JP2018152102A5 - - Google Patents
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- JP2018152102A5 JP2018152102A5 JP2018087940A JP2018087940A JP2018152102A5 JP 2018152102 A5 JP2018152102 A5 JP 2018152102A5 JP 2018087940 A JP2018087940 A JP 2018087940A JP 2018087940 A JP2018087940 A JP 2018087940A JP 2018152102 A5 JP2018152102 A5 JP 2018152102A5
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- 238000005192 partition Methods 0.000 claims description 99
- 230000002093 peripheral Effects 0.000 claims description 64
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- 230000035499 peripheral compartment Effects 0.000 claims description 8
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Description
この発明に係る路上区画線認識装置は、移動体の前方の路面を撮像する前方撮像部と、前方撮像部が撮像した画像から、路面上の区画線を前方区画線として検出する前方区画線検出部と、移動体の周辺の路面を撮像する周辺撮像部と、周辺撮像部が撮像した画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出部と、前方区画線と周辺区画線とに基づいて、路面上の区画線を認識する区画線認識部と、を備え、区画線認識部は、路面上の区画線を認識するにあたって、移動体と区画線とのオフセット距離および区画線の傾き成分については、前方区画線に対して周辺区画線が反映されやすいようにするものである。
また、この発明に係る路上区画線認識装置は、移動体の前方の路面を撮像する前方撮像部と、前方撮像部が撮像した画像から、路面上の区画線を前方区画線として検出する前方区画線検出部と、移動体の周辺の路面を撮像する周辺撮像部と、周辺撮像部が撮像した画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出部と、前方区画線と周辺区画線とに基づいて、路面上の区画線を認識する区画線認識部と、を備え、区画線認識部は、路面上の区画線を認識するにあたって、区画線の曲線成分については、前方区画線に対して周辺区画線が反映されにくいようにするものである。
The present invention street division line recognition apparatus according to the a front imaging unit that captures an image of a road surface in front of the moving object, the forward compartment detected from an image front imaging unit has captured the division line on the road surface and the front partition line a line detector, and a peripheral imaging unit that captures an image of a road surface around the moving body from the image peripheral imaging unit has captured the peripheral compartment ray detector for detecting the division line on the road surface by a peripheral partition line, front based on the division line and a peripheral partition lines, and a partition Sen認識部recognizes lane lines on the road surface, compartment Sen認識部is, when recognizing a lane mark on the road surface, partitioned from the mobile the inclination component of the offset distance and partition lines between the line, it is desirable to make easier the peripheral compartment ray is reflected against the front partition line.
Moreover, road division line recognition apparatus according to the present invention includes a front imaging unit that captures an image of a road surface in front of the moving object, from the image front imaging unit has captured, detects a division line on the road surface by the front partition line a front compartment ray detector, and a peripheral imaging unit that captures an image of a road surface around the moving body from the image peripheral imaging unit has captured the peripheral compartment ray detector for detecting the division line on the road surface by a peripheral partition line , based on the front division line and a peripheral partition lines, and a partition Sen認識部recognizes lane lines on the road surface, compartment Sen認識部is, when recognizing a lane mark on the road surface, the partition line the curve component, it is desirable to make the peripheral compartment line is unlikely to be reflected against the front partition line.
