Lane line recognition device and lane line recognition program

摘要

PROBLEM TO BE SOLVED: To realize detection of a lane and measurement of distance to it with high accuracy even in an unsatisfactory field of view by using only one line and securing a speedy operation.;SOLUTION: The present invention is directed to a lane recognition apparatus having a feature extracting unit for generating, in each of processing object images generated from a divided region image which is an image of a divided region obtained by dividing image data input from outside by a predetermined boundary, a feature pixel group whose factor is a feature pixel included in the image, a straight line calculating unit for calculating, based on the feature pixel group, an inner straight line component and an outer straight line component forming a lane image included in a divided region image which is a linear lane image, a distance measuring unit for calculating a distance between the lane and a lens principal point of an image capturing device having acquired the image data based on the lane image including the inner straight line component and the outer straight line component, and a result outputting unit for outputting the distance to an external device.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2019,JPO&INPIT