To accurately recognize a partition line on a road surface.SOLUTION: An on-vehicle detector 5 in a partition line recognizing device 50 acquires three-dimensional point group data including distance information for each of a plurality of matrix-like detection points as detection data for one frame from different positions on a road along which a vehicle travels. A road surface information acquiring unit 11 includes: a recognition unit 111 for recognizing a partition line as road surface information in a traveling direction on a road for each frame based on the detection data; and a determination unit 112 for determining that data indicating the partition lines recognized in a duplicated manner is valid when the partition lines at the same position on the road are recognized in a predetermined number of continuous frames in a duplicated manner.SELECTED DRAWING: Figure 2
【課題】路面の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50の車載検出器5は、走行する道路上の異なる位置からそれぞれ、1フレームの検出データとしてマトリクス状の複数の検出点毎の距離情報を含む3次元点群データを取得する。路面情報取得部11は、検出データに基づいて、フレーム毎の道路上の進行方向の区画線を路面情報として認識する認識部111と、道路上の同じ位置の区画線が連続する所定数のフレームで重複して認識されると、重複して認識された区画線を示すデータを有効と判定する判定部112と、を含む。【選択図】図2
PARTITION LINE RECOGNIZING DEVICE
区画線認識装置
2024-07-31
Patent
Electronic Resource
Japanese
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |