Travel division line recognition apparatus and travel division line recognition program
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
In a travel division line recognition apparatus, an extracting unit extracts a travel division line candidate from an image of a surrounding environment including a road, captured by an on-board camera. A calculating unit calculates a degree of reliability that the extracted travel division line candidate will be the travel division line. A recognizing unit selects the travel division line candidate based on the calculated degree of reliability, and recognizes the travel division line using the selected travel division line candidate. In the calculating unit, a solid object processing unit recognizes solid objects including vehicles, sets a suppression area including a frontal-face suppression area covering a frontal face of the other vehicle and a side-face suppression area covering a side face of the other vehicle, based on the recognized solid objects, and reduces the degree of reliability of the travel division line candidate present within the suppression area.
44 Citations
18 Claims
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1. A travel division line recognition apparatus mounted to an own vehicle, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A non-transitory computer-readable storage medium storing a travel division line recognition program for enabling a processor of a computer executing the travel division line recognition program to:
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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. - View Dependent Claims (14, 15)
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16. A travel division line recognition method comprising:
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extracting, of a travel division line recognition apparatus mounted in an own vehicle, 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; calculating, with the processor of the travel division line recognition apparatus, a degree of reliability that the travel division line candidate extracted by the processor will be the travel division line; and selecting, with the processor of the travel division line recognition apparatus, 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, recognizing, with the processor of the travel division line recognition apparatus, solid objects including vehicles, setting, with the processor, a suppression area based on the recognized solid objects, 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; and reducing, with the processor, the degree of reliability of the travel division line candidate present within the suppression area. - View Dependent Claims (17, 18)
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Specification