JP5418905B2 - Lane indicator line detector - Google Patents

Description

  The present invention relates to an apparatus for detecting a lane indicating line drawn on a road surface along a lane.

  Japanese Patent Laying-Open No. 2005-293054 describes a driving support system. In the driving support system, IC tags are installed along the center line drawn on the road surface and the white line on the shoulder side, and IDs that can identify the types of lines such as the center line and the white line on the shoulder side are written on the IC tag. A vehicle-mounted device that reads information from the IC tag is mounted on the vehicle.

  Japanese Patent Application Laid-Open No. 2005-293348 discloses a road information recording device in which an ID tag using RFID in which road environment information such as a stop, a traffic light, and a curve (R100) is recorded is mixed in road paint. It is described that a vehicle having an ID tag reading device printed on it sends an excitation signal to the road information recording device and obtains road environment information from the ID number written in the returned ID tag. Yes.

JP 2005-293054 A JP 2005-293348 A

  However, in the configurations of Japanese Patent Application Laid-Open No. 2005-293054 and Japanese Patent Application Laid-Open No. 2005-293054, the type of line drawn on the road surface is detected based on the identification information stored in the IC tag (ID tag). For this reason, it is necessary for the IC tag to store identification information set exclusively for each type of line drawn on the road surface, and such identification information must be shared nationwide, Is complicated because it is necessary to mount a dedicated device for reading the identification information of the IC tag, and it is necessary to share such a device between vehicles.

  Therefore, for example, when a vehicle wants to detect a lane indicating line drawn on a road surface along a lane, it is necessary to arrange an IC tag storing identification information dedicated to the lane indicating line only on the lane indicating line. The vehicle must be equipped with a dedicated device for reading the identification information of the IC tag.

  The present invention has been made in view of the above circumstances, and when an IC tag is arranged on a lane indicating line drawn on a road surface along a lane, information for specifying the lane indicating line on the IC tag is provided. An object of the present invention is to provide a lane indicating line detection device capable of detecting a lane indicating line without being stored in advance.

  In order to achieve the above object, according to a first aspect of the present invention, a lane indicating line that is mounted on a vehicle and in which a plurality of IC tags that transmit a transmitted wave in response to reception of a predetermined radio wave is arranged is drawn along the lane. A lane indicating line detecting device for detecting the presence of a lane indicating line when the vehicle travels on a road surface, wherein the transmitting means, the receiving means, the position calculating means, the set determining means, the distance determining means, and the width determining means And a lane indicating line estimation means.

  The transmission means repeatedly transmits a predetermined radio wave to a predetermined range extending on the road surface in the traveling direction of the vehicle and in the lateral direction of the traveling direction. The receiving means receives each of the transmitted waves transmitted from all the IC tags arranged in a predetermined range on the road surface. The position calculating means calculates the relative position of the IC tag with respect to the vehicle as the position of the IC tag based on the time from when the transmitting means transmits a predetermined radio wave until the receiving means receives the transmitted wave of the IC tag.

  The set determination means is configured to determine whether any one of the IC tags and the position of the IC tag from all the IC tags received by the reception means at a time interval in which the transmission means repeatedly transmits a predetermined radio wave to a predetermined range. A position where an IC tag whose distance is less than the first predetermined distance belongs to one set and a distance from the position of any one of the IC tags belonging to one set is less than the first predetermined distance Are determined to belong to one set, all the IC tags are classified into at least one set. The distance determination unit determines whether or not the distance between the positions of the two IC tags that are the farthest apart among the IC tags belonging to one set is equal to or greater than a second predetermined distance. The width determination means determines whether or not the distances from the straight line connecting the positions of the two most distant IC tags to the positions of all the IC tags belonging to one set are each equal to or less than a third predetermined distance.

  The lane indicating line estimation means determines that the distance between the positions of the two IC tags that are the most distant from each other is a second predetermined distance or more, and the straight line connecting the positions of the two IC tags that are the most distant from each other When the width determination means determines that the distance from the position to all IC tags belonging to one set is equal to or less than a third predetermined distance, all IC tags belonging to one set are drawn on the road surface. It is estimated that it is included in one lane indicating line.

  The lane indicating line is drawn on the road surface with a paint such as white as a broken line or a continuous line extending intermittently.

  The IC tag does not need to store identification information indicating that it is a lane indicating line in advance, and may store identification information for other purposes. Further, an IC tag in which identification information indicating a lane indicating line is stored in advance may be used.

  In order to place the IC tag on the lane indicating line, for example, before the lane indicating line is drawn on the road surface, the IC tag is mixed with the paint that draws the lane indicating line, and the IC tag is applied to the road surface together with the paint. Good. The paint in which the IC tag is mixed may be used for drawing on the road surface other than the lane indicating line (for example, a character sign such as “stop” or a pedestrian crossing).

  The set determination means includes a plurality of IC tags arranged at positions separated by at least a first predetermined distance from any position of all IC tags belonging to one set among all IC tags in a predetermined range on the road surface. If there is, it may be determined whether or not those IC tags belong to another set in the same manner as in the determination of the one set. In this way, the set determination means may classify all IC tags in a predetermined range on the road surface into a plurality of sets.

  The first to third predetermined distances are set based on, for example, the lane indicating line standard drawn on the road surface. For example, when the lane indicating line is drawn on the road surface as a broken line, the first predetermined distance is set to be equal to or less than the distance between the line portions to which the paint is applied, or the lane indicating line is drawn at the left and right ends of the lane. May be set to be equal to or less than the distance between the lane indicating lines. The second predetermined distance may be set based on the distance in the longitudinal direction of the lane indicating line. For example, when the lane indicating line is drawn as a broken line, the distance in the longitudinal direction of one line portion to which paint is applied The following may be set. The third predetermined distance may be set based on the distance in the width direction of the lane indicating line, for example, may be set to a length greater than the distance in the width direction of the lane indicating line.

  In the above configuration, for each set of IC tags classified by the set determination unit, the distance in the longitudinal direction is equal to or greater than the second predetermined distance and the distance in the width direction is changed from the straight line connecting the two IC tags to the both sides. Is determined to be equal to or less than a predetermined distance of 3, and when it is determined that the distance in the longitudinal direction is equal to or greater than the second predetermined distance and the distance in the width direction is equal to or less than the third predetermined distance, It is estimated that all IC tags belonging to the set are included in a predetermined single lane indicating line.

  Therefore, when a lane indicating line is included in a predetermined range of the road surface, at least one set is a distance not less than a second predetermined distance in the longitudinal direction and not more than a third predetermined distance in the width direction. It is determined that there is, and it is estimated that all IC tags belonging to this one set are included in a predetermined lane indicating line.

  In addition, if a predetermined range of the road surface includes a character sign or a pedestrian crossing with an IC tag arranged, it is determined that one set is less than the second predetermined distance in the longitudinal direction, or in the longitudinal direction. Even if the distance is greater than or equal to the second predetermined distance, it is determined that the third predetermined distance is exceeded in the width direction. For this reason, it is estimated that the IC tag belonging to the one set is not included in the lane indicating line.

  Further, only the outgoing wave of the IC tag is used for determining the lane indicating line, and the identification information stored in the IC tag is not used. Therefore, it is possible to detect the lane indicating line regardless of the presence / absence of the identification information of the IC tag and the content thereof. For this reason, even if an IC tag in which the same identification information is stored in the lane indicating line and other than the lane indicating line (or the identification information is not stored) is arranged, the lane indicating line and the line other than the lane indicating line are surely secured. Can be distinguished. For example, when a lane indicating line is drawn on the road surface using paint mixed with an IC tag, the lane indicating line and the lane indicating line other than the lane indicating line and the lane indicating line are not used even if the paint that draws the lane indicating line and other than the lane indicating line is shared. A distinction can be made reliably. In this case, it is not necessary to use different paints when drawing the lane indicating line on the road surface and when drawing other than the lane indicating line on the road surface, so that workability is not deteriorated.

  In addition, since the positions of the IC tags within a predetermined range are calculated, if it is estimated that all the IC tags belonging to one set are included in one predetermined lane indicating line, Based on the positions of all the IC tags in the set, the position (relative position with respect to the vehicle) where a predetermined single lane indicating line is drawn can be obtained.

  In addition, since the distance in the longitudinal direction and the distance in the width direction are determined based on the two IC tags whose positions are the farthest among the IC tags belonging to one set, the IC tags arranged on the lane indicating line are For example, it is not necessary to be in a state of being arranged in a row along the lane indicating line or in a state of being arranged at equal intervals. Therefore, even if the IC tag is irregularly arranged on the lane indicating line as in the case where the lane indicating line is drawn on the road surface using the paint mixed with the IC tag, the lane indicating line is not displayed. It can be reliably estimated.

  The lane indicating line detection device according to the second aspect of the present invention is the lane indicating line detection device according to the first aspect, and the lane indicating line estimation means is a set of predetermined one lane indicating line. It is estimated that it has a length equal to or longer than the distance between the positions of the two most distant IC tags among all the IC tags.

  In the above configuration, when it is estimated that all IC tags belonging to one set are included in a predetermined single lane indicating line drawn on the road surface, the distance in the longitudinal direction of the predetermined single lane indicating line Is estimated to be longer than the distance between the positions of the two most distant IC tags in one set.

  Further, the lane indicating line detection device according to the third aspect of the present invention is the lane indicating line detection device according to the first or second aspect, in which the set determination means sets all the IC tags within a predetermined range to the first range. Classifying into a plurality of sets including a set and a second set, the lane indicating line estimating means includes all the IC tags belonging to the first set, included in the first lane indicating line, and belonging to the second set If the IC tag is estimated to be included in the second lane indicating line, the lane indicating line estimating means outputs the second IC tag and the second IC tag belonging to the first set whose distance between the positions is the farthest. For the four IC tags with the two IC tags having the most distance between the positions among the IC tags belonging to the set, the positions of the two IC tags having the most distance between the positions among these four IC tags are The distance from the connecting straight line to the position of the other two IC tags It is determined whether the distance is less than or equal to a third predetermined distance, and the distances from the straight line connecting the positions of the two IC tags that are the farthest away from the four IC tags to the positions of the other two IC tags are respectively third. When the distance is equal to or less than the predetermined distance, it is estimated that the first lane indicating line and the second lane indicating line are a part of one lane indicating line that extends intermittently.

  In the above configuration, for the first lane indicating line and the second lane indicating line that are estimated to exist within a predetermined range, the two IC tags and the second lane that are farthest apart from each other included in the first lane indicating line. Based on the four IC tags with the two most distant IC tags included in the instruction line, it is determined whether or not the distance in the width direction of the region including the four IC tags is equal to or smaller than the third predetermined distance. The first lane indicating line and the second lane indicating line extend intermittently when a positive determination result is obtained that the distance in the width direction is equal to or less than the third predetermined distance. Is estimated to be part of the lane marking.

  Thus, for example, a single lane indicating line is drawn on the road surface as a broken line, and a plurality of line portions coated with paint of one lane indicating line are included in a predetermined range of the road surface, and an IC included in each line portion On the condition that the positive determination result is obtained when the presence of two lane indicating lines, ie, the first lane indicating line and the second lane indicating line, is estimated based on the tag, The lane indicating line and the second lane indicating line are estimated to be part of one lane indicating line that extends intermittently. Thereby, even if the lane indicating line is drawn as a broken line on the road surface, one lane indicating line including a plurality of broken line parts can be detected. In addition, it is estimated that the first lane indicating line and the second lane indicating line are a part of one lane indicating line, so that two line portions in the longitudinal direction and their interval (at least the second lane indicating line) A single lane indicating line having a distance equal to or greater than the distance obtained by adding the first predetermined distance to twice the predetermined distance can be detected.

  In addition, even if the two broken lines are a part of the same curved lane indicating line (for example, drawn on the road surface along the lane of the curved portion), the positive determination result is On the condition that it is obtained, it is estimated that the first lane indicating line and the second lane indicating line are part of one lane indicating line that extends intermittently.

  In addition, when two lane indicating lines extending in parallel or crossing each other are drawn on the road surface as continuous lines or broken lines, respectively, and each broken line of the two lane indicating lines is included in a predetermined range of the road surface Includes the other two IC tags from the straight line connecting the positions of the two IC tags whose positions are the farthest among the four IC tags with respect to the estimated first lane indicating line and second lane indicating line. The distance to the position exceeds the third predetermined distance, and it is estimated that the first lane indicating line and the second lane indicating line are not part of one lane indicating line.

