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Title:
TRAVELING ROAD BOUNDARY ESTIMATION APPARATUS AND TRAVELING ASSISTANCE SYSTEM USING SAME
Document Type and Number:
WIPO Patent Application WO/2018/016394
Kind Code:
A1
Abstract:
The present invention provides a traveling road boundary estimation apparatus that is capable of estimating the position and shape of a traveling road boundary highly reliably, and a traveling assistance system. The present invention has: a boundary feature map generation unit that generates, on the basis of an image acquired from an external sensor, a boundary feature map for storing a feature amount regarding the presence of a traveling road boundary, for each grid of the image or an image generated by converting the image into an image of another visual point; a boundary candidate setting unit that sets, as boundary candidates, a plurality of paths continuous in a depth direction from a coming-within-sight detection start-end position to a given detection tail end position, the positions both falling within a preset sensor view angle; a boundary likelihood evaluation unit that calculates, for each of the boundary candidates, a boundary likelihood evaluation value obtained by adding the feature amount of a relevant boundary feature map and a continuity evaluation value for the depth-direction together; and a traveling road boundary determination unit that determines a traveling road boundary by comparing the boundary likelihood evaluation values of the boundary candidates calculated by the boundary likelihood evaluation unit.

Inventors:
KAKEGAWA SHINJI (JP)
NAGASAKI TAKESHI (JP)
Application Number:
PCT/JP2017/025356
Publication Date:
January 25, 2018
Filing Date:
July 12, 2017
Export Citation:
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Assignee:
HITACHI AUTOMOTIVE SYSTEMS LTD (JP)
International Classes:
G08G1/16; G06T1/00
Foreign References:
JP2014175007A2014-09-22
JP2015011619A2015-01-19
JP2009298356A2009-12-24
JP2016009333A2016-01-18
JP2013003800A2013-01-07
Other References:
F. ONIGA ET AL.: "Curb Detection Based on Elevation Maps from Dense Stereo", IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTER COMMUNICATION AND PROCESSING, 2007
H. BADINO ET AL.: "Free Space Computation Using Stochastic Occupancy Grids and Dynamic Programming", WORKSHOP ON DYNAMIC VISION, ICCV, 2007
See also references of EP 3489928A4
Attorney, Agent or Firm:
TODA Yuji (JP)
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