JP2008298622A - Feature recognizing device, feature recognition method, and lane determination device and lane determination method using them - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To determine a feature kind properly taking into consideration the possibility of generation of misrecognition of the feature kind, when determining the feature kind of object features contained in image information imaged by an imaging device. <P>SOLUTION: This recognition method has a means for acquiring the image information; a means for performing image recognition processing of the feature kind of the object feature included in the image information; a misrecognition table T for specifying the relation of the feature kind, having a possibility of being wrongly recognized as the second type feature kind fc2 which is different from the first type feature kind fc1, when image recognition of a part of a configuration of a prescribed object feature of the first type feature kind fc1 cannot be performed, relative to a plurality of feature kinds usable as the object feature; and a feature kind determination means for determining the feature kind of the object feature, included in the image information as that having a possibility of both of a recognized feature kind and a feature kind, wherein the relation with the recognized feature kind is specified in the wrong recognition table T, based on the recognized feature kind shown in an image recognition result and the misrecognition table T. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a feature recognition device and a feature recognition method capable of determining a feature type of a target feature included in image information captured by an imaging device, and a lane determination device and a lane determination method using the same. About.

  2. Description of the Related Art In recent years, a lane determination device that determines a vehicle lane on a road on which the vehicle is traveling is known based on various information obtained from inside and outside the vehicle for the purpose of appropriately performing route guidance in a navigation device. It has been. As such a lane determination device, for example, in Patent Document 1 below, optical beacon information of a vehicle information processing device such as VICS (Vehicle Information and Communication System), estimation information of a current location management unit, Steering information and blinker information events from the driver input information management unit, the number of recognized lanes from the image recognition device, its own lane position, lane position (right or left in the lane), lane increase / decrease number, lane increase / decrease A configuration that specifies the lane position of the vehicle based on the direction, road shoulder information (existence / non-existence), straddling state (whether it crosses the lane / white line, etc.), road marking (paint), etc., and outputs the determination result is described Has been. As for the identification of the lane position of the vehicle using the road marking information, the image recognition result of the road marking such as an arrow or a pedestrian crossing indicating the traffic classification according to the traveling direction of each lane such as going straight or turning left and right, and the database The structure which specifies the lane position of the own vehicle by collating with the information, such as the feature type and the feature position of the feature acquired from the above.

JP 2006-162409 A

  As described above, the image recognition processing of road markings such as arrows representing the traffic direction classified by the traveling direction of each lane is performed, and the image recognition result and the feature type and feature position information of the road marking obtained from the database It is possible to determine the own vehicle lane by collating. By the way, in order to appropriately determine such a vehicle lane, it is necessary to accurately recognize the feature type of a road marking such as an arrow existing in the vehicle lane by image recognition processing. However, in practice, the image recognition result may be incorrect because the road marking is partially blurred or the captured image information does not include a part of the road marking. Can occur. In such a case, if the vehicle lane is determined based on an erroneous image recognition result, a lane different from the actual vehicle lane may be determined as the vehicle lane.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to erroneously recognize a feature type when determining a feature type of a target feature included in image information captured by an imaging device. It is an object of the present invention to provide a feature recognition apparatus capable of appropriately determining a feature type in consideration of the possibility.

  In order to achieve the above object, the feature configuration of the feature recognition apparatus according to the present invention includes image information acquisition means for acquiring image information captured by an imaging device, and feature types of target features included in the image information. Regarding image recognition means for performing image recognition processing and a plurality of feature types that can be the target feature, when a part of the form of the target feature of the predetermined first type feature type cannot be recognized, A misrecognition table that defines the relationship between feature types that may be misrecognized as a second type feature type different from the first type feature type, and the feature type of the target feature included in the image information Feature type determination means for determining the image information based on the recognized feature type indicated in the image recognition result by the image recognition means and the erroneous recognition table. The feature type of the target feature included is Recognition feature type, and the relationship between the type of the recognized feature in the false recognition table lies in determining that there is both a potential defined feature type.

  According to this feature configuration, when determining the feature type of the target feature included in the image information captured by the imaging device, a part of the target feature is erroneously recognized due to blurring or the like. Based on a misrecognition table that predetermines the relationship between possible feature types, it is included in the image information, including the feature types that may be misrecognized as the recognized feature types shown in the image recognition results. The feature type of the target feature is determined. Therefore, it is possible to appropriately determine the feature type in consideration of the possibility of erroneous recognition of the feature type.

  Here, the feature type determination means determines the feature type of the target feature included in the image information, and if the recognized feature type is the first type feature type, the recognized feature type And when the recognized feature type is the second type feature type, the first type in which a relationship with the recognized feature type is defined in the recognized feature type and the misrecognition table A configuration in which it is determined that there is a possibility of both of the feature types is preferable.

  As described above, the relationship between the first type feature type and the second type feature type specified in the misrecognition table is that a part of the form of the target feature of the first type feature type cannot be recognized. In such a case, there is a possibility of being erroneously recognized as the second type feature type. For this reason, when the recognized feature type indicated in the image recognition result is the second type feature type, whether the image recognition result is correct or a part of the form of the target feature of the first type feature type Since the image could not be recognized due to fading or the like, it is difficult to determine whether it was erroneously recognized as the second type feature type. According to this configuration, when the recognized feature type is the second type feature type and it is difficult to determine whether the image recognition result is correct, the first type may be erroneously recognized. The feature type of the target feature included in the image information including the feature type is determined. On the other hand, when the recognized feature type is the first type feature type, since the possibility of erroneous recognition is low, the recognized feature type is determined as the feature type of the target feature included in the image information. Therefore, the feature type can be appropriately determined according to the possibility that the recognized feature type indicated in the image recognition result is erroneously recognized.

  The feature type relationship defined in the misrecognition table is such that the feature type of the first type feature type has at least two or more characteristic form parts, and the second type feature type It is preferable that the shape of the feature is a relationship that approximates the shape excluding a part of the two or more characteristic shape portions of the feature of the first type feature type.

  According to this configuration, in the case where the image recognition unit is configured to perform image recognition processing of the feature type by recognizing the characteristic form of the target feature, the target feature of the first type of feature type Appropriate relationship between type 1 feature type and type 2 feature type that may be misrecognized as type 2 feature type due to failure to recognize part of the image Can be specified.

  The configuration of the feature recognition apparatus according to the present invention is particularly suitable for determining a feature type related to an arrow-shaped road marking that represents a traveling section by direction of travel in which a plurality of feature types that are easily misrecognized from each other exist. . In addition, this makes it possible to appropriately determine the feature type of the arrow-shaped road marking provided on each lane of the road on which the host vehicle is traveling, and to determine the host vehicle lane on which the host vehicle is traveling. It becomes possible to carry out appropriately.

  Here, as the relationship between the feature types defined in the misrecognition table, for example, the relationship between the straight-ahead / right-turn arrow as the first type of feature type or the straight-ahead / left-turn arrow and the straight-ahead arrow as the second type of feature type Alternatively, it is preferable that the relationship between the right and left turn arrows as the first type feature type and the right or left turn arrows as the second type feature type is defined.

  In addition, the image pickup apparatus is mounted on the host vehicle, and the host vehicle position information acquisition unit that acquires host vehicle position information indicating the current position of the host vehicle, and the traveling direction of the host vehicle based on the host vehicle position information. A feature information acquisition means for acquiring feature information of one or more target features existing in the feature information, wherein the feature type determination means is the feature information acquired by the feature information acquisition means It is preferable that the feature type of the target feature included in the image information is determined from the feature types of one or more target features shown in FIG.

