To provide a stationary object map information generator capable of appropriately performing generation of stationary object map information.SOLUTION: The stationary object map information generation device 100 includes an external condition acquisition unit 12, a vehicle position acquisition unit 11, and a BG map generation unit 17 that generates a BG map obtained by dividing a three-dimensional space into voxel based on relative position information of an object and the position of a vehicle on a map. The BG map generation unit 17 calculates the occupancy rate of the object in voxel from the time change of the relative position information of the object and the time change of the position of the vehicle on the map, a voxel whose occupancy rate is equal to or greater than a first threshold is recognized as a stationary portion of an object, and a voxel whose occupancy rate is less than the first threshold and greater than or equal to a second threshold and continuous to a stationary portion of an object is recognized as a quasi-static portion of an object, and a voxel whose occupancy rate is less than the first threshold and greater than or equal to the second threshold and is continuous to the quasi-static portion of the object is recognized as the quasi-static portion of the object, and a BG map including the static portion and the quasi-static portion is generated.SELECTED DRAWING: Figure 1
【課題】静止物体地図情報の生成を適切に行うことができる静止物体地図情報生成装置を提供する。【解決手段】静止物体地図情報生成装置100は、外部状況取得部12と、車両位置取得部11と、物体の相対位置情報及び車両の地図上の位置に基づいて、三次元空間をボクセルに分割したBGマップの生成を行うBGマップ生成部17と、を備える。BGマップ生成部17は、物体の相対位置情報の時間変化及び車両の地図上の位置の時間変化から、ボクセルにおける物体の占有率をそれぞれ算出し、占有率が第1閾値以上のボクセルを物体の静止部分と認識し、占有率が第1閾値未満且つ第2閾値以上であって物体の静止部分に連続するボクセルを物体の準静止部分と認識すると共に、占有率が第1閾値未満且つ第2閾値以上であって物体の準静止部分に連続するボクセルを物体の準静止部分と認識し、静止部分と準静止部分とを含むBGマップを生成する。【選択図】図1
STATIONARY OBJECT MAP INFORMATION GENERATOR
静止物体地図情報生成装置
2019-07-04
Patent
Elektronische Ressource
Japanisch
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2024
|Europäisches Patentamt | 2024
|