| 摘要 |
PROBLEM TO BE SOLVED: To provide a road shape estimating device for estimating a road shape with high precision by utilizing three-dimensional objects existing at an irregular interval on a road side. SOLUTION: This road shape estimating device is constituted in such a way that view in front of an own vehicle is imaged by an imaging means C, the three-dimensional object existing in the image is extracted by a three-dimensional object extracting means M1, characteristic points where the three-dimensional object comes into contact with the ground surface are extracted by a characteristic point extracting means M2, positional deviation of the characteristic point is corrected by a characteristic point correcting means M3 in accordance with the running state of the own vehicle detected by a running state detecting means S, an afterimage of the characteristic point is generated based on the characteristic point after correcting its positional deviation and the running state of the own vehicle by an afterimage generating means M4, and a vanishing point where a plurality of straight lines passing through the characteristic point and the afterimage corresponding to each other cross is computed by a vanishing point computing means M5 to estimate a road shape based on the straight lines closest to both of right and left sides of the own vehicle among the straight lines passing through the vanishing point by a road shape estimating means M6. Consequently, even if a white line does not exist on a road and the three-dimensional objects exist sparsely, a road shape can be estimated with high precision. COPYRIGHT: (C)2009,JPO&INPIT
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