JP6912251B2 - Lane information generator, lane information generation method, and lane information generation program - Google Patents

Description

The present application belongs to the technical fields of a lane information generator, a lane information generation method, and a lane information generation program. More specifically, it belongs to the technical field of a lane information generation device and a lane information generation method for generating lane information indicating a lane (so-called lane) included in a road, and a program for the lane information generation device.

In recent years, research on so-called automatic driving has been actively conducted on navigation devices that guide the movement of vehicles. On the other hand, in the conventional navigation device, for example, in order to search for the shortest route to the destination, road data including link data and node data has been used. An example of a conventional technique for automatically creating such road data is the technique described in Patent Document 1 below.

In the technique described in Patent Document 1, a road area corresponding to a road is extracted from image data corresponding to an aerial photograph of the ground taken from an aircraft, and based on the extraction result, a connection state between roads and the like are determined. The data of the indicated road link (also referred to as "road network") is generated and used as the above road data. Further, in the technique described in Patent Document 1, the width (road width) and the number of lanes (number of lanes) of each road are acquired / recorded in advance as auxiliary data other than the image data corresponding to the aerial photograph. It is configured to be used for determining the road area and extracting the lane boundary line from the image data.

Japanese Unexamined Patent Publication No. 2008-170611

However, although the above-mentioned Patent Document 1 describes that the data of the road link indicating the connection mode between roads is generated, the data of the lane network showing the connection mode between lanes included in each road is used. There is no disclosure or suggestion of the configuration to be generated. On the other hand, in order to realize the automatic driving, it is required to use the data of the lane network for each lane included in the road, not for the road.

Therefore, the present application has been made in view of the above request, and one example of the problem is a new lane capable of automatically generating lane network data indicating a connection mode between lanes included in a road. An object of the present invention is to provide an information generation device, a lane information generation method, and a program for the lane information generation device.

In order to solve the above problem, the invention according to claim 1 is an extraction means for extracting line segment information indicating a line segment reflected in a real image obtained by capturing a road from the real image information corresponding to the real image. And, based on the extracted line segment information, a comparison comparing the distance between the line segments arranged in the direction intersecting the road in the intersecting direction and the width as a lane included in the road. A generation means for generating lane information indicating the lane based on the means and the comparison result by the comparison means , i) the line segment having the interval longer than the width based on the comparison result in the comparison means. And ii) virtual line segment information that generates virtual line segment information indicating a virtual line segment in a direction that passes through a division point in the divided interval and extends the road. When there is a line segment having a generation means and a generation means including the generation means and the interval is longer than the width, the generation means is based on the width based on the generated virtual line segment information. The first comparison result, which is the comparison result when the division is not performed, and the second comparison result, which is the comparison result between the line segment corresponding to the virtual line segment after the division, the interval between the virtual line segments, and the width. results, configured so that to generate the lane information on the basis of.

In order to solve the above problem, the invention according to claim 6 is a lane information generation method executed in a lane information generation device that generates lane information indicating a lane included in a road, and images the road. Based on the extraction step of extracting the line segment information indicating the line segment reflected in the actual image from the actual image information corresponding to the actual image and the extracted line segment information, the line segments are arranged in the direction intersecting the road. However, there are a comparison step of comparing the distance between the line segments in the intersecting direction and the width of the lane, and a generation step of generating the lane information based on the comparison result in the comparison step. ) Based on the comparison result in the comparison step, the division step of dividing the interval of the line segment having the interval longer than the width based on the width, and ii) passing through the division point in the divided interval and said. seen containing a virtual line segment information generating step of generating a virtual line segment information indicating a virtual line in the direction of the road extends, a generation step including, a, if the interval is long the line than the width In the generation step, the first comparison result, which is the comparison result when the division based on the width is not performed, and the virtual line segment after the division correspond to the generated virtual line segment information. The lane information is generated based on the second comparison result, which is the comparison result between the line segment and the virtual line segment, and the width.

In order to solve the above problem, the invention according to claim 7 shows a computer included in a lane information generator that generates lane information indicating a lane included in a road on an actual image of the road. An extraction means for extracting line segment information indicating a line segment from the real image information corresponding to the real image, the line segments of the line segments arranged in a direction intersecting the road based on the extracted line segment information. A comparison means for comparing the distance between the intersecting directions and the width as the lane, and a generation means for generating the lane information based on the comparison result by the computer functioning as the comparison means , i). Based on the comparison result in the comparison means, a dividing means for dividing the interval of the line segment having the interval longer than the width based on the width, and ii) passing through the dividing point in the divided interval and the road. When there is a line segment whose interval is longer than the width , it functions as a generation means including a virtual line segment information generation means for generating virtual line segment information indicating a virtual line segment in a direction in which The first comparison result, which is the comparison result when the computer functioning as the generation means is not divided based on the width based on the generated virtual line segment information, and the virtual line segment after the division. The lane information is generated based on the second comparison result, which is the comparison result between the distance between the line segment and the virtual line segment corresponding to the above and the width .

