PROBLEM TO BE SOLVED: To accurately determine the parking/stopping of a self vehicle in a side strip on a road.SOLUTION: A vehicle state determination device includes: a stopping determination section for determining whether a self vehicle is in a stopping state; imaging parts for imaging the circumference of the self vehicle; a road state recognition section for recognizing a road division line on a road where the self vehicle exists concerning images captured by the imaging parts; and a specific stopping state determination section for determining that the self vehicle is in a specific stopping state when the stopping determination section determines that the self vehicle is in a stopping state and also it is determined that the reference position of the self vehicle is closer to a road edge side than the road division line closest to the road edge side on the basis of a recognition result by the road state recognition section.SELECTED DRAWING: Figure 1
【課題】自車両が道路上の路側帯に駐停車したことを、より精度よく判定することを目的の一つとする。【解決手段】車両状態判定装置は、自車両が停車状態であるか否かを判定する停車判定部と、自車両の周辺を撮像する撮像部と、前記撮像部により撮像された画像において、自車両が存在する道路における道路区画線を認識する道路状態認識部と、前記停車判定部により前記自車両が停止状態であると判定され、且つ前記道路状態認識部による認識結果に基づいて、最も道路端側の道路区画線よりも自車両の基準位置が道路端側にあると判定される場合に、自車両が特定の停車状態であると判定する特定停車状態判定部とを備える。【選択図】図1
VEHICLE STATE DETERMINATION DEVICE
車両状態判定装置
2016-11-04
Patent
Electronic Resource
Japanese
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