A road curvature estimation device is provided with a camera device and a curvature calculation device, the camera device having: an imaging unit; and a boundary line estimation unit that estimates a boundary line between the travel lane of the curve and the dividing line on the basis of the image data for at least each frame, the curvature calculation device being provided with a maximum curvature position detection unit, a position-of-interest setting unit, and a position-of-interest curvature calculation unit. A position-of-interest curvature calculation unit compares the maximum curvature position of the boundary line detected by the maximum curvature position detection unit with the position of interest of the boundary line set by the position-of-interest setting unit, and if the position of interest is located closer to the vehicle than the maximum curvature position, calculates the curvature of the position of interest. When the position of interest is located at the maximum curvature position, the curvature of the position of interest is set as the position-of-interest curvature, and when the position of interest is located at the front of the maximum curvature position, the curvature of the maximum curvature position is set as the position-of-interest curvature.
本发明提供一种道路曲率推定装置,道路曲率推定装置具备相机装置和曲率运算装置,所述相机装置具有:拍摄部;以及边界线推定部,其根据至少每一帧的图像数据推定弯道的行驶车道与划分线之间的边界线,曲率运算装置具有最大曲率位置检测部、关注位置设定部以及关注位置曲率运算部,关注位置曲率运算部对由最大曲率位置检测部检测出的边界线的最大曲率位置与由关注位置设定部设定的边界线的关注位置进行比较,在关注位置位于比最大曲率位置更靠本车辆侧的位置的情况下,将关注位置的曲率设定为关注位置曲率,在关注位置位于比所述最大曲率位置更靠前的位置的情况下,将最大曲率位置的曲率设定为关注位置曲率。
Road curvature estimation device
道路曲率推定装置
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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