DE102024202775A1 - Eigen-fahrzeugposition-schätzvorrichtung, fahrzeugsteuersystem und eigen-fahrzeug-positionsschätzverfahren - Google Patents

Eigen-fahrzeugposition-schätzvorrichtung, fahrzeugsteuersystem und eigen-fahrzeug-positionsschätzverfahren Download PDF

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Publication number
DE102024202775A1
DE102024202775A1 DE102024202775.8A DE102024202775A DE102024202775A1 DE 102024202775 A1 DE102024202775 A1 DE 102024202775A1 DE 102024202775 A DE102024202775 A DE 102024202775A DE 102024202775 A1 DE102024202775 A1 DE 102024202775A1
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DE
Germany
Prior art keywords
dividing line
road lane
lane dividing
line information
vehicle position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102024202775.8A
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German (de)
English (en)
Inventor
Takumi Sato
Takefumi Hasegawa
Takafumi Kasuga
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of DE102024202775A1 publication Critical patent/DE102024202775A1/de
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
DE102024202775.8A 2023-03-28 2024-03-22 Eigen-fahrzeugposition-schätzvorrichtung, fahrzeugsteuersystem und eigen-fahrzeug-positionsschätzverfahren Pending DE102024202775A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023050933A JP7766637B2 (ja) 2023-03-28 2023-03-28 自車位置推定装置、車両制御システム及び自車位置推定方法
JP2023-050933 2023-03-28

Publications (1)

Publication Number Publication Date
DE102024202775A1 true DE102024202775A1 (de) 2024-10-02

Family

ID=92712701

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102024202775.8A Pending DE102024202775A1 (de) 2023-03-28 2024-03-22 Eigen-fahrzeugposition-schätzvorrichtung, fahrzeugsteuersystem und eigen-fahrzeug-positionsschätzverfahren

Country Status (3)

Country Link
US (1) US20240331407A1 (https=)
JP (1) JP7766637B2 (https=)
DE (1) DE102024202775A1 (https=)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5880703B2 (ja) * 2012-06-14 2016-03-09 トヨタ自動車株式会社 車線区分標示検出装置、運転支援システム
JP6834401B2 (ja) * 2016-11-24 2021-02-24 日産自動車株式会社 自己位置推定方法及び自己位置推定装置
JP6837196B2 (ja) * 2017-02-15 2021-03-03 日立Astemo株式会社 車両運動制御装置、車両運動制御方法および車両運動制御システム
KR20220081521A (ko) * 2020-12-09 2022-06-16 현대자동차주식회사 도로형상분류 기반 맵 매칭을 통한 고정밀 위치추정 방법 및 자율주행 자동차
JP7184951B2 (ja) * 2021-03-26 2022-12-06 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7241839B1 (ja) * 2021-10-06 2023-03-17 三菱電機株式会社 自己位置推定装置

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US20240331407A1 (en) 2024-10-03
JP2024139968A (ja) 2024-10-10
JP7766637B2 (ja) 2025-11-10

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