以上のように、実施の形態１によれば、前方撮像部は、移動体の前方を撮像し、前方区画線検出部は、前方撮像部が撮像した画像から、路面上の区画線を前方区画線として検出するとともに、前方区画線の信頼度を第１信頼度として算出し、周辺撮像部は、移動体の周辺を撮像し、周辺区画線検出部は、周辺撮像部が撮像した画像から、路面上の区画線を周辺区画線として検出するとともに、周辺区画線の信頼度を第２信頼度として算出し、区画線認識部は、前方区画線と周辺区画線とを、第１信頼度および第２信頼度に基づいて選択または組み合わせることで、路面上の区画線を認識する。
これにより、検知対象の距離およびカメラの画角が互いに異なる前方検知カメラ部１と周辺検知カメラ部２とで撮像した画像から、それぞれ自車の走行車線を検出し、前方検知カメラ画像と周辺検知カメラ画像とから検出した走行車線を組み合わせることで、自車の走行車線を精度良く検出することができる。
すなわち、路面上の区画線を高精度に認識することができる。
As described above, according to the first embodiment, the front imaging unit, the captured forward direction of the moving body, the front division line detection unit, from the image front imaging unit has captured the front compartment of the division line on the road surface and detects in a line, image and calculates the reliability of the front partition lines as a first reliability, peripheral imaging unit images the vicinity of the moving body, around division line detection unit, the peripheral imaging unit has captured from detects a lane mark on the road surface by a peripheral partition lines, and calculates the reliability of the peripheral partition lines as a second reliability compartment Sen認識部includes a front partition lines and peripheral division line, A division line on the road surface is recognized by selecting or combining based on the first reliability and the second reliability.
Thereby, the traveling lane of the own vehicle is detected from the images captured by the front detection camera unit 1 and the peripheral detection camera unit 2 having different detection target distances and different camera angles, respectively, and the front detection camera image and the peripheral detection are detected. by combining the driving lane detected from the camera image, it is possible to accurately detect the vehicle line of the vehicle.
That is, the marking line on the road surface can be recognized with high accuracy.
また、区画線認識部は、第１信頼度および第２信頼度に基づいて、前方区画線と周辺区画線との重みを変動させて、路面上の区画線を認識する。
これにより、自車前方車線と自車周辺車線との検知の信頼度の高い区画線が反映されやすいように、自車走行車線の区画線を算出することで、自車の走行車線を精度良く検出することができる。
Further, partition Sen認識部, based on the first reliability and the second reliability, by varying the weight of the front division line and peripheral division line, it recognizes the division line on the road surface.
Thus, as higher stall line reliability of the detection of the vehicle ahead lane and the vehicle near a lane it is likely to be reflected, by calculating the separation lines of the host vehicle traveling lane, precision vehicle line of the vehicle It can be detected well.
また、区画線認識部は、前方区画線および周辺区画線に基づいて、移動体と区画線とのオフセット距離、および移動体と区画線との傾きを算出する。
これにより、周辺検知カメラ部２は、自車周辺を撮像の対象としているため、自車と区画線とのオフセット距離や自車と区画線との傾きを正確に算出することができるため、自車と区画線とのオフセット距離および自車と区画線との傾きを自車前方車線と自車周辺車線とに基づいて算出することで、自車の走行車線を精度良く検出することができる。
Further, partition Sen認識部, based on the peripheral partition lines and contact front division line, and calculates the inclination of the offset distance between the partition lines and the mobile, and the moving body and the division line.
As a result, since the periphery detection camera unit 2 captures the periphery of the own vehicle, the offset distance between the own vehicle and the lane line and the inclination between the own vehicle and the lane line can be accurately calculated. by calculating based car and the offset distance and the vehicle with the division line the slope of the lane markings and host vehicle forward lane and the vehicle near a lane, it is possible to accurately detect the vehicle line of the vehicle .
また、区画線認識部は、移動体の左側面または左ミラー、もしくは移動体の右側面または右ミラーに設けられた周辺撮像部が撮像した画像により算出された、移動体と区画線とのオフセット距離、および移動体と区画線との傾きの信頼度を高くして、重みを重くする。
これにより、左右のサイドカメラは、自車のタイヤ位置と区画線とを撮像することができるため、自車と区画線とのオフセット距離や自車と区画線との傾きを正確に算出することができるため、左右のサイドカメラ画像から算出した自車と区画線とのオフセット距離および傾き情報の信頼度を高くすることで、自車の走行車線を精度良く検出することができる。
Further, partition Sen認識部the peripheral imaging unit provided on the right side or right mirror on the left side or the left mirror, or mobile of the moving body is calculated by the image captured, the division line between the mobile The reliability of the offset distance and the inclination of the moving body and the partition line is increased to increase the weight.