  According to this configuration, a feature type other than the feature type indicated in the feature information of one or more target features existing in the traveling direction of the host vehicle is the target feature ground included in the image information. It is no longer determined as an object type. Therefore, a feature type that cannot exist in the traveling direction of the host vehicle in view of the feature information acquired based on the host vehicle position information is determined as the feature type of the target feature included in the image information. And the accuracy of determining the feature type by the feature type determining means can be improved.

  In addition, the characteristic configuration of the lane determination device according to the present invention includes a feature recognition device having each of the above configurations, own vehicle position information acquisition means for acquiring own vehicle position information indicating the current position of the own vehicle, Feature information acquisition for acquiring feature information of target features existing in each lane in the traveling direction of the host vehicle when the road on which the host vehicle is traveling has a plurality of lanes based on the host vehicle position information And a lane determination unit that determines a lane in which the host vehicle is traveling from the plurality of lanes, and the image recognition unit of the feature recognition apparatus includes the image information. Image recognition processing of the feature type of the target feature in the own vehicle lane is performed, and the lane determination unit includes the feature type indicated in the determination result by the feature type determination unit of the feature recognition device The feature indicating the matching feature type The one or more lanes distribution is obtained, in that it determines that the vehicle lane.

  According to this characteristic configuration, the determination result by the feature type determination unit of the feature recognition apparatus and the feature information of the target feature existing in each lane in the traveling direction of the host vehicle acquired by the feature information acquisition unit Based on the above, the lane having the same feature type is determined as the own vehicle lane. Therefore, the vehicle lane can be appropriately determined using the determination result by the feature type determination means of the feature recognition device.

  The navigation device according to the present invention includes the lane determination device, a map database in which map information including the feature information is stored, the map information and the lane determination device determined by the lane determination device. An application program that operates with reference to vehicle lane information and a guide information output unit that operates according to the application program and outputs the guide information.

  According to this characteristic configuration, the operation of each guidance function such as route search, route guidance, and vehicle lane display is appropriately performed based on the information on the vehicle lane on which the vehicle is traveling, which is determined by the lane determination device. Can be performed.

  The feature configuration of the feature recognition method according to the present invention includes an image information acquisition step of acquiring image information captured by an imaging device, and an image recognition process of the feature type of the target feature included in the image information. When a part of the form of the target feature of the predetermined first type feature type cannot be recognized with respect to the image recognition step and the plurality of feature types that can be the target feature, the first type feature Based on a misrecognition table that defines a relationship between feature types that may be misrecognized as a second type feature type different from the type, and a recognized feature type indicated in an image recognition result by the image recognition step The feature type of the target feature included in the image information may be both the recognized feature type and the feature type whose relationship with the recognized feature type is defined in the erroneous recognition table. It is in the point to judge that there is.

  According to this feature configuration, when determining the feature type of the target feature included in the image information captured by the imaging device, a part of the target feature is erroneously recognized due to blurring or the like. Based on a misrecognition table that predetermines the relationship between possible feature types, it is included in the image information, including the feature types that may be misrecognized as the recognized feature types shown in the image recognition results. The feature type of the target feature is determined. Therefore, it is possible to appropriately determine the feature type in consideration of the possibility of erroneous recognition of the feature type.

  Here, in the feature type determination step, the feature type of the target feature included in the image information is determined. If the recognized feature type is the first type feature type, the recognized feature type And when the recognized feature type is the second type feature type, the first type in which a relationship with the recognized feature type is defined in the recognized feature type and the misrecognition table A configuration in which it is determined that there is a possibility of both of the feature types is preferable.

  According to this configuration, when the recognized feature type is the second type feature type and it is difficult to determine whether the image recognition result is correct, the first type may be erroneously recognized. The feature type of the target feature included in the image information including the feature type is determined. On the other hand, when the recognized feature type is the first type feature type, since the possibility of erroneous recognition is low, the recognized feature type is determined as the feature type of the target feature included in the image information. Therefore, the feature type can be appropriately determined according to the possibility that the recognized feature type indicated in the image recognition result is erroneously recognized.

  The characteristic configuration of the lane determination method according to the present invention includes an image information acquisition step for acquiring image information captured by an imaging device mounted on the host vehicle, and acquires host vehicle position information indicating the current position of the host vehicle. Based on the own vehicle position information acquisition step and the own vehicle position information, when the road on which the own vehicle is traveling has a plurality of lanes, the features of the target features existing in each lane in the traveling direction of the own vehicle A feature information acquisition step for acquiring object information, and an image recognition step for performing image recognition processing of the feature type of the target feature in the own vehicle lane, which is the lane in which the host vehicle is running, included in the image information And, regarding a plurality of feature types that can be the target feature, when a part of the form of the target feature of the predetermined first type feature type cannot be recognized, the first type feature type is Different type 2 feature types The target feature in the vehicle lane is based on a misrecognition table that defines a relationship between feature types that may be erroneously recognized and a recognized feature type that is indicated in an image recognition result by the image recognition step. A feature type determination step that determines that there is a possibility of both the recognized feature type and the feature type for which the relationship with the recognized feature type is defined in the erroneous recognition table; One or more lanes from which the feature information indicating the feature type that matches the feature type indicated in the determination result of the feature type determination step is acquired from the plurality of lanes. A lane determination step for determining a vehicle lane.

  According to this feature configuration, when determining the feature type of the target feature in the vehicle lane, there is a possibility of erroneous recognition when a part of the target feature cannot be recognized due to blurring or the like. Based on the misrecognition table that prescribes the relationship between the object types, including the feature types that may be misrecognized as the recognized feature types shown in the image recognition results, It will be determined as an object type. Therefore, it is possible to appropriately determine the feature type in consideration of the possibility of erroneous recognition of the feature type. Based on the determination result of the feature type and the feature information of the target feature existing in each lane in the traveling direction of the host vehicle, the host vehicle lane can be appropriately determined.

  Embodiments of the present invention will be described with reference to the drawings. In this embodiment, a case where the feature recognition apparatus 2 according to the present invention is applied to a lane determination apparatus 3 for a vehicle traveling on a road and a navigation apparatus 1 including the same will be described as an example. FIG. 1 is a block diagram showing a schematic configuration of a navigation device 1 including a feature recognition device 2 and a lane determination device 3 according to the present embodiment. The feature recognition device 2 uses the erroneous recognition table T to identify the target feature in the vehicle lane included in the image information G captured by the imaging device 21 mounted on the vehicle 30 (see FIG. 3). Determine the object type. The lane determination device 3 is based on the determination result by the feature type determination unit 8 constituting the feature recognition device 2 and the feature information F acquired from the map database 22 (hereinafter referred to as the road on which the host vehicle 30 is traveling). The vehicle lane is determined from a plurality of lanes called “traveling roads”. The navigation device 1 performs a predetermined navigation operation with reference to the determination result by the lane determination unit 9 constituting the lane determination device 3.

  As shown in FIG. 1, each function unit of the navigation device 1, specifically, an image information acquisition unit 4, an image recognition unit 5, a vehicle position information acquisition unit 6, a data extraction unit 7, and a feature type determination The unit 8, the lane determination unit 9, and the navigation calculation unit 10 have hardware or software (programs) as functional units for performing various processes on input data, with an arithmetic processing unit such as a CPU as a core member. ) Or both. The map database 22 is a device having a recording medium capable of storing information and its drive means, such as a hard disk drive, a DVD drive equipped with a DVD-ROM, a CD drive equipped with a CD-ROM, and the like. It is provided as a hardware configuration. Hereinafter, the configuration of each part of the navigation device 1 according to the present embodiment will be described in detail.