It is a block diagram which shows the outline structure of the lane information generation apparatus which concerns on embodiment. It is a block diagram which shows the outline structure of the lane network generation apparatus which concerns on Example. It is a flowchart which shows the lane network generation processing which concerns on Example. It is a figure exemplifying the ortho image data and the like which concerns on Example, (a) is a figure which exemplifies the ortho image data, (b) is a figure which exemplifies the ortho image data about a road surface area, ( c) is a diagram exemplifying the data of the skeleton line according to the embodiment, and (d) is a diagram exemplifying the position data of the road marking according to the embodiment. It is a figure which illustrates the relationship between the ortho image data and a road link which concerns on Example, (a) is a figure which illustrates the relationship, and (b) is a figure which illustrates the data of the skeleton line which concerns on Example. Is. It is a figure for demonstrating the vertical line probability which concerns on Example, (a) is a figure for explaining the vertical line probability in the case of a one-row road, and (b) is a figure for explaining the vertical line probability in the case of a two-row road. It is a figure for demonstrating. It is a figure which illustrates the long line and the like which concerns on Example, (a) is a figure which illustrates the data of the skeleton line which concerns on Example, (b) is the figure which illustrates the outside line which concerns on Example, (c). ) Is a diagram illustrating a long line according to an embodiment, (d) is a diagram illustrating a short line according to an embodiment, and (e) is a diagram illustrating a vertical line according to an embodiment. It is a figure which illustrates the situation of the long line and the like which concerns on Example. It is a figure which illustrates the detail of the long line and the like which concerns on Example, (a) is a figure which illustrates the detail, and (b) is a figure which illustrates the ortho-image data of a corresponding point. It is a figure which illustrates the data of the pedestrian crossing which concerns on Example, (a) is a figure which illustrates short line which concerns on Example, (b) is the figure which illustrates the data of the pedestrian crossing which concerns on Example. .. It is a figure which illustrates the lane network and the like which concerns on Example, (a) is figure which illustrates the data of the skeleton line which concerns on Example, and (b) is figure which illustrates the corresponding lane network. It is a figure which shows the vertical network and the like which concerns on Example, (a) is a figure which illustrates the data of the corresponding skeleton line, (b) is a figure which illustrates the vertical network which concerns on Example, (c). To (e) are diagrams for explaining the generation of the vertical network according to the embodiment. It is a figure which exemplifies the calculation of the line score which concerns on Example, (a) is a figure which exemplifies the corresponding vertical network, and (b) to (f) are figure which exemplify the calculation of the line score. .. It is a figure explaining the width score which concerns on Example, (a) is a figure which shows the statutory width, (b) is a figure which shows the specific example of the width score. It is a figure which shows the line score and the like which concerns on Example, (a) is a figure which illustrates the corresponding vertical network and the like, (b) is a figure which shows the specific example of the line score. It is a figure which shows the vertical network score and the like which concerns on Example, (a) is a figure which illustrates the corresponding vertical network and the like, (b) is a figure which shows the specific example of the vertical network score. It is a figure which shows the calculation of the lane line which concerns on Example, (a) is a figure which illustrates the corresponding vertical network, etc., and (b) and (c) are figure which exemplify the calculation of the said lane line. , (D) are diagrams illustrating the calculated lane line. It is a figure which illustrates the lane score which concerns on Example, (a) is a figure which shows the 1st example of the said lane score, (b) is a figure which shows the 2nd example of the said lane score. FIG. 3I is a diagram (I) for explaining the generation of a lane network when there is a lane boundary line defect or the like according to the embodiment, and FIG. b) is a diagram illustrating the state of the line when the defect or the like is present, (c) is a diagram illustrating the state of the vertical network according to the embodiment when the defect or the like is present, and (d) is a diagram illustrating the situation of the vertical network when the defect or the like is present. It is a figure which illustrates the width score which concerns on Example when there is such a defect. FIG. 2 is a diagram (II) for explaining the generation of a lane network when there is a lane boundary line defect or the like according to the embodiment, and FIG. Is a diagram (I) illustrating the situation of the lane line according to the embodiment when there is the defect or the like, and (c) is a diagram illustrating the situation of the provisional line according to the example when there is the defect or the like. Yes, (d) is a diagram (II) illustrating the situation of the lane line according to the embodiment when there is such a defect or the like. It is a figure which exemplifies the lane score etc. when there is a lane boundary line defect, etc. which concerns on Example, (a) is the example figure (I), (b) is the example figure (II). be. It is a figure which illustrates the lane network when there is a loss of the lane boundary line which concerns on Example, (a) is a figure which illustrates the 1st example of the said lane network, (b) is the figure of the said lane network. It is a figure which exemplifies two examples. It is a figure which illustrates the lane network in the intersection which concerns on Example.

Next, a mode for carrying out the present application will be described with reference to FIG. Note that FIG. 1 is a block diagram showing an outline configuration of the lane information generator according to the embodiment.

As shown in FIG. 1, the lane information generation device S according to the embodiment includes an extraction means 1, a comparison means 2, and a generation means 3.

In this configuration, the extraction means 1 extracts line segment information indicating a line segment reflected in a real image obtained by capturing a road from the real image information corresponding to the real image.

Then, the comparison means 2 has the distance between the line segments arranged in the direction of intersecting the road and the width of the lane included in the road based on the line segment information extracted by the extraction means 1. And compare.

As a result, the generation means 3 generates lane information indicating a lane based on the comparison result by the comparison means 2.

As described above, according to the operation of the lane information generation device S according to the embodiment, a line segment indicating a line segment reflected in the actual image is obtained from the actual image information corresponding to the actual image of the road including the lane. Extract information. Then, the distance between the line segments arranged in the direction of intersecting the road and the width as a lane are compared based on the line segment information, and the lane information is generated based on the comparison result. Therefore, since lane information is generated based on the comparison between the width and the distance between the line segments shown in the actual image in the direction of intersection with the road, the lane information indicating the lane included in the road is obtained based on the actual image information. It can be generated automatically and accurately.

Next, specific examples corresponding to the above-described embodiments will be described with reference to FIGS. 2 to 23. The embodiment described below is an example when the present application is applied to the automatic generation of lane network information indicating the connection state and the like for each lane included in the road.

