Provided are a lane network generation device, a lane network generation method, and a computer program for lane network generation. A lane network generation device is provided with: a probability distribution calculation unit (41) that, on the basis of a plurality of travel trajectories of a vehicle traveling in a prescribed region connecting an entry lane and an exit lane, calculates, for each point in the region, a probability distribution indicating the probability that the point is located on a standard travel trajectory; a virtual boundary line generation unit (42) that generates a virtual boundary line that connects the positions of both ends of the entry lane and the exit lane; a control point setting unit (43) that sets, as control points, at least two points that are located between the two virtual boundary lines and have a probability distribution variance equal to or less than a predetermined variance threshold, among the points in the predetermined region; and a network generation unit (44) that generates a Bezier curve on the basis of the at least two control points, and uses the generated Bezier curve as a line connecting two lanes in the lane network with respect to the predetermined region.

    提供车道网络生成装置、车道网络生成方法以及车道网络生成用计算机程序。车道网络生成装置具有:概率分布算出部(41),基于在连接进入车道和退出车道的预定区域中进行了行驶的车辆的多个行驶轨迹,关于该区域内的各个点算出表示该点位于成为标准的行驶轨迹上的概率的概率分布;假想边界线生成部(42),生成将进入车道和退出车道各自的两端的位置彼此连结的假想边界线;控制点设定部(43),将预定区域内的各个点中的位于两条假想边界线之间且概率分布的方差成为预定的方差阈值以下的至少两个点设定为控制点;以及网络生成部(44),基于至少两个控制点生成贝塞尔曲线,将生成的贝塞尔曲线作为车道网络中的将关于预定区域的两条车道连结的线。


    Access

    Download


    Export, share and cite



    Title :

    Lane network generation device, lane network generation method, and computer program for lane network generation


    Additional title:

    车道网络生成装置、车道网络生成方法以及车道网络生成用计算机程序


    Contributors:

    Publication date :

    2023-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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





    LANE LINK GENERATION DEVICE, LANE LINK GENERATION PROGRAM, AND LANE LINK GENERATION METHOD

    WATANABE MASASHI / TAKAHASHI YUKAKO / KADOYA TAKUMA | European Patent Office | 2023

    Free access

    LANE LINK GENERATION DEVICE, LANE LINK GENERATION PROGRAM, AND LANE LINK GENERATION METHOD

    WATANABE MASASHI / TAKAHASHI YUKAKO / KADOYA TAKUMA | European Patent Office | 2020

    Free access

    Lane information generation system by lane

    European Patent Office | 2022

    Free access