Lane recognition device
AssigneeHonda Motor Co., Ltd.
InventorNaoki MORI
Life of this patent
Estimating the term…
Abstract
A demarcation line candidate recognizing unit recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on edge points having predetermined continuity in an image captured by a camera. A demarcation line candidate modifying unit excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in the case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on the edge points having predetermined continuity among the edge points which have not been excluded.
Claims8
A lane recognition device comprising:
- an edge point extracting unit which extracts edge points whose luminance difference from a surrounding portion is equal to or more than a predetermined level from an image captured by a camera mounted in a vehicle;
- a demarcation line candidate recognizing unit which recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on the edge points having predetermined continuity;
- and
- a demarcation line candidate modifying unit which excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in a case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on the edge points having the predetermined continuity among the edge points which were not excluded.
A vehicle comprising:
- a camera which captures an image of surroundings;
- an edge point extracting unit which extracts edge points whose luminance difference from a surrounding portion is equal to or more than a predetermined level from an image captured by the camera;
- a demarcation line candidate recognizing unit which recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on the edge points having predetermined continuity;
- and
- a demarcation line candidate modifying unit which excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in a case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on the edge points having the predetermined continuity among the edge points which were not excluded.
A lane recognition method comprising:
- an edge point extracting step of extracting edge points whose luminance difference from a surrounding portion is equal to or more than a predetermined level from an image captured by a camera mounted in a vehicle;
- a demarcation line candidate recognizing step of recognizing demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on the edge points having predetermined continuity;
- a demarcation line candidate modifying step of excluding edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in a case where parallelism between the pair of right and left demarcation line candidates recognized in the demarcation line candidate recognizing step is equal to or less than a predetermined level and re-recognizing the pair of right and left demarcation line candidates based on the edge points having the predetermined continuity among the edge points which were not excluded;
- an excluded edge point information holding step of holding information of the edge points excluded in the demarcation line candidate modifying step;
- and
- a parallelism recovering step of recognizing the pair of demarcation line candidates by using the information of the edge points held in the excluded edge point information holding step in a next demarcation line candidate recognizing step in a case where the parallelism between the pair of right and left demarcation line candidates recognized in the demarcation line candidate recognizing step shifts from a state of being the predetermined level or less to a state of exceeding the predetermined level.
Dependencies are inferred from the claim text.