LANE BOUNDARY LINE RECOGNITION APPARATUS

摘要

A lane boundary line recognition apparatus acquires an image. Based on edge points extracted from the image, a lane boundary line candidate is extracted, and a lane boundary line probability thereof is calculated. A lane boundary line candidate of which the lane boundary line probability exceeds a threshold is recognized. As the threshold, a first threshold, larger than a second threshold in normal mode, is set when a first condition is met and also a second condition is met. The first condition is that a single lane boundary line is recognized on a roadside side of a lane in which the own vehicle is traveling, and a composite lane boundary line is recognized on a side opposite the roadside side. The second condition is that a state in which a lane boundary line cannot be recognized on at least the opposite side continues for a predetermined amount of time.

主权项

1. A lane boundary line recognition apparatus that is mounted to an own vehicle, the lane boundary line recognition apparatus comprising:
an image acquiring unit that images a road surface ahead of an own vehicle and acquires an image; an edge point extracting unit that extracts edge points from the image; a lane boundary line candidate extracting unit that extracts a lane boundary line candidate based on the edge points; a lane boundary line probability calculating unit that calculates a lane boundary line probability of the lane boundary line candidate; a lane boundary line recognizing unit that recognizes a lane boundary line candidate of which the lane boundary line probability exceeds a threshold as a lane boundary line; and a threshold setting unit that sets a first threshold as the threshold when a first condition is met and also a second condition is met, the first threshold being larger than a second threshold that is a predetermined threshold in normal mode, the first condition being a condition that a single lane boundary line is recognized on a roadside side of a lane in which the own vehicle is traveling, and a composite lane boundary line is recognized on a side opposite the roadside side, the second condition being a condition that a state in which a lane boundary line cannot be recognized on at least the opposite side continues for a predetermined amount of time.