| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a boundary line recognition device that enables suppression of a wrong recognition of a boundary line in a far distance from a vehicle.SOLUTION: The boundary line recognition device comprises: a camera 10 that photographs a travelling road; a boundary line candidate extraction part 20 that extracts an edge candidate point of a boundary line segmenting the travelling road on the basis of luminance of a photographed image, and extracts a candidate line of the boundary line from continuity of extracted edge candidate points; a width calculation part 31 that calculates an apparent width on the image of the candidate line from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line with respect to a vertical direction of the image in the extracted candidate line of the boundary line; a boundary line characteristic calculation part 30 in which the higher a degree of the candidate line including a characteristic as the boundary line is, the higher a probability that the candidate line is the boundary line is calculated; and a boundary line recognition part 60 that integrates the calculated probability for a plurality of characteristics calculated by the boundary line characteristic calculation part 30, and recognizes the boundary line. The plurality of characteristics as the boundary line includes that a ratio of the apparent width calculated by the width calculation part 31 to indistinctness of the image is larger than a predetermined value.</p> |
