Patent ID: 9542607
Date: 2017-01-10
CPC Classifications: G06K,G06T

Claim:
1. A lane boundary line recognition device comprising: a detection section, using a processor, capable of detecting lane boundary line candidates of a roadway on the basis of frame images of the roadway around an own vehicle transmitted from an in-vehicle camera; a branch judgment section, using a processor, capable of judging whether the lane boundary line candidate detected by the detection section corresponds to a lane boundary line of a branch road; and a recognition section, using a processor, capable of calculating feature values comprising a curvature of the lane boundary line candidate detected by the detection section, and recognizing the lane boundary line on the basis of the calculated feature values, the recognition section comprising: a removing section, using a processor, capable of removing the lane boundary line candidate, which has been judged to correspond to the lane boundary line of the branch road by the branch judgement section, is removed from the lane boundary line candidates; a curvature calculation section, using a processor, capable of calculating a curvature of the lane boundary line candidate on the basis of an estimated rate of change of the curvature of the lane boundary line candidate; and a suppression section, using a processor, capable of resetting the curvature calculated by the curvature calculation section to a past curvature of the lane boundary line candidate calculated a predetermined number of frame images before when the branch judgment section judges that the lane boundary line candidate corresponds to the lane boundary line of the branch road, and resetting the estimated rate of change of the curvature of the lane boundary line candidate to zero, wherein the curvature calculation section calculates the curvature of the lane boundary line candidate on the basis of an estimated rate of a second differential of the curvature of the lane boundary line candidate, and the suppression section resets the estimated value of the second differential of the curvature of the lane boundary line candidate to zero when the branch judgment section judges that the lane boundary line candidate corresponds to the lane boundary line of the branch road.