1. Map Database The map database 22 is a database in which map information M divided for each predetermined area and a plurality of feature information F associated with the map information M are stored. FIG. 2 is an explanatory diagram showing an example of the configuration of the map information M and the feature information F stored in the map database 22. As shown in this figure, the map database 22 stores a road network layer m1, a road shape layer m2, and a feature layer m3.

  The road network layer m1 is a layer indicating connection information between roads. Specifically, it has information on a large number of nodes n having position information on a map expressed by latitude and longitude, and information on a large number of links k that form a road by connecting two nodes n. It is configured. Each link k has information such as road type (type of highway, toll road, national road, prefectural road, etc.) and link length as link information. The road shape layer m2 is a layer stored in association with the road network layer m1 and indicating the shape of the road. Specifically, information on a number of road shape complementing points s, information on road widths, and the like, which are arranged between two nodes n (on link k) and have position information on a map expressed by latitude and longitude, It is configured. The map information M is configured by the information stored in the road network layer m1 and the road shape layer m2.

  The feature layer m3 is configured in association with the road network layer m1 and the road shape layer m2, and is a layer in which information of various features provided on the road and around the road, that is, the feature information F is stored. is there. The feature in which the feature information F is stored in the feature layer m3 includes a road marking provided on the road surface. For features related to such road markings, arrow-shaped road markings (hereinafter simply referred to as “arrow markings”) that indicate the direction of travel of each lane according to the direction of travel (specifically, straight arrows, straight / right turn) Arrows, straight / left turn arrows, right turn arrows, left turn arrows, right / left turn arrows and the like are included. As will be described later, in the present embodiment, this arrow marking is a feature that can be a target feature. In addition, other features related to road markings include, for example, pedestrian crossings, stop lines, intersection shape markings (cross marks, T-shaped marks, etc.), and dividing lines that divide lanes along the road (solid lines, broken lines) , Double line, etc.), speed display, various paint markings such as zebra zone. In addition to such road markings, the features in which the feature information F is stored can include various features such as traffic lights, signs, overpasses, and tunnels.

  The feature information F includes, as its contents, position information of each feature, feature type information, form information, and attribute information. Here, the position information includes information on the position (latitude and longitude) of the representative point of each feature on the map and the direction of each feature. The representative point of the feature is set, for example, at the center position in the length direction and the width direction of each feature. The feature type information is information representing the feature type of each feature. Here, it is assumed that the feature type basically defines a feature having the same shape as one feature type. Therefore, the feature type information is information representing a specific type of road marking such as a straight arrow, a right turn arrow, a stop line, and a pedestrian crossing. Further, the form information includes information such as the shape, size, and color of each feature. The attribute information includes lane information indicating in which lane the feature is located when the road on which each feature is provided has a plurality of lanes. This lane information is expressed as “2/3” or the like when the feature is provided in the center lane of a three-lane road on one side.

2. Image Information Acquisition Unit The image information acquisition unit 4 functions as an image information acquisition unit that acquires image information G around the vehicle position captured by the imaging device 21. Here, the imaging device 21 is an in-vehicle camera or the like provided with an imaging element, and is provided at a position where at least a road surface of a road around the host vehicle 30 can be imaged. As such an imaging device 21, for example, a back camera that images the road surface behind the host vehicle 30 as shown in FIG. 3 is preferably used. The image information acquisition unit 4 captures analog imaging information captured by the imaging device 21 at a predetermined time interval, converts it into image information G of a digital signal, and acquires it. The time interval for capturing the image information G at this time can be set to, for example, about 10 to 50 ms. Thereby, the image information acquisition unit 4 can continuously acquire the image information G of a plurality of frames captured by the imaging device 21. The image information G acquired here is output to the image recognition unit 5.

3. Own vehicle position information acquisition unit The own vehicle position information acquisition unit 6 functions as own vehicle position information acquisition means for acquiring own vehicle position information P indicating the current position of the own vehicle 30. Here, the vehicle position information acquisition unit 6 is connected to the GPS receiver 23, the direction sensor 24, and the distance sensor 25. Here, the GPS receiver 23 is a device that receives a GPS signal from a GPS (Global Positioning System) satellite. This GPS signal is normally received every second and output to the vehicle position information acquisition unit 6. The vehicle position information acquisition unit 6 analyzes signals from GPS satellites received by the GPS receiver 23 and acquires information such as the current position (latitude and longitude), traveling direction, and moving speed of the vehicle 30. Can do. The direction sensor 24 is a sensor that detects a traveling direction of the host vehicle 30 or a change in the traveling direction. The azimuth sensor 24 includes, for example, a gyro sensor, a geomagnetic sensor, an optical rotation sensor attached to the rotating part of the handle, a rotary resistance volume, an angle sensor attached to the wheel part, and the like. Then, the direction sensor 24 outputs the detection result to the vehicle position information acquisition unit 6. The distance sensor 25 is a sensor that detects the vehicle speed and the moving distance of the host vehicle 30. The distance sensor 25 is, for example, a vehicle speed pulse sensor that outputs a pulse signal each time a drive shaft or wheel of the vehicle rotates by a certain amount, a yaw / G sensor that detects the acceleration of the host vehicle 30, and an integration of the detected acceleration. Configured by a circuit or the like. Then, the distance sensor 25 outputs information on the vehicle speed and movement distance as the detection result to the own vehicle position information acquisition unit 6.

  And the own vehicle position information acquisition part 6 performs the calculation which pinpoints an own vehicle position by a well-known method based on the output from these GPS receivers 23, the direction sensor 24, and the distance sensor 25. FIG. In addition, the vehicle position information acquisition unit 6 acquires the map information M around the vehicle position extracted from the map database 22 by the data extraction unit 7, and performs known map matching based on the map information M to determine the vehicle position. Corrections are also made to fit on the road shown in the map information M. In this way, the host vehicle position information acquisition unit 6 acquires host vehicle position information P including information on the current position of the host vehicle 30 represented by latitude and longitude, and information on the traveling direction of the host vehicle 30. The own vehicle position information P acquired in this way can specify up to the own vehicle lane that is the lane in which the host vehicle 30 is traveling when the road on which the host vehicle 30 is traveling has a plurality of lanes. It is not information. Therefore, the navigation device 1 according to the present embodiment is configured to determine the vehicle lane in the lane determination unit 9 described later. Then, the vehicle position information P acquired by the vehicle position information acquisition unit 6 is output to the data extraction unit 7, the lane determination unit 9, and the navigation calculation unit 10.

4). Data Extraction Unit The data extraction unit 7 extracts necessary map information M and feature information F from the map database 22 based on the own vehicle position information P acquired by the own vehicle position information acquisition unit 6. In the present embodiment, the data extraction unit 7 extracts and acquires feature information F of one or more target features existing in the traveling direction of the host vehicle 30 based on the host vehicle position information P. More specifically, the data extraction unit 7 extracts and acquires the feature information F of the target feature existing in each lane of the traveling road in the traveling direction of the host vehicle 30 when the traveling road has a plurality of lanes. . Then, the acquired feature information F is output to the image recognition unit 5 and the lane determination unit 9. Here, the feature that is the target feature is a feature of a feature type that is a target of an image recognition process by the image recognition unit 5 and that is a target of a feature type determination process by the feature type determination unit 8. In the present embodiment, various arrow markings correspond as described later. Therefore, in this embodiment, this data extraction part 7 functions as the feature information acquisition means in this invention. Further, the data extraction unit 7 extracts map information M around the vehicle position used for map matching by the vehicle position information acquisition unit 6, and outputs the map information M to the vehicle position information acquisition unit 6. Further, the data extraction unit 7 extracts the map information M of the area requested by the navigation calculation unit 10 from the map database 22 for use in navigation processing by the navigation calculation unit 10, and sends it to the navigation calculation unit 10. Output.