As a result, the left and right side cameras can take an image of the tire position and lane markings of the vehicle, and therefore accurately calculate the offset distance between the vehicle and the lane marking and the inclination between the vehicle and the lane marking. since it is, by increasing the reliability of the offset distance and the inclination information of the vehicle which is calculated from the right and left side camera image and the division line, it is possible to accurately detect the vehicle line of the vehicle.
また、区画線認識部で認識された、路面上の区画線に従って、移動体を移動させる操舵支援部と、区画線認識部で認識された、路面上の区画線に対して、移動体が逸脱することが予想される場合に、移動体のユーザに警告する逸脱警告部とをさらに備えている。
これにより、精度良く自車走行車線を検出した上で、ＬＫＡ制御やＬＤＷ制御の性能を高めることができる。
It was also recognized in compartment Sen認識部, hence the partition lines on the road surface, the steering assist unit for moving a moving body, which is recognized by the partition Sen認識部, for the division line on the road surface, the mobile A departure warning unit that warns a user of the mobile body when the body is expected to deviate.
As a result, it is possible to improve the performance of LKA control and LDW control after accurately detecting the vehicle lane.
以上のように、実施の形態２によれば、前方撮像部に対する太陽光の入射角を検出する太陽光入射角判断部をさらに備え、区画線認識部は、前方区画線と周辺区画線とを、第１信頼度、第２信頼度および入射角に基づいて選択または組み合わせることで、路面上の区画線を認識する。
これにより、検知対象の距離およびカメラの画角が互いに異なる前方検知カメラ部１と周辺検知カメラ部２とで撮像した画像から、それぞれ自車の走行車線を検出し、前方検知カメラ画像と周辺検知カメラ画像とから検出した走行車線を組み合わせることで、前方カメラとって逆光の場合であっても、自車の走行車線を精度良く検出することができる。
As described above, according to the second embodiment, further comprising a solar incidence angle determination unit for detecting the angle of incidence of sunlight with respect to the front imaging unit, compartment Sen認識部includes a front partition lines and peripheral division line Are selected or combined based on the first reliability, the second reliability, and the incident angle, thereby recognizing the marking line on the road surface.
Thereby, the traveling lane of the own vehicle is detected from the images captured by the front detection camera unit 1 and the peripheral detection camera unit 2 having different detection target distances and different camera angles, respectively, and the front detection camera image and the peripheral detection are detected. by combining the driving lane detected from the camera image, even when the backlight taking front camera, it is possible to accurately detect the vehicle line of the vehicle.
また、区画線認識部は、入射角に基づいて前方区画線と周辺区画線との重みを変動させて、路面上の区画線を認識する。
これにより、前方カメラとって逆光の場合に、撮像した画像全体が白く光ったようになり、区画線の検知精度が低下するため、周辺カメラから算出した自車走行車線の重みを高くすることで、自車の走行車線を精度良く検出することができる。
Further, partition Sen認識部is varied the weight of the front division line and a peripheral compartment lines based on the angle of incidence, recognizes the division line on the road surface.
As a result, when the front camera is backlit, the entire captured image appears to shine white, and the detection accuracy of the lane marking decreases, so by increasing the weight of the vehicle lane calculated from the surrounding camera, , it is possible to accurately detect the vehicle line of the vehicle.
また、区画線認識部で認識された、路面上の区画線に従って、移動体を移動させる操舵支援部と、区画線認識部で認識された、路面上の区画線に対して、移動体が逸脱することが予想される場合に、移動体のユーザに警告する逸脱警告部とをさらに備えている。
これにより、精度良く自車走行車線を検出した上で、ＬＫＡ制御やＬＤＷ制御の性能を高めることができる。
It was also recognized in compartment Sen認識部, hence the partition lines on the road surface, the steering assist unit for moving a moving body, which is recognized by the partition Sen認識部, for the division line on the road surface, the mobile A departure warning unit that warns a user of the mobile body when the body is expected to deviate.
