A road shape estimation device (10) is configured to comprise: a reflection point detection unit (11) that detects, on the basis of reception signals of a plurality of radio waves reflected by an object present in the periphery of a vehicle, a reflection point indicating the reflection position of each radio wave in the object; a reflection point classification unit (16) that classifies, among the plurality of reflection points detected by the reflection point detection unit (11), reflection points of objects present in a region on the left side in the direction of travel of the vehicle as a first group, and classifies, as a second group, reflection points of objects present in a region on the right side in the direction of travel of the vehicle; a parallel movement unit (19) that causes the reflection points classified into the first group by the reflection point classification unit (16) to move in parallel in the right direction of the vehicle orthogonal to the direction of travel of the vehicle, and causes the reflection points classified into the second group by the reflection point classification unit (16) to move in parallel in the left direction of the vehicle orthogonal to the direction of travel of the vehicle; and a road shape estimation unit (20) that calculates an approximate curve indicating a point string including all the reflection points after the parallel movement by the parallel movement unit (19), and estimates the shape of the road on which the vehicle travels on the basis of the approximate curve.

    道路形状推定装置(10)构成为包括:根据由存在于车辆周边的物体反射的多个电波的接收信号,检测表示物体中各个电波的反射位置的反射点的反射点检测部(11);在由反射点检测部(11)检测到的多个反射点中、将存在于车辆的行进方向左侧的区域的物体的反射点分类为第1组,将存在于车辆的行进方向右侧的区域的物体的反射点分类为第2组的反射点分类部(16);使由反射点分类部(16)分类为第1组的各个反射点向与车辆的行进方向正交的车辆的右侧方向平行移动,将由反射点分类部(16)分类为第2组的各个反射点向与车辆的行进方向正交的车辆的左侧方向平行移动的平行移动部(19);以及计算表示包含由平行移动部(19)进行平行移动后的所有反射点的点串的近似曲线,并根据近似曲线推定车辆行驶的道路的形状的道路形状推定部(20)。


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    Title :

    Road shape estimation device, road shape estimation method, and road shape estimation program


    Additional title:

    道路形状推定装置、道路形状推定方法和道路形状推定程序


    Contributors:

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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