 Claims
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1. A travel lane marking recognition system comprising:
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an on-board camera that captures an image of a travel lane ahead of an own vehicle; at least one state acquisition apparatus other than the on-board camera that acquires an acquired value indicating a state of the own vehicle; a recognizing unit that recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera; a reliability level setting unit that sets a reliability level of the travel lane marking recognized by the recognizing unit based on the acquired value acquired by the state acquisition apparatus; and a driving assisting unit that performs driving control of the own vehicle based on the travel lane marking recognized by the recognizing unit when the reliability level set by the reliability level setting unit is higher than a first predetermined threshold, and performs a deviation warning of deviation from the travel lane based on the travel lane marking recognized by the recognizing unit when the reliability level is lower than the first predetermined threshold, wherein the at least one state acquisition apparatus includes a solid object detection apparatus that detects a solid object in a periphery of the own vehicle, and the reliability level setting unit reduces the reliability level of the travel lane marking in a periphery of the solid object when the solid object is detected, by the solid object detection apparatus, in a position corresponding to a periphery of the travel lane marking recognized by the recognizing unit. - 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)
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26. A travel lane marking recognition system comprising:
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an on-board camera that captures an image of a travel lane ahead of an own vehicle; at least one state acquisition apparatus other than the on-board camera that acquires an acquired value indicating a state of the own vehicle; a recognizing unit that recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera; a reliability level setting unit that sets a reliability level of the travel lane marking recognized by the recognizing unit based on the acquired value acquired by the state acquisition apparatus; and a display unit that displays the travel lane marking recognized by the recognizing unit such as to differentiate between a portion of which the reliability level set by the reliability level setting unit is higher than the first predetermined threshold and a portion of which the reliability level is lower than the first threshold, wherein the at least one state acquisition apparatus includes a solid object detection apparatus that detects a solid object in a periphery of the own vehicle, and the reliability level setting unit reduces the reliability level of the travel lane marking in a periphery of the solid object when the solid object is detected, by the solid object detection apparatus, in a position corresponding to a periphery of the travel lane marking recognized by the recognizing unit.
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Specification