PROBLEM TO BE SOLVED: To execute travel control appropriately on the basis of a white line recognition.SOLUTION: A vehicle travel control apparatus (1) includes: detection means (11, 12, 13, 14) for detecting a feature point indicating a white-line boundary of a road a vehicle travels on; estimation means (15) for estimating a position and attitude of the vehicle relative to the road and a travel road parameter (X) indicating a state of the road by applying a Kalman filter to the feature point; determination means (16) for determining a reliability of the travel road parameter from error covariance (P) calculated in applying the Kalman filter when the travel road parameter has been estimated; and control means (110, 120) for controlling a travel of the vehicle on the basis of the travel road parameter in a case where the reliability is equal to or higher than a given value.SELECTED DRAWING: Figure 1
【課題】白線認識に基づく走行制御を好適に実施する。【解決手段】車両走行制御装置(1)は、車両が走行する道路の白線境界を示す特徴点を検出する検出手段(11,12,13,14)と、特徴点にカルマンフィルタを適用することで、車両の道路に対する位置及び姿勢、並びに道路の状態を示す走路パラメータ(X)を推定する推定手段(15)と、走路パラメータの推定時にカルマンフィルタにおいて算出された誤差共分散(P)から、走路パラメータの信頼度を判定する判定手段(16)と、信頼度が所定値以上の場合に、走路パラメータに基づいて車両の走行を制御する制御手段(110,120)とを備える。【選択図】図1
VEHICLE TRAVEL CONTROL APPARATUS
車両走行制御装置
2017-05-25
Patent
Elektronische Ressource
Japanisch
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