To provide devices such as an intersection center detection device and an intersection lane determination device that easily obtain a center of an intersection.SOLUTION: An intersection center detection device 10 includes: a data acquisition unit 11 that acquires data related to surrounding conditions from a peripheral monitoring device 20 that monitors the surrounding conditions of a vehicle; a road center detection unit 14 that detects a center of a road based on data on the surrounding conditions; a traffic light detection unit 12 that detects at least two traffic lights at an intersection based on the data on the surrounding conditions; and a center point detection unit 15 that detects an intersecting point of a line connecting the detected traffic lights and the center of the road as the center of the intersection.SELECTED DRAWING: Figure 1
【課題】簡便に交差点中心を求める交差点中心検出装置、交差点レーン判定装置等を提供する。【解決手段】交差点中心検出装置10は、車両の周辺の状況を監視する周辺監視装置20から、周辺状況に関するデータを取得するデータ取得部11と、周辺状況に関するデータに基づいて、道路の中央を検出する道路中央検出部14と、周辺状況に関するデータに基づいて、交差点において少なくとも2つの信号機を検出する信号機検出部12と、検出された信号機どうしを結ぶ線と道路の中央との交点を、交差点中心として検出する中心点検出部15とを備える。【選択図】図1
INTERSECTION CENTER DETECTION DEVICE, INTERSECTION LANE DETERMINATION DEVICE, INTERSECTION CENTER DETECTION METHOD, INTERSECTION LANE DETERMINATION METHOD, AND PROGRAM
交差点中心検出装置、交差点レーン判定装置、交差点中心検出方法、交差点レーン判定方法およびプログラム
2021-07-08
Patent
Electronic Resource
Japanese
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