Invention Grant
US09530063B2 Lane-line recognition apparatus including a masking area setter to set a masking area ahead of a vehicle in an image captured by an image capture unit 有权
车道线识别装置,包括掩蔽区域设定器,用于在由图像捕获单元捕获的图像中设置车辆前方的掩蔽区域

Lane-line recognition apparatus including a masking area setter to set a masking area ahead of a vehicle in an image captured by an image capture unit
Abstract:
An apparatus for recognizing a lane line. In the apparatus, when a three-dimensional object lies in the same lane as a subject vehicle and a distance between the three-dimensional object and the subject vehicle is small in an image acquired by an image capture unit, a masking area setter sets a masking area that is partially truncated at or near a lower end of the three-dimensional object in the image. A degree-of-belief calculator is configured to, for each of the edge points extracted by the edge-point extractor, calculate a degree of belief that the edge point is on the lane line. The degree of belief when the edge point is in the masking area is set less than the degree of belief when the edge point is outside the masking area. A lane-line recognizer is configured to recognize the lane line based on the degrees of belief calculated for the edge points.
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