Lane recognition device

摘要

Provided is a lane recognition device capable of extracting linear elements derived from lane marks from a linear element extraction image obtained by processing a captured image and recognizing lane boundary lines. Local areas 47 are set for a lane extraction area 45 set in a linear element extraction image 40 that each of linear elements is included in one or a plurality of the local areas 47, having a predetermined size, and a local straight line 44 of each local area is determined (vx) and (ψ) associated with the direction and the intersection x with a predetermined reference horizontal line 46 are calculated for each local straight line 44. Each local straight line 44 is defined as one vote, being casted to (vx, ψ) of a voting space 56. Lane boundary lines are recognized from detection straight lines, whose direction and the intersection x determined based on vote results.

主权项

1. A lane recognition device which recognizes a lane on the basis of a captured image of a view ahead of a vehicle obtained by an imaging device, comprising:
a linear element extraction image generating unit which generates a linear element extraction image into which linear elements included in the captured image have been extracted; an area setting unit which sets a lane extraction area in a predetermined range in a vertical direction in the linear element extraction image; a local straight line determining unit which determines a local straight line of each local area on the basis of a linear element part in each local area with respect to each local area in the lane extraction area; an intersection calculating unit which calculates an intersection of each local straight line and a reference horizontal line at a predetermined position in a vertical direction; a voting unit which votes on a direction and an intersection of each local straight line in a voting space having a direction and an intersection as coordinate components; a detecting unit which detects a detection straight line on the basis of a voting result in the voting space; and a recognizing unit which recognizes a lane boundary line based on the detection straight line, wherein the area setting unit divides the linear element extraction image into a plurality of lane extraction areas in the vertical direction, the voting unit casts a vote to each voting space associated with each lane extraction area on the basis of each local straight line of the lane extraction area associated with the voting space, the detecting unit detects the detection straight line for each lane extraction area on the basis of the voting result of each voting space, the recognizing unit recognizes a lane boundary line in the linear element extraction image on the basis of connected detection straight lines of each lane extraction area, the local straight line determining unit divides a direction of a predetermined range into a first predetermined number of directional sections and determines the direction of each local straight line by assigning the direction of each local straight line to a corresponding directional section, the intersection calculating unit divides the reference horizontal line into a second predetermined number of positional sections and determines the intersection of each local straight line and the reference horizontal line by assigning the intersection to an intersectional section serving as a corresponding positional section, and the voting unit makes coordinate components of a direction and an intersection defined in the voting space coincide with the directional section and the intersectional section.