To provide a technique for accurately estimating a position of a vehicle in a parking lot while suppressing increase of a cost.SOLUTION: In a vehicle position estimation system, an image recognition section detects each pair of straight edges positioned on both of side ends of a width direction W of straight lines Ma in each belt-shape sign M formed in a U shape, calculates virtual center lines L passing each center part of the width direction W in each one of the pair of straight edges, calculates boundary points B being intersection points between each one of the virtual center lines L and an arcuate part Mb of the belt-shape sign M, calculates a middle point of the pair of boundary points B corresponding to the pair of straight lines Ma of the belt-shape sign M, and recognizes the middle point as a recognition reference point Ra. A vehicle position calculation section calculates relative position relation between the recognition reference point Ra and a vehicle, and estimates a position of a vehicle based on relative position relation and an absolute position of a reference point R indicated in reference position information.SELECTED DRAWING: Figure 8
【課題】コストの増加を抑制しつつ、駐車場内において車両の位置を精度良く推定することができる技術を提供する。【解決手段】車両位置推定システムにおいて、画像認識部は、U字状に形成された帯状標示Mにおける直線部Maの幅方向Wの両側端に位置する一対の直線エッジを検出し、一対の直線エッジにおける幅方向Wの中央部を通る仮想中心線Lを演算し、仮想中心線Lと帯状標示Mの弧状部Mbとの交点である境界点Bを演算し、帯状標示Mの一対の直線部Maに対応する一対の境界点Bの中点を演算して、当該中点を認識基準点Raと認識する。そして、車両位置演算部は、認識基準点Raと車両との相対位置関係を演算し、相対位置関係、及び、基準位置情報に示された基準点Rの絶対位置に基づいて、車両の位置を推定する。【選択図】図8
VEHICLE POSITION ESTIMATION SYSTEM, VEHICLE POSITION ESTIMATION METHOD, AND VEHICLE POSITION ESTIMATION PROGRAM
車両位置推定システム、車両位置推定方法、及び車両位置推定プログラム
2020-08-27
Patent
Elektronische Ressource
Japanisch
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