5. Image Recognizing Unit The image recognizing unit 5 functions as an image recognizing unit that performs an image recognizing process on a target feature included in the image information G acquired by the image information acquiring unit 4. In the present embodiment, the image recognition unit 5 uses the feature information F of the target feature extracted by the data extraction unit 7, and the target feature in the host vehicle lane that is the lane in which the host vehicle 30 is traveling. The image recognition process of the feature type is performed. As described above, the feature information F of the target feature used here is a plurality of feature information related to the target features existing in each lane in the traveling direction of the host vehicle 30 when the traveling road has a plurality of lanes. F. Specifically, the image recognition unit 5 performs binarization processing, edge detection processing, and the like on the acquired image information G, and outline information of the feature (road marking) included in the image information G To extract. After that, the image recognition unit 5 has a contour that matches one of the forms shown in the form information of the plurality of target features included in the feature information F of the plurality of target features extracted by the data extraction unit 7. Extract information. When such contour information is extracted, the feature type indicated in the feature information F related to the form information that matches the contour information is determined as the target location in the vehicle lane included in the image information G. Recognize as a feature type of an object. Thus, the feature type of the target feature in the own vehicle lane recognized by the image recognition unit 5 becomes the recognized feature type shown in the image recognition result. In the present embodiment, the image recognition processing is performed by using the feature information F of the target feature extracted from the map database 22 by the data extraction unit 7 based on the vehicle position information P as described above. The image recognition result is prevented from becoming a feature type that cannot be a target feature in the own vehicle lane.

6). Error Recognition Table FIG. 4 is a diagram showing an example of the error recognition table T according to the present embodiment. As shown in this figure, the misrecognition table T relates to a plurality of feature types that can be the target feature, and when a part of the form of the target feature of the predetermined first type feature type fc1 cannot be recognized. In addition, the table stipulates a relationship between feature types that may be erroneously recognized as the second type feature type fc2 different from the first type feature type fc1. Schematically, the misrecognition table T classifies a plurality of feature types that can be target features into a first type feature type fc1 and a second type feature type fc2, and a second type feature type. The table defines the first type feature type fc1 that may be erroneously recognized as fc2. In the example shown in this figure, “straight forward arrow”, “straight forward / right turn arrow”, “straight forward / left turn arrow”, “right turn arrow”, “left turn arrow”, “right left turn arrow”, “right turn double arrow”, and Eight types of arrow markings of “left turn two-type arrow” are feature types that can be target features. Among these eight types of arrow markings, five types of “straight / right turn arrows”, “straight / left turn arrows”, “right / left turn arrows”, “right turn two kinds arrows”, and “left turn two kinds arrows” The arrow display is the first type feature type fc1, and the three types of arrow display of “straight forward arrow”, “right turn arrow”, and “left turn arrow” are the second type feature type fc2. Further, in this erroneous recognition table T, five types of first type feature types fc1 arranged in the horizontal direction on the upper side in the figure and three types of second type feature types arranged in the vertical direction on the left side in the figure. The relationship with fc2 is defined using a two-dimensional matrix. In addition, the relationship between the first type feature type fc1 and the second type feature type fc2 that are circled in the drawing is the second type feature type fc2 and the second type feature type fc2. Represents the relationship with the first type feature type fc1 that may be erroneously recognized as.

  As described above, the relationship between the feature types that may be misrecognized and defined in the misrecognition table T is that a part of the form of the target feature of the first type feature type fc1 could not be recognized. In this case, there is a relationship of the feature type that may be erroneously recognized as the second type feature type fc2 different from the first type feature type fc1. In the present embodiment, such a feature type relationship is such that the feature type of the first type feature type fc1 has at least two characteristic form parts, and the second type feature type fc2 The form of the feature has a relationship that approximates the form excluding a part of the two or more characteristic form portions of the feature of the first type feature type fc1. FIGS. 5A to 5E are diagrams illustrating an example of a relationship between feature types that may be erroneously recognized, regarding eight types of arrow markings that are feature types that can be target features. Square frames C1 to C4 shown in this figure indicate characteristic forms of each arrow display. Here, the characteristic form part is a part of a form that is relatively easy to recognize during the image recognition processing by the image recognition unit 5, and a triangular part or the like indicating the direction of the arrow surrounded by frames C1 to C3 in the figure. Applicable.

  The relationship shown in FIG. 5A is a relationship between a “straight forward / right turn arrow” as the first type feature type fc1 and a “straight forward arrow” as the second type feature type fc2. In this case, the “straight forward / right turn arrow” has two characteristic forms of a straight advance arrow portion C1 and a right turn arrow portion C2. On the other hand, in the “straight forward arrow”, only the straight arrow portion C1 is a characteristic form portion. Therefore, in the relationship shown in FIG. 5A, when the right turn arrow portion C2 which is one characteristic form portion of the “straight forward / right turn arrow” as the first type feature type fc1 cannot be recognized. Since only the straight arrow portion C1 is recognized, there is a possibility that it is erroneously recognized as a “straight arrow” as the second type feature type fc2. Further, the right turn arrow portion C2 of the “straight forward / right turn arrow” is disposed on the right side of the center in the width direction of the lane on an actual road, and therefore, fading is likely to occur due to repeated steps on the wheels. Therefore, the right-turn arrow portion C2 is also a portion that has a relatively high possibility that image recognition will not be possible. Therefore, the “straight forward / right turn arrow” as the first type feature type fc1 may be erroneously recognized as the “straight forward arrow” as the second type feature type fc2.

  The relationship shown in FIG. 5B is a relationship between a “straight forward / left turn arrow” as the first type feature type fc1 and a “straight forward arrow” as the second type feature type fc2. In this case, the “straight forward / left turn arrow” has two characteristic parts, a straight arrow part C1 and a left turn arrow part C3. On the other hand, in the “straight forward arrow”, only the straight arrow portion C1 is a characteristic form portion. Therefore, in the relationship shown in FIG. 5B, when the left turn arrow portion C3 which is one characteristic form part of the “straight forward / left turn arrow” as the first type feature type fc1 cannot be recognized. Since only the straight arrow portion C1 is recognized, there is a possibility that it is erroneously recognized as a “straight arrow” as the second type feature type fc2. Further, the left turn arrow portion C3 of this “straight forward / left turn arrow” is disposed on the left side of the center in the width direction of the lane on an actual road, and therefore, fading is likely to occur due to repeated steps on the wheels. Therefore, the left turn arrow portion C3 is also a portion that has a relatively high possibility that the image cannot be recognized. Therefore, the “straight / left turn arrow” as the first type feature type fc1 may be erroneously recognized as the “straight forward arrow” as the second type feature type fc2.

