To enhance accuracy in detecting a long-distance object.SOLUTION: An object position detection method includes steps of: acquiring a captured image 30 of the periphery of an own vehicle 1; extracting a partial area 31 being an area corresponding to an imaged object within the captured image 30; converting coordinates on a map of center lines 34a, 34b extending along lanes 33a, 33b at centers in the width direction of the lanes 33a, 33b in the periphery of the own vehicle included in map information, into coordinates on an image coordinate system of the captured image 30; detecting a vicinity point 38 being a position on a center line closest to a center point 32 positioned at a lower end of the partial area 31 and also at center in the width direction, in the image coordinate system; and detecting a position of an object based on the position of the vicinity point 38 on the map coordinate system.SELECTED DRAWING: Figure 2B

    【課題】遠距離の物体の検出精度を向上させる。【解決手段】物体位置検出方法では、自車両1の周囲の撮像画像30を取得し、撮像画像30内において、撮像された物体に対応する領域である部分領域31を抽出し、地図情報に含まれている自車両の周囲のレーン33a、33bの幅方向中央をレーン33a、33bに沿って延びる中央線34a、34bの地図上の座標を、撮像画像30の画像座標系上の座標に変換し、部分領域31の下端かつ幅方向で中央に位置する中心点32に最も近い中央線上の位置である近傍点38を画像座標系において検出し、近傍点38の地図座標系上の位置に基づいて、物体の位置を検出する。【選択図】図2B


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    Title :

    OBJECT POSITION DETECTION METHOD AND OBJECT POSITION DETECTION DEVICE


    Additional title:

    物体位置検出方法及び物体位置検出装置


    Contributors:

    Publication date :

    2021-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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