Road shape recognition apparatus
First Claim
1. A road shape recognition apparatus that acquires a road image by a road image acquiring means mounted in a vehicle and determines a road shape using the road image, the road shape recognition apparatus comprising:
- a recognition processing means for recognizing the road shape based on the road image within a predetermined recognition range; and
an estimation processing means for estimating the road shape outside of the recognition range based on the road shape within the recognition range,the estimation processing means estimating the road shape outside of the recognition range and within a predetermined first distance as a curved line of which a curvature change rate, which is a rate of change of a reciprocal of a radius of curvature, is constant, and estimating the road shape farther than the first distance as a curved line of which a curvature, which is a reciprocal of a radius of curvature, is constant.
1 Assignment
0 Petitions
Accused Products
Abstract
A road shape recognition apparatus is mounted in a vehicle. The road shape recognition apparatus acquires a road image, determines a road shape using the road image, recognizes the road shape based on the road image within a predetermined recognition range, and estimates the road shape outside of the recognition range based on the road shape within the recognition range. The road shape recognition apparatus estimates the road shape outside of the recognition range and within a first distance as a curved line of which a curvature change rate is constant, and the road shape farther than the first distance as a curved line of which a curvature is constant.
26 Citations
20 Claims
-
1. A road shape recognition apparatus that acquires a road image by a road image acquiring means mounted in a vehicle and determines a road shape using the road image, the road shape recognition apparatus comprising:
-
a recognition processing means for recognizing the road shape based on the road image within a predetermined recognition range; and an estimation processing means for estimating the road shape outside of the recognition range based on the road shape within the recognition range, the estimation processing means estimating the road shape outside of the recognition range and within a predetermined first distance as a curved line of which a curvature change rate, which is a rate of change of a reciprocal of a radius of curvature, is constant, and estimating the road shape farther than the first distance as a curved line of which a curvature, which is a reciprocal of a radius of curvature, is constant. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20)
-
-
16. A road shape recognition method in which a road image is acquired by a road image acquiring means mounted in a vehicle and a road shape is determined through use of the road image, the road shape recognition method comprising:
-
recognizing, by a recognition processing means mounted in the vehicle, the road shape based on the road image within a predetermined recognition range; estimating, by an estimation processing means mounted in the vehicle, the road shape outside of the recognition range based on the road shape within the recognition range; estimating, by the estimation processing means, the road shape outside of the recognition range and within a predetermined first distance as a curved line of which a curvature change rate, which is a rate of change of a reciprocal of a radius of curvature, is constant, and estimating the road shape farther than the first distance as a curved line of which a curvature, which is a reciprocal of a radius of curvature, is constant.
-
Specification