  A lane indicating line detection device according to a fourth aspect is the lane indicating line detection device according to the first or second aspect, and includes a storage unit, a traveling state information detection unit, and a current position calculation unit.

  The storage means sequentially stores the positions of the two most distant IC tags in one set each time the lane indicating line estimation means estimates that one set of IC tags is included in one predetermined lane indication line. To do. The traveling state information detecting unit detects traveling state information of the vehicle. The current position calculating means calculates the current respective positions of the two IC tags whose positions have been stored in the storage means before the previous time based on the traveling state information of the vehicle detected by the traveling state information detecting means.

  When there are the first two IC tags whose positions are stored in the storage means before the previous time and the second two IC tags whose positions are stored in the current storage means are present, the lane indicating line estimation means Based on the current position calculated by the current position calculation means for the two IC tags 1 and the positions of the second two IC tags, the two of the four IC tags whose distance between the positions is the most separated It is determined whether the distance from the straight line connecting the positions of the IC tags to the positions of the other two IC tags is equal to or less than a third predetermined distance, and the two IC tags that are the farthest away from the four IC tags When the distance from the straight line connecting the positions to the positions of the other two IC tags is equal to or smaller than the third distance, the predetermined one estimated this time is included in one set including the second two IC tags. The two lane markings are the first two I Estimated to be part of a single lane indication line continuous from other predetermined single lane indicator line that contains the other one of the set including a tag.

  The traveling state information detection unit includes, for example, a speed detection unit that detects a traveling speed of the vehicle and a steering angle detection unit that detects a steering angle.

  Based on the driving state information detected by the driving state information detecting unit, the current position calculating unit calculates, for example, the distance and direction that the vehicle has moved in the time from the detection of a predetermined range last time to the present time. Based on the distance and direction, the current positions of the two IC tags whose positions were previously stored in the storage means are calculated. That is, the relative position of the two IC tags whose positions are stored in the storage means with respect to the current vehicle is calculated. In addition, the IC tag detected in the predetermined range last time and the IC tag detected in the predetermined range this time may partially or completely match, or may be all different.

  In the above configuration, when a predetermined single lane indicating line is estimated this time, the positions of the two most separated IC tags included in the predetermined single lane indicating line are stored. Next, if there are two IC tags whose positions are stored in the storage means before the previous time, the current positions of the two IC tags are calculated. Next, based on the positions of the two IC tags stored in the current storage means and the current positions of the two IC tags stored in the previous storage means, the width of the area including these four IC tags. It is determined whether or not the distance in the direction is equal to or smaller than the third predetermined distance, and when the positive determination result that the distance in the width direction is equal to or smaller than the third predetermined distance is obtained. The predetermined one lane indicating line is estimated to be a part of one lane indicating line that is continuous from the other predetermined one lane indicating line estimated last time.

  Therefore, for example, when the vehicle is traveling in the same lane when the position of the IC tag is stored in the storage means before the previous time and when the position of the IC tag is stored in the storage means this time, On condition that the positive determination result is obtained, the predetermined one lane instruction line estimated this time is one lane instruction that continues from the other predetermined one lane instruction line estimated last time. Presumed to be part of the line.

  Further, by recognizing the movement of the vehicle in the vehicle width direction based on the detection of the traveling state information detection means, the position of the IC tag is stored in the current storage means from the time when the position of the IC tag was previously stored in the storage means. Even if you are turning and traveling before or when you are traveling with a different lane, the other predetermined lane that was previously estimated within the predetermined range of the road surface When the lane indicating line drawn continuously from the indicating line is included, on the condition that the positive determination result is obtained, the predetermined one lane indicating line estimated this time is It is estimated that it is a part of one lane indicating line continuous from a predetermined one lane indicating line.

  Also, the same one other predetermined lane indicating line estimated last time and the predetermined one lane indicating line estimated this time are curved (for example, drawn on the road surface along the lane of the curved portion). Even if it includes a different part of one lane indicating line, the predetermined one lane indicating line estimated this time was estimated last time on condition that the positive determination result is obtained. It is estimated that it is a part of one lane indicating line continuous from another predetermined one lane indicating line.

  Further, a lane indicating line unrelated to another predetermined one of the previously estimated lane indicating lines (for example, a lane indicating line that intersects or extends in parallel with another predetermined one of the lane indicating lines) is predetermined on the road surface. Is included in the range, the lane indicating line is estimated, and the positions of the two most separated IC tags included in the lane indicating line are stored. However, in this case, the distance from the straight line connecting the positions of the two IC tags whose positions are the farthest among the four IC tags to the positions of the other two IC tags exceeds the third predetermined distance, respectively. It is calculated that For this reason, it is estimated that the predetermined one lane indicating line estimated this time is not a part of one lane indicating line continuous from the other predetermined one lane indicating line estimated last time, and is estimated this time. The predetermined one lane indicating line can be recognized as a lane indicating line unrelated to the other predetermined one lane indicating line estimated last time.

  In addition, a lane indicating line continuous from another predetermined one of the previously estimated lane indicating lines is included in a predetermined range of the road surface, and a lane indicating line unrelated to the other predetermined one of the previously estimated lane indicating lines Are included in the predetermined range of the road surface, the positions of the two IC tags that are the farthest away from each other are stored for each lane indicating line. In this case, it is estimated that one lane indicating line estimated this time is a part of one lane indicating line that is continuous from the predetermined one lane indicating line estimated last time. The other lane indicating line is estimated not to be a part of one lane indicating line continuous from the previously estimated one lane indicating line. Therefore, it is estimated that one lane indicating line estimated this time is a part of one lane indicating line continuous from the other predetermined one lane indicating line estimated last time, and this time estimated The other lane indicating line can be recognized as a lane indicating line that is unrelated to the other predetermined one of the previously estimated lane indicating lines.

  A lane indicating line detection device according to a fifth aspect of the present invention is the lane indicating line detection device according to the first to fourth aspects, and includes automatic travel means. The automatic traveling means causes the vehicle to travel according to the lane indicating line estimated by the lane indicating line estimation means.

  The lane indicating line estimation means is a straight line connecting a position of two IC tags having a distance between the positions of the IC tags included in the predetermined one lane indicating line. Estimated to extend in the direction.

  For example, the automatic travel means sets the steering angle in order to cause the vehicle to travel from the vehicle front side end to the vehicle front side end of the straight ends connecting the positions of the two IC tags that are the farthest apart from each other according to the lane instruction line.

  In the above configuration, complicated image processing is not required, and the direction in which the lane indicating line extends can be estimated by simple processing.

  Further, for example, when the second and third predetermined distances are set based on the lane indicating line drawn on the road surface as a broken line, the third predetermined distance is about 3 m and the second predetermined distance is 0. Since the distance between the two IC tags that are farthest apart from each other in the width direction is the distance between the left and right sides of the lane indicator line, the direction in which the lane indicator line extends and the position of the two IC tags There is no increase in the angle deviation from the straight line connecting the two.

  Further, the IC tag estimated to be included in the plurality of lane instruction lines as in the case where the lane instruction line detection device of the third aspect or the fourth aspect includes an automatic travel means includes a plurality of lane instruction lines. Is determined to be included in a predetermined single lane indicating line because it is determined as a single continuous lane indicating line or an intermittently extending lane indicating line, and the longitudinal distance of the lane indicating line is extremely long Therefore, it is possible to suppress the occurrence of a deviation in the angle of the estimated linear direction with respect to the direction in which the lane indicator line actually extends.

  According to the present invention, when an IC tag is arranged on a lane indicating line drawn on a road surface along a lane, the lane instruction is stored without previously storing information for specifying the lane indicating line in the IC tag. A line can be detected.

It is a mimetic diagram showing a vehicle carrying a lane indicator detection device concerning a 1st embodiment. It is a schematic diagram which shows the state which the vehicle of FIG. 1 drive | works on a road surface. It is a block block diagram of the lane indication line detection apparatus of FIG. It is a top view which shows the lane indication line and pedestrian crossing which the lane indication line detection apparatus of FIG. 1 detected. It is a top view which shows the several lane indication line which the lane indication line detection apparatus of FIG. 1 detected. It is a top view which shows the curved lane indicating line which the lane indicating line detection apparatus of FIG. 1 detected. It is a flowchart which shows the process which the lane indicator line detection apparatus of FIG. 1 performs. It is a flowchart which shows the multi-line relationship estimation process among the processes of FIG. It is a block block diagram of the lane indicator detection apparatus which concerns on 2nd Embodiment. FIG. 10 is a plan view illustrating an example of a road surface on which the lane indication line detection device of FIG. 9 executes continuous line relationship estimation processing. It is a flowchart which shows the process which the lane indicator line detection apparatus of FIG. 9 performs. It is a block block diagram of the lane indicator detection apparatus which concerns on 3rd Embodiment. It is a schematic diagram which shows the vehicle by which the lane indicating line detection apparatus which concerns on 4th Embodiment is mounted. It is a block block diagram of the lane indicator line detection apparatus of FIG. It is a top view which shows the example of the road surface in which a lane estimation process is performed by the lane indication line detection apparatus of FIG.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a schematic diagram showing a vehicle equipped with a lane indicating line detection device according to the first embodiment, FIG. 2 is a schematic diagram showing a state where the vehicle of FIG. 1 travels on a road surface, and FIG. FIG. 4 is a block diagram of the lane indication line detection device of FIG. 1, FIG. 4 is a plan view showing lane indication lines and pedestrian crossings detected by the lane indication line detection device of FIG. 1, and FIG. 5 is a lane of FIG. FIG. 6 is a plan view showing a plurality of lane indication lines detected by the indication line detection device, and FIG. 6 is a plan view showing curved lane indication lines detected by the lane indication line detection device of FIG. These are flowcharts which show the process which the lane indicator line detection apparatus of FIG. 1 performs.

  As shown in FIGS. 1 and 2, the lane indicating line detection device 10 according to the first embodiment of the present invention is mounted on a vehicle 1 traveling on a road surface 20.

  On the road surface 20, a lane indicating line 22 that divides the road surface 20 into a plurality of lanes is drawn along each lane. The lane indicating line 22 is drawn at the right end of the lane in a state of facing the traveling direction of the lane with paints such as white and orange as a broken line or a continuous line extending intermittently. In addition, on the road surface 20, other than the lane indicating line, for example, a sign such as “Stop”, a pedestrian crossing, and the like are drawn.

  As shown in FIG. 4, the IC tag 5 is arranged on the lane indicating line 22. The IC tag 5 is of a passive type that transmits a transmission wave in response to reception of a predetermined radio wave. In the present embodiment, an IC tag 5 that uses millimeter-wave radio waves is used. The IC tag 5 arranged on the lane indicating line 22 does not need to store identification information indicating that it is the lane indicating line 22 in advance, but stores identification information for other purposes. May be. Alternatively, the IC tag 5 in which identification information indicating the lane indicating line 22 is stored in advance may be used.

  In the present embodiment, in order to place the IC tag 5 on the lane indicating line 22, before the lane indicating line 22 is drawn on the road surface 20, the IC tag 5 is mixed with the paint that draws the lane indicating line 22. It is applied to the road surface 20 together with the paint. In addition, the paint in which the IC tag 5 is mixed is used in common when the road surface 20 other than the lane indicating line is drawn. A predetermined amount of the IC tag 5 is mixed with the paint per unit amount. Based on this, the number of IC tags 5 arranged per unit area of the road surface 20 to which the paint mixed with the IC tag 5 is applied, and one IC tag 5 is arranged on the road surface 20 to which the paint is applied. The area to be calculated can be calculated. In the present embodiment, a plurality of IC tags 5 (for example, an amount of paint to be applied to the road surface 20 having a circle area with a diameter of 0.2 m (the same length as the distance in the width direction of the lane indicating line 22) are applied (for example, 5) The IC tag 5 is mixed in the paint at a contained ratio. Note that, if the number of IC tags 5 mixed with a unit volume of paint is increased, the determination process increases. Therefore, it is not desirable to simply place a large number of IC tags 5.

