Patent ID: 9460352
Filing Date: 2016-10-04
CPC Classification: G06K,G06T

Claim Text:
1. A lane boundary line recognition device comprising: an image acquiring unit capable of acquiring surrounding images of a roadway on which an own vehicle drives; a drive lane boundary line candidate extraction unit capable of extracting lane boundary line candidates from the surrounding images acquired by the image acquiring unit; a likelihood calculation unit capable of calculating a likelihood of each of the lane boundary line candidates; a drive lane boundary line recognition unit capable of recognizing, as a lane boundary line, a lane boundary line candidate having the likelihood of not less than a predetermined threshold value; a selection unit capable of selecting a predetermined number of the lane boundary line candidates having the likelihood of not less than the predetermined threshold value; a drive lane information acquiring unit capable of obtaining drive lane information containing a number of drive lanes on the roadway on which the own vehicle drives, and a width of each of the drive lanes; a drive lane specifying unit capable of correlating the surrounding images acquired by the image acquiring unit with the drive lane information, and specifying an own vehicle lane on which the own vehicle drives in the drive lanes indicated by the drive lane information; and a drive lane boundary line position estimation unit capable of estimating a position of each of the lane boundary lines on the basis of the drive lane information when two conditions (a) and (b) are satisfied: (a) when the own vehicle drives on the drive lane specified as the own vehicle lane by the drive lane specifying unit, and (b) when the lane boundary line candidates selected by the selection unit correspond to lane boundary lines of the drive lane specified by (a), wherein the likelihood calculation unit increases the likelihood of the lane boundary line candidate when a distance between the position of the lane boundary line candidate obtained from the surrounding images acquired by the image acquiring unit and the estimated position of the lane boundary line candidate obtained by the drive lane boundary line position estimation unit is within a predetermined range.