PROBLEM TO BE SOLVED: To estimate a division line by using an infrared image and a visible image even when the division line having illuminance less than the lowest illuminance of a visible imaging part in the visible image cannot be detected on the basis of a pixel value of the visible image in a travel support device and a travel support method by the travel support device.SOLUTION: A travel support device is provided with: an infrared imaging part which images an infrared image; a visible imaging part which images a visible image within a range corresponding to a range represented by the infrared image; a road detection part (41) which detects a road end line of a road on which a vehicle travels from the imaged infrared image; a division line detection part (42) which detects a division line of the road from the imaged visible image; an image generation part (43) which generates an integrated image representing the road end line and the division line on the basis of the infrared image and the visible image aligned with each other; and a division line estimation part (44) which estimates an extended part of the division line in the integrated image on the basis of the division line and the road end line in the integrated image.SELECTED DRAWING: Figure 2
【課題】走行支援装置及び走行支援装置による走行支援方法において、可視画像の画素値に基づいて、可視画像中の可視撮像部の最低照度未満の照度を有する区分線が検出できない場合にも、赤外線画像と可視画像とを用いて区分線を推定する。【解決手段】走行支援装置が、赤外線画像を撮像する赤外線撮像部と、赤外線画像の表す範囲に対応する範囲の可視画像を撮像する可視撮像部と、撮像された赤外線画像から車両が走行する道路の道路端線を検出する道路検出部(41)と、撮像された可視画像から道路の区分線を検出する区分線検出部(42)と、互いに位置合わせされた赤外線画像と可視画像に基づいて、道路端線と区分線とを表す統合画像を生成する画像生成部(43)と、統合画像中の区分線と道路端線とに基づいて、統合画像における区分線の延長部分を推定する区分線推定部(44)とを備える。【選択図】図2
TRAVEL SUPPORT DEVICE, TRAVEL SUPPORT METHOD BY TRAVEL SUPPORT DEVICE, AND PROGRAM
走行支援装置、走行支援装置による走行支援方法及びプログラム
2018-06-28
Patent
Elektronische Ressource
Japanisch
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