PROBLEM TO BE SOLVED: To provide a technique for accurately recognizing a branch road.SOLUTION: A branch road determination unit 25 calculates likelihood (integrated likelihood) obtained by integrating likelihood obtained by any one characteristic or likelihood obtained by two or more characteristics among the following characteristics (1)-(5) which are characteristics related to a white line selected by a control target white line selection processing unit 24: (1) a lane is not a composite line; (2) the lane is a real line; (3) the lane is not a sharp curve; (4) variation of parallel of right and left lanes is larger than a set value; and (5) a variation amount of curvature of the lane is larger than a set value. Then based on the calculated likelihood, presence/absence of a branch road is determined, so that a determination error of the branch road is suppressed, and the branch road can be accurately recognized.
【課題】分岐路を精度良く認識する技術を提供する。【解決手段】分岐路判定部25が、制御目標白線選択処理部24によって選択された白線に関する特徴である、(1)車線が複合線ではないこと、(2)車線が実線であること、(3)車線が急カーブではないこと、(4)左右の車線の平行度の変動が設定値よりも大きいこと、(5)車線の曲率の変動量が設定値よりも大きいこと、を用い、上記(1)〜(5)の特徴のうちの何れか一つの特徴による尤度または二つ以上の特徴による尤度を統合した尤度(統合尤度)を算出し、その算出した尤度に基づき、分岐路の有無を判定するので、分岐路の誤判定を抑えるなど、分岐路を精度良く認識することができる。【選択図】図3
BRANCH ROAD RECOGNITION DEVICE
分岐路認識装置
2015-08-24
Patent
Elektronische Ressource
Japanisch
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