Lane recognition device
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United States of America Patent
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Jul 7, 2015
Grant Date -
Oct 17, 2013
app pub date -
Nov 18, 2011
filing date -
Dec 15, 2010
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
Provided is a lane recognition device capable of extracting linear elements derived from lane marks from a linear element extraction image obtained by processing a captured image and recognizing lane boundary lines. Local areas 47 are set for a lane extraction area 45 set in a linear element extraction image 40 that each of linear elements is included in one or a plurality of the local areas 47, having a predetermined size, and a local straight line 44 of each local area is determined (vx) and (ψ) associated with the direction and the intersection x with a predetermined reference horizontal line 46 are calculated for each local straight line 44. Each local straight line 44 is defined as one vote, being casted to (vx, ψ) of a voting space 56. Lane boundary lines are recognized from detection straight lines, whose direction and the intersection x determined based on vote results.
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