Vehicle control based on map line and detected line reliability
AssigneeHonda Motor Co., Ltd.
InventorsDaichi Inoue, Sho Tamura
Life of this patent
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Abstract
Provided is a vehicle control device configured to: acquire a camera image obtained by photographing a surrounding situation of a vehicle; generate a travelable region, which is a region in which the vehicle is capable of traveling, based on at least one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information; detect a travel trajectory of another vehicle traveling ahead of the vehicle with respect to a travel direction of the vehicle; and control traveling of the vehicle such that the vehicle travels in the travelable region.
Claims10
A vehicle control device comprising a storage medium storing computer-readable commands, and a processor connected to the storage medium, the processor being configured to execute the computer-readable commands to:
- acquire a camera image obtained by photographing a surrounding situation of a vehicle;
- generate a travelable region, which is a region in which the vehicle is capable of traveling, based on one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information;
- detect travel trajectories of a plurality of other vehicles traveling ahead of the vehicle with respect to a travel direction of the vehicle;
- and
- control traveling of the vehicle such that the vehicle travels in the travelable region,
- wherein in response to a deviation between the camera road division line and the map road division line having occurred, the processor compares a camera deviation representing an average value of first deviations between the travel trajectories and the camera road division line with a map deviation representing an average value of second deviations between the travel trajectories and the map road deviation line, prioritizes the map road division line in response to determining that the camera deviation is larger than the map deviation by a first threshold value or more, or prioritizes the camera road division line in response to determining that the map deviation is larger than the camera deviation by a second threshold value or more, and generates a travelable region based on one of the camera road division line and the map road line.
A vehicle control method to be executed by a computer, the vehicle control method comprising:
- acquiring a camera image obtained by photographing a surrounding situation of a vehicle;
- generating a travelable region, which is a region in which the vehicle is capable of traveling, based on one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information;
- detecting travel trajectories of a plurality of other vehicles traveling ahead of the vehicle with respect to a travel direction of the vehicle;
- controlling traveling of the vehicle such that the vehicle travels in the travelable region;
- and
- in response to a deviation between the camera road division line and the map road division line having occurred, comparing a camera deviation representing an average value of first deviations between the travel trajectories and the camera road division line with a map deviation representing an average value of second deviations between the travel trajectories and the map road deviation line, prioritizing the map road division line in response to determining that the camera deviation is larger than the map deviation by a first threshold value or more, or prioritizing the camera road division line in response to determining that the map deviation is larger than the camera deviation by a second threshold value or more, and generating a travelable region based on one of the camera road division line and the map road line.
A non-transitory computer-readable storage medium storing a program for causing to a computer to:
- acquire a camera image obtained by photographing a surrounding situation of a vehicle;
- generate a travelable region, which is a region in which the vehicle is capable of traveling, based on one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information;
- detect travel trajectories of a plurality of other vehicles traveling ahead of the vehicle with respect to a travel direction of the vehicle;
- and
- control traveling of the vehicle such that the vehicle travels in the travelable region;
- wherein in response to a deviation between the camera road division line and the map road division line having occurred, the computer compares a camera deviation representing an average value of first deviations between the travel trajectories and the camera road division line with a map deviation representing an average value of second deviations between the travel trajectories and the map road deviation line, prioritizes the map road division line in response to determining that the camera deviation is larger than the map deviation by a first threshold value or more, or prioritizes the camera road division line in response to determining that the map deviation is larger than the camera deviation by a second threshold value or more, and generates a travelable region based on one of the camera road division line and the map road line.
Dependencies are inferred from the claim text.