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Lane boundary line recognition device and computer-readable storage medium storing program of recognizing lane boundary lines on roadway
Lane boundary line recognition device and computer-readable storage medium storing program of recognizing lane boundary lines on roadway
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机译:车道边界线识别装置和存储在道路上识别车道边界线的程序的计算机可读存储介质
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摘要
A lane boundary line recognition device detects lane boundary line candidates of a roadway from images captured by an in-vehicle camera, judges that the lane boundary line candidate is a lane boundary line of a branch road, and calculates a curvature of the lane boundary line candidate, and recognizes the lane boundary line based on the calculated curvature. The device removes the lane boundary line candidate, which has been judged as the lane boundary line of the branch road, is removed from a group of the lane boundary line candidates, and calculates the curvature of the lane boundary line candidate based on an estimated rate of change of the curvature. The device uses a past curvature calculated predetermined-number of images before when the lane boundary line candidate is the lane boundary line of the branch road, and resets the estimated rate of change of the curvature to zero.
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