Lane mark recognition device
First Claim
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1. A lane mark recognizing apparatus comprising:
- a camera mounted on a vehicle that captures an image including a driving road in front of the vehicle; and
an electronic control unit including a processor configured to provide;
an edge extractor that executes an edge extracting process on the image captured by the image capturing unit;
a lane mark recognizer that recognizes lane marks based on edges extracted by the edge extractor; and
a lane mark candidate determiner,wherein the edge extractor separately extracts, from an entire image, edges within a short-distance area in front of the vehicle and edges within a long-distance area located in front of the short-distance area,wherein the lane mark recognizer extracts straight lines based on all the edges extracted from the entire image by the edge extractor,wherein the lane mark candidate determiner determines, from among all the straight lines extracted, straight lines derived from both the edges within the short-distance area and the edges within the long-distance area as lane mark candidates, while excluding the straight lines derived only from the edges existing in the long-distance area, andwherein the lane mark recognizer recognizes, as lane marks, the edges existing within the short-distance area and the long-distance area and located on or in a vicinity of the candidate straight lines determined by the lane mark candidate determiner.
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Abstract
A lane mark recognition device detects an edge located in a proximal area in front of the vehicle, and determines a lane mark candidate on the basis of the detected edge and an edge that is located in a distal area farther than the proximal area in front of the vehicle and that is continuous with the edge. Therefore, an edge of another vehicle (leading vehicle) or the like located in the distal area in a captured image is not detected as a lane mark candidate (is excluded as a non lane mark candidate).
16 Citations
6 Claims
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1. A lane mark recognizing apparatus comprising:
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a camera mounted on a vehicle that captures an image including a driving road in front of the vehicle; and an electronic control unit including a processor configured to provide; an edge extractor that executes an edge extracting process on the image captured by the image capturing unit; a lane mark recognizer that recognizes lane marks based on edges extracted by the edge extractor; and a lane mark candidate determiner, wherein the edge extractor separately extracts, from an entire image, edges within a short-distance area in front of the vehicle and edges within a long-distance area located in front of the short-distance area, wherein the lane mark recognizer extracts straight lines based on all the edges extracted from the entire image by the edge extractor, wherein the lane mark candidate determiner determines, from among all the straight lines extracted, straight lines derived from both the edges within the short-distance area and the edges within the long-distance area as lane mark candidates, while excluding the straight lines derived only from the edges existing in the long-distance area, and wherein the lane mark recognizer recognizes, as lane marks, the edges existing within the short-distance area and the long-distance area and located on or in a vicinity of the candidate straight lines determined by the lane mark candidate determiner. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification