A road line recognition device is provided with: an outside detection unit that is mounted on a vehicle and detects an outside condition in front of the vehicle; a behavior detection unit that detects a traveling behavior of the vehicle; a storage unit that stores posture information of the outside detection unit with respect to the vehicle; a road line recognition unit that recognizes, on the basis of the detected outside situation and the stored posture information, a road line that defines a travel lane on which the vehicle travels; a movement amount calculation unit that calculates the amount of movement of the vehicle from the first time point to the second time point on the basis of the detected travel behavior; a check point setting unit that sets a check point on the identified road line at a second time; an error calculation unit that calculates an error of the position of the road line recognized at the first time with respect to the position of the set check point; and a posture information updating unit that updates the stored posture information on the basis of the calculated error. When the posture information is updated, the road line recognition unit recognizes a road line on the basis of the detected external condition and the updated posture information.
道路划线识别装置具备:外界检测部,搭载在车辆上,检测车辆的前方的外界状况;行为检测部,检测车辆的行驶行为;存储部,存储外界检测部相对于车辆的姿势信息;道路划线识别部,根据检测出的外界状况和存储的姿势信息,识别对车辆所行驶的行驶车道进行规定的道路划线;移动量计算部,根据检测出的行驶行为,计算车辆从第一时刻到第二时刻的移动量;检查点设定部,在第二时刻在识别出的道路划线上设定检查点;误差计算部,计算在第一时刻识别出的道路划线的位置相对于设定的检查点的位置的误差;以及姿势信息更新部,根据计算出的误差,对存储的姿势信息进行更新。当更新姿势信息时,道路划线识别部根据检测出的外界状况和更新了的姿势信息来识别道路划线。
Road marking identification device
道路划线识别装置
2023-09-29
Patent
Electronic Resource
Chinese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
ROAD MARKING RECOGNITION DEVICE AND ROAD MARKING RECOGNITION PROGRAM
European Patent Office | 2015
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