Further, FIG. 2 is a block diagram showing an outline configuration of a lane network generation device according to an embodiment, FIG. 3 is a flowchart showing a lane network generation process according to the embodiment, and FIG. 4 is an orthoimage data according to the embodiment. Etc., and FIG. 5 is a diagram illustrating the relationship between the ortho image data and the road link according to the embodiment. Further, FIG. 6 is a diagram for explaining the vertical line probability according to the embodiment, FIG. 7 is a diagram illustrating a long line or the like according to the embodiment, and FIG. 8 is a diagram illustrating a situation such as a long line or the like according to the embodiment. FIG. 9 is a diagram illustrating details of a long line or the like according to the embodiment, and FIG. 10 is a diagram illustrating data or the like of a pedestrian crossing according to the embodiment. Further, FIG. 11 is a diagram illustrating a lane network or the like according to the embodiment, FIG. 12 is a diagram showing a vertical network or the like according to the embodiment, and FIG. 13 is a diagram illustrating calculation of a line score or the like according to the embodiment. FIG. 14 is a diagram illustrating a width score according to an embodiment. Furthermore, FIG. 15 is a diagram showing a line score and the like according to the embodiment, FIG. 16 is a diagram showing a vertical network score and the like according to the embodiment, and FIG. 17 shows a calculation of a lane line and the like according to the embodiment. FIG. 18 is a diagram illustrating a lane score according to an embodiment, and FIG. 19 is a diagram (I) illustrating generation of a lane network when there is a lane boundary line defect or the like according to the embodiment. .. Further, FIG. 20 is a diagram (II) for explaining the generation of the lane network when there is a lane boundary line defect or the like according to the embodiment, and FIG. 21 is a diagram (II) when there is a lane boundary line defect or the like according to the embodiment. FIG. 22 is a diagram illustrating a lane score and the like, FIG. 22 is a diagram illustrating a lane network when there is a lane boundary line defect or the like according to the embodiment, and FIG. 23 is a diagram illustrating a lane network in an intersection according to the embodiment. It is a figure to do. At this time, in FIG. 2, for each of the constituent members of the embodiment corresponding to each constituent member in the lane information generating device S according to the embodiment shown in FIG. 1, the member number is the same as that of each constituent member in the lane information generating device S. Is used.

As shown in FIG. 2, the lane network generator SV according to the embodiment includes a processing unit 10 including a CPU, a RAM (Random Access Memory), a ROM (Read Only Memory), and an external network such as the Internet. An interface 11 for controlling the transfer of data between the two, an operation unit 12 including a keyboard and a mouse, a display 13 including a liquid crystal display, and a recording including an HDD (Hard Disc Drive) or an SSD (Solid State Drive). It is configured to include a part 14. Further, the processing unit 10 generates an extraction unit 1 as an example of the extraction means 1 according to the embodiment, a detection unit 2 as an example of the comparison means 2 according to the embodiment, and a generation unit 3 as an example of the generation means 3 according to the embodiment. It is configured to include a part 3. At this time, each of the extraction unit 1, the detection unit 2, and the generation unit 3 may be realized by a hardware logic circuit such as a CPU constituting the processing unit 10, or the lane network generation processing according to the embodiment described later. It may be realized by software by reading and executing the program corresponding to the above by the CPU or the like. Further, as shown by a broken line in FIG. 2, the extraction unit 1, the detection unit 2, and the generation unit 3 constitute an example of the lane information generation device S according to the embodiment. Further, the extraction unit 1 corresponds to an example of the "road marking extraction means" according to the present application, the detection unit 2 corresponds to an example of the "length detection means" according to the present application, and the generation unit 3 corresponds to the "division" according to the present application. It corresponds to an example of "means", an example of "virtual line segment information generating means", and an example of "connection information generating means", respectively.

In the above configuration, the aerial photograph data to be subjected to the lane network generation processing according to the embodiment is pre-recorded in, for example, the recording unit 14 as orthoimage data generated from the aerial photograph data taken by the aircraft. Or it is obtained from the outside via the interface 11. On the other hand, when the operation unit 12 performs an instruction operation on the lane network generation device SV, the operation unit 12 generates an operation signal corresponding to the instruction operation and outputs the operation signal to the processing unit 10. As a result, the processing unit 10 performs the lane network generation processing according to the embodiment using the ortho-image data while displaying the necessary information on the display 13 by the extraction unit 1, the detection unit 2, and the generation unit 3. Here, the lane network according to the embodiment is a network that shows the status of the lanes included in the road indicated by the conventional road link for each lane. The "lane status" in this case is, for example, how many (how many) lanes are included in one road, the status of change in the number of lanes on one road, or the lanes of other roads. It refers to the situation such as how it is connected. One of the goals of the lane network according to the embodiment is to utilize it for autonomous driving, which is currently being researched.

Next, the lane network generation process according to the embodiment will be specifically described with reference to FIGS. 2 to 23.

The lane network generation process according to the embodiment is started by, for example, a start operation in the operation unit 12. Then, as shown in the flowchart corresponding to FIG. 3, when the lane network generation process according to the embodiment is started, the orthoimage data to be the target of the lane network generation process is, for example, from the recording unit 14 or the interface 11. (Step S1). At this time, the ortho image data is, for example, aerial photograph image data as illustrated in FIG. 4A, and the image of the road R intersecting at the intersection CR and the structure BR such as a pedestrian bridge straddling the road are shown. ing. In addition to the passenger car C and bus B existing on the road R, the median strip P and the like are also shown. When such ortho-image data is input, the extraction unit 1 of the processing unit 10 then extracts the road surface area corresponding to the road R and the intersection CR from the ortho-image data by, for example, segmentation processing or mask processing ( Step S2). As a result of this step S2, for example, only the road surface area as shown in FIG. 4B is extracted from the ortho image data. Next, the extraction unit 1 extracts road markings drawn on the surfaces of the road R and the intersection CR from the ortho image data of only the road surface area (step S3). The road markings (so-called road surface paints) extracted in step S3 are usually drawn in the center of each lane using paint such as white, and are arrow markings indicating the direction of travel, destination markings, and pedestrian crossings. Includes sidewalk markings or text markings such as "bus priority". The road marking data in this case includes, for example, orientation data, scale data, similar value data, and the like, in addition to the position data of the road marking shown by white dots in FIG. 4 (d).

Next, the extraction unit 1 extracts a skeleton line composed of line segments constituting the road R or the like from the ortho image data of only the road surface area by a process such as so-called polyline formation (step S4). The process of step S4 is a process of thinning or subdividing the ortho image data of only the road surface area. As a result of this step S4, for example, skeleton line data as shown in FIG. 4 (c) corresponding to the ortho image data of only the road surface area shown in FIG. 4 (b) is generated. The data of this skeleton line is so-called vector data.

