ROAD MARKER DETECTION DEVICE, ROAD MARKER DETECTION METHOD, AND VEHICLE WITH A ROAD MARKER DETECTION DEVICE

摘要

A lane marking recognition device that recognizes a lane marking provided on a road based on an image of an environment of a vehicle captured by a color camera mounted in the vehicle, comprising: an edge image generation unit that generates an edge image in which from the image captured by the color camera Edge points whose luminance deviation relative to a surrounding portion is equal to or greater than a predetermined value have been extracted; a candidate image portion extraction unit which extracts from the edge image a candidate image portion which is a candidate for an image portion of the lane marking; anda lane marking recognition unit that detects a lane marking candidate based on the candidate image portion, and in a case that a plurality of lane marking candidates located at a lateral distance of 50 cm or less in the real space on the road, a reference value based on a Luminance of a corresponding area in the captured image is calculated with respect to each of the adjacent lane marking candidates, the lane marking recognition unit being adapted to do so, in a case where there is a difference in the reference value, which is a value representing a degree of a particular color of a lane marking from the corresponding area is greater than a predetermined value between the plurality of lane marking candidates arranged at a lateral distance of 50 cm or less in the real space on the road lane marking candidates, which has a maximum reference value, to be recognized as a lane marking and to use this for recognition of a central position of the lane, and the lane marking recognition unit is adapted to, in a case where a difference in the reference value, which is a value that is indicating a degree of a specific color of a lane marking from the corresponding area is equal to or smaller than the predetermined value between the plurality of lane marking candidates arranged at a lateral distance of 50 cm or less in the real space on the road whether or not the plurality of lane marking candidates include a solid lane marking line and a broken lane marking line, and in a case where the plurality of lane marking candidates include the continuous lane marking line and the broken lane marking line It is necessary to recognize the plurality of lane marking candidates as a composite lane marking line and to use this for recognition of a central position of the lane.