PROBLEM TO BE SOLVED: To detect a lane line having a steeply changed height and a lane line having a smoothly changed height.SOLUTION: A first search region SR1 is set in a road surface Fr around a vehicle, the change in a first height of the road surface when the width is a first search level is calculated for each positional coordinates in the first search region SR1, a second search region SR2, which is narrower than the first search region SR1, is set in a road surface, the change in a second height of the road surface when the width is a second search level, which is narrower than the first search level, is calculated for each positional coordinates in the second search region SR2, and the position of a step LD is detected based on the change in the second height.SELECTED DRAWING: Figure 5
【課題】急峻に高さが変化する走路境界も、なだらかに高さが変化する走路境界も、両方検出する。【解決手段】車両の周囲の路面Frに第一探索領域SR1を設定し、第一探索領域SR1内の各位置座標について、第一探索幅での路面の第一高さ変化を算出し、路面に第一探索領域SR1より狭い第二探索領域SR2を設定し、第二探索領域SR2内の各位置座標について、第一探索幅より狭い第二探索幅での路面の第二高さ変化を算出し、第二高さ変化に基づいて段差LDの位置を検出する。【選択図】図5
METHOD AND DEVICE FOR DETECTING LANE LINE
走路境界検出方法及び走路境界検出装置
19.04.2018
Patent
Elektronische Ressource
Japanisch
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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