Next, as illustrated in FIG. 5, the extraction unit 1 uses the road link RL data (see FIG. 5A) corresponding to the road R reflected in the ortho image data and the skeleton line extracted in step S4. Each included line (line segment; see FIG. 5B) is compared, and a line around the road link RL and a line parallel to the link direction and a line perpendicular to the link direction are extracted from the skeleton line, and the comparison target is obtained. It is linked to the data of the road link RL that has become (step S5). At this time, in the case of the example shown in FIG. 5B, for example, the road marking indicating the pedestrian crossing in front of the intersection is composed of a line segment parallel to the road link RL, and the line perpendicular to the road link RL is, for example, a stop line. Corresponding lines can be mentioned. Next, the extraction unit 1 associates each line with the road link RL of the up line and the down line (step S6). At this time, the extraction unit 1 considers the difficulty of allocating to any road link due to the relative distance, and for all the lines, the vertical line probability (the line corresponding to the up line) in relation to the road link RL. (Probability of being a line corresponding to the down line or the probability of being a line corresponding to the down line) is calculated (step S6).

Here, the above-mentioned vertical line probability is, for example, in the case of a single road shown in FIG. 6A (that is, a road consisting of an up line and a down line, which corresponds to one road link RL), from the road line RL. The farther the line is, the higher the probability that it is an up line or a down line, but as it goes to the center of the road R corresponding to the road link RL, the probability that the line exists in the up line and the down line It is equal to the probability of existence (see FIG. 6 (a)). On the other hand, for example, in the case of the two-row road shown in FIG. 6 (b) (that is, the road corresponding to two road links RL corresponding to each of a plurality of lanes and having opposite link directions in principle), two roads are used. The outside of the road line RL has a 100% probability of being an up line or a down line, but in the area between the two road lines RL, the probability of being an up line or a down line differs depending on the distance. Come (see FIG. 6 (b)).

Next, the extraction unit 1 is an embodiment of the skeleton-lined road R (see FIGS. 4 (c), 5 (b), or 7 (a)) based on the setting operation in the operation unit 12. One or a plurality of sections to be targeted for the lane network generation process according to the above are set (step S7). Next, the extraction unit 1 determines whether or not any one of the set sections (see step S7) has been selected based on the operation in the operation unit 12 (step S8). In the determination of step S8, when none of the sections is selected because, for example, the lane network generation process for all sections other than the intersection CR has been completed (step S8: NO), the processing unit 10 will be described later. The process proceeds to step S15 to generate a lane network in the intersection CR. On the other hand, when any one of the sections is selected in the determination in step S8 (step S8: YES), the extraction unit 1 then sets the actual lines included in the sections selected in step S8. The division is based on the length of. Here, the actual (real) length of the line included in the skeleton line can be detected, for example, by thinning the orthoimage data (see step S4 above) and then converting it into vector data. Alternatively, the scale of the original orthoimage data (aerial photograph) and the pixels in the image may be converted to meters, or the distance in pixel space without such conversion. It is also possible to calculate. However, in this case as well, it is considered necessary to improve the accuracy by processing with sub-pixels instead of simply pixel distance. More specifically, the extraction unit 1 uses each line extracted as the skeleton line shown in FIG. 7A as an outer line OL (FIG. 7) indicating an outer line of each road R (a boundary line with an area other than the road). (B)), a long line LL parallel to the road and having a length of 8.5 meters or more (see FIG. 7 (c)), and a short line parallel to the road and having a length of less than 8.5 meters actually measured. It is divided into SL (see FIG. 7 (d)) and vertical line VL (see FIG. 7 (e)) perpendicular to the road. At this time, the threshold value "8.5 meters" for separating the long line LL and the short line SL is because the length of the lane boundary line (broken line) of the expressway in the Road Structure Ordinance is 8 meters. , A slightly longer threshold is provided. Looking at these outer line OL, long line LL, short line SL, and vertical line VL on the skeleton lined data, for example, in the case of intersection CR, the long line LL and the like are distributed as illustrated in FIG. become. Then, when the intersection CR portion is enlarged and compared with an actual aerial photograph as orthoimage data (see FIG. 9B), as illustrated in FIG. 9A, the line 50 corresponding to the structure BR, Line 51 corresponding to the lane boundary line, line 52 corresponding to noise on the image data, line 53 corresponding to the median strip P, line 54 corresponding to the pause line, line 55 corresponding to the bicycle crossing zone, bus, etc. It can be seen that the line 56 corresponding to the noise caused by the noise, the line 57 corresponding to the road marking, the line 58 corresponding to the lane boundary line, the line 59 corresponding to the pedestrian crossing, and the like are included.

Next, the extraction unit 1 is arranged in parallel and at equal intervals at a density equal to or higher than the preset density from each line (see FIG. 10A) included in the skeleton line as the short line SL divided in step S9. The short line SL is detected as a line 59 indicating a pedestrian crossing (step S10). This is because the line 59 indicating the pedestrian crossing is not included in the lane network according to the embodiment.

Assuming the above processes up to step S10, the processes described below are sequentially executed by the detection unit 2 and the like of the processing unit 10, so that the lane network generation processing according to the embodiment is performed. Then, as a result of the lane network generation process, for example, a lane network LNW as illustrated in FIG. 11B is generated from the data of each line included in the skeleton line shown in FIG. 11A (step S11). To step S15). In the following description, the section to be subjected to the lane network generation process set in step S7 is a dashed line rectangle shown in FIG. 12 (a) within the area surrounded by the broken line ellipse shown in FIG. 9 (a). Suppose it is the indicated section.

After the steps S1 to S10 described above are completed, the detection unit 2 of the processing unit 10 then targets the vector data VD (skeleton line data) corresponding to the section indicated by the broken line rectangle in FIG. 12A. As a result, a lane network is generated using the vertical network according to the embodiment (step S11). At this time, the detection unit 2 and the generation unit 3 exclude the vertical line VL and the short line SL (see FIG. 10B) constituting the pedestrian crossing from the processing.