As a result, it is possible to improve the performance of LKA control and LDW control after accurately detecting the vehicle lane.
１ 前方検知カメラ部（前方撮像部）、２ 周辺検知カメラ部（周辺撮像部）、３ 前方走行車線検出部（前方区画線検出部）、４ 周辺走行車線検出部（周辺区画線検出部）、５ 自車走行車線認識部（区画線認識部）、６ 車両状況通知部、７ ハンドル操舵制御部（操舵支援部）、８ 車線逸脱判定部（逸脱警告部）、９ ハンドル制御部、１０ 音声出力部、１１ ナビゲーション装置部、１２ 太陽光入射角判断部。 DESCRIPTION OF SYMBOLS 1 Front detection camera part (front imaging part), 2 periphery detection camera part (peripheral imaging part), 3 front traveling lane detection part (front lane marking detection part), 4 peripheral traveling lane detection part (periphery lane marking detection part), 5 host vehicle traveling lane recognition unit (compartment Sen認識部) 6 vehicle condition notifying unit, 7 steering controller (steering assist unit), 8 lane deviation determining section (departure warning unit), 9 handle control unit, 10 voice Output unit, 11 navigation device unit, 12 sunlight incident angle determination unit.
Claims (28)
前記前方撮像部が撮像した画像から、路面上の区画線を前方区画線として検出する前方区画線検出部と、
前記移動体の周辺の路面を撮像する周辺撮像部と、
前記周辺撮像部が撮像した画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出部と、
前記前方区画線と前記周辺区画線とに基づいて、前記路面上の区画線を認識する区画線認識部と、
を備え、
前記区画線認識部は、前記路面上の区画線を認識するにあたって、
前記移動体と前記区画線とのオフセット距離および区画線の傾き成分については、前記前方区画線に対して前記周辺区画線が反映されやすいようにする
路上区画線認識装置。 A front imaging unit that images the road surface in front of the moving body;
From the image the front imaging unit has captured a front compartment ray detector for detecting the division line on the road surface by the front partition line,
A peripheral imaging unit that images a road surface around the moving body;
From an image the peripheral imaging unit has captured the peripheral compartment ray detector for detecting the division line on the road surface by a peripheral partition line,
On the basis of the forward compartment line and said peripheral partition lines, and recognizes compartment Sen認識部the division line on the road surface,
With
The partition Sen認識部is, when recognizing a lane mark on the road surface,
Wherein the inclination component of the offset distance and separation lines of the moving member and the partition lines, road compartment line recognition system to make the peripheral partition lines for the front compartment line is likely to be reflected.
前記前方撮像部が撮像した画像から、路面上の区画線を前方区画線として検出する前方区画線検出部と、
前記移動体の周辺の路面を撮像する周辺撮像部と、
前記周辺撮像部が撮像した画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出部と、
前記前方区画線と前記周辺区画線とに基づいて、前記路面上の区画線を認識する区画線認識部と、
を備え、
前記区画線認識部は、前記路面上の区画線を認識するにあたって、
前記区画線の曲線成分については、前記前方区画線に対して前記周辺区画線が反映されにくいようにする
路上区画線認識装置。 A front imaging unit that images the road surface in front of the moving body;
From the image the front imaging unit has captured a front compartment ray detector for detecting the division line on the road surface by the front partition line,
A peripheral imaging unit that images a road surface around the moving body;
From an image the peripheral imaging unit has captured the peripheral compartment ray detector for detecting the division line on the road surface by a peripheral partition line,
On the basis of the forward compartment line and said peripheral partition lines, and recognizes compartment Sen認識部the division line on the road surface,
With
The partition Sen認識部is, when recognizing a lane mark on the road surface,
The partition lines for curve components, road lane mark recognition apparatus to make the peripheral partition lines for the forward lane line is less likely to be reflected.
