To provide a travel lane recognition apparatus capable of appropriately setting lane marker information to be used for automatic driving by determining reliability of detected lane marker information so as to respond to a case where the reliability of the detected lane marker information is low even in a case where a detection state of a periphery monitoring device is good, and a travel lane recognition method.SOLUTION: The present invention relates to a travel lane recognition apparatus which acquires detected lane marker information of a travel lane of an own vehicle based on detected information of a periphery monitoring device, acquires map lane marker information of the travel lane of the own vehicle based on road information acquired from map data, determines reliability of the detected lane marker information based on variations of the detected lane marker information, selects lane marker information to be used for automatic driving from the detected lane marker information and the map lane marker information based on the reliability of the detected lane marker information, and calculates lane marker information for automatic driving.SELECTED DRAWING: Figure 1
【課題】周囲監視装置の検出状態が良い場合でも、検出した区画線情報の信頼性が悪い場合に対応できるように、検出した区画線情報の信頼度を判定し、自動運転に用いる区画線情報を適切に設定することができる走行車線認識装置及び走行車線認識方法を提供する。【解決手段】周囲監視装置の検出情報に基づいて自車両の走行車線の検出区画線情報を取得し、地図データから取得した道路情報に基づいて自車両の走行車線の地図区画線情報を取得し、検出区画線情報の変動に基づいて、検出区画線情報の信頼度を判定し、検出区画線情報の信頼度に基づいて、検出区画線情報及び地図区画線情報から、自動運転に用いる区画線情報を選択し、自動運転用の区画線情報を算出する走行車線認識装置。【選択図】図1
TRAVEL LANE RECOGNITION APPARATUS AND TRAVEL LANE RECOGNITION METHOD
走行車線認識装置及び走行車線認識方法
2023-04-10
Patent
Elektronische Ressource
Japanisch
TRAVEL LANE RECOGNITION DEVICE, TRAVEL LANE RECOGNITION METHOD, AND PROGRAM
Europäisches Patentamt | 2019
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