  As shown in FIG. 3, the lane indicating line detection device 10 includes a millimeter wave radar 11, a position calculating unit 15, a set determining unit 16, a distance determining unit 18, a width determining unit 19, and a lane indicating line estimating unit 30. The lane indicating line detection device 10 includes an outgoing wave determination unit 14 and a separation tag specifying unit 17.

  As shown in FIG. 2, the millimeter wave radar 11 is disposed in the front part of the vehicle 1 and includes a transmission unit 12 and a reception unit 13. The transmission unit 12 constitutes a transmission unit, and a predetermined radio wave having a millimeter wave frequency (denoted by reference numeral 2 in FIG. 1) to a predetermined range extending on the road surface 20 in the traveling direction of the vehicle 1 and in the lateral direction of the traveling direction. Are repeatedly transmitted at predetermined time intervals (for example, 2 sec). In the present embodiment, the distance in the traveling direction within the predetermined range is set to 20 m, which is a length equal to or longer than a distance including three line portions to which paint is applied when the lane indicating line 22 is drawn as a broken line. The In addition, the distance in the vehicle width direction within a predetermined range is set to 12 m, which is a length that is three times or more the width of the lane. The receiving unit 13 constitutes a receiving unit, and receives each of the transmitted waves transmitted from all the IC tags 5 arranged in a predetermined range of the road surface 20. The receiving unit 13 also receives a reflected wave obtained by reflecting a predetermined radio wave on the road surface 20 or a structure. The receiving unit 13 detects the angle in the vehicle width direction to which a reflected wave and a radio wave other than the reflected wave are input.

  The transmitted wave determination unit 14 extracts a transmitted wave from radio waves including the transmitted wave and the reflected wave received by the receiving unit 13. In the present embodiment, since the IC tag 5 transmits a transmission wave that has been subjected to a predetermined modulation with respect to a predetermined radio wave, it is determined whether or not the radio wave received by the receiving unit 13 is subjected to a predetermined modulation. A radio wave having a predetermined modulation is extracted as a transmission wave.

  The position calculation unit 15 constitutes a position calculation unit, and the time from when the transmission unit 12 transmits a predetermined radio wave until the reception unit 13 receives the transmission wave of the IC tag 5, and the transmission wave is the reception unit 13. The relative position (two-dimensional coordinates on the road surface 20) of the IC tag 5 with respect to the vehicle 1 is calculated as the position of the IC tag 5 on the basis of the angle input to.

  The set determination unit 16 constitutes set determination means and executes set determination processing. In the set determination process, one IC tag 5 is assigned to all the IC tags 5 received by the receiving unit 13 at a predetermined time interval in which the transmitting unit 12 repeatedly transmits a predetermined radio wave to a predetermined range. It is determined that the IC tag 5 belongs to one set, and it is determined that the IC tag 5 at a position where the distance from the position of the IC tag 5 is less than the first predetermined distance belongs to one set, and any one of the sets belonging to one set All the IC tags 5 are classified into at least one set by determining that the IC tags 5 at a position less than the first predetermined distance from the position of the IC tag 5 belong to one set. Further, in the set determination process, among all the IC tags 5 in a predetermined range of the road surface 20, it is arranged at a position that is separated from the position of all the IC tags 5 belonging to one set by a first predetermined distance or more. If there are a plurality of IC tags 5, it is determined whether the IC tags 5 belong to another set in the same manner as in the determination of the one set. The IC tag 5 is classified into a plurality of sets. In the present embodiment, the set determination unit 16 performs the set determination process in a predetermined order after the positions of all the IC tags 5 detected in a predetermined range of the road surface 20 are calculated. Specifically, the predetermined range is divided into a plurality of columns in the vehicle width direction, and the set determination processing is performed in the order from the IC tag 5 whose position is in the right column to the IC tag 5 whose position is in the left column. And the set determination processing is executed in the order from the IC tag 5 having a position in front of each column to the IC tag 5 having a position in the back.

  The separation tag specifying unit 17, the distance determination unit 18, and the width determination unit 19 execute a shape determination process. In this embodiment, every time a set is classified by the set determination unit 16, the shape determination process is executed for the IC tag 5 of the set.

  The separation tag specifying unit 17 specifies, for each set classified by the set determination unit 16, the two IC tags 5 whose positions are most separated from each other among the IC tags 5 belonging to the one set. The separation tag specifying unit 17 determines that the two IC tags 5 that are farthest apart from each other belong to the same position in a set to which only one IC tag 5 belongs. Identify as two IC tags 5).

  The distance determination unit 18 constitutes a distance determination unit, and determines whether or not the distance between the positions of the two most separated IC tags 5 specified by the separation tag specifying unit 17 is equal to or greater than a second predetermined distance.

  The width determination unit 19 constitutes a width determination unit, and all the lines belonging to one set to which the two IC tags 5 belong from the straight line connecting the positions of the two most separated IC tags 5 specified by the separation tag specifying unit 17. It is determined whether the distance to the position of the IC tag 5 is equal to or less than a third predetermined distance.

  Here, the first to third predetermined distances are, for example, the standard of the lane indicating line 22 drawn on the road surface 20, the standard of a line other than the lane indicating line, the interval at which the IC tag 5 is disposed on the road surface 20, and the like. Is set based on In the present embodiment, the first predetermined distance is the distance between the line portions to which the paint is applied when the lane indicating line 22 is drawn on the road surface 20 as a broken line, and the lane indicating line 22 at the left and right ends of the lane. Is set to be equal to or shorter than the shorter distance from the distance (lane width) between the lane indicating lines 22 at both ends. Specifically, it is set to 0.5 m which is 3 m or less assuming that the distance between the line portions is 3 m and the width of the lane is 3.5 m. The first predetermined distance is set to a distance sufficiently longer than the diameter of a circle having an area where one IC tag is arranged on the road surface 20 to which the paint is applied. In the present embodiment, the second predetermined distance is set to be equal to or less than the distance in the longitudinal direction of one line portion to which the paint is applied when the lane indicating line 22 is drawn as a broken line. Specifically, it is set to 2.5 m which is 3 m or less assuming that the distance in the longitudinal direction of one line portion is 3 m. In the present embodiment, the third predetermined distance is set to a length equal to or longer than the distance in the width direction of the lane indicating line 22. Specifically, assuming that the distance in the width direction of the lane indicating line 22 is 0.2 m, the distance is set to 0.3 m that is 0.2 m or more. The third predetermined distance is set to a length less than the distance in the width direction of lines other than the lane indicating line drawn on the road surface 20.

  The lane indicating line estimating unit 30 constitutes a lane indicating line estimating unit and executes a lane indicating line estimating process. In the lane indicating line estimation process, the distance determination unit 18 determines that the distance between the positions of the two IC tags 5 that are the farthest away from one set is equal to or greater than the second predetermined distance, and the farthest away from the one set. When the width determination unit 19 determines that the distances from the straight line connecting the positions of the two IC tags 5 to the positions of all the IC tags 5 belonging to one set are each equal to or less than the third predetermined distance, It is estimated that all the IC tags 5 belonging to the set are included in a predetermined single lane indicating line 22 drawn on the road surface 20. Thereby, the lane indicating line detection device 10 can detect that the lane indicating line 22 exists in a predetermined range of the road surface 20. In addition, when the distance determination unit 18 determines that the distance between the positions of the two IC tags 5 that are the most distant from one set is less than the second predetermined distance, or the two IC tags that are the most distant from one set When the width determination unit 19 determines that the distance from the straight line connecting the positions of 5 to the position of any one of the IC tags 5 belonging to one set exceeds the third predetermined distance, It is estimated that the IC tag 5 to which it belongs is not included in the lane indicating line 22. As a result, the lane indicating line detection device 10 can detect that there is something other than the lane indicating line in a predetermined range of the road surface 20.

  Hereinafter, the set determination process, the shape determination process, and the lane indication line estimation process will be described with reference to FIG. FIG. 4 shows an example of a part of a predetermined range detected by the millimeter wave radar 11. As shown in FIG. 4, the predetermined range includes a lane indicating line 22 and a pedestrian crossing 23 other than the lane indicating line. 4 shows only the IC tag 5, the IC tag 5, 51, the IC tag 5, 52, the IC tag 5, 54, the IC tag 5, 55, the IC tag 5, 56, and the IC tag 5, 58. However, in FIG. 4, those indicated by circles similar to these are the IC tags 5 detected by the millimeter wave radar 11, although the reference numerals are omitted.

  The IC tag 5 disposed in a predetermined range on the road surface 20 is detected by the millimeter wave radar 11, the transmitted wave of the IC tag 5 is extracted by the transmitted wave determination unit 14, and the position calculation unit 15 calculates the position of the IC tag 5. Then, the set determination unit 16 classifies all the IC tags 5 arranged in a predetermined range into a set. When the set determination unit 16 classifies one set from the IC tags 5 and 51, all the IC tags 5 arranged on the lane indicating line 22 are classified into one set. The separation tag specifying unit 17 specifies that the IC tags 5 and 51 and the IC tags 5 and 52 that are most distant from each other among the IC tags 5 belonging to the one set are the IC tags 5 and 51 and the IC tags 5 and 52. Next, the distance determination unit 18 determines that the distance between the positions of the IC tags 5 and 51 and the IC tags 5 and 52 that are farthest among the IC tags 5 belonging to the one set is equal to or greater than a second predetermined distance. judge. In addition, the width determination unit 19 selects all the IC tags 5 belonging to one set from the straight line 53 connecting the IC tags 5 and 51 and the IC tags 5 and 52 that are farthest among the IC tags 5 belonging to the one set. It is determined that the distances to the positions are all equal to or less than the third predetermined distance. Accordingly, the lane indicating line estimation unit 30 estimates that all the IC tags 5 belonging to one set are included in a predetermined single lane indicating line 22 drawn on the road surface 20.

  Further, when the set determination unit 16 classifies one set from the IC tags 5 and 54 as another set, all the IC tags 5 arranged on the pedestrian crossing 23 are classified into one set. The separation tag identification unit 17 identifies the two IC tags that are most distant from each other among the IC tags 5 belonging to this one set as the IC tags 5 and 55 and the IC tags 5 and 56. Next, the distance determination unit 18 determines that the distance between the positions of the IC tags 5 and 55 and the IC tags 5 and 56 that are farthest among the IC tags 5 belonging to the one set is equal to or greater than a second predetermined distance. judge. In addition, the width determination unit 19 uses, for example, the IC tags 5 belonging to one set from the straight line 57 that connects the IC tags 5 and 55 and the IC tags 5 and 56 that are farthest among the IC tags belonging to the one set. It is determined that the IC tags 5 and 58 exceed the third predetermined distance. Accordingly, the lane indicating line estimation unit 30 estimates that the IC tag 5 belonging to the one set is not included in the lane indicating line 22.

  Further, the lane indicating line estimation unit 30 executes a multi-line relationship estimation process. In the multi-lane relationship estimation process, when it is estimated that there are a plurality of lane instruction lines 22 in a predetermined range by the lane instruction line estimation process, two lane instruction lines 22 out of the plurality of estimated lane instruction lines 22 are used. It is determined whether or not it can be estimated that (one is the first lane indicating line 22 and the other is the second lane indicating line 22) is part of one lane indicating line 22 that extends intermittently. Specifically, in the multiple-lane relationship estimation process, the first lane indicating line 22 and the second lane indicating line 22 are identified from among the multiple estimated lane indicating lines 22, and the first lane indicating line 22 is specified. Of the two IC tags 5 that are most separated from the IC tag 5 included in the IC tag 5 and the IC tag 5 that is included in the second lane indicating line 22 For the four IC tags 5 with the two IC tags 5 that are the farthest apart, the other two IC tags from the straight line connecting the positions of the two IC tags 5 that are the farthest apart among these four IC tags 5 It is determined whether or not the distance to the position 5 is equal to or less than a third predetermined distance, and the other two IC tags from the straight line connecting the positions of the two IC tags 5 that are the farthest away from each other among the four IC tags 5 The distance to position 5 is the third When the constant distance or less, is estimated and the first lane indication line 22 and a second lane marking line 22 is part of a single lane marking line 22 extending intermittently. The distance from the straight line connecting the positions of the two most distant IC tags 5 among the four IC tags 5 to the position of at least one of the other two IC tags 5 is a third predetermined distance. When it exceeds, it is estimated that the first lane indicating line 22 and the second lane indicating line 22 are not part of one lane indicating line 22. Thereby, the lane indicating line detection device 10 can detect that a plurality of different lane indicating lines 22 exist in a predetermined range of the road surface 20.

