A road line recognition device is provided with: an outside detection unit that is mounted on a vehicle and detects an outside condition in the vicinity of the vehicle; a behavior detection unit that detects a traveling behavior of the vehicle; a road line recognition unit that sets a coordinate system corresponding to the current position and the traveling direction of the vehicle on the basis of external conditions, and recognizes road lines around the vehicle in the coordinate system; a movement amount calculation unit that calculates the amount of movement of the vehicle from the first time to the second time on the basis of the travel behavior; and a road line correction unit that corrects the recognized road line. The road line recognition unit generates first road line information indicating a road line recognized at a first time point and second road line information indicating a road line recognized at a second time point, and the road line correction unit includes: a prediction unit configured to predict a road line on the basis of the first road line information and a movement amount of the vehicle; predicting a road line identified at a second moment; and an updating unit that updates the second road line information on the basis of the difference between the predicted road line and the road line actually recognized at the second time.
道路划线识别装置具备:外界检测部,搭载在车辆上,检测车辆的周边的外界状况;行为检测部,其检测车辆的行驶行为;道路划线识别部,根据外界状况,设定与车辆的当前位置和行进方向对应的坐标系,并且识别坐标系中的所述车辆的周边的道路划线;移动量计算部,根据行驶行为,计算车辆从第一时刻到第二时刻的移动量;以及道路划线校正部,校正识别出的道路划线。道路划线识别部生成表示在第一时刻识别出的道路划线的第一道路划线信息和表示在所述第二时刻识别出的道路划线的第二道路划线信息,道路划线校正部具有:预测部,根据第一道路划线信息和车辆的移动量,预测在第二时刻识别出的道路划线;以及更新部,根据预测出的道路划线与在第二时刻实际识别出的道路划线之差,更新第二道路划线信息。
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 |
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