A driving assistance ECU (20) acquires, from a front camera, a position of a traffic light candidate, which is a light device having a probability of being a traffic light equal to or greater than a predetermined value, as an observation light position. Furthermore, by referring to map data in the vicinity of the current position of the host vehicle, the driving assistance ECU (20) acquires the position of a traffic light present in front of the host vehicle as a map information traffic light position. Furthermore, the driving support ECU (20) determines that the light device is a signal lamp on the basis of a proximity (delta), which is the difference between the position of the signal lamp on the map and the position of the observation light device, being less than a predetermined visual threshold value (Dth).
驾驶辅助(ECU20)从前方相机获取是信号灯的概率为规定值以上的灯光装置即信号灯候补的位置作为观测灯光位置。另外,驾驶辅助(ECU20)通过参照本车辆的当前位置附近的地图数据,获取在本车辆的前方存在的信号灯的位置作为地图信息信号灯位置。而且,驾驶辅助(ECU20)基于地图上信号灯位置与观测灯光装置的位置之差即接近度(δ)小于规定的视同阈值(Dth),将该灯光装置判定为信号灯。
Signal lamp recognition device, signal lamp recognition method, and vehicle control device
信号灯识别装置、信号灯识别方法、车辆控制装置
2023-05-26
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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