  Hereinafter, the multi-line relationship estimation process will be described with reference to FIGS. 5 and 6. 5 and 6 show an example of a part of a predetermined range detected by the millimeter wave radar 11. As shown in FIG. 5, the predetermined range includes two line portions to which paint of a predetermined single lane indicating line 22, 24 drawn by a broken line is applied, and another predetermined range. A single lane indicating line 22, 27 is included. In addition, the predetermined range in FIG. 6 includes two curved line portions of a predetermined one lane indicating line 22 drawn by a broken line. 5 and 6 show only the most distant IC tags 5 included in each set among the IC tags 5 classified into a plurality of sets.

  As shown in FIG. 5, when it is estimated that a plurality of lane indicating lines 22 are present in a predetermined range of the road surface 20 in the lane indicating line estimating process, the lane indicating line estimating unit 30 executes the multiple line relation estimating process. . Among the plurality of lane indicating lines 22 estimated to exist in the predetermined range, the lane indicating lines 22, 24, 25 are set as the first lane indicating lines 22, and the lane indicating lines are set as the second lane indicating lines 22. When 22, 24, and 26 are set, the IC tags 5 and 59 and the IC tags 5 and 60 that are farthest among the IC tags 5 included in the first lane indicating lines 22, 24, and 25 and the second lane indicating line 22 are set. , 24, and 26, the two IC tags 5 that are farthest apart from each other among the four IC tags 5 that are the farthest IC tags 5 and 61 and the IC tags 5 and 62. , IC tag 5,59 and IC tag 5,62. Next, it is determined that the distances from the straight line 63 connecting the positions of the IC tags 5 and 59 and the IC tags 5 and 62 to the positions of the IC tags 5 and 60 and the IC tags 5 and 61 are not more than a third predetermined distance, respectively. . Thereby, it is estimated that the first lane indicating lines 22, 24, 25 and the second lane indicating lines 22, 24, 26 are part of one lane indicating line 22, 24 extending intermittently.

  Of the plurality of lane indicating lines 22 estimated to exist in a predetermined range, the lane indicating lines 22, 24, 25 are set as the first lane indicating lines 22 and the lane indicating lines as the second lane indicating lines 22 are set. When the instruction lines 22 and 27 are set, the IC tags 5 and 59 and the IC tags 5 and 60 that are farthest among the IC tags 5 included in the first lane instruction lines 22, 24, and 25 and the second lane instruction line 22 are set. 27, among the four IC tags 5 that are the farthest IC tags 5 and 64 and the IC tags 5 and 65, the two IC tags 5 that are the most distant from each other are connected to the IC tag 5 The tags 5 and 59 and the IC tags 5 and 65 are specified. Next, when the distance from the straight line 66 connecting the positions of the IC tags 5 and 59 and the IC tags 5 and 65 to the positions of the IC tags 5 and 60 and the IC tags 5 and 64 exceeds the third predetermined distance. judge. Accordingly, it is estimated that the first lane indicating lines 22, 24, 25 and the second lane indicating lines 22, 27 are not part of one lane indicating line 22.

  Of the plurality of lane indicating lines 22 estimated to exist in a predetermined range, the lane indicating lines 22, 24, and 26 are set as the first lane indicating line 22, and the lane indicating the second lane indicating line 22 is set. When the instruction lines 22 and 27 are set, two of the four IC tags 5 that are the IC tag 5 and 61, the IC tag 5 and 62, the IC tag 5 and 64, and the IC tag 5 and 65, which are the farthest apart. The distance from the straight line connecting the positions of the IC tags 5 and 61 and the IC tags 5 and 65 to the positions of the IC tags 5 and 62 and the IC tags 5 and 64 both exceeds the third predetermined distance. And the first lane indicating lines 22, 24 and 26 and the second lane indicating lines 22 and 27 are estimated not to be part of one lane indicating line 22.

  In addition, as shown in FIG. 6, even if a predetermined range includes two curved portions of a predetermined lane indicating line drawn by a broken line, a plurality of line relations are included. The estimation process is performed in the same manner. As shown in FIG. 6, when the lane indicating lines 22 and 28 are set as the first lane indicating line 22 and the lane indicating lines 22 and 29 are set as the second lane indicating line 22, the first lane indicating line IC tags 5 and 67 that are farthest apart among the IC tags 5 included in the lines 22 and 28, and IC tags 5 that are farthest apart among the IC tags 5 included in the second lane indicating lines 22 and 29 and the IC tags 5 and 68. , 69 and the IC tags 5 and 70, the two IC tags 5 whose positions are most separated from each other are identified as the IC tag 5 and 67 and the IC tag 5 and 70, respectively. Next, the distance from the straight line 71 connecting the positions of the IC tags 5 and 67 and the IC tags 5 and 70 to the positions of the IC tags 5 and 68 and the IC tags 5 and 69 is the curved state of the lane indicating line 22 shown in FIG. Then, the distance is equal to or less than the third predetermined distance. Accordingly, it is estimated that the first lane indicating lines 22 and 28 and the second lane indicating lines 22 and 29 are part of one lane indicating line 22 that intermittently extends.

  Further, the lane indicating line estimation unit 30 performs a line length estimation process. In the line length estimation process, when a predetermined one lane instruction line 22 is estimated by the lane instruction line estimation process or the multiple line estimation process, the distance in the longitudinal direction of the predetermined one lane instruction line 22 is It is estimated that the length is equal to or longer than the distance between the positions of the two most distant IC tags 5 among the IC tags 5 included in the predetermined one lane indicating line 22. That is, in the line length estimation process, when it is estimated that all IC tags 5 belonging to one set are included in a predetermined one lane instruction line 22 drawn on the road surface 20 by the lane instruction line estimation process, It is estimated that the distance in the longitudinal direction of the predetermined single lane indicating line 22 is equal to or longer than the distance between the positions of the two IC tags 5 that are the farthest apart from one set. In addition, when it is estimated that the first lane indicating line 22 and the second lane indicating line 22 are part of one lane indicating line 22 that intermittently extends by the multi-line estimating process, the first lane indicating line The two IC tags that are farthest apart among the IC tags 5 included in one lane indicating line 22 in the longitudinal direction of one lane indicating line 22 including the indicating line 22 and the second lane indicating line 22 It is estimated that the length is not less than the distance between the five positions.

  Hereinafter, processing executed by the lane indicating line detection device 10 of the present embodiment will be described according to the flowcharts shown in FIGS. 7 and 8. This process is executed when the vehicle 1 is in the traveling state, and is processed at predetermined time intervals (for example, every 2 seconds).

  As shown in FIG. 7, first, in step S <b> 1, radio waves received by the receiving unit 13 are acquired at predetermined time intervals at which the transmitting unit 12 repeatedly transmits predetermined radio waves to a predetermined range. Next, in step S2, the transmission wave determination unit 14 extracts a transmission wave transmitted by the IC tag 5 from the radio waves received in step S1. Next, in step S3, the position calculation unit 15 calculates the relative position of the IC tag 5 with respect to the vehicle 1 as the position of the IC tag 5 based on the time when the transmitted wave extracted in step S2 is received and the received angle. .

  Next, in steps S4 to S7, the set determination unit 16 executes a set determination process. In step S4, one IC tag 5 (not classified into a set) is specified, and the process proceeds to step S5 to determine that it belongs to one set (for example, 001 set). Next, in step S6, whether the IC tag 5 whose distance from the position of the IC tag 5 determined to belong to one set in step S5 is less than the first predetermined distance exists in a predetermined range. If it is determined that the IC tag 5 is present, the process returns to step S5 to determine that the IC tag 5 belongs to one set (001 set). Further, in step S6, it is determined that the IC tag 5 whose distance from the position of the IC tag 5 determined to belong to one set in step S5 is less than the first predetermined distance does not exist in the predetermined range. Then, all the IC tags 5 belonging to one set (001 set) are classified, and the process proceeds to step S7.

  Next, in steps S7 to S9, the separation tag specifying unit 17, the distance determining unit 18, and the width determining unit 19 execute a shape determining process. In step S7, the separated tag identifying unit 17 identifies the two IC tags 5 that are the most distant from each other among the IC tags 5 belonging to one set (001 set), and proceeds to step S8. Next, in step S8, the distance determination unit 18 determines whether or not the distance between the positions of the two most separated IC tags 5 identified in step S7 is equal to or greater than a second predetermined distance, and is the most separated. If it is determined that the distance between the positions of the two IC tags 5 is greater than or equal to the second predetermined distance, the process proceeds to step S9. Next, in step S9, the distances from the straight line connecting the two most distant IC tags 5 identified in step S7 to the positions of all the IC tags 5 belonging to one set (001 set) are the third distances. When the width determination unit 19 determines whether or not the distance is equal to or less than the predetermined distance, and when it is determined that the distances to all the IC tags 5 are equal to or less than the third predetermined distance, the process proceeds to step S10. In addition, when the distance determination unit 18 determines that the distance between the positions of the two IC tags 5 that are most separated in step S8 is less than the second predetermined distance, or in the case of the two IC tags 5 that are most separated in step S9. If the width determining unit 19 determines that the distance from the straight line connecting the positions to the position of any one of the IC tags 5 belonging to one set (001 set) exceeds the third predetermined distance, the process proceeds to step S11. Transition.

  Next, in step S10 and step S11, the lane indicating line estimation unit 30 executes a lane indicating line estimation process. In step S10, it is estimated that all the IC tags 5 belonging to one set (001 set) are included in one predetermined lane indicating line 22, and the process proceeds to step S12. In step S11, it is estimated that the IC tag 5 belonging to one set (001) is not included in the lane indicating line 22, and the process proceeds to step S12.

  Next, in step S12, it is determined whether there is an IC tag 5 that is not classified into a set among the IC tags 5 whose positions are calculated in step S3, and if there is an IC tag 5 that is not classified into a set. If it determines, it will return to step S4 and will classify other one IC tag 5 which is not classified into a set into other one set (for example, 002 set), and will perform subsequent processing. If it is determined in step S12 that there is no IC tag 5 that is not classified into a set, the set classification for all the IC tags 5 in a predetermined range is completed, and the process proceeds to step S13, and a plurality of lines are collected. Execute relationship estimation processing.

  As shown in FIG. 8, in step S14, it is determined whether or not it is estimated that there are a plurality of lane indicating lines 22 in a predetermined range. The process proceeds to step S15. In step S15, one lane indicating line 22 is set as the first lane indicating line 22 among the plurality of estimated lane indicating lines 22, and the process proceeds to step S16. In step S16, the estimated multiple lane indicating lines 22 are set. One other lane indicating line 22 of the lines 22 is set as the second lane indicating line 22, and the process proceeds to step S17. If it is estimated in step S14 that the plurality of lane indicating lines 22 do not exist, the process returns to the flowchart shown in FIG.

  Next, in step S17, among the IC tags 5 included in the first lane indicating line 22, the two IC tags 5 that are most separated from each other specified in step S7 and the IC tag 5 included in the second lane indicating line 22 are used. Among the four IC tags 5 with the two most separated IC tags 5 identified in step S7, the two IC tags 5 with the most distance between the positions among these four IC tags 5 are identified, Control goes to step S18. Next, in step S18, the distance from the straight line connecting the positions of the two most distant IC tags 5 out of the four IC tags 5 to the positions of the other two IC tags 5 is not more than a third predetermined distance. If the distance from the straight line connecting the positions of the two IC tags 5 that are farthest apart to the positions of the other two IC tags 5 is less than or equal to the third predetermined distance, It transfers to S19 and it estimates that the 1st lane indicating line 22 and the 2nd lane indicating line 22 are a part of one lane indicating line 22 extended intermittently. Further, in step S18, the distance from the straight line connecting the positions of the two IC tags 5 that are farthest apart to the position of at least one of the other two IC tags 5 exceeds the third predetermined distance. In this case, the process proceeds to step S20, and it is estimated that the first lane indicating line 22 and the second lane indicating line 22 are not part of one lane indicating line 22.

