Patent ID: 8391555
Filing Date: 2013-03-05
Classification: G06K,H04N

Abstract:
1. A lane recognition apparatus for a vehicle which recognizes a lane along which a vehicle is traveling from a color image of a road acquired via an imaging device mounted on the vehicle, comprising: a lane mark detection image acquisition device which acquires a lane mark detection image, which is divided into a first image region composed of pixels having pixel values supposed to be image portions of a lane mark defining the lane and a second image region composed of other pixels, from the color image of the road acquired via the imaging device; a clustering device which performs clustering in which the first image region of the lane mark detection image is divided into subregions each composed of adjacent pixels; a color determination device which determines a color of the subregions of the first image region obtained by the division in the clustering; a lane recognition device which performs line component extraction for each group, considering the subregions determined to have the same color by the color determination device as a single group, and recognizes a line position of the lane defined by the lane mark from the extracted line component; a type determination device which determines the type of the lane mark defining the lane recognized from the line component on the basis of a distribution state of the subregions, which exist in the vicinity of the line component, constituting the group from which the line component is extracted; and a vehicle equipment control device which controls equipment of the vehicle according to a recognition result of the lane recognition device, wherein the vehicle equipment control device controls the equipment of the vehicle at least according to the line position of the lane recognized by the lane recognition device and the type of the lane mark defining the lane.