PROBLEM TO BE SOLVED: To provide a road shape recognition device capable of accurately estimating a road shape distant from a recognition range.SOLUTION: A road shape recognition device 20 acquires a road image through road image acquisition means 10 mounted on a vehicle and obtains a road shape by using the road image, and includes: recognition processing means 21 which recognizes a road shape on the basis of a road image within a recognition range; and estimation processing means 22 which estimates a road shape outside the recognition range on the basis of the road shape within the recognition range. The estimation processing means 22 estimates a road shape which is positioned outside the recognition range and within a first distance D1 as a curve having a constant curvature change rate, and estimates a road shape beyond the first distance D1 as a curve having a constant curvature.SELECTED DRAWING: Figure 1
【課題】認識範囲よりも遠方の道路形状を、精度よく推定することができる道路形状認識装置を提供する。【解決手段】車両に搭載された道路画像取得手段10により道路画像を取得し、その道路画像を用いて道路形状を求める道路形状認識装置20であって、認識範囲内の道路画像に基づいて道路形状を認識する認識処理手段21と、認識範囲内の道路形状に基づいて、認識範囲外の道路形状を推定する推定処理手段22と、を備え、推定処理手段22は、認識範囲外であり、且つ、第1距離D1以内の道路形状を、曲率変化率が一定である曲線として推定し、第1距離D1以遠の道路形状を、曲率が一定である曲線として推定することを特徴とする。【選択図】図1
ROAD SHAPE RECOGNITION DEVICE
道路形状認識装置
2016-04-04
Patent
Electronic Resource
Japanese
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
ROAD SHAPE RECOGNITION DEVICE AND ROAD SHAPE RECOGNITION METHOD
European Patent Office | 2021
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