CPC G06V 20/588 (2022.01) [G06V 10/60 (2022.01); G06V 10/88 (2022.01)] | 9 Claims |
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.
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