MAP GENERATION DEVICE, MAP GENERATION METHOD, AND COMPUTER PROGRAM FOR MAP GENERATION

To provide a map generation device capable of automatically extracting connection relations between traffic lanes being allowed to travel among roads connected to cross-points on the basis of a bird's eye view image.SOLUTION: A map generation device includes: a stop line detection unit 11 which detects, from a bird's eye view image, a temporary stop line in a cross-point; a cross-point area detection unit 12 which detects, from the bird's eye view image, a cross-point area containing the cross-point and a plurality of roads connecting to the cross-point; a traffic lane detection unit 13 which detects, for the road in which the temporary stop line is extracted among the plurality of roads, at least one of an entrance traffic lane entering to the cross-point and an exit traffic lane exiting from the cross-point according to a ratio of a width of the road to a length of the temporary stop line; and a traffic lane network generation unit 15 which generates, for each of the plurality of roads, a traffic lane network indicating a connection relation of traffic lanes in the cross-point so as to connect the entrance traffic lane of the road and an exit traffic lane of another road among the plurality of roads to which a vehicle can travel from the entrance traffic lane of the road.SELECTED DRAWING: Figure 2 【課題】鳥瞰画像に基づいて、交差点に接続する各道路間で、走行可能な車線間の接続関係を自動的に抽出することが可能な地図生成装置を提供する。【解決手段】地図生成装置は、鳥瞰画像から交差点における一時停止線を検出する停止線検出部１１と、鳥瞰画像から交差点及び交差点と接続する複数の道路を含む交差点領域を検出する交差点領域検出部１２と、複数の道路のうち、一時停止線が抽出された道路について、その道路の幅に対する一時停止線の長さの比に応じて交差点へ進入する進入車線と交差点から退出する退出車線の少なくとも一方を検出する車線検出部１３と、複数の道路のそれぞれについて、その道路の進入車線と複数の道路のうちの他の道路のうちのその道路の進入車線から車両が進行可能な退出車線とを結ぶように、交差点における車線同士の接続関係を表すレーンネットワークを生成するレーンネットワーク生成部１５とを有する。【選択図】図２