To set a lane boundary accurately even when a lane marking cannot be recognized.SOLUTION: Lane boundary setting apparatuses 105, 105a include: a recognition unit 111 which acquires a detection result of a detection apparatus 120 mounted on a vehicle 10 and including at least a camera 122, and repeatedly recognizes at least one of a shape of a road-side object 30 located around the vehicle in a traveling direction and moving histories 21, 21a, 21b, 21c of other vehicles 20, 20a, 20b, 20c, as surrounding information; a reference line estimation unit 112 which repeatedly estimates a reference line 11 formed of a point sequence representing a road shape with points, in the traveling direction of the vehicle, by use of the surrounding information recognized by the recognition unit; and a first lane boundary setting unit 114 which repeatedly sets positions separated by a predetermined first distance D1 in vehicle lateral direction from the reference line estimated by the reference line estimation unit, as first lane boundaries 15R, 15L which are boundaries of a lane where the vehicle travels.SELECTED DRAWING: Figure 1
【課題】区画線が認識されない場合にも、車線境界を精度よく設定する。【解決手段】車線境界設定装置105、105aであって、自車両10に搭載され少なくともカメラ122を含む検出装置120の検出結果を取得して、自車両の進行方向周囲における路側物30の形状と、他車両20、20a、20b、20cの移動履歴21、21a、21b、21cと、の少なくとも一つを周辺情報として繰り返し認識する認識部111と、認識部により認識された周辺情報を用いて、自車両の進行方向に、道路形状を点で表す点列からなる基準線11を繰り返し推定する基準線推定部112と、基準線推定部により推定された基準線から自車両の車幅方向両側へ予め定められた第1距離D1離れた位置を、自車両の走行車線の境界である第1車線境界15R、15Lとして繰り返し設定する、第1車線境界設定部114と、を備える。【選択図】図1
LANE BOUNDARY SETTING APPARATUS AND LANE BOUNDARY SETTING METHOD
車線境界設定装置、車線境界設定方法
2020-06-04
Patent
Electronic Resource
Japanese
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