Demarcation line recognition device
The present invention addresses the problem of enabling an accurate determination of line type using a plurality of cameras. A demarcation line recognition device of the present invention includes a plurality of cameras ( 101 ); a line type determination unit ( 210 ) that senses demarcation line candidates from respective images obtained by the plurality of cameras and determines line types of the sensed demarcation line candidates; a demarcation line position calculation unit that calculates the positions of the sensed demarcation line candidates; a reliability level calculation unit that computes a reliability level of each demarcation line candidate by using positional relationships between the sensed demarcation line candidates; a probability computation unit ( 204 ) to which line types of demarcation line candidates for which the reliability level is equal to or greater than a threshold value are input and that determines the probability of each line type; and a line type decision unit ( 205 ) that finally decides the line types of the demarcation lines on the basis of the results of the probability computation unit.
1. A demarcation line recognition device comprising:
a plurality of sensors;
a line type determination unit that senses demarcation line candidates from respective images obtained by the plurality of sensors and determines line types of the sensed demarcation line candidates;
a demarcation line position calculation unit that calculates positions of the sensed demarcation line candidates;
a reliability level calculation unit that computes a reliability level of each demarcation line candidate by using positional relationships between the sensed demarcation line candidates;
a probability computation unit to which line types of demarcation line candidates with a reliability level equal to or greater than a threshold value are input, wherein the probability computation unit determines a probability for each line type; and a line type decision unit that determines the line types of demarcation lines on the basis of results of the probability computation unit, wherein the reliability level calculation unit scores distances between demarcation line candidates and uses the scores to compute the reliability level of each of the demarcation line candidates, wherein
it is determined whether or not a first demarcation line candidate, which is selected as a reference from a plurality of the demarcation line candidates, and a second demarcation line candidate other than the first demarcation line candidate are on the same side from a vehicle perspective, wherein
if the first demarcation line candidate and the second demarcation line candidate are on the same side, a value obtained by subtracting, from a first threshold value, a distance between the first demarcation line candidate and the second demarcation line candidate is used as a local score, wherein
if the first demarcation line candidate and the second demarcation line candidate are on opposite sides, a value obtained by subtracting, from a second threshold value, a differential between a lane width and the distance between the first demarcation line candidate and the second demarcation line candidate is used as the local score, and wherein
after the local score has been computed for respective combinations of the demarcation line candidates, a total of the local scores for each of the demarcation line candidates is used as the score to compute the reliability level of each of the demarcation line candidates.
2. The demarcation line recognition device according to claim 1 , wherein the line type determination unit determines whether or not the demarcation lines are continuous or determines the line types of the demarcation line candidates on the basis of the periodicity of the presence or absence of demarcation lines in each frame.
3. The demarcation line recognition device according to claim 1 , wherein the reliability level calculation unit performs the scoring based on a relationship between a demarcation line candidate which is selected as a reference from a plurality of the demarcation line candidates.
4. The demarcation line recognition device according to claim 3 , wherein, when a distance differential between a demarcation line candidate which is selected as a reference from the plurality of demarcation line candidates, lies within a predetermined range, the reliability level calculation unit determines that the demarcation line candidates are the same demarcation line.
5. The demarcation line recognition device according to claim 1 , wherein the reliability level calculation unit uses information other than demarcation line positions for which non-sensing has occurred a fixed number of times or more.
6. The demarcation line recognition device according to claim 1 , wherein the reliability level calculation unit determines a match percentage by comparing a line type determination result which is output by each of the plurality of sensors with a line type which is output by the line type decision unit, and uses information of demarcation line positions for which the percentage is equal to or greater than a threshold value.
7. The demarcation line recognition device according to claim 1 , wherein the probability calculation unit uses Bayes' theorem.
8. The demarcation line recognition device according to claim 1 , wherein the sensor is a monocular camera.
9. The demarcation line recognition device according to claim 1 ,
wherein the sensor is at least one of a stereo camera, a laser range finder, and a panoramic camera.