To enable the estimation of a travel lane of an own vehicle with higher accuracy even in a section in which it is difficult to recognize the type of a travel compartment line from image recognition processing of a camera image.SOLUTION: A travel lane estimation device includes: a road boundary estimation unit 211 for estimating a position in a horizontal direction of an own vehicle indicated by the most frequent values as a lateral position of a road boundary from the respective most frequent values of both left and right sides centering the own vehicle of a ranging point group successively acquired from a LIDAR 71 in a horizontal frequency distribution; a stability determination unit 212 for determining whether estimation by the road boundary estimation unit 211 is in an unstable state; and a travel lane estimation unit 213 for estimating a travel lane of the own vehicle by using travel line number information corresponding to an own vehicle position included in map data, and a positional relation of a lateral position of the road boundary estimated by the road boundary estimation unit 211 to the own vehicle position. The travel lane estimation unit 213 estimates the travel lane of the own vehicle without using an estimation result in which estimation of the stability determination unit 212 is determined to be an unstable state.SELECTED DRAWING: Figure 3

    【課題】カメラ画像の画像認識処理からは走行区画線の種別までを認識することが困難な区間であっても、自車の走行車線をより精度良く推定することを可能にする。【解決手段】LIDAR71から逐次取得する測距点群の、左右方向度数分布での自車を中心とする左右両側のそれぞれの最頻値から、その最頻値が示す自車の左右方向における位置を道路境界の横位置と推定する道路境界推定部211と、道路境界推定部211での推定が不安定な状態か否かを判定する安定性判定部212と、地図データに含まれる、自車位置に対応する車線数情報と、その自車位置に対する道路境界推定部211で推定する道路境界の横位置の位置関係とを用いて、自車の走行車線を推定する走行車線推定部213とを備え、走行車線推定部213は、安定性判定部212で推定が不安定な状態と判定される推定結果は用いずに、自車の走行車線を推定する。【選択図】図3


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    TRAVEL LANE ESTIMATION DEVICE, TRAVEL LANE ESTIMATION METHOD, AND CONTROL PROGRAM


    Weitere Titelangaben:

    走行車線推定装置、走行車線推定方法、及び制御プログラム


    Beteiligte:
    KUMANO TOSHIYA (Autor:in) / SHIKIMACHI TAKESHI (Autor:in) / UKAI HIROKI (Autor:in)

    Erscheinungsdatum :

    2020-07-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    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



    TRAVEL LANE BOUNDARY ESTIMATION APPARATUS AND TRAVEL LANE BOUNDARY ESTIMATION METHOD

    UEDA HIROTOSHI / YAMAGUCHI ICHIRO / TSUCHIYA CHIKAO | Europäisches Patentamt | 2017

    Freier Zugriff

    Travel-lane estimation system

    DAIKOKU KENTARO / IGARASHI YUJI / IKAWA MASAHIKO et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    VEHICLE TRAVEL LANE ESTIMATION DEVICE

    NAMBA RYOSUKE | Europäisches Patentamt | 2018

    Freier Zugriff

    TRAVEL LANE ESTIMATION SYSTEM

    TAKEUCHI TOSHINORI / FUTAMURA MITSUHIRO | Europäisches Patentamt | 2023

    Freier Zugriff

    TRAVEL LANE ESTIMATION DEVICE, TRAVEL LANE ESTIMATION METHOD, CONTROL PROGRAM, AND COMPUTER-READABLE NON-TRANSITORY RECORDING MEDIUM

    KUMANO SHUNYA / SHIKIMACHI TAKESHI / UKAI HIROKI | Europäisches Patentamt | 2020

    Freier Zugriff