公开(公告)号：US20150169966A1

公开(公告)日：2015-06-18

申请号：US14404224

申请日：2013-05-31

Applicant: DENSO CORPORATION ,  NIPPON SOKEN, INC.

Inventor： Kazuhisa Ishimaru ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Tetsuya Takafuji

IPC: G06K9/00 ,  G08G1/16 ,  B60R1/00

CPC classification number: G06K9/00798 ,  B60R1/00 ,  G06T7/12 ,  G06T2207/10024 ,  G06T2207/30256 ,  G08G1/167

Abstract: In vehicle-lane boundary line detection, low-luminance values are acquired from areas corresponding to below a tire and directly below a vehicle center based on a road surface image. A snow rut degree is calculated based on a luminance ration between the areas. A probability is calculated from a map based on the calculated snow rut degree. A parameter indicating the degree of snow rut likeness is calculated by a low-pass filtering process. A snow rut determination is made by the calculation result being compared with a predetermined threshold. A final determination of whether or not a snow rut is present is made, with reference to an outside temperature. When determined that a snow rut is present, a determination is made not to perform the detection. When determined that a snow rut is not present, a determination is made to perform the detection.

Abstract translation: 在车道边界线检测中，基于路面图像，从对应于轮胎下方的区域和车辆中心正下方的区域获取低亮度值。 基于区域之间的亮度比计算雪rut度。 根据计算出的雪车辙程度，从地图计算概率。 通过低通滤波处理计算出雪橇相似度的参数。 通过将计算结果与预定阈值进行比较来确定雪橇。 参照外部温度进行雪橇是否存在的最终确定。 当确定存在雪辙时，确定不执行检测。 当确定不存在雪辙时，确定进行检测。