| 摘要 |
PROBLEM TO BE SOLVED: To provide a lane recognition device for a vehicle, the vehicle, and a lane recognition program for the vehicle, distinguishing diverse colors or kinds of lane marks from a color image of a road on which the vehicle travels to recognize a lane. SOLUTION: This lane recognition device for the vehicle has: a lane mark-detecting image acquisition means 12 for acquiring an image divided into a first image region composed of pixels having pixel values supposed to be image portions of the lane mark defining the lane and a second image region composed of the other pixels from the color image of the road; a clustering means 13 for dividing the first image region into subregions each composed of adjacent pixels; a color determination device 14 which determines a color of each subregion; a lane recognition means 15 for performing line component extraction processing for each group, considering the subregions determined to have the same color as a single group, and recognizing a boundary position of the lane defined by the lane mark from an extracted line component; and a vehicle equipment control means 21 for controlling equipment of the vehicle 1 according to a lane recognition result. COPYRIGHT: (C)2010,JPO&INPIT |
