PROBLEM TO BE SOLVED: To provide a vehicle position detection device capable of accurately detecting the position of a vehicle itself.SOLUTION: A vehicle position detection device includes: a projection part (22) for extracting at least one line indicated on a road which is included in a photographing range of an imaging part (2) mounted on a vehicle (10) in candidates for a position in each candidate for a position of the vehicle (10) at the present time in each prescribed period, and projecting at least the extracted one line onto an image of the present time according to the candidate for the position; a coincidence degree calculation part (23) for calculating a coincidence degree between map information and the image on the basis of a correlation degree between at least one line projected for the candidate on a traffic lane and the image in each traffic lane on the road in each prescribed period; a voting part (24) for adding a prescribed voting value to the total sum of voting values for a traffic lane having the maximum coincidence degree in each prescribed period; and a traffic lane determination part (25) for determining that the vehicle (10) travels on a lane corresponding to the maximum value of the total sum of the voting values.SELECTED DRAWING: Figure 4
【課題】自車両の位置を正確に検出できる車両位置検出装置を提供する。【解決手段】車両位置検出装置は、所定の周期ごとに、車両(10)の現時刻における位置の候補ごとに、その位置の候補における、車両(10)に搭載された撮像部(2)の撮影範囲に含まれる道路上に標示される少なくとも一つの線を地図情報から抽出し、抽出した少なくとも一つの線を、その位置の候補にしたがって現時刻の画像に投影する投影部(22)と、所定の周期ごとに、道路上の車線ごとに、その車線上の候補についての投影された少なくとも一つの線と画像との相関度に基づいて地図情報と画像との一致度を算出する一致度算出部(23)と、所定の周期ごとに、一致度が最大となる車線についての投票値の総和に所定の投票値を加算する投票部(24)と、投票値の総和の最大値に対応する車線を車両(10)が走行していると判定する走行車線判定部(25)とを有する。【選択図】図4
VEHICLE POSITION DETECTION DEVICE, VEHICLE POSITION DETECTION METHOD AND COMPUTER PROGRAM FOR VEHICLE POSITION DETECTION
車両位置検出装置、車両位置検出方法及び車両位置検出用コンピュータプログラム
2018-05-17
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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