  The relationship shown in FIG. 5C is a relationship between a “right turn arrow” as the first type feature type fc1 and a “right turn arrow” as the second type feature type fc2. In this case, the “right / left turn arrow” has two characteristic forms of a right turn arrow portion C2 and a left turn arrow portion C3. On the other hand, only the right turn arrow portion C2 of the “right turn arrow” is a characteristic form portion. Therefore, in the relationship shown in FIG. 5C, when the left turn arrow portion C3 which is one characteristic form portion of the “right and left turn arrow” as the first type feature type fc1 cannot be recognized, Since only the right turn arrow portion C2 is recognized, there is a possibility that it is erroneously recognized as the “right turn arrow” as the second type feature type fc2. Further, the left turn arrow portion C3 of the “right / left turn arrow” is arranged on the left side with respect to the center in the width direction of the lane on an actual road. Therefore, the left turn arrow portion C3 is also a portion that has a relatively high possibility that the image cannot be recognized. Therefore, the “right turn arrow” as the first type feature type fc1 may be erroneously recognized as the “right turn arrow” as the second type feature type fc2.

  The relationship illustrated in FIG. 5D is a relationship between a “right turn arrow” as the first type feature type fc1 and a “left turn arrow” as the second type feature type fc2. In this case, the “right / left turn arrow” has two characteristic forms of a right turn arrow portion C2 and a left turn arrow portion C3. On the other hand, in the “left turn arrow”, only the left turn arrow portion C3 is a characteristic form portion. Therefore, in the relationship shown in FIG. 5D, when the right turn arrow portion C2 which is one characteristic form portion of the “right and left turn arrow” as the first type feature type fc1 cannot be recognized, Since only the left turn arrow portion C3 is image-recognized, there is a possibility that it is erroneously recognized as the “left turn arrow” as the second type feature type fc2. Further, the right turn arrow portion C2 of the “right / left turn arrow” is arranged on the right side with respect to the center in the width direction of the lane on an actual road. Therefore, the right-turn arrow portion C2 is also a portion that has a relatively high possibility that image recognition will not be possible. Therefore, the “right turn arrow” as the first type feature type fc1 may be erroneously recognized as the “left turn arrow” as the second type feature type fc2.

  The relationship shown in FIG. 5E is a relationship between a “right turn two-type arrow” as the first type feature type fc1 and a “right turn arrow” as the second type feature type fc2. In this case, the “right turn two-type arrow” has two characteristic form portions, that is, a right turn arrow portion C2 and a straight portion C4. On the other hand, only the right turn arrow portion C2 of the “right turn arrow” is a characteristic form portion. Therefore, in the relationship shown in FIG. 5 (e), when the straight line portion C4, which is one characteristic form portion of the “right turn type 2 arrow” as the first type feature type fc1, cannot be recognized, Since only the right turn arrow portion C2 is recognized, there is a possibility that it is erroneously recognized as the “right turn arrow” as the second type feature type fc2. Further, the straight line portion C4 of the “right turn two-type arrow” has fewer morphological features that are relatively easy to recognize during the image recognition process, compared to the triangular portions C1 to C3 indicating the direction of the arrow. Therefore, the straight line portion C4 is also a portion that has a relatively high possibility of being unable to recognize an image. Therefore, the “right turn two-type arrow” as the first type feature type fc1 may be erroneously recognized as the “right turn arrow” as the second type feature type fc2.

  The relationship shown in FIG. 5 (f) is a relationship between a “left turn double arrow” as the first type feature type fc1 and a “left turn arrow” as the second type feature type fc2. In this case, the “left turn two-type arrow” has two characteristic form portions, that is, a left turn arrow portion C3 and a straight portion C4. On the other hand, in the “left turn arrow”, only the left turn arrow portion C3 is a characteristic form portion. Therefore, in the relationship shown in FIG. 5 (f), when the straight line portion C4 which is one characteristic form portion of the “left turn type 2 arrow” as the first type feature type fc1 cannot be recognized, Since only the left turn arrow portion C3 is image-recognized, there is a possibility that it is erroneously recognized as the “left turn arrow” as the second type feature type fc2. Further, the straight line portion C4 of the “left turn two-type arrow” has fewer morphological features that are relatively easy to recognize in the image recognition process, compared to the triangular portions C1 to C3 indicating the direction of the arrow. Therefore, the straight line portion C4 is also a portion that has a relatively high possibility of being unable to recognize an image. Therefore, the “left turn double arrow” as the first type feature type fc1 may be erroneously recognized as the “left turn arrow” as the second type feature type fc2.

  Note that, as will be described later, the feature type determination unit 8 determines, based on the erroneous recognition table T, when the recognized feature type indicated in the image recognition result is the first type feature type fc1. The feature type of the target feature is determined to be the recognized feature type. Therefore, even if there is a feature type other than the above-described eight types of arrow markings and may not be erroneously recognized as another feature type such as the second type feature type fc2, the first type feature type It is preferable that the error recognition table T is defined as fc1. In this way, for a feature type that is not likely to be misrecognized as another feature type, the recognized feature type indicated in the image recognition result is used as it is for the target feature type in the vehicle lane. Can be defined in the misrecognition table T.

7). Feature Type Determination Unit The feature type determination unit 8 functions as a feature type determination unit that determines the feature type of the target feature included in the image information G. In the present embodiment, the feature type determination unit 8 is based on the recognized feature type and the misrecognition table T indicated in the image recognition result by the image recognition unit 5, and is in the vehicle lane included in the image information G. The feature type of the target feature is determined. At this time, if the feature type determination unit 8 has a feature type in which a relationship that may be erroneously recognized with the recognized feature type is defined in the erroneous recognition table T, the vehicle lane The feature type of the target feature in the image is the possibility of both the recognized feature type itself indicated in the image recognition result and the feature type whose relationship with the recognized feature type is specified in the erroneous recognition table T. Judge that there is. On the other hand, if there is no feature type in the misrecognition table T that defines a relationship that may be misrecognized with the recognized feature type, the feature type determination unit 8 The feature type of the target feature is determined as the recognized feature type itself shown in the image recognition result.

  Specifically, based on the erroneous recognition table T, the feature type determination unit 8 determines that the recognized feature type indicated in the image recognition result is the first type feature type fc1. The feature type of the target feature is determined to be the recognized feature type. On the other hand, when the recognized feature type shown in the image recognition result is the second type feature type fc2, the feature type of the target feature in the own vehicle lane is the recognized feature type and the erroneous recognition table. It is determined that there is a possibility of both of the first type feature type fc1 in which the relationship with the recognized feature type is defined in T. That is, if the recognized feature type shown in the image recognition result is the first type feature type fc1 having many characteristic form portions and there is no possibility of misrecognizing it as another feature type, the own vehicle lane The feature type of the target feature is determined as the recognized feature type itself. On the other hand, when the recognized feature type shown in the image recognition result is the second type feature type fc2 having only a few characteristic form parts, there is a possibility that it may be erroneously recognized as another first type feature type fc1. May include both the recognized feature type itself and the first-type feature type fc1 that may be erroneously recognized as the recognized feature type. Judge that there is. For example, when the recognized feature type indicated in the image recognition result is the “first straight / right turn arrow” which is the first type feature type fc1, the feature type determination unit 8 determines the target feature in the own vehicle lane. The feature type is determined to be a “straight / right turn arrow” that is the recognized feature type itself. On the other hand, for example, when the recognized feature type indicated in the image recognition result is “straight forward arrow” which is the second type feature type fc2, the relationship with the recognized feature type is defined in the erroneous recognition table T. In addition, referring to the first line from the top of FIG. 4, it is understood that the first type feature type fc1 is “straight / right turn arrow” and “straight / left turn arrow”. Therefore, when the recognized feature type is “straight forward arrow”, the feature type determination unit 8 sets the feature type of the target feature in the own vehicle lane as “recognized feature type itself”. There is a possibility of any of “Arrow” and “Straight / Right turn arrow” and “Straight / Left turn arrow” which are the first type feature type fc1 whose relationship with the recognized feature type is defined in the erroneous recognition table T. Judge that there is.

