US 11,749,002 B2
Lane line recognition apparatus
Kensaku Natsume, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Oct. 4, 2021, as Appl. No. 17/493,385.
Claims priority of application No. 2020-168136 (JP), filed on Oct. 4, 2020.
Prior Publication US 2022/0108553 A1, Apr. 7, 2022
Int. Cl. G06V 20/56 (2022.01); G06V 10/88 (2022.01); G06V 10/60 (2022.01)
CPC G06V 20/588 (2022.01) [G06V 10/60 (2022.01); G06V 10/88 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A lane line recognition apparatus comprising:
an imaging device to be mounted on a vehicle and configured to capture an image of a traveling environment in front of the vehicle;
a lane-line-search-region setting section configured to set a lane-line search region on the image captured by the imaging device, the lane-line search region being a region in which, on a basis of a lane line defining a lane and found on a basis of an image of a last frame, a lane line of a current frame is to be searched for;
a light-streak-search-region setting section configured to set a light-streak search region adjacently to the lane-line search region, the light-streak search region being a region in which a light streak that appears in the image captured by the imaging device is to be searched for;
a light-streak determination section configured to determine whether a light streak that crosses, in a vertical direction of the image, the light-streak search region set by the light-streak-search-region setting section is found;
a light-streak-reaching determination section configured to determine, in a case where the light-streak determination section determines that the light streak that crosses, in the vertical direction, the light-streak search region is found, whether the light streak that crosses the light-streak search section reaches the lane-line search region set by the lane-line-search-region setting section; and
a mask processing section configured to perform, in a case where the light-streak-reaching determination section determines that the light streak that crosses the light-streak search section reaches the lane-line search region, a mask process on the light streak that crosses the light-streak search section in a process of recognizing the lane line of the current frame on a basis of luminance variation in the lane-line search region set by the lane-line-search-region setting section.