Stop line detection apparatus
A stop line detection apparatus recognizes a boundary line of a lane on which the host vehicle travels, and detect a stop line at an intersection in front of the host vehicle. The apparatus sets an intersection area corresponding to the intersection in the road on which the host vehicle travels on the basis of a captured image by a front camera of the host vehicle, detects a crosswalk in the intersection area, a stop line search area setting unit configured to set a stop line search area extending from the crosswalk toward a front side in the lane on which the host vehicle travels, and performs stop line detection in the stop line search area. A depth of the stop line search area in an extending direction of a traveling lane is smaller than twice a depth of the crosswalk.
1 . A stop line detection apparatus configured to recognize a boundary line of a road on which a host vehicle travels and a boundary line of a lane on which the host vehicle travels on the basis of a captured image by a front camera of the host vehicle, and detect a stop line at an intersection in front of the host vehicle on the basis of the captured image, the stop line detection apparatus comprising an electronic control unit, the electronic control unit comprising a central processing unit and a memory and being configured to:
set an intersection area corresponding to the intersection in the road on which the host vehicle travels on the basis of the captured image by the front camera;
detect a nearby traffic signal that is a traffic signal closest to the host vehicle at the intersection on the basis of the captured image by the front camera;
set the intersection area on the basis of a position of the nearby traffic signal;
determine whether a first crosswalk located on a host vehicle side of the intersection has been detected on the basis of the captured image by the front camera;
when it is determined that the first crosswalk has been detected, set a stop line search area so as to extend from an end portion on the host vehicle side of the first crosswalk toward the host vehicle;
when it is not determined that the first crosswalk has been detected, determine whether a second crosswalk located on a far side of the intersection has been detected on the basis of the captured image by the front camera;
when it is determined that the second crosswalk has been detected, set the stop line search area so as to extend toward the host vehicle from an end portion on the host vehicle side of a projection crosswalk projected by rotating the second crosswalk to a position on the host vehicle side from a center of the intersection on a traveling lane of the host vehicle with the center of the intersection as a reference; and
perform stop line detection in the stop line search area, wherein a depth of the stop line search area in an extending direction of the traveling lane is smaller than twice a depth of the first crosswalk.
2 . The stop line detection apparatus according to claim 1 , the electronic control unit being further configured to:
when the first crosswalk is detected, detect a road marking other than the stop line between the host vehicle and the first crosswalk on the traveling lane of the host vehicle on the basis of the captured image by the front camera, and
when the road marking other than the stop line is detected and the first crosswalk is detected, set the stop line search area between the first crosswalk and the road marking.