To determine the presence/absence of a lane change with higher accuracy.SOLUTION: A moving body monitoring device comprises: an acquisition unit that acquires off-set information indicating a distance between a moving body and a road division line recognized on the basis of an image captured by a camera mounted on the moving body, attitude information based on a detection value of a yaw rate sensor or a direction sensor mounted on the moving body, and speed information indicating a speed of the moving body; and a determination unit that determines whether or not the moving body has changed a lane on the basis of at least one of the off-set information and the attitude information. The determination unit determines whether or not the moving body has changed the lane by preferentially using the off-set information as the speed increases.SELECTED DRAWING: Figure 1
【課題】より正確に車線変更の有無を判定すること。【解決手段】移動体に搭載されたカメラの撮像画像に基づき認識された前記移動体と道路区画線との距離を表すオフセット情報と、前記移動体に搭載されたヨーレートセンサまたは方位センサの検出値に基づく姿勢情報と、前記移動体の速度を表す速度情報とを取得する取得部と、前記オフセット情報と前記姿勢情報とのうち少なくとも一方に基づいて、前記移動体が車線変更したか否かを判定する判定部と、を備え、前記判定部は、前記速度が高い程、前記オフセット情報を優先的に利用して前記移動体が車線変更したか否かを判定する、移動体監視装置。【選択図】図1
MOVING BODY MONITORING DEVICE, MOVING BODY MONITORING METHOD, AND PROGRAM
移動体監視装置、移動体監視方法、およびプログラム
2022-09-01
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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