To generate road map data properly corrected in consideration of a relation between adjacent lanes.SOLUTION: A road map generation device comprises: a position information extraction unit 1 that extracts position information measured by a moving body sensor; a lane unit statistic processing unit 3 that performs statistic processing of a first position coordinate point sequence for each lane to generate a second position coordinate point sequence; an approximate line calculation unit 4 that calculates an approximate line of the second position coordinate point sequence; a statistic processing reliability calculation unit 5 that calculates reliability of each second position coordinate point; an approximate line reliability calculation unit 6 that calculates reliability of the approximate line; an adjacent lane information generation unit 7 that identifies an adjacent lane group to which that the approximate line belongs; and an adjacent lane shape correction unit 8 that unifies a shape of each adjacent approximate line on the basis of the reliability of each adjacent approximate line, and moves a position of each adjacent approximate line in a direction vertical to an azimuth of each adjacent approximate line by a movement distance to be determined based on a lane width defined by an interval between two adjacent approximate lines, and the reliability of each adjacent approximate line.SELECTED DRAWING: Figure 2
【課題】本開示の技術は、隣接車線間の関係を考慮して適切に補正された道路地図データを生成することを目的とする。【解決手段】道路地図生成装置は、移動体センサが測定した位置情報を抽出する位置情報抽出部1と、車線ごとに第1位置座標点列の統計処理を行って第2位置座標点列を生成する車線単位統計処理部3と、第2位置座標点列の近似線を算出する近似線算出部4と、各第2位置座標点の信頼度を算出する統計処理信頼度算出部5と、近似線の信頼度を算出する近似線信頼度算出部6と、近似線の属する隣接車線群を特定する隣接車線情報生成部7と、各隣接近似線の信頼度に基づき各隣接近似線の形状を統一し、各隣接近似線の位置を各隣接近似線の方位と垂直な方向に、隣り合う2つの隣接近似線の間隔で規定される車線幅と、各隣接近似線の信頼度とに基づき定められる移動距離だけ移動する隣接車線形状補正部8とを備える。【選択図】図2
ROAD MAP GENERATION DEVICE, ROAD MAP GENERATION METHOD, AND ROAD MAP GENERATION PROGRAM
道路地図生成装置、道路地図生成方法および道路地図生成プログラム
25.01.2024
Patent
Elektronische Ressource
Japanisch
IPC: | G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Europäisches Patentamt | 2025
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