Road line recognition apparatus

  • US 8,224,031 B2
  • Filed: 04/25/2006
  • Issued: 07/17/2012
  • Est. Priority Date: 04/26/2005
  • Status: Active Grant
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First Claim
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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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