8). Lane determination unit When the road on which the host vehicle 30 is traveling has a plurality of lanes, the lane determination unit 9 determines a vehicle lane that is the lane on which the host vehicle is traveling from the plurality of lanes. Functions as a means. In the present embodiment, the lane determination unit 9 is based on the feature type indicated in the determination result by the feature type determination unit 8 and the feature information F of the target feature extracted by the data extraction unit 7. One or more lanes from which the feature information F indicating the feature type that matches the feature type indicated in the determination result by the feature type determination unit 8 is determined as the own vehicle lane. Note that the lane determination unit 9 only needs to determine the vehicle lane, that is, only when the traveling road has a plurality of lanes in the traveling direction (one side) based on the vehicle position information P. Processing to determine the own vehicle lane is performed. Then, the lane determination unit 9 outputs the vehicle lane information S as a determination result to the navigation calculation unit 10. Thereby, the calculation part 10 for navigation can perform operation | movement of guidance functions, such as route guidance and route search which referred to the own vehicle lane information S.

  6 and 7 are explanatory diagrams for explaining a specific example of the vehicle lane determination process by the lane determination unit 9. In these drawings, the feature type surrounded by the left square frame is the recognized feature type fa shown in the image recognition result of the target feature in the vehicle lane by the image recognition unit 5. In these drawings, what is shown on the right side of the recognized feature type fa is the feature type of the target feature in each lane of the traveling road indicated by the feature information F acquired by the data extraction unit 7. Ft1 to Ft4. In these drawings, the vehicle lane information S is information indicating the vehicle lane surrounded by the lower frame.

  In the example shown in FIG. 6, the feature information F acquired by the data extraction unit 7 is the feature type of the target feature in each lane of the traveling road having four lanes, and the target feature of the first lane L1. The feature type Ft1 is “straight forward / left turn arrow”, the feature type Ft2 of the target feature in the second lane L2 is “straight forward arrow”, the feature type Ft3 of the target feature in the third lane L3 is “straight forward arrow”, This indicates that the feature type Ft4 of the target feature in the fourth lane L4 is a “right turn arrow”. The recognized feature type fa shown in the image recognition result of the target feature in the own vehicle lane by the image recognition unit 5 is “straight forward arrow”. The “straight arrow” is the second type feature type fc2 as defined in the erroneous recognition table T. In this case, as described above, the feature type determination unit 8 determines the feature type of the target feature in the vehicle lane based on the erroneous recognition table T as “straight forward arrow”, “straight forward / right turn arrow”, and It is determined that there are three possibilities of “straight forward / left turn arrow”. Therefore, the lane determination unit 9 uses the feature type determination unit 8 from among the feature types Ft1 to Ft4 of the target features of each lane of the traveling road indicated by the feature information F acquired by the data extraction unit 7. Those that match the three feature types of “straight forward arrow”, “straight forward / right turn arrow”, and “straight forward / left turn arrow” shown in the determination result are extracted. And the 1 or 2 or more lane from which the feature information F which shows the feature type which corresponds to these three feature types was acquired is determined as a own vehicle lane. In this example, there is no “straight forward / right turn arrow” in the feature types Ft1 to Ft4 of the target features of each lane. Therefore, the first lane L1 in which the feature type Ft1 is “straight forward / left turn arrow”, and the second lane L2 and the third lane L3 in which the feature types Ft2 and Ft3 are “straight forward arrows” are determined as the own vehicle lanes. To do. Further, the lane determination unit 9 generates information indicating that the first to third lanes L1 to L3 are own vehicle lanes as own vehicle lane information S.

  In the example shown in FIG. 7, the feature information F acquired by the data extraction unit 7 is the same as the example shown in FIG. 6. The recognized feature type fa shown in the image recognition result of the target feature in the own vehicle lane by the image recognition unit 5 is “straight forward / left turn arrow”. This “straight forward / left turn arrow” is the first type feature type fc1 as defined in the erroneous recognition table T. In this case, as described above, the feature type determination unit 8 determines the feature type of the target feature in the own vehicle lane as the “straight / left turn arrow” that is the recognized feature type fa itself. Then, the lane determination unit 9 is the lane from which the feature information F indicating the feature type that matches the feature type of the “straight / left turn arrow” indicated in the determination result by the feature type determination unit 8, that is, The first lane L1 is determined as the own vehicle lane. Further, the lane determination unit 9 generates information indicating that the first lane L1 is the own vehicle lane as the own vehicle lane information S.

9. Navigation Calculation Unit The navigation calculation unit 10 is a calculation processing unit that operates mainly in accordance with an application program AP for executing a guidance function as the navigation device 1. Here, the application program AP includes the vehicle position information P acquired by the vehicle position information acquisition unit 6, the map information M extracted by the data extraction unit 7, and the vehicle lane information generated by the lane determination unit 9. Operates with reference to S and the like. Then, according to the application program AP, for example, the navigation calculation unit 9 acquires the map information M around the host vehicle 30 from the map database 22 by the data extraction unit 7 and displays a map image on the display input device 26. Then, a process of displaying the vehicle position mark superimposed on the map image based on the vehicle position information P is performed. Further, the navigation calculation unit 9 searches for a route from the departure point to the destination according to the application program AP, and further, based on the searched route and the vehicle position information P, the display input device Route guidance is performed using one or both of the audio output device 26 and the audio output device 27. At this time, the application program AP refers to the information on the vehicle lane determined by the lane determination unit 8 and performs navigation operations such as vehicle position display, route search, and route guidance. Specifically, for example, the determined vehicle lane is displayed on the display device 26, or an operation such as canceling route guidance that requires an excessive lane change according to the determined vehicle lane is performed. In the present embodiment, the navigation calculation unit 10 is connected to the display input device 26 and the audio output device 27. The display input device 26 is a combination of a display device such as a liquid crystal display device and an input device such as a touch panel. The audio output device is configured with a speaker or the like. In the present embodiment, the navigation calculation unit 10, the display input device 26, and the audio output device 27 function as the guidance information output means 28 in the present invention.

10. Lane Determination Method Next, a feature type determination method and a lane determination method executed in the navigation device 1 including the feature recognition device 2 and the lane determination device 3 according to the present embodiment will be described. FIG. 8 is a flowchart showing the overall processing order of the lane determination method including the feature type determination method according to this embodiment, and FIG. 9 shows the detailed processing order of the feature type determination method according to this embodiment. It is a flowchart.

  As shown in FIG. 8, when determining the vehicle lane, the navigation device 1 first acquires the vehicle position information P by the vehicle position information acquisition unit 6 (step # 01). Next, one or both of the map information M and the feature information F in the vicinity of the vehicle position stored in the map database 22 based on the vehicle position information P acquired by the data extraction unit 7 in step # 01. To determine whether the traveling road has a plurality of lanes (step # 02). When the traveling road does not have a plurality of lanes (step # 02: No), that is, when the traveling road is a road with one lane on one side, the determination of the own vehicle lane is unnecessary, and the processing is not performed. finish.

