PROBLEM TO BE SOLVED: To provide a road curvature detection device in which a curvature of a curve road ahead of a vehicle is accurately calculated.SOLUTION: A road curvature detection device 1 comprises: an imaging part 12 that images an area ahead of a vehicle; an extraction unit 20 that extracts from an image captured by the imaging part 12 a first curve marker and a second curve marker which are made on a roadside object of a curve road ahead of the vehicle, arranged along the curve road, and have the same shape and size as each other; a disappearance point search unit 18 that searches for a disappearance point of the image, from the image captured by the imaging part; and a curvature calculation unit 22 that calculates a curvature of the curve road on the basis of an inter-pixel distance from the disappearance point to the first curve marker in the image, an inter-pixel distance from the disappearance point to the second curve marker in the image, and a shape variation rate of the second curve marker to the first curve marker in the image.SELECTED DRAWING: Figure 1

    【課題】車両の前方のカーブ路の曲率を精度よく算出する道路曲率検出装置を提供する。【解決手段】道路曲率検出装置1は、車両の前方を撮像する撮像部12と、撮像部12によって撮像された画像から、車両の前方のカーブ路の路側物に対して形成され、カーブ路に沿って並ぶと共に、互いに同一形状且つ同一の大きさである第1のカーブマーカー及び第2のカーブマーカーを抽出する抽出部20と、撮像部によって撮像された画像から、画像の消失点を探索する消失点探索部18と、画像内における消失点から第1のカーブマーカーまでの画素間距離、画像内における消失点から第2のカーブマーカーまでの画素間距離、及び画像内における第1のカーブマーカーに対する第2のカーブマーカーの形状変化率に基づいて、カーブ路の曲率を算出する曲率算出部22と、を備える。【選択図】図1


    Access

    Download


    Export, share and cite



    Title :

    ROAD CURVATURE DETECTION DEVICE


    Additional title:

    道路曲率検出装置


    Contributors:

    Publication date :

    2016-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    ROAD CURVATURE MEASUREMENT DEVICE

    TATEISHI KOJIRO / KAWASAKI NAOTERU / SUZUKI SHUNSUKE et al. | European Patent Office | 2017

    Free access

    Detection of Discontinuities of Road Curvature Change by GLR

    Behringer, R. / IEEE / Industrial Electronics Society | British Library Conference Proceedings | 1995


    Compensation for vertical road curvature in road shape estimation

    WRANNE STAFFAN | European Patent Office | 2021

    Free access

    Downshift operating system using road curvature

    YU XUEFENG | European Patent Office | 2023

    Free access

    Interacting multiple model road curvature estimation

    Shen, Truman / Ibrahim, Faroog | IEEE | 2012