To provide a technique capable of appropriately updating a road model.SOLUTION: In an automatic operation control system 100, a road shape recognition device mounted on a vehicle 10 including a peripheral sensor 120 comprises a peripheral environment recognition unit, a point sequence estimation unit, a recognition distance determination unit, and a road model calculation unit. The peripheral environment recognition unit recognizes at least one or more of a road compartment line shape, a roadside object shape, and movement histories of other vehicles as peripheral information. The point sequence estimation unit estimates a point sequence representing a road shape by points using the peripheral information. The recognition distance determination unit determines a distance from the vehicle to the farthest spot in the point sequence as a recognition distance. The road model calculation unit calculates a road model representing the road shape by lines using the peripheral information. When a difference between the recognition distance and the recognition distance determined in the past is less than or equal to a predetermined threshold distance, the road model calculation unit updates the road model calculated in the past to a newly calculated road model. When the difference between the recognition distance and the recognition distance determined in the past is greater than the predetermined threshold distance, the road model calculation unit does not update the road model calculated in the past.SELECTED DRAWING: Figure 1

    【課題】道路モデルを適切に更新できる技術を提供する。【解決手段】自動運転制御システム100において、周辺センサ120を有する車両10搭載の道路形状認識装置は、周辺センサによって検出した道路の区画線の形状と、路側物の形状と、他車両の移動履歴との少なくとも一つ以上を周辺情報として認識する周辺環境認識部と、周辺情報を用いて道路形状を点で表す点列を推定する点列推定部と、点列における車両から最も遠い地点までの距離を認識距離として決定する認識距離決定部と、周辺情報を用いて道路形状を線で表す道路モデルを算出する道路モデル算出部と、を備える。道路モデル算出部は、認識距離と過去に決定した認識距離との差が予め定めた閾値距離以下の場合に、過去に算出した道路モデルを新たに算出した道路モデルに更新し、認識距離と過去に決定した認識距離との差が予め定めた閾値距離よりも長い場合に、過去に算出した道路モデルの更新をしない。【選択図】図1


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    Title :

    ROAD SHAPE RECOGNITION DEVICE


    Additional title:

    道路形状認識装置


    Contributors:

    Publication date :

    2020-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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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