To improve recognition accuracy of a section line.SOLUTION: A section line recognition device 100 comprises: an external detection unit 2 which is mounted on a vehicle and detects an external situation around the vehicle; a behavior detection unit 3 which detects a travel behavior of the vehicle; a section line recognition unit 13 which sets a current position of the vehicle and a coordinate system according to an advance direction on the basis of the external situation and recognizes a section line around the vehicle in the coordinate system; a movement amount calculation unit 14 which calculates a movement amount of the vehicle from a first point of time to a second point of time on the basis of the travel behavior; and a section line correction unit 15 which corrects a section line. The section line recognition unit 13 generates first section line information representing a section line recognized at the first point of time and second section line information representing a section line recognized at the second point of time. The section line correction unit 15 comprises: a prediction unit 16 which predicts the section line recognized at the second point of time on the basis of the first section line information and the movement amount of the vehicle; and an update unit 17 which updates the second section line information on the basis of differences between the predicted section line and the section line actually recognized at the second point of time.SELECTED DRAWING: Figure 2

    【課題】区画線の認識精度を向上する。【解決手段】区画線認識装置100は、車両に搭載され車両周辺の外界状況を検出する外界検出部2と、車両の走行挙動を検出する挙動検出部3と、外界状況に基づいて車両の現在位置および進行方向に応じた座標系を設定するとともに座標系における車両周辺の区画線を認識する区画線認識部13と、走行挙動に基づいて第1時点から第2時点までの車両の移動量を算出する移動量算出部14と、区画線を補正する区画線補正部15とを備える。区画線認識部13は、第1、第2時点に認識した区画線を表す第1、第2区画線情報を生成する。区画線補正部前2は、第1区画線情報と車両の移動量とに基づいて第2時点に認識される区画線を予測する予測部16と、予測された区画線と第2時点に実際に認識された区画線との差に基づいて第2区画線情報を更新する更新部17とを有する。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    SECTION LINE RECOGNITION DEVICE


    Additional title:

    区画線認識装置


    Contributors:
    AOYAGI YUKI (author)

    Publication date :

    2023-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



    SECTION-LINE RECOGNITION DEVICE

    MASUI YOUHEI / KATSUKURA TOYOHARU / OGATA YOSHIHISA et al. | European Patent Office | 2016

    Free access

    SECTION LINE RECOGNITION DEVICE

    AOYAGI YUKI / GOTO YUHI / KONISHI YUICHI | European Patent Office | 2023

    Free access

    SECTION LINE RECOGNITION DEVICE

    MASUI YOHEI / KATSUKURA TOYOHARU / OGATA YOSHIHISA et al. | European Patent Office | 2016

    Free access

    SECTION LINE RECOGNITION DEVICE

    KITANI HIROKI | European Patent Office | 2018

    Free access

    SECTION LINE RECOGNITION DEVICE

    MACHII KIMIYOSHI / OGATA TAKETO / NAKAMURA ATSUYA et al. | European Patent Office | 2018

    Free access