PROBLEM TO BE SOLVED: To provide a method and a device for generating an autonomous travel path.SOLUTION: Peripheral situation in the front of a vehicle must be accurately recognized in order that autonomous travel vehicle generates an autonomous travel path. A gradient between the autonomous travel vehicle and a ground surface is used in order to generate the autonomous travel path of the autonomous travel vehicle. Calculation of the gradient includes a step at which a traffic lane in an input image is detected, a step at which a dissipation point of the traffic lane is detected based on the detected traffic lane, and a step at which the gradient is calculated based on the dissipation point. In the case that an accurate gradient is calculated, the autonomous travel path of the autonomous travel vehicle is generated based on an input image which has photographed the front of the vehicle.SELECTED DRAWING: Figure 7
【課題】自律走行経路を生成するための方法及び装置を提供すること。【解決手段】自律走行車両が自律走行経路を生成するためには、車両前方の周辺状況が正確に認識されなければならない。自律走行車両と地面との間の傾斜度が自律走行車両の自律走行経路を生成するために用いられる。傾斜度の算出は、入力イメージ内の車線を検出するステップと、検出された車線に基づいて前記車線の消失点を検出するステップと、消失点に基づいて傾斜度を算出するステップを含む。正確な傾斜度が算出された場合、車両前方を撮影した入力イメージに基づいて自律走行車両の自律走行経路が生成される。【選択図】図7
AUTONOMOUS TRAVEL PATH GENERATION METHOD AND DEVICE
自律走行経路生成方法及びその装置
2018-06-14
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 / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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