To provide a signal indication estimation system which can accurately estimate signal indication of a traffic light in front of a vehicle in a travel direction, which should be followed by the vehicle, in a situation that a plurality of traffic lights for recognition are detected.SOLUTION: A signal indication estimation system recognizes traffic lights included in a camera image on the basis of position information of a vehicle and traffic light information, identifies signal indication for every recognized traffic light, and calculates evaluation values showing probability of the identified signal indication for every traffic light. The signal indication estimation system integrates a front traffic light in front of a vehicle in a travel direction, which should be followed by the vehicle with a traffic light having correlation about the signal indication with the front traffic light on the basis of relation information between the traffic lights among the plurality of recognized traffic lights. The signal indication estimation system estimates the signal indication of the front traffic light on the basis of the evaluation values for every traffic light when there is mismatch in the signal indication identified between the plurality of integrated traffic lights.SELECTED DRAWING: Figure 24
【課題】認識対象の信号機を複数検出した状況において、車両が従うべき進行方向前方の信号機の信号表示を精度良く推定することができる信号表示推定システムを提供する。【解決手段】信号表示推定システムは、カメラ画像に含まれる信号機を車両の位置情報と信号機情報とに基づいて認識し、認識された信号機毎に信号表示を識別し、識別された信号表示の確からしさを示す評価値を信号機毎に計算する。信号表示推定システムは、認識された複数の信号機の中で、車両が従うべき進行方向前方の前方信号機と、前方信号機と信号表示について相関を有する信号機とを信号機間関係情報に基づいて統合する。信号表示推定システムは、統合された複数の信号機間において識別された信号表示に不整合がある場合、信号機毎の評価値に基づいて前方信号機の信号表示を推定する。【選択図】図24
SIGNAL INDICATION ESTIMATION SYSTEM
信号表示推定システム
2021-02-15
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06V |
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