  When the estimation in step S19 or step S20 is performed, the process proceeds to step S21, and the first lane instruction line 22 that is currently set is added to the plurality of lane instruction lines 22 that are estimated to exist in the predetermined range. It is determined whether or not there is a lane indicating line 22 whose relationship with the first lane indicating line 22 is not estimated, and if there is a lane indicating line 22 whose relationship with the first lane indicating line 22 is estimated, step S16 is performed. Returning to FIG. 5, one lane indicating line 22 whose relationship with the first lane indicating line 22 is not estimated is set as the second lane indicating line 22, and the subsequent processing is executed. In step S21, if there is no lane indicating line 22 for which the relationship with the currently set first lane indicating line 22 is not estimated, the process proceeds to step S22, and it is present within a predetermined range. It is determined whether or not there are two or more lane indicating lines 22 that are not set to the first lane indicating line 22 in the plurality of estimated lane indicating lines 22, and if it is determined that two or more lane indicating lines 22 exist, step S15. Returning to FIG. 1, one lane indicating line 22 that is not set as the first lane indicating line 22 is set as the first lane indicating line 22. In Step S22, when it is determined that there is only one lane indicating line 22 that is not set as the first lane indicating line 22, a plurality of lane indicating lines that are estimated to exist within a predetermined range. Since all the combinations of the two combinations of 22 have been estimated, the process returns to the flowchart shown in FIG.

  Next, a modification of the first embodiment will be described.

  In the present embodiment, the IC tag 5 uses a millimeter-wave band radio wave, but is not limited to this, and may use another frequency band radio wave.

  In the present embodiment, the millimeter wave radar 11 is used as the transmission unit 12 and the reception unit 13. However, the present invention is not limited to this. For example, the transmission unit 12 and the reception unit 13 may be separate devices. It may be a configuration in which are spaced apart. Further, a configuration in which a plurality of transmission units 12 and reception units 13 are arranged may be used. The transmitter 12 and the receiver 13 only need to use radio waves in the same frequency band as the IC tag 5, and when the IC tag 5 uses radio waves in a frequency band other than the millimeter wave band, the frequency thereof is used. What is necessary is just to use the transmission part 12 and the receiving part 13 which use the electromagnetic wave of a belt | band | zone.

  Further, in the present embodiment, the predetermined range has a shape in which the distance in the traveling direction is not less than a distance including three line portions, and the distance in the vehicle width direction is not less than three times the width of the lane. However, the present invention is not limited to this, and for example, a wide shape may be formed in a region (in the present embodiment, on the left side in the vehicle width direction) where the lane instruction line 22 of the lane in which the host vehicle 1 travels will be drawn. .

  Further, in the present embodiment, among the radio waves received by the receiving unit 13, the outgoing wave transmitted by the IC tag 5 is distinguished from other radio waves. On the other hand, each process may be executed.

  In the present embodiment, among all the IC tags 5 in a predetermined range of the road surface 20, a single IC tag 5 that is separated from the position of any other IC tag 5 by a first predetermined distance or more is simply set. Although it is classified as a set to which only one IC tag 5 belongs, the present invention is not limited to this, and the positions of two or more IC tags 5 out of all IC tags 5 in a predetermined range on the road surface 20 are less than the first predetermined distance. It is determined that the IC tags 5 belong to one set when the distance is equal to, and a single IC tag 5 that is separated from the position of any other IC tag 5 by a first predetermined distance or more is included in the set. The configuration may be such that the IC tag 5 does not belong.

  In the present embodiment, all IC tags 5 detected in a predetermined range of the road surface 20 are divided into a plurality of columns and the set determination process is executed in a predetermined order. The set determination processing of the IC tags 5 in the area where the lane indicating line 22 will be present among all the IC tags 5 detected in the range may be executed with priority. For example, the set determination process may be executed with priority from the IC tag 5 located within a predetermined angle range from the direction in which the other lane indicating line 22 estimated this time or before is extended. Thus, by preferentially executing the set determination processing of the IC tags 5 in the region where the lane indication line 22 is highly likely to exist, the processing for detecting the lane indication line 22 can be substantially speeded up. .

  In this embodiment, every time a set of IC tags 5 in a predetermined range is classified, the shape determination process is performed on the IC tags 5 in the set. After all the IC tags 5 detected in step 1 are classified into a set, the shape determination process may be executed. Further, in this case, when it is estimated that one lane indicating line 22 exists in a predetermined range, shape determination is performed with priority given to a set located within a predetermined angle range from the direction in which the lane indicating line 22 extends. Processing may be executed. In addition, after the set determination unit 16 classifies all the IC tags 5 detected in a predetermined range into a set, a set located within a predetermined angle range from the direction in which the lane indicating line 22 estimated before the previous time extends. The shape determination process may be executed with priority. As described above, by preferentially executing the shape determination process of the set of areas where the lane indicating line 22 is likely to exist, the process of detecting the lane indicating line 22 can be substantially speeded up.

  Further, in the present embodiment, when it is detected that there is something other than the lane indication line, what is specifically drawn on the road surface 20 is not detected. In particular, what is drawn on the road surface 20 may be detected.

  In this embodiment, even if the IC tag 5 stores the identification information, the identification information is not used. However, the present invention is not limited to this. A reading unit that reads the identification information of the tag 5 may be provided in the vehicle 1 as an integral or separate body with the receiving unit 13 and the identification information of the IC tag 5 may be used. For example, different identification information is stored in advance in each of the plurality of IC tags 5, and the position and identification information of each IC tag 5 are determined based on the identification information of the IC tag 5 read by the reading unit provided in the vehicle 1. Can be stored in the storage unit 43, and the movement of the IC tag 5 from the position where it existed before the previous time to the position where it exists this time can be detected. Further, by detecting the movement of each IC tag 5, the relative speed of the IC tag 5 with respect to the vehicle 1 can be calculated, and it can be accurately recognized that the IC tag 5 is disposed on the road surface 20. it can.

  Further, in the present embodiment, can the two lane indicating lines 22 estimated to exist in the predetermined range by the multi-line estimating process be estimated to be a part of the one lane indicating line 22 that extends intermittently? In the multi-line estimation process, it may be further determined whether or not these two lane indicating lines 22 are separated at a predetermined interval. Specifically, whether the distance between the first lane indicating line 22 and the second lane indicating line 22 is less than a fourth predetermined distance is determined based on the position of the IC tag 5 included therein. If the distance is less than the fourth predetermined distance, it is estimated that the distance is part of the lane indicating line 22 that is a broken line, and if the distance is equal to or greater than the fourth predetermined distance, the distance is continuous. It may be estimated that this is another lane indicating line 22. The fourth predetermined distance is an interval between line portions to which paint is applied when the lane indicating line 22 is drawn as a broken line, and is set to 3 m, for example.

  Further, in the present embodiment, when the distance from the straight line connecting the two IC tags 5 that are the farthest apart of one set to the position of any one of the IC tags 5 that belong to one set exceeds the third predetermined distance Is not a lane indicating line 22, but for example, when the number of all IC tags 5 belonging to one set exceeding the third predetermined distance is less than a predetermined ratio, You may add the process which considers that the IC tag 5 to which it belongs is contained in the lane indication line 22. FIG. With this configuration, for example, even when a small number of the IC tags 5 arranged on the lane indicating line 22 are physically separated from the lane indicating line 22, the lane indicating line 22 can be recognized.

  Further, it is determined whether or not the estimated one predetermined lane indicating line 22 extends in the traveling direction of the vehicle 1 (including a direction within a predetermined angle range with respect to the straight traveling direction). It may be estimated that the predetermined one lane indicating line 22 is the lane indicating line 22 of the currently traveling lane.

  As described above, in the present embodiment, for each set of IC tags 5 classified by the set determination unit 16, the distance in the longitudinal direction is equal to or more than the second predetermined distance and the distance in the width direction is two IC tags. It is determined whether or not the distance from the straight line connecting 5 is equal to or less than a third predetermined distance in both directions, the distance in the longitudinal direction is equal to or greater than the second predetermined distance, and the distance in the width direction is equal to or less than the third predetermined distance. When it is determined that there is, it is estimated that all the IC tags 5 belonging to one set are included in one predetermined lane indicating line 22.

  Therefore, when the lane indicating line 22 is included in the predetermined range of the road surface 20, at least one set is a distance not less than the second predetermined distance in the longitudinal direction and not more than the third predetermined distance in the width direction. It is determined that the distance is a distance, and it is estimated that all the IC tags 5 belonging to the one set are included in one predetermined lane indicating line 22.

  If a predetermined range of the road surface 20 includes a character sign or a pedestrian crossing on which the IC tag 5 is disposed, it is determined that one set is less than the second predetermined distance in the longitudinal direction, Even if there is a second predetermined distance or more in the direction, it is determined that the third predetermined distance is exceeded in the width direction. For this reason, it is estimated that the IC tags 5 belonging to the one set are not included in the lane indicating line 22.

  Further, only the transmitted wave of the IC tag 5 is used for the determination of the lane indicating line 22, and the identification information stored in the IC tag 5 is not used. Therefore, the lane indicating line 22 can be detected regardless of the presence / absence of the identification information of the IC tag 5 and its contents. For this reason, even if the IC tag 5 in which the same identification information is stored in other than the lane indicating line 22 and the lane indicating line (or the identification information is not stored) is arranged, the lane indicating line 22 and other than the lane indicating line Can be reliably distinguished. For example, when the lane indicating line 22 is drawn on the road surface 20 using the paint in which the IC tag 5 is mixed, the lane indicating line 22 and the lane may be shared even if the paint for drawing the lane indicating line 22 and other than the lane indicating line is shared. It is possible to reliably distinguish the lines other than the instruction line. In this case, since it is not necessary to use different paints when drawing the lane indicating line 22 on the road surface 20 and when drawing other than the lane indicating line on the road surface 20, workability is not deteriorated.

  In addition, since the positions of the IC tags 5 within a predetermined range are calculated, when it is estimated that all the IC tags 5 belonging to one set are included in the predetermined one lane instruction line 22, Based on the positions of all the IC tags 5 of the one set, a position where one predetermined lane indicating line 22 is drawn (relative position with respect to the vehicle 1) can be obtained.

  In addition, since the distance in the longitudinal direction and the distance in the width direction are determined based on the two IC tags 5 that are most distant from each other among the IC tags 5 belonging to one set, they are arranged on the lane indicating line 22. The IC tags 5 do not need to be in a state of being arranged in a row along the lane indicating line 22 or a state of being arranged at regular intervals, for example. Accordingly, the IC tag 5 is irregularly arranged on the lane indicating line 22 as in the case where the paint in which the IC tag 5 is mixed is used and the lane indicating line 22 is drawn on the road surface 20. Also, the lane indicating line 22 can be reliably estimated.

  Further, in the present embodiment, for the first lane indicating line 22 and the second lane indicating line 22 that are estimated to exist within a predetermined range, the two ICs that are the most separated from each other included in the first lane indicating line 22 Based on the four IC tags 5 of the tag 5 and the two most separated IC tags 5 included in the second lane indicating line 22, the distance in the width direction of the region including the four IC tags 5 is the third distance. And the first lane indicating line 22 and the second lane indicating line 22 when the affirmative determination result is obtained that the distance in the width direction is equal to or smaller than the third predetermined distance. It is estimated that this lane indicating line 22 is a part of one lane indicating line 22 that intermittently extends.

  Therefore, for example, one lane indicating line 22 is drawn on the road surface 20 as a broken line, and a plurality of line portions to which a paint of one lane indicating line 22 is applied are included in a predetermined range of the road surface 20. When the presence of the two lane indicating lines 22 of the first lane indicating line 22 and the second lane indicating line 22 is estimated based on the IC tag 5 included in the above, the above positive determination result is obtained. On the condition, the first lane indicating line 22 and the second lane indicating line 22 are estimated to be part of one lane indicating line 22 that extends intermittently. Thereby, even if the lane indicating line 22 is drawn on the road surface 20 as a broken line, one lane indicating line 22 including a plurality of broken line portions can be detected. Further, it is estimated that the first lane indicating line 22 and the second lane indicating line 22 are a part of one lane indicating line 22, so that two line portions in the longitudinal direction and the distance between them (at least A single lane indicating line 22 having a distance equal to or greater than a distance obtained by adding the first predetermined distance to twice the second predetermined distance can be detected.

  Further, even when the two broken lines are a part of the same single lane indicating line 22 curved (for example, drawn on the road surface 20 along the lane of the curved portion), the positive determination is made. On condition that a result is obtained, it is estimated that the first lane indicating line 22 and the second lane indicating line 22 are part of one lane indicating line 22 that extends intermittently.

