To provide a technique capable of appropriately obtaining a reference line.SOLUTION: A road recognition device 110 for mounting on a vehicle 10 having a peripheral sensor 120, comprises: a peripheral environment recognition unit 111 that recognizes at least one or more of a shape of a compartment line on a road detected by the peripheral sensor, a shape of a road-side object, and a movement history of another vehicle as peripheral information; a confidence setting unit 112 that sets a confidence of the peripheral information; a reference line setting unit 113 that obtains a reference line for an own lane on which the vehicle is traveling by preferentially using peripheral information of high confidence; and an output unit 114 that outputs the reference line. The confidence setting unit sets the confidence of the peripheral information for the side opposite to a direction indicated by a direction indicator 250 when the direction indicator of the vehicle is in operation.SELECTED DRAWING: Figure 3
【課題】基準線を適切に求めることができる技術を提供する。【解決手段】周辺センサ120を有する車両10に搭載される道路認識装置110は、周辺センサによって検出した道路の区画線の形状と、路側物の形状と、他車両の移動履歴との少なくとも一つ以上を周辺情報として認識する周辺環境認識部111と、周辺情報の信頼度を設定する信頼度設定部112と、信頼度の高い周辺情報を優先的に用いて車両の走行している自車線の基準線を求める基準線設定部113と、基準線を出力する出力部114と、を備え、信頼度設定部は、車両の方向指示器250が作動している場合に、方向指示器が示す方向と逆方向側の周辺情報の信頼度を低く設定する。【選択図】図3
ROAD RECOGNITION DEVICE
道路認識装置
2020-08-06
Patent
Elektronische Ressource
Japanisch
ROAD SHAPE RECOGNITION DEVICE AND ROAD SHAPE RECOGNITION METHOD
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