Travel path estimation apparatus and program
First Claim
1. A travel path estimation apparatus comprising:
- an acquisition section for acquiring a captured image of a periphery of a vehicle;
an extraction section for extracting, from the captured image acquired by the acquisition section, characteristic points indicating vehicle lanes;
a setting section for, based on a distribution of the characteristic points extracted by the extraction section, setting system noise expressing variation of travel path parameters when estimating travel path parameters related to a position or an angle of the vehicle itself with respect to a travel path for travel by the vehicle itself and related to a shape or a size of the travel path; and
an estimation section for estimating the travel path parameters by probability signal processing using a discrete time signal based on the characteristic points extracted by the extraction section, a previous estimation result of the travel path parameters, and the system noise set by the setting section.
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Accused Products
Abstract
A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
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Citations
6 Claims
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1. A travel path estimation apparatus comprising:
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an acquisition section for acquiring a captured image of a periphery of a vehicle; an extraction section for extracting, from the captured image acquired by the acquisition section, characteristic points indicating vehicle lanes; a setting section for, based on a distribution of the characteristic points extracted by the extraction section, setting system noise expressing variation of travel path parameters when estimating travel path parameters related to a position or an angle of the vehicle itself with respect to a travel path for travel by the vehicle itself and related to a shape or a size of the travel path; and an estimation section for estimating the travel path parameters by probability signal processing using a discrete time signal based on the characteristic points extracted by the extraction section, a previous estimation result of the travel path parameters, and the system noise set by the setting section. - View Dependent Claims (2, 3, 4)
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5. A non-transitory recording medium storing a travel path estimation program that causes a computer to perform the functions of:
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an acquisition section for acquiring a captured image of a periphery of a vehicle; an extraction section for extracting, from the captured image acquired by the acquisition section, characteristic points indicating vehicle lanes; a setting section for, based on a distribution of the characteristic points extracted by the extraction section, setting system noise expressing variation of travel path parameters when estimating travel path parameters related to a position or an angle of the vehicle itself with respect to a travel path for travel by the vehicle itself and related to a shape or a size of the travel path; and an estimation section for estimating the travel path parameters by probability signal processing using a discrete time signal based on the characteristic points extracted by the extraction section, a previous estimation result of the travel path parameters, and the system noise set by the setting section.
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6. A travel path estimation system, comprising:
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a memory; and a processor configured to; acquire a captured image of a periphery of a vehicle; extract, from the captured image characteristic points indicating vehicle lanes; set system noise expressing variation of travel path parameters, based on a distribution of the extracted characteristic points, when estimating travel path parameters related to a position or an angle of the vehicle with respect to a travel path for travel by the vehicle and related to a shape or a size of the travel path; and estimate the travel path parameters by probability signal processing using a discrete time signal based on the extracted characteristic points, a previous estimation result of the travel path parameters, and the set system noise.
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Specification