Vehicle control device
In the present invention, sign information displayed on road signs installed above a road are associated with lanes more accurately. This vehicle control device 1 acquires the number of lanes, in the direction of movement of a host vehicle, on a road on which the host vehicle is traveling, and assigns a lane sequence code indicating the layout sequence to each of the lanes indicated by the number of lanes. The vehicle control device 1 acquires the position of a road sign installed above the road and sign information displayed on the road sign from a captured image of the road sign, and, if there are two or more items of sign information, assigns a sign information sequence code indicating the layout sequence to each of the items of sign information on the basis of the position of the road sign. The vehicle control device 1 then associates the lane and the item of sign information for which the layout sequence indicated by the lane sequence code and the layout sequence indicated by the sign information sequence code match.
1. A vehicle control device comprising:
at least one computer configured to:
acquire at least a number of lanes in a direction of movement of a host vehicle on a road on which a host vehicle is traveling;
assign a lane sequence code indicating a layout sequence to each lane indicated by the number of lanes acquired by the lane information acquisition unit;
acquire, from an image obtained by capturing a road sign installed above the road, a position of the road sign and sign information displayed on the road sign;
assign, when there are two or more items of the sign information acquired by the at least one computer, a sign information sequence code indicating a layout sequence to each of items of sign information based on a position of the road sign; and
associate the lane and the sign information for which a layout sequence indicated by the lane sequence code and a layout sequence indicated by the sign information sequence code match,
wherein the at least one computer is configured to assign the sign information sequence code to the sign information displayed on the road sign satisfying a code assignment condition, and
wherein the at least one computer is configured to associate, with all the lanes, the sign information not assigned with the sign information sequence code that does not satisfy the code assignment condition.
2. The vehicle control device according to claim 1 , wherein the code assignment condition is defined as that the road sign has a type that can be applied for each lane, and there are two or more of the road signs of the type.
3. The vehicle control device according to claim 1 , wherein the at least one computer is configured to:
acquire, from the image, a position of the road sign and sign information displayed on the road sign, and a position of an auxiliary sign that supplements the road sign and auxiliary sign information displayed on the auxiliary sign,
assign the sign information sequence code same as that of the sign information, to the auxiliary sign information corresponding to the sign information assigned with the sign information sequence code, based on a position of the road sign and a position of the auxiliary sign, and
associate the lane, the sign information, and the auxiliary sign information for which a layout sequence indicated by the lane sequence code and a layout sequence indicated by the sign information sequence code match.
4. The vehicle control device according to claim 1 , wherein the at least one computer is configured to acquire sign information displayed on the road sign, from an image obtained by capturing a road sign installed beside the road.
5. The vehicle control device according to claim 1 , wherein
the at least one computer is configured to acquire an own lane position indicating a position of a lane on which a host vehicle is traveling, and
the vehicle control device further includes an information display controller configured to output a display control signal for displaying the sign information associated with a lane indicated by the own lane position.
6. The vehicle control device according to claim 5 , wherein the at least one computer is configured to acquire a state of a host vehicle, wherein
the information display controller is configured to output a display control signal for displaying a warning when a state of a host vehicle does not conform to the sign information associated with a lane indicated by the own lane position.