LANE BOUNDARY LINE RECOGNITION DEVICE AND COMPUTER-READABLE STORAGE MEDIUM STORING PROGRAM OF RECOGNIZING LANE BOUNDARY LINES ON ROADWAY

摘要

An in-vehicle camera obtains image frames of a scene surrounding an own vehicle on a roadway. An extracting section in a lane boundary line recognition device extracts white line candidates from the image frames. The white line candidates indicate a degree of probability of white lines on an own vehicle lane on the roadway and a white line of a branch road which branches from the roadway. A branch judgment section calculates a likelihood of the white line as the white line of the branch road, and judges whether or not the white line candidate is the white line of the branch road based on the calculated likelihood. The branch judgment section decreases the calculated likelihood when a recognizable distance of the lane boundary line candidate monotonically decreases in a predetermined number of the image frames.

主权项

1. A lane boundary line recognition device comprising:
a detection section capable of detecting lane boundary line candidates on a roadway on which an own vehicle drives on the basis of image frames of a surrounding area of the own vehicle on the roadway, captured by an in-vehicle camera mounted on the own vehicle; and a branch judgment section capable of calculating a likelihood which indicates a degree of whether each of the lane boundary line candidates detected by the detection section is a lane boundary line of a branch road, the branch road branching from the roadway, and the branch judgment section judging whether or not the lane boundary line candidate detected by the detection section is the lane boundary line of the branch road on the basis of the calculated likelihood, the branch judgment section increasing the likelihood of the lane boundary line candidate when a recognizable distance of the lane boundary line candidate monotonically decreases in a predetermined number of the image frames, where the recognizable distance indicates a distance to a farthest recognizable end point of the lane boundary line candidate.