道路走行シミュレーション画像の実時間合成

抄録

A real time synthesis system that generates and displays the lane-markings of a road, as seen from a moving vehicle, is presented. The system operates on static road map information and dynamic vehicle motion data. Road map includes parameters such as horizontal and vertical curvature, bank angle, and distance. The parameters for vehicle motion include velocity, displacement, elevation and angle (pitch, roll, yaw). The system generates 3-dimensional coordinates of lane-markings using vehicle motion data and road map information. These coordinates are then transformed to 2-dimensional images.
For accurate display and high speed calculation, polynomial expressions for 3-dimensional configuration of lane-markings which use a parametrized variable are proposed. The system is implemented on a high speed image processor. Continuous dynamic images can be displayed at a video rate of 16.7 ms per image. This system is adequate for testing the performance of a road image recognition system for automatic driving vehicles.