前記周辺区画線検出部は、前記周辺撮像部が撮像した画像から、前記路面上の区画線を前記周辺区画線として検出するとともに、前記周辺区画線の信頼度を第２信頼度として算出し、
前記区画線認識部は、前記第１信頼度および前記第２信頼度に基づいて、前記前方区画線と前記周辺区画線との選択または組み合わせる重みを変動させて、前記路面上の区画線を認識する
請求項１または請求項２に記載の路上区画線認識装置。 Said forward compartment ray detection unit is calculated from the image of the front image capturing section has captured the division line on the road surface and detects in said forward partition lines, the reliability of the front partition lines as first reliability And
The peripheral compartment ray detection unit is calculated from the image of the peripheral imaging unit has captured the division line on the road surface and detects as the said peripheral partition lines, the reliability of the peripheral partition lines as a second reliability And
The partition Sen認識部is on the basis of the first reliability and the second reliability, the at varying selected or combined weight of the front division line and said peripheral partition lines, the division line on the road surface The road marking line recognition device according to claim 1 or 2.
請求項１から請求項３までのいずれか１項に記載の路上区画線認識装置。 The partition Sen認識部are claims on the basis of the forward lane line contact and the peripheral partition lines, and calculates the inclination of the offset distance between the moving body and the division line, and said moving member and the partition line The road marking line recognition device according to any one of claims 1 to 3.
請求項４に記載の路上区画線認識装置。 The partition Sen認識部, the peripheral imaging unit provided on the right side of the left side or the moving body of the moving body is calculated by the image captured, the offset distance between the partition lines with the mobile, The road lane marking recognition apparatus according to claim 4, wherein the reliability of the inclination between the moving body and the lane marking is increased to increase the weight of selection or combination.
前記区画線認識部は、前記前方区画線と前記周辺区画線とを、前記第１信頼度、前記第２信頼度および前記入射角に基づいて選択または組み合わせることで、前記路面上の区画線を認識する
請求項３に記載の路上区画線認識装置。 A solar incident angle determination unit for detecting an incident angle of sunlight with respect to the front imaging unit;
The partition Sen認識部has a said peripheral partition lines and the front partition lines, the first reliability, the at select or combine it on the basis of second reliability and the incident angle, lane lines on the road surface road division line recognition apparatus according to claim 3 recognizes.
請求項６に記載の路上区画線認識装置。 The partition Sen認識部is said on the basis of the angle of incidence varying the selection or combining weights of said peripheral partition lines and the front partition lines, streets of claim 6 which recognizes the lane mark on the road surface A lane marking recognition device.
請求項６に記載の路上区画線認識装置。 The road marking line recognition device according to claim 6, wherein the sunlight incident angle determination unit detects the position of the sun in the image captured by the front imaging unit, and calculates the incident angle of sunlight from the detected position.
請求項６に記載の路上区画線認識装置。 The road marking line recognition according to claim 6, wherein the sunlight incident angle determination unit calculates an incident angle of sunlight based on a direction and a length of a shadow of the moving body in an image captured by the peripheral imaging unit. apparatus.
請求項６に記載の路上区画線認識装置。 The road marking line recognition device according to claim 6, wherein the sunlight incident angle determination unit calculates an incident angle of sunlight from map information of car navigation, GPS position information and time information, and vehicle CAN information. .
請求項３から請求項１０までのいずれか１項に記載の路上区画線認識装置。 The partition Sen認識部, when the first reliability is lower than a preset value, said peripheral partition lines or et of the division line on the road surface from recognizing claims 3 to 10 The road marking line recognition apparatus according to any one of the preceding claims.
