To provide a vehicle position estimating device with which it is possible to recognize that a demarcation line has changed from when map information was generated.SOLUTION: The vehicle position estimating device comprises: a lateral position estimation unit for estimating a first lateral position of a vehicle by verification of the left demarcation line of a travel lane of a road surface image with the left demarcation line of a travel lane of map information, and estimating a second lateral position by verification of the right demarcation line of the travel lane of the road surface image with the right demarcation line of the travel lane of the map information; a difference determination unit for determining whether or not a difference between the first and the second lateral positions is greater than or equal to a determination threshold; a match determination unit for determining whether or not there is a portion among map width shapes in a comparison target range that matches a recognition width shape recognized from the road surface image when it is determined that the difference between the first and the second lateral positions is greater than or equal to the determination threshold; and a demarcation line change recognition unit for recognizing that the demarcation line has been changed from when the map information was generated when it is determined that there is no portion among the map width shapes that matches the recognition width shape.SELECTED DRAWING: Figure 4
【課題】地図情報の生成時から区画線が変化したことを認識できる自車位置推定装置を提供する。【解決手段】路面画像の走行車線の左の区画線と地図情報の走行車線の左の区画線との照合により車両の第1の横位置を推定すると共に、路面画像の走行車線の右の区画線と地図情報の走行車線の右の区画線との照合により第2の横位置を推定する横位置推定部と、第1の横位置と第2の横位置との差が判定閾値以上であるか否かを判定する差判定部と、第1の横位置と第2の横位置との差が判定閾値以上であると判定された場合に、比較対象範囲における地図幅形状の中に路面画像から認識した認識幅形状と一致する部分があるか否かを判定する一致判定部と、地図幅形状の中に認識幅形状と一致する部分がないと判定された場合に、地図情報の生成時から区画線が変更されたと認識する区画線変更認識部と、を備える。【選択図】図4
VEHICLE POSITION ESTIMATING DEVICE
自車位置推定装置
2019-08-08
Patent
Elektronische Ressource
Japanisch
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