Here, the vertical network N according to the embodiment is a line segment connecting two adjacent lines (lines as data of skeleton lines) L to each other, as illustrated in FIG. 12 (b), and both ends thereof. Is a line segment having a node ND on each line L.

As step S11, first of all, as shown in FIG. 12 (c), the detection unit 2 selects one target line LX from a plurality of line LAs and the like in the target section, and the parallel roads. The target line LX with each of the other line LA, line LC, line LD, and line LE that come into contact when the target line LX is moved in the direction perpendicular to the link direction of the link RL (see the hatched portion in FIG. 12C). A vertical network N is set between and. At this time, as illustrated in FIG. 12 (d) or FIG. 12 (e), the detection unit 2 intersects when two adjacent lines LA and LB are projected in parallel in the direction of the road link RL. The vertical network N is set with the intersection of the center position of FIG. 12 (d) and the hatched portion in FIG. 12 (e) and each line LA and line LB as the position of the node ND. Note that the detection unit 2 sets the vertical network N on the line LF (see FIG. 12C) that is shielded by the other line LC when viewed from the target line LX, assuming that it is noise as vector data VD. Exclude the target. Then, when the vertical network N is set for each line LA to LL included in the target section shown by the broken line rectangle in FIG. 12 (a), the vertical network N1 to the vertical network N13 illustrated in FIG. 13 (a) are set. NS.

Next, the detection unit 2 is one of the parameters indicating a state in which each line L corresponds to a lane boundary line (that is, lane boundary line-likeness) from the actual length of the adjacent lines L itself. "Score" is calculated for each line L. More specifically, for each line L, when the lengths of the two lines L connected to the vertical network N via the node ND are close to each other within a range of ± 0.5 meters, the detection unit 2 has a value close to each other. Add 1 point to the line score of each line L. Regarding the line score of each line L according to this length, the higher the line L of the same length is adjacent to each other (that is, the higher the lane boundary line-likeness of the two lines L is), the higher the score. For example, when focusing on the line LA and the line LB shown in FIG. 13 (b), assuming that the actual lengths are 1.5 meters and 1.0 meters in order, the line scores for these line LA and line LB are respectively. Is added by 1 point. Similarly, when focusing on the line LB and the line LC shown in FIG. 13 (c), assuming that the actual lengths are 1.0 meter and 0.8 meter in order, the line LB and the line LC also have the same length. , Each line score is added by 1 point. As a result, one point is added to the line score for the line LA, two points are added to the line score for the line LB, and one point is added to the line score for the line LC. The value of the line score according to the length of each line L is appropriately referred to as "condition 1" below.

Next, the detection unit 2 calculates the lane boundary line-likeness of each line L from the interval (width) of the adjacent lines L. More specifically, the detection unit 2 determines the width class W shown in FIG. 14 (b) defined based on the lane width defined in Article 5, Paragraph 4 of the Road Structure Ordinance shown in FIG. 14 (a). It is used to calculate the lane boundary-likeness of each line L. In the case shown in FIG. 14B, the definition of each width class W is defined with a margin of ± 10%. Further, as the data shown in FIG. 14, for example, the data previously recorded in the recording unit 14 may be used. Then, the detection unit 2 sets the number of vertical networks N other than those corresponding to the width class W0 and the width class W9 to "n" for each of the lines L connected to the plurality of vertical networks N, and sets the same width class. When the maximum number of vertical networks N to which they belong is m (m> 1), the value of "m / n" is added to the line score. Regarding the line score of each line L based on the width score W, the higher the line L belonging to the same width class is adjacent to each other (that is, the higher the lane boundary line between the two lines L is). For example, when focusing on the line LX shown in FIG. 13 (d), the width score W for the line LA and the width score W for the line LB are different, and since there are two valid vertical networks N, the width class W is used. 0/2 = 0.0 is added to the line score. Further, for example, when focusing on the line LX shown in FIG. 13 (e), the width score W for the line LA and the width score W for the line LB are the same, and there are two valid vertical networks N, so that the width class 2/2 = 1.0 is added to the line score by W. Further, for example, when focusing on the line LX shown in FIG. 13 (f), three types of width scores W correspond to each other, but the vertical network N of the width score W2 is three and the number is the largest, and the effective vertical network N is Since there are four (excluding the vertical network N of the width score W0), 3/4 = 0.75 is added to the line score by the width class W. The value of the line score according to the width class W of each line L is appropriately referred to as "condition 2" below.

Then, the detection unit 2 adds the line scores under the above condition 1 and the above condition 2 for each line L, and totals the line scores. At this time, in the case of each line LA to LL illustrated in FIGS. 13 (a) and 15 (a), the aggregation result of each is shown in FIG. 15 (b).

Next, the detection unit 2 calculates the vertical network score, which is a parameter indicating the width, for each vertical network N, for the width between the lines L. More specifically, the vertical network score is calculated by adding the width score shown in FIG. 14 (b) and the aggregated line score (see FIG. 15 (b)) for each vertical network N. At this time, the vertical network N (vertical network N1, vertical network N6, and vertical network N7 in the example of FIG. 16) in which the vertical network score is a negative number is not used in the subsequent lane network generation processing. As a result, only the vertical network N that truly corresponds to the lane can be targeted for the lane network generation process. More specifically, for example, in the lines LA to LL and the vertical networks N1 to N13 illustrated in FIG. 16A, focusing on the vertical network N3 connecting the line LD and the line LE, the width class W1 and the line Since the line score of the LD is "2" and the line score of the line LE is "3", the vertical network score of the vertical network N3 is "7". In the same manner below, the vertical network score calculated for each vertical network N is illustrated in FIG. 16 (b).

