A vehicle control device, a vehicle control method, a vehicle motion control system, and a lane estimation device according to the present invention obtain first information relating to a boundary line dividing a lane in which a vehicle travels on the basis of external information obtained by an external recognition unit, and estimate a lane on the basis of information relating to a road shape obtained by a road shape information obtaining unit. The controller obtains first information relating to a curvature of a lane, obtains second information relating to a curvature of the lane, obtains third information relating to a behavior of the vehicle on the basis of a physical quantity relating to a motion state of the vehicle obtained by the vehicle motion state detector, and determines a behavior of the vehicle on the basis of the first information, the second information, and the third information. Lane information including information relating to the curvature of the boundary line and information relating to the relative position of the vehicle with respect to the boundary line is estimated.
本发明的车辆控制装置、车辆控制方法、车辆运动控制系统以及车道估计装置基于由外界识别部获得的外界信息,获得与对车辆行驶的车道进行划分的分界线相关的第一信息,基于由道路形状信息获得部获得的与道路形状相关的信息,获得与车道的曲率相关的第二信息,基于由车辆运动状态检测部获得的与车辆的运动状态相关的物理量,获得与车辆的行为相关的第三信息,基于第一信息、第二信息、第三信息,对包含与分界线的曲率相关的信息和与车辆相对于分界线的相对位置相关的信息在内的车道信息进行估计。
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, VEHICLE MOTION CONTROL SYSTEM, AND LANE ESTIMATION DEVICE
车辆控制装置、车辆控制方法、车辆运动控制系统以及车道估计装置
2022-04-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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