To provide a technique of estimating a roadside of a crossroad crossing a running road.SOLUTION: An on-vehicle crossroad estimation apparatus includes an object detection section, an object extraction section, a first estimation section, a candidate extraction section and a second estimation section. In S400, the object detection section detects an object existing around an own vehicle and a position of the object. In S404, the object extraction section extracts a stationary object and a position of the stationary object from a detection result of the object by the object detection section. In S406, the first estimation section estimates a roadside of a driving road on which an own vehicle drives on the basis of the position of the stationary object extracted by the object extraction section. In S408, the candidate extraction section extracts a stationary object existing on the more outward side than the roadside of the driving road estimated by the first estimation section as a candidate of an outer stationary object expressing a roadside of a crossroad crossing the driving road. In S410, the second estimation section estimates a roadside of a crossroad on the basis of the position of an outer stationary object extracted by the candidate extraction section.SELECTED DRAWING: Figure 2

    【課題】走行道路に交差する交差道路の道路端を推定する技術を提供する。【解決手段】本開示の交車載の差道路推定装置は、物体検出部と物体抽出部と第1の推定部と候補抽出部と第2の推定部とを備えている。S400において物体検出部は、自車両の周囲に存在する物体と物体の位置とを検出する。S404において物体抽出部は、物体検出部による物体の検出結果から、静止物体と静止物体の位置とを抽出する。S406において第1の推定部は、物体抽出部が抽出する静止物体の位置に基づいて、自車両が走行する走行道路の道路端を推定する。S408において候補抽出部は、第1の推定部が推定する走行道路の道路端よりも外側に存在する静止物体を、走行道路と交差する交差道路の道路端を表す外側静止物体の候補として抽出する。S410において第2の推定部は、候補抽出部が抽出する外側静止物体の位置に基づいて交差道路の道路端を推定する。【選択図】図2


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    Title :

    CROSSROAD ESTIMATION DEVICE


    Additional title:

    交差道路推定装置


    Contributors:

    Publication date :

    2020-01-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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