This road wall shape estimation device is capable of estimating, with high precision, a road wall shape separated from a vehicle. The device is provided with: a filter processing unit (3) that sets a plurality of filters (14) and outputs only observation points, among observation points acquired by an observation data acquisition unit (2), at which the ground velocity is equal to or less than a predetermined value and which are positioned inside the filters (14); a representative point calculation unit (4) that calculates a representative point on the basis of the output of the filter processing unit (3); and a road wall estimation unit (5) that estimates the shape of the road wall on the basis of the representative point, and the filter processing unit (3) increases the width of the filter (14) as the position of the filter (14) is farther from the host vehicle.
本申请的道路壁形状推测装置能够以高精度推测与车辆隔开距离的道路壁形状。该装置包括:过滤器处理部(3),该过滤器处理部(3)设定多个过滤器(14),仅输出观测数据获取部(2)获取的观测点中的对地速度在预先确定的值以下且位置位于过滤器(14)内侧的观测点;代表点计算部(4),该代表点计算部(4)根据过滤器处理部(3)的输出计算代表点;以及道路壁推测部(5),该道路壁推测部(5)根据代表点推测道路壁的形状,过滤器处理部(3)使得过滤器(14)的位置离本车辆越远则过滤器(14)的宽度越大。
Road wall shape estimation device and road wall shape estimation method
道路壁形状推测装置及道路壁形状推测方法
2023-07-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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