To properly estimate the position of a stop line on the basis of the position of a traffic light at an intersection.SOLUTION: A stop line position estimation system includes a traffic light recognition unit that recognizes a traffic light at an intersection existing ahead of a vehicle on the basis of a result of detection by an external sensor of the vehicle, and a stop line position estimation unit that estimates as a position of a stop line a position closer to the vehicle by a first distance away from the traffic light. When the traffic light recognition unit recognizes plural traffic lights, if the stop line position estimation unit recognizes a near side traffic light which is located nearest the vehicle at the near side of the intersection and a far side traffic light at the far side of the intersection on the basis of a positional relationship among the plural traffic lights, the stop line position estimation unit estimates as the position of the stop line a position closer to the vehicle by a second distance away from the near side traffic light. Herein, the second distance is shorter than the first distance.SELECTED DRAWING: Figure 6
【課題】 交差点における信号機の位置から停止線の位置を適切に推定する。【解決手段】停止線位置推定装置であって、車両の外部センサの検出結果に基づいて、車両の前方の交差点における信号機を認識する信号機認識部と、信号機から第1の距離だけ車両側の位置を停止線の位置として推定する停止線位置推定部と、を備え、停止線位置推定部は、信号機認識部により複数の信号機が認識された場合に、複数の信号機の位置関係に基づいて交差点の手前側で車両に最も近い手前側信号機と交差点の奥側の奥側信号機とを認識したとき、手前側信号機から第2の距離だけ車両側の位置を停止線の位置として推定し、第2の距離は第1の距離より短い距離である。【選択図】図6
STOP LINE POSITION ESTIMATION SYSTEM AND VEHICLE CONTROL SYSTEM
停止線位置推定装置及び車両制御システム
2021-03-01
Patent
Electronic Resource
Japanese
Stop line position estimation device and vehicle control system
European Patent Office | 2022
|STOP LINE POSITION ESTIMATION DEVICE AND VEHICLE CONTROL SYSTEM
European Patent Office | 2021
|STOP LINE POSITION ESTIMATION DEVICE AND VEHICLE CONTROL SYSTEM
European Patent Office | 2022
STOP LINE POSITION ESTIMATION DEVICE AND VEHICLE CONTROL SYSTEM
European Patent Office | 2022
|STOP LINE POSITION ESTIMATION DEVICE AND VEHICLE CONTROL SYSTEM
European Patent Office | 2021
|