Next, the generation unit 3 of the processing unit 10 groups the vertical networks N connected to each other in the vertical network N examined so far as one group. That is, the groups G1 to G3 illustrated in FIG. 17A are formed. In each of these groups, the vertical networks N2, vertical network N5, vertical network N10, vertical network N11 and vertical network N13 at both ends correspond to the outer line OL on the road, line LA, line LB, line LC and line LL. The vertical network N8 is connected to the line LB via the vertical network N7, which has a negative vertical network score. Each vertical network N included in each group G1 to G3 crosses the road as illustrated in FIG. 17A, and the number of each vertical network N is the number of lanes itself.

Next, the generation unit 3 calculates a lane line corresponding to a lane connecting each group G1 to G3 by using the vertical network N included in each group G1 to G3. More specifically, as illustrated in FIGS. 17 (b) and 17 (c), the generation unit 3 defines one target vertical network NX, and all the verticals included in the group G adjacent to the center of the vertical network NX. The direction to the network N is calculated, and the direction closest to the link direction of the parallel road link RL is defined as the lane line LL (that is, one lane) starting from the vertical network NX. In the case of FIGS. 17 (b) and 17 (c), the direction indicated by the broken line is not adopted as the lane line.

By a series of processes described with reference to FIGS. 12 to 17 above, the lane line LLA to the lane line LLG according to the embodiment are calculated as illustrated in FIG. 17 (d), and the lane according to the embodiment is calculated by these. A network is generated (step S11).

Next, the generation unit 3 calculates a lane score for each line L and each vertical network N, which corresponds to a comprehensive evaluation of the lane boundary line-likeness and the width-likeness. More specifically, in the case of being illustrated in FIG. 18A, the total value of the vertical network scores of the connecting vertical networks N is set to "S" for each of the lane lines LLA to the lane line LLG, and is included in each lane. The number of lane lines LL is "LL", the number of vertical networks N included in each lane is "LN", the maximum number of the same width class included in each lane is "W", and the above lane score is ( Calculated as S / LL) × (W / LN). For example, the lane score of the lane including the lane line LLC to the lane line LLC illustrated in FIG. 18A is
{(4 + 7 + 6 + 6) / 3} x (4/4) = 7.6
The lane score of the lane including the lane line LLD and the lane line LLE illustrated in FIG. 18A is
{(7 + 7 + 7) / 2} x (3/3) = 10.5
The lane score of the lane including the lane line LLF and the lane line LLG illustrated in FIG. 18A is
{(5 + 5 + 5) / 2} x (3/3) = 7.5
Will be. As shown in FIG. 18B, the generation unit 3 is based on the position RP of the road marking extracted in step S3, and is based on the assumption that the lane passing near the center of the road marking is more correct. , The road marking score may be calculated and added to the above lane score. That is, assuming a circle with a radius of about 50 cm centered on the detection position of the road marking as the road marking circle, when the road marking circle and the lane line LL intersect or are in contact with each other, the lane line LL and the road The shorter the shortest distance from the center of the marking circle, the higher the road marking score, and it is preferable to add it to the lane score.

Next, the generation unit 3 describes, for example, the lane including the lane line LL generated up to step S11 because the lane boundary line is rubbed or disappears at the stage of the original ortho image data. It is determined whether or not there is a width narrower than the width of the road including the lane and a width class W7 or more (for example, for two lanes) (step S12).

In the determination of step S12, if there is no such wide width (step S12: NO), the generation unit 3 shifts to step S13 described later. On the other hand, in the determination of step S12, when there is a wide width as described above (step S12: YES), the generation unit 3 next sets a virtual line (line segment) corresponding to the width as the vector data VD of the skeleton line. And using the vector data VD after the addition, the same lane network generation process (second pattern lane network generation process) as in step S11 is performed (step S14).

Here, when the lane boundary line is rubbed as described above, the corresponding line does not appear in the corresponding ortho image data as illustrated by the broken line ellipse in FIG. 19 (a), for example. .. Then, when the line L is extracted from such ortho-image data by the extraction unit 1, as a result, the lines LA to LI as illustrated in FIG. 19B are extracted. Then, when the generation unit 3 sets the vertical network N in the same manner as in step S11, the vertical network N1 to the vertical network N14 illustrated in FIG. 19C are set as a result. At this time, the width class and the width score for these vertical networks N1 to N14 are shown in FIG. 19 (d), respectively (see also FIG. 14). Next, when the generation unit 3 performs the same grouping as in step S11 for each line L and each vertical network N illustrated in FIG. 19 (c), as a result, the groups G1 to groups shown in FIG. 20 (a) are grouped. G4 is formed. Then, when the lane line LL is calculated in the same manner as in step S11 for the result of the grouping, the lane line LLA to the lane line LLG illustrated in FIG. 20B are calculated as a result.

Therefore, in step S14, each of the wide vertical network N2, vertical network N3, and vertical network N5 is tentatively divided into two equal parts in the length direction in the state of FIG. 20A, and the original vertical network N2 is divided into vertical networks. Divide N2-1 and vertical network N2-2, divide the original vertical network N3 into vertical network N3-1 and vertical network N3-2, and further divide the original vertical network N5 into vertical network N5-1 and vertical network N5-2. (See the "recombinant" column in FIG. 14 (b)). Then, as illustrated in FIG. 20 (c), a temporary line LB', a temporary line LC', and a temporary line LD' passing through the bisectors of the vertical network N2, the vertical network N3, and the vertical network N5 are set, and they are set. The lane line LL is calculated again using each line L including and each vertical network N. In this case, the lane line LLA to the lane line LLI illustrated in FIG. 20 (d) are calculated again. Then, when the lane score similar to that in step S11 is calculated based on this, the result is illustrated in FIG. 21 (step S14).

Next, the generation unit 3 makes a final evaluation of the lane network generated up to the determination in step S12 or up to step S14, and outputs the lane network according to the embodiment to the outside via the interface 11. Or, it is recorded in the recording unit 14 (step S13). Specifically, as step S13, when the determination in step S12 does not have the wide width (step S12: NO), the generation unit 3 uses the lane network generated by the processes up to step S11 as the lane network in that section. After the output and the like, the process returns to step S8 in order to generate a lane network for the next section. On the other hand, when step S14 is passed, the generation unit 3 compares the lane scores generated in step S14, and as shown in FIG. 22 (a), the higher value is (exemplified in FIG. 22 (a)). Outputs the lane network corresponding to FIG. 20 (d), and then returns to step S8 to generate the lane network for the next section. The determination in step S13 may be combined with a visual determination by the user.

