To accurately recognize a division line while reducing a processing load.SOLUTION: An exterior environment recognition apparatus 50 as a division line recognition apparatus comprises a LiDAR 5 as an in-vehicle detector irradiating the surrounding of an own vehicle with an electromagnetic wave to detect an exterior environment situation in the surrounding in time series, and a processing section 11 as a road surface information acquisition section for acquiring road surface information on a road on which the own vehicle is traveling on the basis of the information detected by the LiDAR 5. The processing section 11 includes a recognition section 111 for recognizing information indicating a division line in a first area separated from the own vehicle on the road by a predetermined distance at different positions on the road, and a mapping section 114 for mapping the information indicating the division line recognized in the recognition section 111 on the basis of a traveling direction and driving speed of the own vehicle.SELECTED DRAWING: Figure 2
【課題】処理負荷を低減しつつ、区画線を精度よく認識すること。【解決手段】区画線認識装置としての外界認識装置50は、自車両の周囲に電磁波を照射して周囲の外界状況を時系列に検出する車載検出器としてのライダ5と、ライダ5で検出された情報に基づいて、自車両が走行する道路の路面情報を取得する路面情報取得部としての演算部11とを備える。演算部11は、道路上の異なる位置でそれぞれ、自車両から所定距離離れた道路上の第1領域の区画線を示す情報を認識する認識部111と、認識部111で認識した区画線を示す情報を、自車両の進行方向および走行速度に基づいてマッピングするマッピング部114と、を含む。【選択図】図2
DIVISION LINE RECOGNITION APPARATUS
区画線認識装置
2024-03-14
Patent
Electronic Resource
Japanese