Invention Grant
- Patent Title: Lane boundary line recognition apparatus
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Application No.: US14977296Application Date: 2015-12-21
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Publication No.: US09911049B2Publication Date: 2018-03-06
- Inventor: Shunsuke Suzuki , Naoki Kawasaki
- Applicant: DENSO CORPORATION
- Applicant Address: JP Kariya, Aichi-pref.
- Assignee: DENSO CORPORATION
- Current Assignee: DENSO CORPORATION
- Current Assignee Address: JP Kariya, Aichi-pref.
- Agency: Knobbe, Martens, Olson & Bear, LLP
- Priority: JP2014-262895 20141225
- Main IPC: G06K9/00
- IPC: G06K9/00 ; B60R1/00 ; B60W30/12 ; H04N7/18

Abstract:
A lane boundary line recognition apparatus acquires an image. Based on edge points extracted from the image, a lane boundary line candidate is extracted, and a lane boundary line probability thereof is calculated. A lane boundary line candidate of which the lane boundary line probability exceeds a threshold is recognized. As the threshold, a first threshold, larger than a second threshold in normal mode, is set when a first condition is met and also a second condition is met. The first condition is that a single lane boundary line is recognized on a roadside side of a lane in which the own vehicle is traveling, and a composite lane boundary line is recognized on a side opposite the roadside side. The second condition is that a state in which a lane boundary line cannot be recognized on at least the opposite side continues for a predetermined amount of time.
Public/Granted literature
- US20160188983A1 LANE BOUNDARY LINE RECOGNITION APPARATUS Public/Granted day:2016-06-30
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