前記前方撮像ステップで撮像された画像から、路面上の区画線を前方区画線として検出する前方区画線検出ステップと、
前記移動体の周辺の路面を撮像する周辺撮像ステップと、
前記周辺撮像ステップで撮像された画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出ステップと、
前記前方区画線と前記周辺区画線とに基づいて、前記路面上の区画線を認識する区画線認識ステップと、
を備え、
前記区画線認識ステップでは、前記路面上の区画線を認識するにあたって、
前記移動体と前記区画線とのオフセット距離および区画線の傾き成分については、前記前方区画線に対して前記周辺区画線が反映されやすいようにする
路上区画線認識方法。 A front imaging step of imaging the road surface ahead of the moving body;
From the image the captured forward image pickup step, a front division line detection step of detecting a lane mark on the road surface by the front partition line,
Peripheral imaging step of imaging the road surface around the moving body;
From the image the captured around the imaging step, a peripheral partition line detection step of detecting a lane mark on the road surface by a peripheral partition line,
On the basis of the peripheral partition lines and the front partition lines, and partition Sen認 identification step recognizes the lane mark on the road surface,
With
In the partition Sen認 identification step, when recognizing the division line on the road surface,
Wherein the inclination component of the offset distance and separation lines of the moving member and the partition lines, road division line recognition method to be easy to said peripheral partition line is reflected against the front partition lines.
前記前方撮像ステップで撮像された画像から、路面上の区画線を前方区画線として検出する前方区画線検出ステップと、
前記移動体の周辺の路面を撮像する周辺撮像ステップと、
前記周辺撮像ステップで撮像された画像から、路面上の区画線を周辺区画線として検出する周辺区画線検出ステップと、
前記前方区画線と前記周辺区画線とに基づいて、前記路面上の区画線を認識する区画線認識ステップと、
を備え、
前記区画線認識ステップでは、前記路面上の区画線を認識するにあたって、
前記区画線の曲線成分については、前記前方区画線に対して前記周辺区画線が反映されにくいようにする
路上区画線認識方法。 A front imaging step of imaging the road surface ahead of the moving body;
From the image the captured forward image pickup step, a front division line detection step of detecting a lane mark on the road surface by the front partition line,
Peripheral imaging step of imaging the road surface around the moving body;
From the image the captured around the imaging step, a peripheral partition line detection step of detecting a lane mark on the road surface by a peripheral partition line,
On the basis of the peripheral partition lines and the front partition lines, and partition Sen認 identification step recognizes the lane mark on the road surface,
With
In the partition Sen認 identification step, when recognizing the division line on the road surface,
Wherein the curve component separation lines, road division line recognition method to make the peripheral partition lines for the forward lane line is less likely to be reflected.
前記前方撮像ステップで撮像された画像から、路面上の区画線を前方区画線として検出するとともに、前記前方区画線の信頼度を第１信頼度として算出し、
前記周辺区画線検出ステップでは、
前記周辺撮像ステップで撮像された画像から、路面上の区画線を周辺区画線として検出するとともに、前記周辺区画線の信頼度を第２信頼度として算出し、
前記区画線認識ステップでは、前記第１信頼度および前記第２信頼度に基づいて、前記前方区画線と前記周辺区画線との選択または組み合わせる重みを変動させて、前記路面上の区画線を認識する
請求項１２または請求項１３に記載の路上区画線認識方法。 In the front lane marking detection step,
From the image the captured forward image pickup step, and detects the division line on the road surface by the front partition line, and calculates the reliability of the front partition lines as a first reliability,
In the peripheral lane marking detection step,
From the captured image in the vicinity of the pickup step, and detects the division line on the road surface by a peripheral partition lines, and calculates the reliability of the peripheral partition lines as a second reliability,
In the partition Sen認 identification step, on the basis of the first reliability and the second reliability, the at varying selected or combined weight of the front division line and said peripheral partition lines, the division line on the road surface The road marking line recognition method according to claim 12 or claim 13.
請求項１２から請求項１４までのいずれか１項に記載の路上区画線認識方法。 Claim in the partition Sen認 identification step, based on said forward compartment line contact and the peripheral partition lines, and calculates the inclination of the offset distance, and between the mobile body and the partition line between the partition lines with the mobile The road marking line recognition method according to any one of claims 12 to 14.
請求項１５に記載の路上区画線認識方法。 The partition in Sen認 identification step, the peripheral imaging unit in the vicinity of the pickup step provided on the right side of the left side surface or the movement of the moving body is calculated by the image captured, the partition lines with the mobile The road lane marking recognition method according to claim 15, wherein the offset distance between the movable body and the slope of the moving body and the lane marking is increased to increase the weight of selection or combination.
