US 12,190,596 B2
Vehicle apparatus, vehicle program and recoding media thereof
Kentarou Shiota, Kariya (JP); Naoki Nitanda, Kariya (JP); Kazuma Ishigaki, Kariya (JP); and Shinya Taguchi, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Oct. 21, 2021, as Appl. No. 17/507,688.
Application 17/507,688 is a continuation of application No. PCT/JP2020/015534, filed on Apr. 6, 2020.
Claims priority of application No. 2019-081934 (JP), filed on Apr. 23, 2019.
Prior Publication US 2022/0044031 A1, Feb. 10, 2022
Int. Cl. G06V 20/56 (2022.01); G06F 18/243 (2023.01); G06V 10/44 (2022.01); G08G 1/13 (2006.01); G08G 1/137 (2006.01)
CPC G06V 20/56 (2022.01) [G06F 18/243 (2023.01); G06V 10/44 (2022.01); G08G 1/13 (2013.01); G08G 1/137 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A vehicle apparatus configured to communicate with a server provided outside a vehicle comprising:
a travelling route recognition unit that recognizes, based on an image captured by an imaging apparatus capturing an area in the vicinity of the vehicle, a travelling route where the vehicle travels;
a classifying unit that classifies the travelling route recognized by the travelling route recognition unit into at least one of a predetermined plurality of road models;
an edge point extracting unit that extracts edge points necessary for expressing a road model of the at least one of a predetermined plurality of road models classified by the classifying unit among edge points indicating a boundary of the travelling route recognized by the travelling route recognition unit;
a parameter generation unit that correlates road model information indicating the road model classified by the classifying unit with the edge points extracted by the edge point extracting unit and generates a travelling route parameter indicating the travelling route recognized by the travelling route recognition unit; and
a transmission unit that transmits the travelling route parameter generated by the parameter generation unit to the server, wherein
the edge points necessary for expressing the road model comprise edge points located within a fitting error from an approximation curve of the at least one of a predetermined plurality of road models, and
the edge points are recognized from the image captured by the imaging apparatus and indicate a boundary of the travelling route.