  Also, two lane indicating lines 22 that intersect or extend in parallel with each other are drawn on the road surface 20 as continuous lines or broken lines, respectively, and one broken line for each of the two lane indicating lines 22 exists within a predetermined range of the road surface 20. When included, the estimated first lane indicating line 22 and second lane indicating line 22 are connected to the positions of the two IC tags 5 that are the most distant from each other among the four IC tags 5. The distance from the straight line to the position of the other two IC tags 5 exceeds the third predetermined distance, and the first lane indicating line 22 and the second lane indicating line 22 are one of the lane indicating lines 22. It is estimated that it is not a part.

  In the present embodiment, the lane indicating line 22 can be detected by a simple process by using the position of the IC tag 5 for each determination of the distance in the longitudinal direction, the width direction, and the extending direction of the lane indicating line 22. it can. In particular, since the distance in the longitudinal direction and the extending direction can be determined based on a small amount of information such as the positions of the two IC tags 5 that are the farthest from all the IC tags 5 in one set, the processing speed can be increased. it can.

  Further, since the IC tag 5 is mixed in the paint and the IC tag 5 is applied to the road surface 20 together with the paint, the work for arranging the IC tag 5 on the road surface 20 does not increase.

  In addition, the second predetermined distance is set shorter than the distance in the longitudinal direction of the line portion where the paint is applied when the lane indicating line 22 is drawn as a broken line, and the distance in the width direction of the lane indicating line 22 is set. Since the third predetermined distance is set to be long, even if the lane indicating line 22 is curved, the lane indicating line 22 can be reliably detected up to a curve of a predetermined condition. Further, if the length is shorter than the distance in the width direction of the line other than the lane indicating line on the road surface 20, the lane indicating line 22 is set even if the curve is more acute by setting the third predetermined distance longer. Can be reliably detected.

  In addition, since the lane indication line 22 is detected by radio waves in the millimeter wave band, the lane indication line detection device 10 is provided which is unlikely to cause a difference in detection performance even when there is a difference in conditions such as daytime and nighttime or during fine weather and rainy weather. can do.

  Further, the millimeter wave radar 11 constituting the transmission means and the reception means of the present invention can be used in common with an ACC (automatic tracking traveling device) mounted on the vehicle 1. That is, among the signals input to the millimeter wave radar 11, the lane indicating line 22 is detected by the transmitted wave of the IC tag 5, and the other vehicle ahead is detected by the reflected wave. By executing the process of superimposing the position of the lane indicating line 22 detected by the process of this embodiment and the position of the other vehicle detected by the process of ACC, the lane in which the other vehicle travels and the lane in which the host vehicle 1 travels. Can be recognized. Specifically, by detecting when the front lane is a curve or when other lanes are adjacent to each other, the other vehicle traveling ahead moves along the curve when moving in the vehicle width direction. It is possible to accurately recognize the traveling state of another vehicle traveling ahead, such as whether the vehicle is moving or moving to the next lane. Further, since both the lane indicating line 22 and the other vehicle can be detected by a single detection device, it is possible to recognize the traveling state of the other vehicle without performing sensor fusion such as a camera in the ACC process. The tracking accuracy can be improved and an increase in cost can be suppressed.

  Next, a second embodiment of the present invention will be described with reference to FIGS.

  FIG. 9 is a block configuration diagram of the lane indication line detection device according to the second embodiment, and FIG. 10 is a plan view showing an example of a road surface on which the lane indication line detection device of FIG. 9 executes continuous line relationship estimation processing. FIG. 11 is a flowchart showing processing executed by the lane indication line detection device of FIG.

  As shown in FIG. 9, in addition to the configuration of the lane indicating line detection device 10 of the first embodiment, the lane indicating line detection device 82 of the second embodiment includes a speed detection unit 41, a steering angle detection unit 42, and the like. A storage unit 43 is further provided, and a lane indication line estimation unit 92 is provided instead of the lane indication line estimation unit 10 of the first embodiment. The lane indicating line estimation unit 92 according to the present embodiment performs continuous line relationship estimation processing in addition to all the processing executed by the lane indicating line estimation unit 10 according to the first embodiment. The components common to the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the present embodiment, the lane indicating line 22 detected in the predetermined range this time is one lane indicating line 22 continuous from the lane indicating line 22 estimated to exist before the previous time, or exists before the previous time. Is determined to be a lane indicating line 22 unrelated to the estimated lane indicating line 22. Here, the IC tag 5 detected in the predetermined range this time and the IC tag 5 detected in the previous predetermined range may be partially or completely coincident with each other.

  The speed detection unit 41 and the steering angle detection unit 42 constitute a travel state information detection unit, and detect the travel state information of the vehicle 1. In the present embodiment, as the traveling state information of the vehicle 1, the speed detector 41 detects the traveling speed of the vehicle 1, and the steering angle detector 42 detects the steering angle.

  The storage unit 43 constitutes a storage unit, and every time the lane indicating line estimation unit 92 estimates a predetermined one lane indicating line 22, the storage unit 43 is the farthest 2 included in the predetermined one lane indicating line 22. The positions of the two IC tags 5 are sequentially stored. That is, every time the lane indicating line estimation unit 92 estimates that one set of IC tags 5 is included in one predetermined lane indicating line 22, the positions of the two IC tags 5 that are the most distant from one set are determined. Store sequentially. Further, every time the lane indicating line estimation unit 92 estimates that there is a predetermined one lane indicating line 22 including the two lane indicating lines 22, the most included in the predetermined one lane indicating line 22 The positions of the two IC tags 5 that are separated are sequentially stored. Further, when the current position of the IC tag 5 whose position is stored in the storage unit 43 before the previous time is calculated, the current position of the IC tag 5 is stored.

  In the present embodiment, the storage unit 43 stores up to information including the position of the lane indicating line 22 estimated four times before in the past, and information including the position of the most recently estimated lane indicating line 22. Is stored in place of the information including the position of the lane indicating line 22 estimated most recently. That is, until the position of the IC tag 5 of the lane indicating line 22 estimated this time is stored in the storage unit 43, the position of the IC tag 5 of the lane indicating line 22 estimated once before and the one time The position of the IC tag 5 on the lane indicating line 22 including the lane indicating line 22 estimated before and twice before, and the lane indicating line 22 including the lane indicating line 22 estimated one to three times before The position of the IC tag 5 and the position of the IC tag 5 on the lane indicating line 22 including the lane indicating line 22 estimated one to four times before are stored. Next, by estimating the current lane indicating line 22, the position of the IC tag 5 of the currently estimated lane indicating line 22 includes the lane indicating line 22 estimated once to four times before. It is stored in place of the position of the IC tag 5 on the line 22. If the current lane indication line 22 is not estimated, the information indicating that the current lane indication line 22 has not been estimated includes the lane indication line 22 including the lane indication line 22 estimated 1 to 4 times before. It is stored in place of the position of the 22 IC tags 5.

  Further, the storage unit 43 stores the time (time) when the predetermined range is detected together with the position of the IC tag 5. The storage unit 43 stores the traveling speed and steering angle of the vehicle 1 detected by the speed detection unit 41 and the steering angle detection unit 42 from the previous detection of the predetermined range to the detection of the predetermined range this time. Is done.

  The current position calculation unit 15 constitutes current position calculation means, and executes current position calculation processing. In the current position calculation process, based on the time when the previous predetermined range stored in the storage unit 43 is detected and the time when the current predetermined range is detected this time, the travel speed and the steering angle which are the travel state information of the vehicle 1 during that time Is read from the storage unit 43, and based on the travel speed and the steering angle, the distance and direction in which the vehicle 1 has moved between the time when the predetermined range is detected and the time when the predetermined range is detected this time are calculated. . The distance and direction of movement of the vehicle 1 between the previous detection of the predetermined range and the detection of the predetermined range this time are calculated as, for example, 0.1 meters to the left and 10.5 meters to the front. The Next, based on the calculated distance and direction, the position (hereinafter referred to as the current position) when the current predetermined range of the IC tag 5 stored in the storage unit 43 is detected is calculated. That is, the relative position with respect to the vehicle 1 when the current predetermined range of the IC tag 5 whose position is stored in the storage unit 43 is detected is calculated.

  The current position calculation unit 15 determines the positions of the two most distant IC tags 5 included in the lane indicating line 22 estimated once before as the positions of the IC tags 5 whose positions were stored in the storage unit 43 before the previous time. And the positions of the two IC tags 5 that are the farthest apart included in the lane indicating line 22 including the lane indicating line 22 estimated one and two times before, and estimated one to three times before For the positions of the two IC tags 5 that are the farthest apart included in the lane indicating line 22 including the lane indicating line 22, the current positions of these IC tags 5 are calculated.

  In the continuous line relationship estimation process executed by the lane indicating line estimation unit 92, the first two IC tags 5 whose positions have been stored in the storage unit 43 before and the second in which the positions have been stored in the current storage unit 43 are stored. Are present based on the current position calculated by the current position calculation unit 15 for the first two IC tags 5 and the position of the second two IC tags 5. Whether the distance from the straight line connecting the positions of the two IC tags 5 that are the farthest apart among the four IC tags 5 to the positions of the other two IC tags 5 is equal to or less than a third predetermined distance. When the distance from the straight line connecting the positions of the two IC tags 5 that are the farthest apart of the four IC tags 5 to the positions of the other two IC tags 5 is less than or equal to the third distance , Including the second two IC tags 5 estimated this time It is estimated that the fixed single lane indicating line 22 is a part of one lane indicating line 22 that is continuous with another predetermined single lane indicating line 22 including the first two IC tags 5. .

  When the distance from the straight line connecting the positions of the two IC tags 5 that are the farthest apart from the four IC tags 5 to at least one of the positions of the other two IC tags 5 exceeds a third distance, The predetermined one lane indicating line 22 estimated this time including the second two IC tags 5 is continuous from the other predetermined one lane indicating line 22 including the first two IC tags 5. It is estimated that it is not a part of the book lane indicating line 22. Thereby, in the lane indicating line detection device 82, the predetermined one lane indicating line 22 estimated this time is the lane indicating line 22 unrelated to the other predetermined one lane indicating line 22 estimated before the previous time. Judge that there is. In the present embodiment, in the continuous line relationship estimation process, the earliest lane among the IC tags 5 of the plurality of lane indicating lines 22 whose positions are stored in the storage unit 43 as the first two IC tags 5. The lane indicating line 22 including the indicating line 22 is specified in order from the two IC tags 5.

  The continuous line relationship estimation process will be described below with reference to FIG. FIG. 10 shows an example of a plan view of a road surface including the IC tag 5 whose position is stored in the current storage unit and the current state of the IC tag whose position is stored in the previous storage unit. As shown in FIG. 10, on the road surface, the previously estimated lane indicating lines 22, 60, 61 (indicated by a one-dot chain line) and the currently estimated lane indicating lines 22, 60, 62 (indicated by a two-dot chain line) are shown. A predetermined single lane indicating line 22, 60 is drawn. Further, FIG. 10 shows only two IC tags 5 that are the farthest away from each other and whose positions are stored in the storage unit 43 among the IC tags 5 included in each lane indicating line.

  In the lane indicating line estimation process, the first two IC tags 5 and 72 and the IC tags 5 and 73 whose positions were previously stored in the storage unit 43 and the second two that are stored in the current storage unit 43 are stored. When the IC tags 5 and 74 and the IC tags 5 and 75 exist, as shown in FIG. 10, the current position calculation unit 15 calculates the first two IC tags 5 and 72 and the IC tags 5 and 73. , And the positions of the second two IC tags 5 and 74 and the IC tags 5 and 75, the two IC tags 5 that are the most distant from each other among these four IC tags are The tags 5 and 72 and the IC tags 5 and 75 are specified. Next, the distance from the straight line 76 connecting the positions of the IC tags 5 and 72 and the IC tags 5 and 75 to the positions of the IC tags 5 and 73 and the IC tags 5 and 74 is the lane indicating lines 2 and 60 shown in FIG. In this case, it is determined that the distance is not more than the third predetermined distance. As a result, the currently estimated lane indicating lines 22, 60, 62 including the second two IC tags 5, 74 and the IC tags 5, 75 are converted into the first two IC tags 5, 72 and the IC tags 5, The lane indicating lines 22, 60, 61 including 73 are estimated to be part of one lane indicating line 22, 60.

