To suppress a reduction in the accuracy of estimating the position of a pedestrian crossing sign even if the pedestrian crossing sign is unclear.SOLUTION: A pedestrian crossing sign estimation device 1 estimates, based on a detection result of an external sensor 2, the position of a pedestrian crossing sign Z including a plurality of bands B. The pedestrian crossing sign estimation device 1 includes a planar view road surface image generation unit 12 configured to generate a planar view road surface image P2 of a road around a vehicle, an edge candidate acquisition unit 13 configured to acquire, based on the planar view road surface image P2 and a template image P3, each edge candidate C of the plurality of bands B, an edge candidate selection unit 14 configured to select a selection edge candidate Cs that is an edge candidate C corresponding to an edge Zn in a road extension direction D2 of the pedestrian crossing sign Z, based on a distribution of the edge candidate C on the planar view road surface image P2, from the situation of gathering in the road extension direction D2 of the edge candidate C, and a crosswalk edge estimation unit 18 configured to estimate the position of the edge Zn of the pedestrian crossing sign Z with respect to a vehicle based on the selection edge candidate Cs.SELECTED DRAWING: Figure 1
【課題】横断歩道標示が不明瞭な場合であっても、横断歩道標示の位置の推定精度の低下を抑制する。【解決手段】横断歩道標示推定装置1は、外部センサ2による検出結果に基づいて複数のバンドBを含む横断歩道標示Zの位置を推定する。横断歩道標示推定装置1は、車両周囲の道路の平面視路面画像P2を生成する平面視路面画像生成部12と、平面視路面画像P2とテンプレート画像P3とに基づいて、複数のバンドBのそれぞれの端部候補Cを取得する端部候補取得部13と、端部候補Cの平面視路面画像P2上における分布に基づいて、端部候補Cの道路延在方向D2における集まりの状況から、横断歩道標示Zの道路延在方向D2における縁部Znに対応する端部候補Cである選択端部候補Csを選択する端部候補選択部14と、選択端部候補Csに基づいて、横断歩道標示Zの縁部Znの車両に対する位置を推定する横断歩道縁部推定部18と、を備える。【選択図】図1
PEDESTRIAN CROSSING SIGN ESTIMATION DEVICE
横断歩道標示推定装置
2020-04-16
Patent
Electronic Resource
Japanese
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