In the above-described embodiment, when there is a wide width, a temporary line LA'etc. is generated and interpolated, and the lane scores for the lane line LLA etc. calculated according to the presence or absence of the interpolation are compared. And output the final lane network. However, in addition to this, as illustrated in FIG. 22B, for example, with respect to the lane line LLA and the like calculated without generating the temporary line LA'and the like in a state where there is a wide width, the link direction of the parallel road link RL. The angles α1 to α4 with and from are calculated, and the total values thereof are compared depending on the presence or absence of interpolation by the temporary line LA'etc., and the smaller total value of the angles (that is, the angle with the link direction of the road link RL). The one with the smaller difference) may be configured to be output as a lane network.

Next, when none of the sections is selected in the determination in step S8 (step S8: NO), the processing unit 10 generates a lane network in the intersection CR where a plurality of roads R intersect (step S15). This step S15 will be described in detail later. After that, the processing unit 10 determines whether or not to end the lane network generation process according to the embodiment for reasons such as turning off the power of the lane network generation device SV (step S16). When the lane network generation process is terminated in the determination in step S16 (step S16: YES), the processing unit 10 ends the lane network generation process as it is. On the other hand, when the lane network generation process is continued in the determination in step S16 (step S16: NO), the processing unit 10 returns to step S1 and repeats the series of processes described above.

Next, the lane network generation process in the intersection in step S15 will be specifically described. Specifically, the following four methods can be considered as the lane network generation process.

(I) The method of referring to the connection relationship in the road link RL, that is, the processing unit 10, assumes that the group of the lane network connected to the intersection CR illustrated in FIG. 23 is group G1 to group G4 as the first method. .. At this time, if there is a road link RL for the road connecting to the intersection CR, a rough connection relationship between the groups G (connection between each group G) is determined. More specifically, for example, it is determined that the groups G1 to G4 illustrated in FIG. 23 "constitute a crossroad at the intersection CR". Further, for example, the lane line LL included in the group G1 and the lane line LL included in the group G2 are connected by an intersection CR, and the lane line LL included in the group G3 and the group G4 include the lane line LL included in the group G3 as a grade separation or an underpass. It is determined that the lane line LL is connected.

(II) A method of utilizing the ascending / descending attribute in the lane line, that is, the processing unit 10 has a road link RL for a road connecting to the intersection CR as a second method in the case illustrated in FIG. 23. The ascending and descending attributes of the Nijo road (see FIG. 6B) in the road link RL are transferred to the lane line LL, and it is determined that the ascending lanes and the descending lanes can be connected to each other. As a second method, if the up attribute and down attribute of the lane line LL are set by a method other than using the road link RL, the up lanes and the down lanes can be connected to each other based on the set attributes. You may decide that there is.

(III) A method using road markings, that is, the processing unit 10 refers to the road link RL when there is a road link RL for the road connecting to the intersection CR as a third method in the case illustrated in FIG. It is possible to connect within the intersection CR based on the connection state between the groups G determined in the above process, the ascending or descending attribute in each lane line LL, and the direction indicated by the direction marking (arrow mark) as a road marking. Guess the lane line LL. More specifically, for example, when the leftmost lane of the group G2 illustrated in FIG. 23 has an arrow sign indicating going straight or turning left, the leftmost lane line LL of the group G2 is connected to the group G1 and the group G3. Then decide. In this case, as a result, it is possible to make a decision regarding the connection from one group G to a plurality of group Gs.

(IV) Utilization of probe information, that is, the processing unit 10 determines the trajectory of a vehicle or the like passing through the intersection CR by collecting so-called probe information as a fourth method in the case illustrated in FIG. 23, and regularity is determined from the locus. (Or find a locus that represents each locus) and use it to determine the connection relationship of each group G. In this case, it is possible to determine a more realistic lane (curved running line) and its shape in the intersection CR.

As described above, according to the lane network generation process according to the embodiment, the line L reflected in the actual image is extracted from the ortho image data corresponding to the actual image of the road R including the lane, and the road The distance between the lines L arranged in the direction intersecting R and the legal width as a lane are compared, and a lane network is generated based on the comparison result. Therefore, since the lane network is generated based on the comparison between the distance between the lines L in the actual image in the direction of intersection with the road and the legal width, the lane network indicating the lane included in the road R is used as the actual image information. Based on this, it can be generated automatically and accurately.

Further, when there is a line L whose interval is longer than the legal width, the interval is divided based on the legal width, and a temporary line L'in the direction passing through the division point and extending the road R is generated, and the provisional line L'is generated. Based on the line L', a lane network is generated by comparing the case where the temporary line L'is generated and the case where the temporary line L'is not generated. Therefore, since the lane network is generated based on the comparison result between the case where the division is performed based on the legal width and the case where the division is not performed, the lane information is more accurate even when the lane boundary line on the road is rubbed, for example. Can be generated.

Further, the length of each line L is detected, a vertical network N connecting the lines L is generated, and a lane network is generated based on the detected length, the vertical network N, and each comparison result. By considering the length of each line L and the vertical network N, the lane network can be generated more accurately.

Furthermore, in the case shown in FIG. 22B, since the lane network is generated based on the comparison between each lane line LL and the link direction of the road link RL, each of the lane directions indicated by each lane line LL is used. By considering the direction in which the road R including the lane extends, the lane network can be generated more accurately.

Further, as illustrated in FIG. 18B, when the lane network is generated based on the ortho image data indicating the road marking drawn on the center line of the lane, the lane network indicating the lane included in the road is used. It can be generated more accurately.

Further, when the lane network is generated based on the selection result by the user, the lane network can be generated according to the intention of the user.

