Patent ID: 9688275
Date: 2017-06-27
CPC Classifications: B60W,G06K,G06T

Claim:
1. A travel lane marking recognition apparatus that is mounted to an own vehicle, the travel lane marking recognition apparatus comprising: an imaging unit that images an area ahead of the own vehicle to generate an image of the area; an edge point extracting unit that extracts edge points from the image; a travel lane marking candidate detecting unit that detects travel lane marking candidates based on the edge points; a travel lane marking probability calculating unit that calculates a travel lane marking probability of each of the travel lane marking candidates based on a predetermined calculation condition; a travel lane marking recognizing unit that recognizes, as a travel lane marking, a travel lane marking candidate having a travel lane marking probability that is a predetermined threshold value or higher, among the travel lane marking candidates; a lane change detecting unit that detects that the own vehicle is in the midst of a lane change; and a condition changing unit that, when the own vehicle is in the midst of a lane change, (i) changes the predetermined calculation condition of the travel lane marking probability to allow the travel lane marking probability to be more easily increased compared to that when the own vehicle is not in the midst of a lane change, or (ii) changes the threshold value to be lower than that when the own vehicle is not in the midst of a lane change.