To generate a compartment line which is smoothed from point group data on the compartment line without employing a complicated polynominal approximation.SOLUTION: A compartment line generation method comprises: specifying at least three or more data points Pm located within a window Wk on the basis of, map information including a plurality of data points WPn representing a compartment line of a lane; calculating a geometric point Gk of gravity of the plurality of data points Pm; calculating a virtual circle VCk approximating the plurality of data points Pm; setting as a correction data point Qk an intersection shorter in a distance to the point Gk of gravity between two intersections of a straight line Lk connecting the center point Ck of the virtual circle VCk and the point Gk of gravity and the virtual circle VCk; moving the window Wk along the lane and repeating said processes to generate a point group of a plurality of correction data points Qk; and setting a point group of a plurality of correction data points Qk as a compartment line.SELECTED DRAWING: Figure 3
【課題】区画線の点群データから複雑な多項式近似を用いずに平滑化された区画線を生成する。【解決手段】車線の区画線を示す複数のデータ点WPnを含む地図情報に基づいて、窓Wk内に位置する少なくとも3点以上のデータ点Pmを特定し、複数のデータ点Pmの幾何学的な重心点Gkを算出し、複数のデータ点Pmを近似する仮想円VCkを算出し、仮想円VCkの中心点Ckと重心点Gkとを結ぶ直線Lkと仮想円VCkとの2つの交点のうち、重心点Gkとの距離が近い方の交点を修正データ点Qkに設定し、窓Wkを車線に沿って移動させて上記工程を繰り返して複数の修正データ点Qkの点群を生成し、複数の修正データ点Qkの点群を区画線に設定する。【選択図】図3
COMPARTMENT LINE GENERATION METHOD AND COMPARTMENT LINE GENERATION DEVICE
区画線生成方法及び区画線生成装置
2023-06-07
Patent
Elektronische Ressource
Japanisch
IPC: | 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 |
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