CPC G06T 7/11 (2017.01) [B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 40/06 (2013.01); G06V 10/255 (2022.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02)] | 8 Claims |
1. A lane estimation device comprising a processor and a memory connected to the processor, the processor configured to:
acquire image data obtained by imaging a range including a road region in which a moving object is moving, and store the acquired image data in the memory;
read out the image data stored in the memory, recognize a shape indicating the road region from the image data, and calculate or estimate, based on the recognized shape indicating the road region, an inclination angle of a contour line thereof as a feature value of the road region; and
estimate a lane in which the moving object is moving by determining which threshold value range preset for each lane the calculated inclination angle of the contour line is included in.
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