PROBLEM TO BE SOLVED: To estimate a shape of a route in the extending direction of a road from among a group of observation data items obtained using sensing equipment mounted in a moving entity such as a vehicle.SOLUTION: A filter for use in route estimation is disposed in a virtual space in which a group of observation data items obtained by sensing road ends using sensors mounted in a moving entity is distributed. The filter is moved while being allowed to read the group of observation data items concerning the vicinity of a forward area. Positions represented by the group of observation data items read by the filter are regarded as indicating road ends. For example, an advancing direction of the filter is calculated so that the filter will pass positions separated by a half of a road width from each of the road ends. Moving trajectories of the filter are joined in order to estimate the shape of a route in the extending direction of the road.SELECTED DRAWING: Figure 21
【課題】車両などの移動体に搭載されたセンシング機器を用いて得られた観測データ群から、道路の延伸方向に沿った経路の形状を推定する。【解決手段】移動体に搭載されたセンサーによって道路端がセンシングされた観測データ群が分布する仮想空間内に経路推定を行うためのフィルタを配置し、前方周辺の観測データ群を読み取らせながらフィルタを移動させる。フィルタによって読み取られた観測データ群の位置を道路端として、例えば、各道路端から道路幅の半分の距離だけ離れた位置をフィルタが通るようにフィルタの進行方向を計算する。フィルタの移動軌跡をつなぎ合わせることで、道路の延伸方向に沿った経路の形状を推定する。【選択図】図21
ROAD SHAPE ESTIMATION UNIT AND ROAD SHAPE ESTIMATION METHOD
道路形状推定装置及び道路形状推定方法
2016-09-23
Patent
Elektronische Ressource
Japanisch
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