PROBLEM TO BE SOLVED: To correctly detect a runway boundary even when curvature of a white line on a road becomes larger in a case where a road on which a vehicle is traveling is curved, etc.SOLUTION: A runway detection method is performed by storing multiple runway feature points detected by using sensors mounted on a vehicle on the basis of a vehicle moving amount, setting a runway detection section on the basis of a runway shape estimated from the stored multiple runway feature points, and detecting a runway boundary by determining continuity between runway feature points for each runway detection section.SELECTED DRAWING: Figure 4
【課題】車両が走行する道路がカーブしている場合等に道路上の白線の曲率が大きくなっても正確に走路境界を検出する。【解決手段】本発明の走路検出方法は、車両に搭載されたセンサを用いて検出された複数の走路特徴点を車両の移動量に基づいて蓄積し、蓄積された複数の走路特徴点から推定された走路形状に基づいて走路検出区間を設定し、走路検出区間毎に走路特徴点間の連続性を判定して走路境界を検出する。【選択図】図4
RUNWAY DETECTION METHOD AND RUNWAY DETECTION DEVICE
走路検出方法及び走路検出装置
2018-04-05
Patent
Electronic Resource
Japanese
Emerald Group Publishing | 2005