To provide a technique that can recognize a road shape.SOLUTION: A road shape recognition device 110, which is mounted on a vehicle 10 having a camera 122, comprises: a peripheral information recognition part 111; a point sequence setting part 112 which sets a point sequence that represents a shape of a road on which the vehicle travels on the basis of peripheral information; a first reliability setting part 113 which sets a first reliability of each point included in the point sequence; a road model calculation part 114 which calculates a new road model which represents the shape of the road, on which the vehicle travels, with a line on the basis of the point sequence, the first reliability and a road model which has been calculated in the past; a second reliability setting part which sets a second reliability of the road model; and an output part 117 which outputs the road model. The road model calculation part calculates on the basis of a point sequence which has been set in the past when the first reliability is lower the second reliability in the road model which has been calculated in the past, and calculates the model on the basis of the point sequence when the first reliability is higher than the second reliability in the road model which has been calculated in the past.SELECTED DRAWING: Figure 1
【課題】道路形状を認識できる技術を提供する。【解決手段】カメラ122を有する車両10に搭載される道路形状認識装置110は、周辺情報認識部111と、周辺情報に基づいて、車両が走行している道路の形状を表す点列を設定する点列設定部112と、点列に含まれる各点の第1信頼度を設定する第1信頼度設定部113と、点列と第1信頼度と道路モデルが過去に算出した道路モデルとに基づいて、車両が走行している道路の形状を線で表す新たな道路モデルを算出する、道路モデル算出部114と、道路モデルの第2信頼度を設定する第2信頼度設定部と、道路モデルを出力する出力部117とを備える。道路モデル算出部は、第1信頼度が過去に算出した道路モデルにおける第2信頼度よりも低い場合、過去に設定した点列に基づいて道路モデルを算出し、第1信頼度が過去に算出した道路モデルにおける第2信頼度よりも高い場合、点列に基づいて道路モデルを算出する。【選択図】図1
ROAD SHAPE RECOGNITION DEVICE
道路形状認識装置
2022-10-03
Patent
Electronic Resource
Japanese
ROAD SHAPE RECOGNITION DEVICE AND ROAD SHAPE RECOGNITION METHOD
European Patent Office | 2021
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