  In the continuous line relationship estimation process, the predetermined one lane indicating line 22 estimated this time including the second two IC tags 5 is another predetermined value estimated before the previous time including the first two IC tags 5. When it is estimated that a part of one lane indicating line 22 that is continuous from one lane indicating line 22 is present, the storage unit 43 includes the lane indicating line 22 estimated to be the current time and the previous time. The positions of the two IC tags 5 that are the most distant from each other included in the lane indicating line 22 and the two IC tags 5 that are the most distant from each other included in the lane indicating line 22 that includes the lane indicating line 22 estimated two times before this time. The position and the positions of the two most distant IC tags 5 included in the lane indicating line 22 including the lane indicating line 22 estimated three times before this time are stored. Further, the positions of the two IC tags 5 that are the farthest apart included in the lane indicating line 22 estimated this time are stored without being rewritten.

  Further, in the line length estimation process executed by the lane instruction line estimation unit 92 in the present embodiment, the predetermined one lane instruction line 22 estimated this time including the second two IC tags 5 by the continuous line relationship estimation process. Is estimated to be a part of one lane indicating line 22 continuous from another predetermined one lane indicating line 22 estimated before the previous time including the first two IC tags 5, The distance in the longitudinal direction of one lane indicating line 22 that continues from the other predetermined one lane indicating line 22 to the predetermined one lane indicating line 22 is the farthest 2 of the four IC tags 5. It is estimated that the length is equal to or longer than the distance between the positions of the two IC tags 5.

  Hereinafter, the continuous line relationship estimation process executed by the lane indicating line detection device 82 according to the second embodiment of the present invention will be described with reference to the flowchart shown in FIG. This process is executed when the vehicle 1 is in the traveling state, and is processed at predetermined time intervals (for example, every 2 seconds).

  First, in step S <b> 31, the current position calculation unit 15 determines whether or not the first two IC tags 5 whose positions are stored in the previous storage unit 43 exist, and the positions are stored in the previous storage unit 43. When the first two IC tags 5 are present, the process proceeds to step S32, and the time when the predetermined range is detected last time and the time when the predetermined range is detected this time are read from the storage unit 43, and the read time Based on this information, the vehicle speed and the steering angle, which are the driving state information of the vehicle 1 between the time when the predetermined range was detected last time and the time when the predetermined range was detected this time, are further read from the storage unit 43, The process proceeds to S33. In step S31, if there is no first two IC tags 5 whose positions are stored in the storage unit 43 last time, this process is terminated.

  Next, in step S33, based on the traveling state information of the vehicle 1 read in step S32, the distance traveled by the vehicle 1 from the time when the predetermined range was previously detected to the time when the predetermined range was detected this time and The direction is calculated, and the process proceeds to step S34. In step S34, the current positions of the first two IC tags 5 are calculated based on the distance and direction of travel of the vehicle 1 calculated in step S33, and the process proceeds to step S35.

  Next, in step S <b> 35, it is determined whether or not the second two IC tags 5 whose positions are stored in the current storage unit 43 exist, and the second two IC tags 5 whose positions are stored in the current storage unit 43 are determined. If the IC tag 5 exists, the process proceeds to step S36. In step S36, based on the current position of the first two IC tags 5 calculated in step S34 and the position of the second two IC tags 5, the distance between these four IC tags 5 is determined. The two IC tags 5 that are most separated from each other are specified, and the process proceeds to step S37. In step S35, when there is no second two IC tags 5 whose positions are stored in the storage unit 43 this time, this process is terminated.

  Next, in step S37, the distance from the straight line connecting the positions of the two most distant IC tags 5 out of the four IC tags 5 to the positions of the other two IC tags 5 is not more than a third predetermined distance. When it is determined whether or not there is any distance, and it is determined that the distance from the straight line connecting the positions of the two IC tags 5 that are farthest apart to the positions of the other two IC tags 5 is equal to or less than the third predetermined distance. The process proceeds to step S38, and the predetermined one lane indicating line 22 estimated this time including the second two IC tags 5 is replaced with the other predetermined one including the first two IC tags 5. It is estimated that it is a part of one lane indicating line 22 continuous from the lane indicating line 22, and the process proceeds to step S40. Further, when it is determined in step S37 that the distance from the straight line connecting the positions of the two most distant IC tags 5 to at least one of the positions of the other two IC tags 5 exceeds the third distance. , The process proceeds to step S39, and the predetermined one lane indicating line 22 estimated this time including the second two IC tags 5 is replaced with the other predetermined one including the first two IC tags 5. It is estimated that it is not a part of one lane indicating line 22 continuous from the lane indicating line 22, and the process proceeds to step S40.

  In step S40, it is determined whether or not there are other second two IC tags 5 whose positions are stored in the storage unit 43 this time, and when there are other second two IC tags 5, Returning to step S36, the process is executed for the other second two IC tags 5. If no other second two IC tags 5 exist in step S40, the process proceeds to step S41, and the other first two IC tags 5 whose positions are stored in the previous storage unit 43 are found. It is determined whether or not it exists, and if there are other first two IC tags 5, the process returns to step S <b> 34 and processing is performed for the other first two IC tags 5. In step S41, if there is no other first two IC tags 5, the IC tag 5 included in the lane indicating line 22 whose position is stored in the previous storage unit 43 and the current storage unit 43 are positioned. Since all the combinations with the IC tag 5 included in the lane indicating line 22 that is stored are estimated, this processing is terminated.

  Next, a modification of the second embodiment will be described.

  In the present embodiment, the current position of the IC tag 5 of the lane indicating line 22 estimated before the previous time is calculated regardless of whether or not the current lane indicating line 22 is estimated. When the lane indicating line 22 is not estimated, the current position of the IC tag 5 of the lane indicating line 22 estimated before the previous time is not calculated, and when the lane indicating line 22 is estimated in the subsequent times, The current position of the IC tag 5 of the lane indicating line 22 estimated in the above may be calculated.

  In the present embodiment, the storage unit 43 stores only the two most distant IC tags 5 included in the predetermined one lane indicating line 22, but the storage unit 43 is not limited thereto. The positions of all the IC tags 5 included in the lane indicating line 22 may be stored. In this case, in the continuous line relationship estimation process, the current positions of all the IC tags 5 included in the predetermined single lane indicating line 22 estimated before the previous time and included in the currently estimated lane indicating line 22 are included. Whether or not all the IC tags 5 included in the two lane indicating lines 22 are equal to or less than the third predetermined distance from the straight line connecting the two IC tags 5 that are the farthest apart based on the positions of all the IC tags 5 It may be determined.

  In the present embodiment, the IC tag included in the lane indicating line 22 including the lane indicating line 22 estimated three times before is stored in a state where the IC tag 5 included in the lane indicating line 22 estimated this time is stored. However, the present invention is not limited to this, and the IC tag 5 included in at least the previously estimated lane indicating line 22 in a state where the IC tag 5 included in the currently estimated lane indicating line 22 is stored. Need only be stored.

  In the present embodiment, the current position is calculated based on the traveling speed and the steering angle of the vehicle 1. However, the present invention is not limited to this. For example, the position of the vehicle 1 is sequentially detected by GPS and a predetermined road surface 20 is detected. The time when the range is detected and the position at that time may be associated and stored in the storage unit 43.

  As described above, in this embodiment, when a predetermined single lane indicating line 22 is estimated this time, the positions of the two most separated IC tags 5 included in the predetermined single lane indicating line 22 are determined. Remembered. Next, if there are two IC tags 5 whose positions are stored in the storage unit 43 before the previous time, the current positions of the two IC tags 5 are calculated. Next, based on the positions of the two IC tags 5 stored in the current storage unit 43 and the current positions of the two IC tags 5 stored in the previous storage unit 43, these four IC tags 5 are When it is determined whether or not the distance in the width direction of the included region is equal to or smaller than the third predetermined distance, and a positive determination result is obtained that the distance in the width direction is equal to or smaller than the third predetermined distance The predetermined one lane indicating line 22 estimated this time is estimated to be a part of one lane indicating line 22 continuous from the other predetermined one lane indicating line 22 estimated last time. .

  Therefore, for example, when the position of the IC tag 5 is stored in the storage unit 43 before the previous time and when the position of the IC tag 5 is stored in the storage unit 43 this time, the vehicle 1 travels in the same lane. The predetermined one lane indication line 22 estimated this time is different from the other one predetermined lane indication line 22 estimated last time on condition that the positive determination result is obtained. It is estimated that it is a part of one continuous lane indicating line 22.

  Further, by recognizing the movement of the vehicle 1 in the vehicle width direction based on the steering angle detected by the steering angle detection unit 42, the current storage unit 43 stores the position of the IC tag 5 from the previous storage unit 43. Even when the vehicle is turning while traveling until the position of the IC tag 5 is stored, or when the vehicle is traveling while changing lanes, it is estimated within the predetermined range of the road surface 20 last time. When the lane indicating line 22 drawn continuously from the other predetermined one lane indicating line 22 is included, the predetermined one estimated this time is obtained on condition that the positive determination result is obtained. The lane indicating line 22 is estimated to be a part of one lane indicating line 22 continuous from another predetermined one lane indicating line 22 estimated last time.

  Further, the other predetermined one lane indicating line 22 estimated last time and the predetermined one lane indicating line 22 estimated this time (for example, drawn on the road surface 20 along the lane of the curve portion). Even if the curved one same lane indicating line 22 includes different portions, the predetermined one lane indicating line 22 estimated this time is obtained on condition that the positive determination result is obtained. Then, it is estimated that the lane indicating line 22 is a part of one lane indicating line 22 that is continuous from the other predetermined one lane indicating line 22 estimated last time.

  Further, a lane indicating line 22 that is unrelated to the other predetermined one lane indicating line 22 estimated last time (for example, a lane indicating line 22 that intersects or extends in parallel with another predetermined one lane indicating line 22). Is included in the predetermined range of the road surface 20, the lane indicating line 22 is estimated, and the positions of the two IC tags 5 that are the farthest apart included in the lane indicating line 22 are stored. However, in this case, the distance from the straight line connecting the positions of the two IC tags 5 whose positions are the farthest among the four IC tags 5 to the positions of the other two IC tags 5 is the third predetermined value. Calculated as exceeding the distance. For this reason, it is estimated that the predetermined one lane indicating line 22 estimated this time is not a part of one lane indicating line 22 continuous from the other predetermined one lane indicating line 22 estimated last time, It can be recognized that the predetermined one lane indicating line 22 estimated this time is the lane indicating line 22 unrelated to the other predetermined one lane indicating line 22 estimated last time.

  Further, the lane indicating line 22 that is continuous from the other predetermined one of the previously estimated lane indicating lines 22 is included in the predetermined range of the road surface 20 and is not related to the other predetermined one of the previously estimated ones. When the lane indicating line 22 is included in a predetermined range of the road surface 20, the positions of the two IC tags 5 that are the farthest away from each other are stored for each lane indicating line 22. In this case, it is estimated that one lane indicating line 22 estimated this time is a part of one lane indicating line 22 continuous from the predetermined one lane indicating line 22 estimated last time. It is estimated that the other lane indicating line 22 estimated this time is not a part of one lane indicating line 22 continuous from a predetermined one lane indicating line 22 estimated last time. Therefore, it is estimated that one lane indicating line 22 estimated this time is a part of one lane indicating line 22 continuous from the other predetermined one lane indicating line 22 estimated last time, and this time The estimated other lane indicating line 22 can be recognized as a lane indicating line 22 unrelated to the other predetermined one lane indicating line 22 estimated last time.

  Next, a third embodiment of the present invention will be described with reference to FIG.

  FIG. 12 is a block configuration diagram of a lane indicating line detection device according to the third embodiment.

