To make it possible to estimate a curvature of a road with stable accuracy even when a distant area is unclear, when the curvature of the road is estimated using image data.SOLUTION: A road curvature estimation device comprises: a camera device provided with an imaging part, and a borderline estimation part for estimating a borderline between a compartment line and a travel lane of a curve from image data for every at least one frame; and a curvature calculation device. The curvature calculation device comprises a maximum curvature position detection part, an attention position setting part, and an attention position curvature calculation part. The attention position curvature calculation part compares a maximum curvature position of the borderline detected by the maximum curvature position detection part with an attention position of the borderline set by the attention position setting part; sets a curvature of the attention position as an attention position curvature when the attention position is located on one's own vehicle side relative to the maximum curvature position; and sets a curvature of the maximum curvature position as an attention position curvature when the attention position is ahead of the maximum curvature position.SELECTED DRAWING: Figure 1
【課題】画像データを用いて道路の曲率を推定するに際し、遠方が不明瞭な場合であっても安定した精度で道路の曲率を推定できるようにする。【解決手段】道路曲率推定装置は、撮像部とカーブの走行車線と区画線との境界線を少なくとも1フレーム毎の画像データから推定する境界線推定部とを有するカメラ装置と、曲率演算装置とを備え、曲率演算装置は最大曲率位置検出部と注目位置設定部と注目位置曲率演算部とを有し、注目位置曲率演算部は、最大曲率位置検出部で検出した境界線の最大曲率位置と注目位置設定部で設定した境界線の注目位置とを比較し、注目位置が最大曲率位置よりも自車両側にある場合、注目位置の曲率を注目位置曲率として設定し、注目位置が前記最大曲率位置よりも先にある場合、最大曲率位置の曲率を注目位置曲率として設定する。【選択図】図1
ROAD CURVATURE ESTIMATION DEVICE
道路曲率推定装置
2024-11-27
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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