To generate a compartment line which is smoothed from point group data on the compartment line without employing a complicated polynominal approximation.SOLUTION: A compartment line generation method comprises: specifying at least three or more data points Pm located within a window Wk on the basis of, map information including a plurality of data points WPn representing a compartment line of a lane; calculating a geometric point Gk of gravity of the plurality of data points Pm; calculating a virtual circle VCk approximating the plurality of data points Pm; setting as a correction data point Qk an intersection shorter in a distance to the point Gk of gravity between two intersections of a straight line Lk connecting the center point Ck of the virtual circle VCk and the point Gk of gravity and the virtual circle VCk; moving the window Wk along the lane and repeating said processes to generate a point group of a plurality of correction data points Qk; and setting a point group of a plurality of correction data points Qk as a compartment line.SELECTED DRAWING: Figure 3

    【課題】区画線の点群データから複雑な多項式近似を用いずに平滑化された区画線を生成する。【解決手段】車線の区画線を示す複数のデータ点WPnを含む地図情報に基づいて、窓Wk内に位置する少なくとも3点以上のデータ点Pmを特定し、複数のデータ点Pmの幾何学的な重心点Gkを算出し、複数のデータ点Pmを近似する仮想円VCkを算出し、仮想円VCkの中心点Ckと重心点Gkとを結ぶ直線Lkと仮想円VCkとの2つの交点のうち、重心点Gkとの距離が近い方の交点を修正データ点Qkに設定し、窓Wkを車線に沿って移動させて上記工程を繰り返して複数の修正データ点Qkの点群を生成し、複数の修正データ点Qkの点群を区画線に設定する。【選択図】図3


    Access

    Download


    Export, share and cite



    Title :

    COMPARTMENT LINE GENERATION METHOD AND COMPARTMENT LINE GENERATION DEVICE


    Additional title:

    区画線生成方法及び区画線生成装置


    Contributors:
    IWAMOTO TARO (author) / OMURO AKIRA (author) / TANAKA MICHIO (author)

    Publication date :

    2023-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



    COMPARTMENT LINE DETECTING DEVICE AND COMPARTMENT LINE DETECTING PROGRAM

    HONMA RYOHEI / SANO MIKAKO / HASHIMOTO YUYA et al. | European Patent Office | 2022

    Free access

    COMPARTMENT LINE SPECIFICATION DEVICE

    KONO YASUKI / SUZUKI SHUNSUKE / KUMANO TOSHIYA et al. | European Patent Office | 2019

    Free access

    COMPARTMENT LINE DETECTION DEVICE

    TSURUTA TOMOHIKO / KAWASAKI NAOTERU / SUZUKI SHUNSUKE | European Patent Office | 2018

    Free access

    COMPARTMENT LINE DETERIORATION SPECIFICATION SYSTEM AND COMPARTMENT LINE DETERIORATION SPECIFICATION METHOD

    DAIEI YOSHIHIRO / NISHIMURA KAZUYA / KAMIMARU HIROFUMI | European Patent Office | 2020

    Free access

    COMPARTMENT LINE RECOGNITION DEVICE

    MATSUO YUSUKE / HORI YASUYOSHI / ENDO MASAYA | European Patent Office | 2019

    Free access