PROBLEM TO BE SOLVED: To make it possible to decide a travelling location with location accuracy capable of discriminating a travelling lane even when a segment line on a road cannot be detected.SOLUTION: A travelling location detection device is configured to: store map information including route information expressing a route of a road on a map, and segment line information serving as information about a segment line displayed on the road; shoot a road image from an own vehicle to extract the segment line, and determine a travelling location of the own vehicle including a location in a width direction on the road using a location of the extracted segment line and the segment line information; and when the segment line cannot be extracted from the road image, estimate a travelling location of the own vehicle on the road on the basis of a travelling speed of the own vehicle, a travelling direction thereof, and previously determined travelling location. Accordingly, even when the segment line on the road cannot be detected, the travelling location can be determined with location accuracy capable of discriminating the travelling lane.SELECTED DRAWING: Figure 10

    【課題】道路上の区画線が検出できなくなった場合でも、走行中の車線を判別可能な位置精度で走行位置を決定可能とする。【解決手段】地図上での道路の経路を表す経路情報と、道路上に表示された区画線についての情報である区画線情報とを含んだ地図情報を記憶しておく。そして、自車両から道路画像を撮影して区画線を抽出し、抽出した区画線の位置と区画線情報とを用いて、道路上での幅方向への位置を含めた自車両の走行位置を決定する。また、道路画像から区画線が抽出できなかった場合には、自車両の走行速度と、走行方向と、先に決定した走行位置とに基づいて、道路上での自車両の走行位置を推定する。こうすれば、道路上の区画線が検出できなくなった場合でも、走行中の車線を判別可能な位置精度で走行位置を決定することができる。【選択図】図10


    Access

    Download


    Export, share and cite



    Title :

    TRAVELLING LOCATION DETECTION DEVICE AND TRAVELLING LOCATION DETECTION METHOD


    Additional title:

    走行位置検出装置、走行位置検出方法


    Contributors:

    Publication date :

    2017-09-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




    TRAVELLING CONTROL DEVICE, TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL PROGRAM

    OZAWA YUKI / KOYAMA RIKU | European Patent Office | 2023

    Free access

    AUTONOMOUS TRAVELLING VEHICLE, TRAVELLING CONTROL DEVICE, TRAVELLING CONTROL METHOD, AND TRAVELLING CONTROL PROGRAM

    KONISHI KAZUNOBU / MATSUI SHUHEI / SHIMOMA YUTA | European Patent Office | 2019

    Free access