  As shown in FIG. 12, the lane indicating line detection device 83 of the third embodiment includes an automatic travel control unit 31 in addition to the configuration of the lane indicating line detection device 82 of the second embodiment. Instead of the lane indicating line estimating unit 92 of the embodiment, a lane indicating line estimating unit 93 is provided. The lane indicating line estimation unit 93 according to the present embodiment performs line direction estimation processing in addition to all the processing executed by the lane indicating line estimation unit 92 according to the second embodiment. The components common to the first or second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the line direction estimation process executed by the lane instruction line estimation unit 93, when a predetermined single lane instruction line 22 is estimated by the lane instruction line estimation process, the multiple line estimation process, or the line relation estimation process, the predetermined One lane indicating line 22 is estimated to extend in a linear direction connecting the positions of the two IC tags 5 that are the farthest apart among the IC tags 5 included in the predetermined one lane indicating line 22. That is, in the line direction estimation process, when it is estimated that all IC tags 5 belonging to one set are included in the predetermined one lane instruction line 22 drawn on the road surface 20 by the lane instruction line estimation process, It is estimated that a predetermined single lane indicating line 22 extends in a linear direction connecting the positions of the two IC tags 5 that are the farthest apart from one set. Further, when it is estimated by the line direction estimation process that the first lane indicating line 22 and the second lane indicating line 22 are part of one lane indicating line 22 that intermittently extends, the first lane indicating line One lane indicating line 22 including the indicating line 22 and the second lane indicating line 22 indicates the position of the two IC tags 5 that are farthest apart among the IC tags 5 included in the one lane indicating line 22. Presumed to extend in the direction of the connecting straight line.

  The automatic travel control unit 31 constitutes an automatic travel unit and causes the vehicle 1 to travel according to the lane instruction line 22 estimated by the lane instruction line size estimation unit. In the present embodiment, since the lane indicating line 22 is drawn at the right end in the traveling direction of the lane, the steering angle is set so that the detected lane indicating line 22 is located on the right side in the vehicle width direction of the vehicle 1. The automatic travel control unit 31 is based on the straight line connecting the positions of the two IC tags 5 that are the farthest apart among the IC tags 5 included in the lane indicating line 22 estimated by the lane indicating line estimating unit 92 and the traveling speed of the vehicle 1. The necessary steering angle is sequentially set, and the vehicle 1 is caused to travel from the vehicle 1 front side end to the vehicle 1 front side end of both ends of the straight line connecting the positions of the two IC tags 5 that are the farthest apart.

  In the present embodiment, when the line direction estimation process is executed, the third predetermined distance is drawn as a straight line by setting the third predetermined distance to be the same as or slightly longer than the distance in the width direction of the lane indicating line 22. The direction in which the lane indicating line 22 is extended can be estimated more accurately.

  As described above, in this embodiment, complicated image processing is not required, and the direction in which the lane indicator line 22 extends can be estimated by simple processing.

  Further, for example, when the second and third predetermined distances are set based on the lane indicating line 22 drawn on the road surface 20 as a broken line, the third predetermined distance is about 3 m, and the second predetermined distance Is about 0.1 m, so that the two IC tags 5 that are farthest apart from each other are in the direction in which the lane indicating line 22 extends even when the two lane indicating lines 22 are spaced apart on both the left and right sides in the width direction. There is no increase in the angle deviation from the linear direction connecting the positions of the two IC tags 5.

  In addition, the IC tag 5 estimated to be included in the plurality of lane instruction lines 22 by the continuous line relationship estimation process or the multiple line estimation process is a single lane instruction line 22 in which a plurality of lane instruction lines 22 are continuous, When it is determined that the lane indicating line 22 is intermittently extended and is included in the predetermined one lane indicating line 22, the distance in the longitudinal direction of the lane indicating line 22 is estimated to be extremely long. In addition, it is possible to suppress the occurrence of a deviation in the angle of the estimated linear direction with respect to the direction in which the lane indicating line 22 extends.

  Next, a fourth embodiment of the present invention will be described with reference to FIGS.

  FIG. 13 is a schematic diagram showing a vehicle equipped with a lane indication line detection device according to the fourth embodiment, FIG. 14 is a block diagram of the lane indication line detection device of FIG. 13, and FIG. It is a top view which shows the example of the road surface in which a lane estimation process is performed by this lane indication line detection apparatus.

  As shown in FIG. 14, the lane indicator detection device 83 of the fourth embodiment includes a lane indicator estimator 94 instead of the lane indicator estimator 93 of the third embodiment. The lane indication line estimation unit 94 executes lane estimation processing in addition to all the processing executed by the lane indication line estimation unit 93 of the third embodiment. The components common to the first to third embodiments are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the present embodiment, lane indicating lines 22 are drawn on the road surface 21 at the left and right ends of the lane in the traveling direction. The lane indicating line estimation unit 92 executes a lane estimation process. In the lane estimation process, two lane indicating lines 22 are estimated within a predetermined range, and when these two lane indicating lines 22 are drawn substantially in parallel, the space between the two lane indicating lines 22 is determined. Estimated lane.

  Hereinafter, the lane estimation process will be described with reference to FIG. FIG. 15 shows an example of a part of a predetermined range detected by the millimeter wave radar 11. As shown in FIG. 15, the predetermined range includes two line portions to which a predetermined one lane indicating line 22, 24 drawn by a broken line is applied. Further, FIG. 15 shows only the most distant IC tags 5 included in each set among the IC tags 5 classified into a plurality of sets.

  As shown in FIG. 15, in the lane estimation process executed by the lane instruction line estimation unit 94, specifically, first, it is determined whether or not there are a plurality of lane instruction lines 22 estimated to exist within a predetermined range. If it is determined that there are a plurality of lane indicating lines 22 that are estimated to exist within a predetermined range, two lane indicating lines 22, one lane indicating lines 22 and 63 and the other lane indicating lines 22 and 64, are displayed. Identify. Next, of the IC tags 5 included in one lane indicating line 22, the first straight line that is a straight line connecting the two IC tags 5 and 77 and the IC tags 5 and 78 that are the most separated specified by the separating tag specifying unit 17. A position 66 having a fourth predetermined distance in the vertical direction from the positions of the two IC tags 5 and 77 and the IC tags 5 and 78 that are the farthest apart from each other is specified on both sides of the first straight line 65. The fourth predetermined distance is set based on the distance in the width direction of the lane, and is set to 3.6 m in this embodiment.

  Next, in the range 68 that is equal to or less than the fifth predetermined distance from the specified position 66, a separation tag among the IC tags 5 included in the other lane indicating lines 22, 64 on one side of the first straight line. It is determined whether or not there is a second straight line 67 that is a straight line passing through the two IC tags 5 and 79 and the IC tags 5 and 80 that are most separated by the specifying unit 17. The fifth predetermined distance is set based on the distance in the width direction of the lane indicating line 22, and is set to 0.2 m in the present embodiment.

  As shown in FIG. 15, when a second straight line 67 exists on one side of the first straight line in a range 68 that is equal to or smaller than a fifth predetermined distance from the specified position 66, Two lane marking lines 22 and 63 and the other lane marking lines 22 and 64 are separated at a predetermined interval in the traveling direction (3.1 to 3.9 m in the present embodiment) to divide the lanes drawn in parallel. A lane indicating line 22 is estimated, and a space between the two lane indicating lines 22 is estimated as a lane.

  In addition, the automatic travel control unit 31 causes the vehicle 1 to travel in the center of the two lane instruction lines 22.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the discussion and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

1: Vehicle 5: IC tag 10: Lane indicating line detection device 12: Transmitter (transmitter)
13: Receiving unit (receiving means)
15: Position calculation unit (position calculation means)
16: Set determination unit (set determination means)
18: Distance determination unit (distance determination means)
19: Width determination unit (width determination means)
20: Road surface 22: Lane indicating line 30: Lane indicating line estimating unit (lane indicating line estimating means)
41: Speed detection unit (traveling state information detection means)
42: Steering angle detector (traveling state information detecting means)
43: Storage unit (storage means)

Claims (5)

When the vehicle travels on a road surface in which a lane indicating line on which a plurality of IC tags that transmit a transmitted wave in response to reception of a predetermined radio wave are disposed is drawn along the lane, the lane indicating line A lane indicating line detection device for detecting the presence of
Transmitting means for repeatedly transmitting the predetermined radio wave to a predetermined range extending in a traveling direction of the vehicle and a lateral direction of the traveling direction on the road surface;
Receiving means for respectively receiving the transmitted waves transmitted by all the IC tags arranged in the predetermined range of the road surface;
The relative position of the IC tag with respect to the vehicle is calculated as the position of the IC tag based on the time from when the transmitting means transmits the predetermined radio wave until the receiving means receives the transmitted wave of the IC tag. Position calculating means;
For all the IC tags that the receiving means has received the transmitted wave at the time interval in which the transmitting means repeatedly transmits the predetermined radio wave to the predetermined range, from any one IC tag and the position of the IC tag. It is determined that an IC tag whose distance is less than the first predetermined distance belongs to one set, and the distance from the position of any IC tag belonging to the one set is less than the first predetermined distance. Set determination means for classifying all the IC tags into at least one set by determining that the IC tag at the position belongs to the one set;
Distance determining means for determining whether or not the distance between the positions of the two most distant IC tags among the IC tags belonging to the one set is equal to or greater than a second predetermined distance;
Width determination means for determining whether or not the distances from the straight line connecting the positions of the two most distant IC tags to the positions of all the IC tags belonging to the one set are each equal to or less than a third predetermined distance;
The distance determining means determines that the distance between the positions of the two most distant IC tags is equal to or greater than the second predetermined distance, and the one from the straight line connecting the positions of the two most distant IC tags. If the width determining means determines that the distances to the positions of all IC tags belonging to one set are not more than the third predetermined distance, all IC tags belonging to the one set are drawn on the road surface. A lane indicating line detecting device, comprising: a lane indicating line estimating means that estimates that the lane indicating line is included in one predetermined lane indicating line. A lane indicating line detection device according to claim 1,
The lane indicating line estimation device estimates that the predetermined one lane indicating line has a length equal to or longer than the distance between the positions of the two most separated IC tags. . A lane indicating line detection device according to claim 1 or claim 2,
The set determination means classifies all the IC tags into a plurality of sets including a first set and a second set, and the lane indicating line estimation means sets all the IC tags belonging to the first set to the first set. When it is estimated that all IC tags included in one lane indicating line and included in the second set are included in the second lane indicating line, the lane indicating line estimating means belongs to the first set Among the four IC tags, the two IC tags having the most distance between the positions among the IC tags and the two IC tags having the most distance between the positions among the IC tags belonging to the second set. It is determined whether or not the distance from the straight line connecting the positions of the two IC tags whose distance between the two IC tags is the farthest to the position of the other two IC tags is equal to or less than the third predetermined distance. Of the four IC tags, When the distance from the straight line connecting the positions of the two IC tags that are separated from each other to the positions of the other two IC tags is equal to or less than the third predetermined distance, the first lane indicating line and the second lane indicating line It is estimated that the lane indicating line is a part of one lane indicating line that extends intermittently. A lane indicating line detection device according to claim 1 or claim 2,
Each time the lane indicating line estimation means estimates that the one set of IC tags is included in the predetermined one lane indicating line, the positions of the two most distant IC tags in the one set are sequentially determined. Storage means for storing;
Driving state information detecting means for detecting the driving state information of the vehicle;
Current position calculating means for calculating the current respective positions of the two IC tags whose positions have been stored in the storage means before the previous time based on the traveling state information of the vehicle detected by the traveling state information detecting means; With
If the first two IC tags whose positions are stored in the storage means before the previous time and the second two IC tags whose positions are currently stored in the storage means exist, the lane indicating line estimation means Is the distance between the positions of the four IC tags based on the current position calculated by the current position calculation means for the first two IC tags and the position of the second two IC tags. Determine whether the distance from the straight line connecting the positions of the two IC tags that are farthest apart to the positions of the other two IC tags is less than or equal to the third predetermined distance, When the distance from the straight line connecting the positions of the two most distant IC tags to the positions of the other two IC tags is equal to or less than the third distance, the second IC tag is included. When included in one set The one predetermined lane indicating line estimated once times is one continuous line from the other predetermined one lane indicating line including the other set including the first two IC tags. A lane indicating line detection device characterized in that the lane indicating line is estimated to be a part of a lane indicating line. The lane indicating line detection device according to claim 1,
Automatic running means for running the vehicle according to the lane indication line estimated by the lane indication line estimation means;
The lane indicating line estimating means is configured to determine the positions of the two IC tags whose distance between the positions is the farthest among the IC tags included in the predetermined single lane indicating line. A lane indicating line detection device, characterized in that it extends in a straight line direction.

Images