  On the other hand, when the traveling road has a plurality of lanes (step # 02: Yes), the data extraction unit 7 uses the feature information F of the target feature existing in each lane of the traveling road in the traveling direction of the host vehicle 30. Is extracted from the map database 22 and acquired (step # 03). Further, the image information acquisition unit 4 acquires the image information G captured by the imaging device 21 mounted on the host vehicle 30 (step # 04). The image recognition unit 5 performs image recognition processing of the feature type of the target feature in the own vehicle lane that is the lane in which the own vehicle 30 is traveling (step # 05). Then, the feature type determination unit 8 performs a process of determining the feature type of the target feature in the own vehicle lane included in the image information G (step # 06). The feature type determination processing method for the target feature in the own vehicle lane will be described later in detail based on the flowchart of FIG. Thereafter, the lane determination unit 9 determines the own vehicle lane that is the lane in which the host vehicle is traveling from among a plurality of lanes of the road on which the host vehicle 30 is traveling, and generates the own vehicle lane information S (step #). 07). At this time, as described above, the lane determination unit 9 is based on the feature type indicated in the determination result by the feature type determination unit 8 and the feature information F of the target feature extracted by the data extraction unit 7. The one or more lanes from which the feature information F indicating the feature type that matches the feature type indicated in the determination result by the feature type determination unit 8 is determined as the own vehicle lane. Above, the whole process of a lane determination method is complete | finished.

  Next, details of the processing of the feature type determination method in step # 06 will be described. As shown in FIG. 9, the feature type determination unit 8 first acquires information on the recognized feature type indicated in the image recognition result by the image recognition process in step # 05 (step # 11). Next, the feature type determination unit 8 refers to the erroneous recognition table T (step # 12). Thereafter, the feature type determination unit 8 determines whether or not the recognized feature type acquired in step # 11 is the first type feature type fc1 (step # 13). When the recognized feature type acquired in step # 11 is the first type feature type fc1 (step # 13: Yes), the feature type determination unit 8 determines the target feature in the own vehicle lane. The feature type is determined to be the recognized feature type (step # 14). On the other hand, if the recognized feature type acquired in step # 11 is not the first type feature type fc1 (step # 13: No), it can be determined that the recognized feature type is the second type feature type fc2. . Therefore, the feature type determination unit 8 determines the feature type of the target feature in the own vehicle lane, the recognized feature type, and the relationship with the recognized feature type in the erroneous recognition table T. It is determined that there is a possibility of both of the seed feature type fc1 (step # 15). In addition, since the specific determination method of the feature type of the target feature in the own vehicle lane by the feature type determination unit 8 has already been specifically described with reference to FIGS. Then, explanation is omitted. Above, the process of the feature type determination method of step # 06 is complete | finished.

11. Other Embodiment (1) In the above embodiment, the relationship between the first type feature type fc1 and the second type feature type fc2 defined in the erroneous recognition table T shown in FIG. 4 is merely an example. Of course, it is also possible to define the relationship of many feature types. Even in this case, the relationship between the feature types defined in the misrecognition table T is that the feature type of the first type feature type fc1 has at least two characteristic form parts, and the second type feature It is preferable that the form of the feature of type fc2 has a relationship that approximates the form excluding a part of the two or more characteristic form portions of the feature of the first type feature type fc1. However, the relationship between the feature types defined in the misrecognition table T is not limited to this, and as a result of image recognition of the feature of one feature type, it is erroneously recognized as another feature type. If there is a relationship that may be performed, it is preferable to define the relationship in the misrecognition table T.

(2) In the above embodiment, the feature type determination unit 8 determines the feature type of the target feature included in the image information G based on the recognized feature type and the erroneous recognition table T indicated in the image recognition result. The configuration for determining the above has been described. However, the configuration of the feature type determination unit 8 is not limited to this. Therefore, the feature type determination unit 8 further uses the feature information F acquired by the data extraction unit 7 based on the own vehicle position information P, and uses one or more target sites indicated by the feature information F. It is also one of preferred embodiments of the present invention that the feature type of the target feature included in the image information G is determined from the feature types of the object. In the case of such a configuration, the feature type determination unit 8 is configured so that the relationship with the recognized feature type indicated in the image recognition result is the first type feature type fc1 defined in the erroneous recognition table T. When it is not included in the feature type indicated in the feature information F acquired by the data extraction unit 7, it is determined that there is a possibility that it is the feature type of the target feature in the own vehicle lane do not do. For example, when the recognized feature type indicated in the image recognition result is the “straight forward arrow” that is the second type feature type fc2, based on the erroneous recognition table T, as described in the above embodiment, The feature type determination unit 8 determines that the target feature type of the target feature in the vehicle lane has all the possibilities of “straight forward arrow”, “straight forward / right turn arrow”, and “straight forward / left turn arrow”. To do. However, as shown in FIG. 6, for example, the feature types Ft1 to Ft4 of the target features on each lane of the traveling road indicated by the feature information F acquired by the data extracting unit 7 are “straight arrows”, “straight ahead” In the case of “left turn arrow” and “right turn arrow”, the feature type of the target feature in the vehicle lane is determined from these. Therefore, in this case, the feature type determination unit 8 determines that there are two possibilities of the feature type of the target feature in the own vehicle lane: “straight forward arrow” and “straight forward / left turn arrow”. . Thereby, it can prevent that the determination result of the feature type by the feature type determination unit 8 becomes a feature type that cannot be the target feature in the own vehicle lane.

(3) In the above-described embodiment, an example has been described in which an arrow-shaped road marking (an arrow marking) that represents a traveling section according to the traveling direction of each lane is a feature that can be a target feature. However, the feature that can be the target feature is not limited to this, and features of various feature types provided on the road surface of roads such as other road markings can be the target feature. . In addition, when this feature type recognition device 2 is applied to the lane determination device 3, it is particularly preferable that the feature arranged in each lane of a road having a plurality of lanes is the target feature.

(4) It is one of the preferred embodiments of the present invention that the determination of the vehicle lane according to the above embodiment is used in combination with another lane determination method. Examples of such other lane determination methods include, for example, the types of lane markings (line types such as solid lines, broken lines, and double lines) around the host vehicle indicated in the image recognition result, and between each lane marking and the host vehicle. Based on the positional relationship and the feature information F of the lane marking around the vehicle position acquired from the map database 22, a method for determining the lane in which the vehicle is in progress, information from the VICS, specifically For example, a method for determining the vehicle lane based on information from a light beacon or the like from a transmitter provided on each lane of the road can be used.

(5) In each of the above embodiments, the case where all the configurations of the navigation device 1 including the feature recognition device 2 and the lane determination device 3 are mounted on the host vehicle has been described as an example. However, the application range of the present invention is not limited to such a configuration. That is, for example, a part of the configuration excluding the imaging device 21 is installed outside the host vehicle while being connected via a communication network such as the Internet, and transmits and receives information and signals via the network. Thus, configuring the lane determination device 3 and the navigation device 1 is also one preferred embodiment of the present invention.

(6) In the above embodiment, the example in which the feature recognition apparatus 2 according to the present invention is applied to the lane determination apparatus 3 has been described. However, this feature recognition device 2 is used for other than the determination of the vehicle lane such as the vehicle position correction using the image recognition result of the feature type and the feature information F acquired by the data extraction unit 7, for example. Of course, it can also be used for applications.

(7) In each of the above embodiments, an example in which the lane determination device 3 is used for the navigation device 1 has been described. However, the application range of the present invention is not limited to this, and the lane determination device 3 can naturally be used for other purposes such as a vehicle travel control device.

  The present invention relates to a feature recognition device capable of determining a feature type of a target feature included in image information captured by an imaging device, a lane determination device mounted on a vehicle, a navigation device using them, and the like It can be suitably used as.

