To provide a traveling lane identifying apparatus, and the like, capable of improving the accuracy of identifying a traveling lane.SOLUTION: In a traveling lane identifying system which implements a traveling lane identifying apparatus, a server includes: a reference time duration determination unit which determines time duration for referring to camera images acquired from a mobile body based on a state amount of the mobile body, and extracts a plurality of camera images according to the time duration; a lane marking detection unit which generates lane-marking detection results from the extracted camera images; an imaginary lane marking detection unit which generates, for each of the extracted camera images, as imaginary lane-marking detection results, lane-marking detection results which were not generated in the camera images at a designated time and date but generated in the camera images at another time and date; a lane marking reliability calculation unit which calculates reliability for the lane-marking detection results and reliability for the imaginary lane-marking detection results; and a traveling lane identifying unit which identifies a traveling lane on the basis of the reliability for each of the lane-marking detection results and the imaginary lane-marking detection results.SELECTED DRAWING: Figure 2
【課題】本開示は、走行車線を特定する精度を向上させることが可能な走行車線特定装置等を提供することを目的とする。【解決手段】走行車線特定装置を実現する走行車線特定システムにおいて、サーバは、移動体の状態量に基づいて移動体から取得したカメラ画像を参照する時間幅を決定し、時間幅に応じて複数のカメラ画像を抽出する参照時間幅決定部と、抽出した各カメラ画像から区画線検出結果を生成する区画線検出部と、抽出した各カメラ画像について、指定日時におけるカメラ画像では生成されず他の時刻におけるカメラ画像では生成された区画線検出結果を仮想区画線検出結果として生成する仮想区画線検出部と、区画線検出結果に対する信頼度と仮想区画線検出結果に対する信頼度とを算出する区画線信頼度算出部と、区画線検出結果および仮想区画線検出結果のそれぞれに対する信頼度に基づいて走行車線を特定する走行車線特定部とを備える。【選択図】図2
TRAVELING LANE IDENTIFYING APPARATUS, TRAVELING LANE IDENTIFYING METHOD, TRAVELING LANE IDENTIFYING PROGRAM, LANE MATCH DETERMINATION APPARATUS, LANE MATCH DETERMINATION METHOD, AND LANE MATCH DETERMINATION PROGRAM
走行車線特定装置、走行車線特定方法、および走行車線特定プログラム、並びに、走行車線一致判定装置、走行車線一致判定方法、および走行車線一致判定プログラム
2025-01-20
Patent
Electronic Resource
Japanese
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