Patent ID: 9280712
Filing Date: 2016-03-08
CPC Classification: G06K,G06T,G08G

Claim Text:
1. An apparatus for recognizing a lane, comprising: an edge point extracting means for processing an image acquired by an in-vehicle camera that acquires an image of a road surface around a vehicle to extract edge points of a lane; a first calculating means for calculating one or more road parameters as near-field road parameters from among a position of the lane, an angle of the lane with respect to a traveling direction of the vehicle, a curvature of the lane, and an interval between a plurality of lane markers in the lane in a width direction, on the basis of near-field edge points corresponding to the lane within a predetermined distance from the vehicle among the edge points extracted by the edge point extracting means; and a second calculating means for calculating distant road parameters as the road parameters on the basis of distant edge points corresponding to the lane that is positioned beyond a predetermined distance from the vehicle among the edge points extracted by the edge extracting means, and the near-field road parameters calculated by the first calculating means, wherein the first calculating means is configured to calculate the near-field road parameters by converting the edge points extracted by the edge point extracting means into coordinates in terms of a planar road surface; the second calculating means is configured to calculate the distant road parameters on the basis of predicted values and measured values; the measured values are the road parameters calculated on the basis of the distant edge points extracted by the edge extracting means; and the predicted values are the road parameters calculated on the basis of the near-field road parameters calculated by the first calculating means and the distant road parameters calculated in past times by the second calculating means.