To accurately recognize up to a section line at a long distance from a vehicle.SOLUTION: A section line recognition device 100 comprises: an external sensor 2 which is mounted on a vehicle and detects an external situation in front of the vehicle; a behavior sensor 3 which detects a travel behavior of the vehicle; a storage unit 12 which stores attitude information of the external sensor 2 with respect to the vehicle; a section line recognition unit 13 which recognizes a section line stipulating a travel lane on the basis of the external situation and the attitude information; a movement amount calculation unit 16 which calculates a movement amount of the vehicle from a first point of time to a second point of time on the basis of the travel behavior; an inspection point setting unit 15 which sets an inspection point on the section line recognized at the second point of time; an error calculation unit 17 which calculates an error at a position of a section line recognized at the first point of time with respect to the position of the inspection point on the basis of the movement amount; and an attitude information update unit 18 which updates the attitude information on the basis of the error. The section line recognition unit 13 recognizes a section line on the basis of the external situation and the updated attribute information when the attitude information is updated.SELECTED DRAWING: Figure 1

    【課題】車両から遠距離にある区画線までを精度よく認識する。【解決手段】区画線認識装置100は、車両に搭載され、車両前方の外界状況を検出する外界センサ2と、車両の走行挙動を検出する挙動センサ3と、車両に対する外界センサ2の姿勢情報を記憶する記憶部12と、外界状況と姿勢情報とに基づいて走行車線を規定する区画線を認識する区画線認識部13と、走行挙動に基づいて第1時点から第2時点までの車両の移動量を算出する移動量算出部16と、第2時点に認識された区画線の上に検査点を設定する検査点設定部15と、移動量に基づいて検査点の位置に対する第1時点に認識された区画線の位置の誤差を算出する誤差算出部17と、誤差に基づいて姿勢情報を更新する姿勢情報更新部18とを備える。区画線認識部13は、姿勢情報が更新されると外界状況と更新された姿勢情報とに基づいて区画線を認識する。【選択図】図1


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    Titel :

    SECTION LINE RECOGNITION DEVICE


    Weitere Titelangaben:

    区画線認識装置


    Beteiligte:
    AOYAGI YUKI (Autor:in) / GOTO YUHI (Autor:in) / KONISHI YUICHI (Autor:in)

    Erscheinungsdatum :

    2023-10-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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