A map reliability determination device (50) is provided with: a travel trajectory acquisition unit (112) that acquires a travel trajectory of a predetermined section through which a host vehicle travels; a boundary line recognition unit (113) that recognizes a pair of left and right lane boundary lines that define a lane within a prescribed section through which the vehicle travels, on the basis of map information about the surroundings of the vehicle; a deviation amount calculation unit (114) that calculates a deviation amount between the travel trajectory acquired by the travel trajectory acquisition unit (112) and the pair of left and right lane boundary lines recognized by the recognition unit (112); a reliability determination unit (115) that determines the reliability of the pair of left and right lane boundary lines recognized by the boundary line recognition unit (113) on the basis of the deviation amount calculated by the deviation amount calculation unit (114); and a map update unit (116) that outputs reliability information including the determination result of the reliability determination unit (115).
本发明提供一种地图可靠度判定装置(50),具备:行驶轨迹取得部(112),其取得本车辆行驶过的规定区间的行驶轨迹;边界线识别部(113),其根据本车辆的周边的地图信息,识别本车辆行驶过的规定区间内的、规定车道的左右一对车道边界线;偏差量计算部(114),其计算由行驶轨迹取得部(112)取得的行驶轨迹和由识别部(112)识别出的左右一对车道边界线的偏差量;可靠度判定部(115),其根据由偏差量计算部(114)计算出的偏差量,判定由边界线识别部(113)识别出的左右一对车道边界线的可靠度;以及地图更新部(116),其输出包括可靠度判定部(115)的判定结果的可靠度信息。
Map reliability determination device and driving assistance device
地图可靠度判定装置和驾驶辅助装置
2023-10-17
Patent
Elektronische Ressource
Chinesisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES |
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