In addition to the above-described embodiment, examples of the technology that can be used for the lane network generation processing according to the embodiment include the following technologies.
-A lane network in an intersection CR or a shield (under an overpass, a tunnel, etc.) can be generated by using a virtual locus generated based on curve interpolation, a traveling image, or the like.
-By using the so-called real-time evaluation value fluctuation method, one of multiple lane networks that matches the actual lane condition is left, and the lane network on the road adjacent to that road is combined with the remaining lane network. The evaluation value is changed in consideration of the connection relationship. As a result, the accuracy as a candidate for the lane network can be improved.
・ Introduce so-called machine learning method. That is, neural network learning is utilized in which a plurality of lane network candidates are input, the correct lane network is determined and output visually by the user, or the correct editing is determined and output. In this case, if sufficiently learned, the output result of the neural network may be used as the highest result instead of the priority of the candidates based on the evaluation value.

Furthermore, a program corresponding to the flowchart shown in FIG. 3 is recorded on a recording medium such as an optical disk or a hard disk, or acquired via a network such as the Internet, and read out to a general-purpose microcomputer or the like. It is also possible to make the microcomputer or the like function as the processing unit 10 according to the embodiment.

1 Extraction means (extraction unit)
2 Comparison means (detector)
3 Generation means (generation unit)
10 Processing unit S lane information generator SV lane network generator

Claims (7)

An extraction means for extracting line segment information indicating a line segment reflected in a real image of a road from the real image information corresponding to the real image, and
Based on the extracted line segment information, a comparison means for comparing the distance between the line segments arranged in the direction intersecting the road in the intersecting direction and the width as a lane included in the road. ,
It is a generation means for generating lane information indicating the lane based on the comparison result by the comparison means , and i) the interval of the line segment whose interval is longer than the width based on the comparison result in the comparison means. And ii) a virtual line segment information generating means for generating virtual line segment information indicating a virtual line segment passing through a dividing point at the divided interval and indicating a direction in which the road extends. With a generation means ,
Equipped with a,
When there is the line segment whose interval is longer than the width, the generation means is the first comparison result when the division based on the width is not performed based on the generated virtual line segment information. comparison result and a second comparison result is a comparison result between said width spacing between the lines and the virtual line segment corresponding to the virtual line segment after the division, that generates the lane information on the basis of A lane information generator characterized by this. In the lane information generator according to claim 1,
A length detecting means for detecting the length of the line segment constituting the interval based on the extracted line segment information, and
A connection information generating means that generates connection information corresponding to a connection line connecting the line segments constituting the interval based on the extracted line segment information.
Further prepare
The generation means generates the lane information based on the length information indicating the detected length, the generated connection information, the first comparison result, and the second comparison result. A lane information generator characterized by. In the lane information generator according to claim 1,
The generation means uses i) the direction of the lane indicated by the first candidate lane information generated using the first comparison result as a candidate for the lane information, and ii) the second comparison result as the candidate. A lane information generation device, characterized in that the lane information is generated based on a comparison between each of the directions of the lane indicated by the second candidate lane information generated in the above and the direction in which the road extends. In the lane information generator according to any one of claims 1 to 3.
Further including a road marking extracting means for extracting road marking information other than the line segment reflected in the actual image and indicating the road marking drawn on the center line of the lane from the actual image information.
The generation means is a lane information generation device characterized in that the lane information is generated based on the extracted road marking information. In the lane information generator according to claim 1,
The generation means
Output that outputs the first candidate lane information generated by using the first comparison result as a candidate for the lane information and the second candidate lane information generated by using the second comparison result as the candidate. Means and
A reception means that accepts the selection of either the first candidate lane information or the second candidate lane information that has been output.
Including
The lane information generating device is characterized in that the generating means generates the lane information based on one of the selected lanes. It is a lane information generation method executed in a lane information generator that generates lane information indicating a lane included in a road.
An extraction step of extracting line segment information indicating a line segment reflected in a real image obtained by capturing the road from the real image information corresponding to the real image, and
Based on the extracted line segment information, a comparison step of comparing the distance between the line segments arranged in the direction intersecting the road and the width of the lane in the intersecting direction, and a comparison step.
In the generation step of generating the lane information based on the comparison result in the comparison step, i) the interval of the line segment whose interval is longer than the width is set to the width based on the comparison result in the comparison step. Generation including a division step of dividing based on ii) a virtual line segment information generation step of generating virtual line segment information indicating a virtual line segment in a direction in which the road extends through a division point at the divided interval. Process and
Including
This is the comparison result when there is a line segment whose interval is longer than the width, and the division based on the width is not performed based on the generated virtual line segment information in the generation step. The lane information is generated based on one comparison result and a second comparison result which is a comparison result between the line segment corresponding to the virtual line segment after division, the distance between the virtual line segment, and the width. A method for generating lane information, which is characterized by the fact that. A computer included in the lane information generator that generates lane information indicating the lanes included in the road.
An extraction means for extracting line segment information indicating a line segment reflected in a real image obtained by capturing the road from the real image information corresponding to the real image.
Based on the extracted line segment information, a comparison means for comparing the distance between the line segments arranged in the direction intersecting the road and the width as the lane , and
A generation means for generating the lane information based on the comparison result by the computer functioning as the comparison means, i) the line segment having the interval longer than the width based on the comparison result in the comparison means. A dividing means that divides an interval based on the width, and an ii) a virtual line segment information generating means that generates virtual line segment information indicating a virtual line segment that passes through a dividing point at the divided interval and indicates a virtual line segment in a direction in which the road extends. And a generation means that includes
To function as
The comparison in the case where the computer functioning as the generation means is not divided based on the width based on the generated virtual line segment information when there is the line segment whose interval is longer than the width. The lane is based on the first comparison result, which is the result, and the second comparison result, which is the comparison result between the line segment corresponding to the virtual line segment after division, the distance between the virtual line segment, and the width. A lane information generation program characterized by having it function to generate information.

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