To accurately generate a map that includes position information for a division line even when the division line is discontinuous in the middle.SOLUTION: A map generation device 20 comprises: a camera 1a that detects an environment situation around a self vehicle; a map generation unit 17 that generates a map including position information for a division line defining a traveling traffic lane of the self vehicle on the basis of the detected environment situation; a division line estimation unit 21 that estimates a position of the division line which is predicted to be detected at a second point of time, on the basis of information on the environment situation detected at a first point of time; and a determination unit 22 that determines the presence/absence of a traffic lane change by the self vehicle on the basis of a difference between the estimated position of the division line and the position of the division line detected by the camera 1a at the second point of time. The map generation unit 17 generates a map on the basis of a result of this determination.SELECTED DRAWING: Figure 3
【課題】区画線が途中で途切れているような場合であっても、区画線の位置情報を含む地図を精度よく生成する。【解決手段】地図生成装置20は、自車両の周囲の外界状況を検出するカメラ1aと、検出された外界状況の情報に基づいて、自車両の走行車線を規定する区画線の位置情報を含む地図を生成する地図生成部17と、第1時点で検出された外界状況の情報に基づいて、第2時点に検出されると予測される区画線の位置を推定する区画線推定部21と、推定された区画線の位置と第2時点にカメラ1aにより検出された区画線の位置との差異に基づいて、自車両の車線変更の有無を判定する判定部22と、を備え、地図生成部17は、この判定結果に基づいて地図を生成する。【選択図】図3
MAP GENERATION DEVICE
地図生成装置
2023-10-12
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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