To reliably extract a traffic lane line from an image and accurately determine which lane on a road a vehicle is traveling along.SOLUTION: A vehicle position estimation device 50 comprises: a line detection unit 503 for detecting a plurality of lines drawn on a road from an image obtained by capturing a prescribed imaging range including a road which the vehicle is traveling along; a filtering unit 504; and an own lane detection unit 505 for detecting the lane on a road which the vehicle is traveling along as the own lane. The filtering unit 504 extracts a plurality of lane boundary lines from among the plurality of lines on the basis of the interval between the plurality of lines in the image. The own lane detection unit 505 identifies a pair of lane boundary lines located to the left and right of the vehicle from the plurality of lane boundary lines depending on whether the inclination of the plurality of lane boundary lines in the image is positive or negative, and detects the own lane on the basis of the pair of lane boundary lines.SELECTED DRAWING: Figure 1

    【課題】画像から車線境界線を確実に抽出して、車両が道路上でどの車線を走行中であるかを正確に判別する。【解決手段】車両位置推定装置50は、車両が走行している道路を含む所定の撮影範囲を撮影して得られた画像から、道路上に描かれた複数の直線を検出する直線検出部503と、フィルタリング部504と、道路上で車両が走行している車線を自車線として検出する自車線検出部505と、を備える。フィルタリング部504は、画像内での複数の直線同士の間隔に基づいて、複数の直線の中から複数の車線境界線を抽出する。自車線検出部505は、画像における複数の車線境界線の傾きの正負に基づいて、複数の車線境界線から車両の左右にそれぞれ位置する一対の車線境界線を特定し、この一対の車線境界線に基づいて自車線を検出する。【選択図】図1


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    Title :

    VEHICLE POSITION ESTIMATION DEVICE AND VEHICLE POSITION ESTIMATION METHOD


    Additional title:

    車両位置推定装置、車両位置推定方法


    Contributors:

    Publication date :

    2025-03-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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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