To make it possible to set a route along which a signal can correctly be recognized while reducing a possibility of undetection and false recognition of a traffic light.SOLUTION: A passing time estimation unit 304 estimates passing time at which a vehicle passes through stop lines for each stop line in front of a traffic light existing on each route in the traveling direction between a vehicle position and a destination. A sun's position estimation unit 305 calculates a sun's position at the passing time through the stop line based on the position of the stop line and the passing time through the stop line for each of the multiple stop lines. A backlight margin value calculation unit 307 calculates a backlight margin value in which the larger a distance is between the traffic light and the sun seen from the position of the stop line, the larger the value is. A route backlight margin value calculation unit 308 calculates a route backlight margin value based on the backlight margin value for each stop line existing on the route for each route from the vehicle position to the destination. A route determination unit 309 determines a traveling route from the vehicle position to the destination using the route backlight margin value.SELECTED DRAWING: Figure 4
【課題】信号機の未検知及び誤認識が生ずる可能性を下げ、信号を正しく認識できるルートを設定することができるようにする。【解決手段】通過時刻推定部304が、車両位置から目的地までの各ルート上の進行方向に存在する信号機の手前の停止線の各々について、車両が当該停止線を通過する通過時刻を推定し、太陽位置推定部305が、複数の停止線の各々について、当該停止線の位置と、当該停止線の通過時刻とに基づいて、当該停止線の通過時刻における太陽の位置を算出し、逆光余裕値算出部307が、停止線の位置から見た信号機と太陽との距離が大きいほど大きな値となる逆光余裕値を算出し、ルート逆光余裕値308が、車両位置から目的地までの各ルートについて、当該ルート上に存在する停止線の各々の逆光余裕値に基づくルート逆光余裕値を算出し、ルート決定部309が、ルート逆光余裕値を用いて、車両位置から目的地までの走行ルートを決定する。【選択図】図4
TRAVEL ROUTE SETTING SYSTEM, TRAVEL ROUTE SETTING METHOD, AND PROGRAM
走行ルート設定システム、走行ルート設定方法、及びプログラム
2021-02-12
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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