The block diagram which shows schematic structure of the navigation apparatus containing the feature recognition apparatus and lane determination apparatus which concern on embodiment of this invention. Explanatory drawing which shows the example of a structure of the map information and feature information which are stored in the map database The figure which shows an example of the arrangement configuration of the imaging device to the own vehicle The figure which shows an example of the misrecognition table T which concerns on embodiment of this invention. Diagram showing an example of the relationship between feature types that may be misrecognized Explanatory drawing of the specific example of the determination process of the own vehicle lane which concerns on embodiment of this invention Explanatory drawing of the specific example of the determination process of the own vehicle lane which concerns on embodiment of this invention The flowchart which shows the whole processing order of the lane determination method including the feature classification determination method which concerns on embodiment of this invention. The flowchart which shows the detailed processing order of the feature classification determination method which concerns on embodiment of this invention.

Explanation of symbols

1: Navigation device 2: Feature recognition device 3: Lane determination device 4: Image information acquisition unit (image information acquisition means)
5: Image recognition unit (image recognition means)
6: Own vehicle position information acquisition unit (own vehicle position information acquisition means)
7: Data extraction unit (feature information acquisition means)
8: Feature type determination unit (feature type determination means)
9: Lane determination unit (lane determination means)
10: navigation computing unit 21: imaging device 22: map database 28: guidance information output means T: erroneous recognition table M: map information F: feature information G: image information P: own vehicle position information S: own vehicle lane information AP: Application program fc1: First type feature type fc2: Second type feature type fa: Recognized feature type Ft1 to Ft4: Feature type of the target feature in each lane of the traveling road

Claims (12)

Image information acquisition means for acquiring image information captured by the imaging device;
Image recognition means for performing image recognition processing of the feature type of the target feature included in the image information;
Regarding a plurality of feature types that can be the target feature, when a part of the form of the target feature of the predetermined first type feature type cannot be recognized, the first type different from the first type feature type A misrecognition table that defines the relationship between feature types that may be misrecognized as two types of feature types;
A feature type determination means for determining a feature type of a target feature included in the image information,
The feature type determination unit is configured to recognize the feature type of the target feature included in the image information based on the recognized feature type indicated in the image recognition result by the image recognition unit and the misrecognition table. A feature recognition apparatus that determines that there is a possibility of both a feature type and a feature type whose relationship with the recognized feature type is defined in the erroneous recognition table.   The feature type determination means determines the feature type of the target feature included in the image information as the recognized feature type when the recognized feature type is the first type feature type. When the recognized feature type is the second type feature type, the first type feature type whose relationship with the recognized feature type is defined in the recognized feature type and the misrecognition table. The feature recognition apparatus according to claim 1, wherein the feature recognition apparatus determines that both are possible.   The relationship between the feature types stipulated in the misrecognition table is that the form of the feature of the first type of feature type has at least two or more characteristic form parts, and the feature type of the feature of the second type of feature type The feature recognition apparatus according to claim 1, wherein the feature form is a relationship that approximates a form excluding a part of the two or more characteristic feature portions of the feature of the first type feature type. . The imaging device is mounted on a vehicle and provided to image at least a road surface of a road,
The feature recognition according to any one of claims 1 to 3, wherein the feature that can be the target feature is an arrow-shaped road marking that is provided on a road surface of the road and represents a traffic division according to a traveling direction of each lane. apparatus.   Regarding various feature types included in the arrow-shaped road marking, in the misrecognition table, as the first type feature type, the straight / right turn arrow or the straight / left turn arrow, and the second type feature type The feature recognition apparatus according to claim 4, wherein a relationship with a straight arrow is defined.   Regarding various feature types included in the arrow-shaped road markings, a right-left turn arrow as the first-type feature type and a right-turn arrow or a left-turn arrow as the second type feature type in the misrecognition table The feature recognition apparatus according to claim 4 or 5, wherein a relationship between the feature recognition and the relationship is defined. While the imaging device is mounted on the host vehicle,
Own vehicle position information acquisition means for acquiring own vehicle position information indicating the current position of the own vehicle, and one or more target features existing in the traveling direction of the own vehicle based on the own vehicle position information A feature information acquisition means for acquiring information;
The feature type determination means includes a target feature included in the image information from among one or more target feature types indicated in the feature information acquired by the feature information acquisition means. The feature recognition apparatus according to any one of claims 1 to 6, wherein the feature type is determined. Based on the feature recognition apparatus according to any one of claims 1 to 6, own vehicle position information acquisition means for acquiring own vehicle position information indicating a current position of the own vehicle, and the own vehicle position information, When the road on which the host vehicle is traveling has a plurality of lanes, the feature information acquisition means for acquiring the feature information of the target features existing in each lane in the traveling direction of the host vehicle, and the plurality of lanes Lane determining means for determining the own vehicle lane from which the own vehicle is traveling,
The image recognition means of the feature recognition device performs image recognition processing of the feature type of the target feature in the vehicle lane included in the vehicle information,
The lane determination means includes one or more lanes from which the feature information indicating the feature type that matches the feature type indicated in the determination result by the feature type determination means of the feature recognition device is acquired. A lane determination device for determining the vehicle lane.   The lane determination device according to claim 8, the map database storing map information including the feature information, the map information and the vehicle lane information determined by the lane determination device A navigation apparatus comprising: an application program that operates; and guidance information output means that operates according to the application program and outputs guidance information. An image information acquisition step of acquiring image information captured by the imaging device;
An image recognition step for performing an image recognition process of the feature type of the target feature included in the image information;
Regarding a plurality of feature types that can be the target feature, when a part of the form of the target feature of the predetermined first type feature type cannot be recognized, the first type different from the first type feature type The image information based on a misrecognition table that defines a relationship between feature types that may be misrecognized as two types of feature types and a recognized feature type indicated in an image recognition result by the image recognition step. The feature type of the target feature included in the image is determined to be both the recognized feature type and the feature type whose relationship with the recognized feature type is specified in the misrecognition table. A feature recognition method comprising: a feature type determination step.   In the feature type determination step, the feature type of the target feature included in the image information is determined as the recognized feature type when the recognized feature type is the first type feature type. When the recognized feature type is the second type feature type, the first type feature type whose relationship with the recognized feature type is defined in the recognized feature type and the misrecognition table. The feature recognition method according to claim 10, wherein it is determined that there is a possibility of both. An image information acquisition step of acquiring image information captured by an imaging device mounted on the host vehicle;
Own vehicle position information acquisition step for acquiring own vehicle position information indicating the current position of the own vehicle;
Feature information for acquiring feature information of target features existing in each lane in the traveling direction of the host vehicle when the road on which the host vehicle is traveling has a plurality of lanes based on the host vehicle position information An acquisition step;
An image recognition step for performing image recognition processing of the feature type of the target feature in the own vehicle lane that is the lane in which the own vehicle is running, included in the image information;
Regarding a plurality of feature types that can be the target feature, when a part of the form of the target feature of the predetermined first type feature type cannot be recognized, the first type different from the first type feature type Based on a misrecognition table that defines a relationship between feature types that may be misrecognized as two types of feature types, and a recognized feature type indicated in an image recognition result by the image recognition step, the vehicle The feature type of the target feature in the lane is determined to be both the recognized feature type and the feature type whose relationship with the recognized feature type is specified in the erroneous recognition table. A feature type determination step;
One or more lanes from which the feature information indicating the feature type that matches the feature type indicated in the determination result of the feature type determination step is acquired from the plurality of lanes. A lane determination method comprising: a lane determination step for determining a lane.

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