PROBLEM TO BE SOLVED: To provide a lane compartment line detection correction device which stabilizes a vehicle behavior by correcting excessive curvature information due to an erroneous detection of the curvature of a lane compartment line, a lane compartment line detection correction method and an automatic operation system.SOLUTION: As vehicle sensor information, for example, a travel speed detection part (11) detects a target travel speed, a maximum curvature estimation part (12) obtains the maximum curvature of a road through which an own vehicle travels on the basis of the target travel speed, and a curvature correction part (13) corrects the curvature of an input lane compartment line on the basis of the maximum curvature. The control part controls steering of the own vehicle on the basis of the lane compartment line whose curvature is corrected. By this, the steering angle of the vehicle is automatically controlled so as to prevent a deviation of the own vehicle from the travel lane while travelling.SELECTED DRAWING: Figure 1
【課題】車線区画線の曲率の誤検知による過大な曲率情報を補正することにより車両の挙動をより安定させる車線区画線検知補正装置及び車線区画線検知補正方法、並びに自動運転システムを提供する。【解決手段】車両のセンサ情報として、例えば、目標走行速度を走行速度検知部(11)が検知し、その目標走行速度に基づいて、自車両が走行する道路の最大曲率を最大曲率推定部(12)が求め、その最大曲率に基づいて、入力された車線区画線の曲率補正を曲率補正部(13)が行う。この曲率補正された車線区画線に基づいて、制御部が、自車両の操舵を制御する。これにより、走行中における自車両の走行車線からの逸脱を防止するように車両の舵角を自動で制御する。【選択図】図1
LANE COMPARTMENT LINE DETECTION CORRECTION DEVICE, LANE COMPARTMENT LINE DETECTION CORRECTION METHOD AND AUTOMATIC OPERATION SYSTEM
車線区画線検知補正装置、車線区画線検知補正方法、及び自動運転システム
2018-02-08
Patent
Electronic Resource
Japanese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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