前記区画線認識ステップでは、前記前方区画線と前記周辺区画線とを、前記第１信頼度、前記第２信頼度および前記入射角に基づいて選択または組み合わせることで、前記路面上の区画線を認識する
請求項１４に記載の路上区画線認識方法。 A solar incident angle determination step of detecting an incident angle of sunlight with respect to the front imaging unit in the front imaging step,
Wherein in the compartment Sen認 identifies step, and said peripheral partition lines and the front partition lines, the first reliability, by selecting or combining based on the second reliability and the incident angle, lane lines on the road surface road division line recognition method according to recognized claim 14.
請求項１７に記載の路上区画線認識方法。 Wherein in the compartment Sen認 identification step, said based on the angle of incidence varying the weights of the peripheral partition lines and the front partition lines, road division line recognition according to recognized claim 17 lane mark on the road surface Method.
請求項１７に記載の路上区画線認識方法。 The road segment according to claim 17, wherein in the sunlight incident angle determination step, the position of the sun in the image captured by the front imaging unit in the front imaging step is detected, and the incident angle of sunlight is calculated from the detected position. Line recognition method.
請求項１７に記載の路上区画線認識方法。 18. The sunlight incident angle determination step calculates a sunlight incident angle based on a shadow direction and a length of the moving body in an image captured by a peripheral imaging unit in the peripheral imaging step. Roadside lane marking recognition method.
請求項１７に記載の路上区画線認識方法。 The road lane marking recognition method according to claim 17, wherein in the sunlight incident angle determination step, an incident angle of sunlight is calculated from map information of car navigation, GPS position information and time information, and vehicle CAN information. .
請求項１４から請求項２１までのいずれか１項に記載の路上区画線認識方法。 In the partition Sen認 identification step, when the first reliability is lower than a preset value, of the peripheral partition lines or al, the division line on the road surface from recognizing claims 14 to 21 The road marking line recognition method according to any one of the preceding claims.
前記区画線認識部で認識された、前記路面上の区画線に従って、前記移動体を移動させる操舵支援部を備えた
運転支援装置。 A road marking line recognition device according to any one of claims 1 to 11,
The partition recognized in Sen認識部, hence the partition lines on the road surface, the driving support apparatus having a steering support portion for moving the movable body.
請求項２３に記載の運転支援装置。 The recognized in compartment Sen認識部, for the division line on the road surface, when the movable body is expected to deviate, further comprising a deviation warning unit for warning a user of the mobile The driving support device according to claim 23.
前記区画線認識部で認識された、前記路面上の区画線に対して、前記移動体が逸脱することが予想される場合に、前記移動体のユーザに警告する逸脱警告部を備えた
運転支援装置。 A road marking line recognition device according to any one of claims 1 to 11,
The recognized in compartment Sen認識部, for the division line on the road driving, when the moving body is expected to deviate, with a deviation warning unit for warning a user of the mobile Support device.
前記区画線認識ステップで認識された、前記路面上の区画線に従って、前記移動体を移動させる操舵支援ステップを備えた
運転支援方法。 A road marking line recognition method according to any one of claims 12 to 22,
The partition Sen認 identified recognized in step, thus the partition line on the road surface, driving support method with a steering assistance step of moving the movable body.
請求項２６に記載の運転支援方法。 The recognized in compartment Sen認 identification step, for the division line on the road surface, when the movable body is expected to deviate, further comprising a departure warning step of warning the user of the mobile The driving support method according to claim 26.
前記区画線認識ステップで認識された、前記路面上の区画線に対して、前記移動体が逸脱することが予想される場合に、前記移動体のユーザに警告する逸脱警告ステップを備えた
運転支援方法。 A road marking line recognition method according to any one of claims 12 to 22,
The recognized in compartment Sen認 identification step, for the division line on the road driving, when the moving body is expected to deviate, with the departure warning step of warning the user of the mobile Support method.
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