To determine a positional deviation of a compartment line during map generation accurately.SOLUTION: A map generation device 50 comprises: a camera 1a that detects a compartment line on a road surface and detects a feature point of an object around an own vehicle; a first map generation part 171 that generates a map including position information of the detected compartment line; a second map generation part 172 that generates a map including position information of the detected feature point; a storage part 12 that stores a compartment line map and a feature point map including a compartment line and feature points detected at a first time point; and a determination part 22 that determines whether or not a position of the compartment line on the road surface has changed based on a difference between the stored compartment line map and the compartment line map including a compartment line detected at a second time point.SELECTED DRAWING: Figure 3

    【課題】地図生成時における区画線の位置ずれを精度よく判定する。【解決手段】地図生成装置50は、路面上の区画線を検出するとともに自車両の周囲の物体の特徴点を検出するカメラ1aと、検出された区画線の位置情報を含む地図を生成する第1地図生成部171と、検出された特徴点の位置情報を含む地図を生成する第2地図生成部172と、第1時点で検出された区画線および特徴点を含む区画線地図および特徴点図を記憶する記憶部12と、記憶された区画線地図と、第2時点で検出された区画線を含む区画線地図との差異に基づいて路面上の区画線の位置が変化したか否かを判定する判定部22と、を備える。【選択図】図3


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    Title :

    MAP GENERATION DEVICE


    Additional title:

    地図生成装置


    Contributors:
    OKUMA YUKI (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



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