Road shape estimation device and estimation method thereof

Abstract

A road shape estimation apparatus, mounted to a vehicle, for estimating a shape of a road on which the vehicle runs, includes: an object detection section for detecting, as a plurality of detected points, a position of a stationary object which is around the vehicle; a starting point determination section for determining a starting point by selecting from among the plurality of detected points, based on a positional relationship between the vehicle and each of the plurality of detected points; a detected point connection section for sequentially connecting between the starting point and one of the detected points that is a point to be connected, so as to start from the starting point, and for thus grouping detected points; and a road shape estimation section for estimating, as a shape of the road, a shape of a connection line obtained by grouping the detected points.

Description

technical field [0001] The present invention relates to a road shape estimating device, and more specifically, to a road shape estimating device mounted on a vehicle for estimating the shape of a road on which the vehicle is traveling. Background technique [0002] Conventionally, an in-vehicle system has been developed that estimates the shape of a road on which a vehicle travels, controls the steering of the vehicle, or reports the risk of a vehicle collision based on the road shape. In such an in-vehicle system as described above, in order to properly control the vehicle, it is necessary to accurately estimate the shape of the road. Such a device for estimating the shape of a road is disclosed in Patent Document 1, for example. [0003] The vehicle road shape recognition device disclosed in Patent Document 1 detects the position and shape of a roadside stationary object such as a protective fence based on a plurality of detection points obtained from a radio wave radar. ...

AI Technical Summary

Problems solved by technology

That is, the grouping process takes a long time, and it is difficult to estimate the shape of the road in real time

[0007] In addition, in the case of using an expensive processing device with a high calculation processing speed in view of such a situation, there is a problem that the cost of the product increases.

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