| 摘要 |
PROBLEM TO BE SOLVED: To provide a travel section line recognition apparatus for facilitating recognition of a travel section line even during changing lanes.SOLUTION: A travel section line recognition apparatus (1) includes: a pickup unit (3) for picking up the ahead of a vehicle itself (101) to generate an image; an edge point extraction unit (9) for extracting an edge point from the image; a travel section line candidate detection unit (11) for detecting a travel section line candidate on the basis of the edge point; a travel section line likelihood calculation unit (13) for calculating a travel section line likelihood of the travel section line candidate; a travel section line recognition unit (15) for recognizing, as a travel section line, one whose travel section line likelihood is equal to or more than a pre-set threshold, from among the travel section line candidates; a lane change detection unit (17) for detecting an event that the vehicle itself is in changing lanes; and a condition change unit (19) for changing (a) a condition for calculating a travel section line likelihood so that a travel section line likelihood tends to increase in comparison with the case of not changing lanes, or (b) lowering the threshold in comparison with the aforementioned case, in a case where the vehicle itself is changing lanes.SELECTED DRAWING: Figure 1 |
