To provide a track estimation method and a track estimation device with which it is possible to estimate the shape of a track on which the vehicle travels.SOLUTION: A track estimation device 1 comprises a map database 12 in which the approximate shape of a road connecting nodes is stored, and a controller 20 that estimates the shape of a track on which the vehicle travels, on the basis of a preliminarily set lane shape model. The controller 20 sets a weight value so that a weight value pertaining to the divergence degree of the approximate shape of the road is larger than a weight value pertaining to the divergence degree of a lane separator in a section that includes a cross point, sets a weight value so that a weight value pertaining to the divergence degree of the lane separator is larger than a weight value pertaining to the divergence degree of the approximate shape of the road in a section that does not include a cross point, estimates a lane shape model, of which an integrated divergence degree derived by multiplying the weight value set to the respective divergence degrees and adding these is smaller than or equal to a prescribed value, and estimates the shape of the road on the basis of the estimated lane shape model.SELECTED DRAWING: Figure 1
【課題】自車両が走行する走路形状を推定することが可能な走路推定方法及び走路推定装置を提供する。【解決手段】走路推定装置1はノードを接続する道路の概形状が格納された地図データベース12と、予め設定された車線形状モデルに基づいて自車両が走行する走路形状を推定するコントローラ20と、を備える。コントローラ20は、交差点を含む区間において車線区分線の乖離度合いに係る重みの値より道路の概形状の乖離度合いに係る重みの値が大きくなるように重みの値を設定し、交差点を含まない区間において道路の概形状の乖離度合いに係る重みの値より車線区分線の乖離度合いに係る重みの値が大きくなるように重みの値を設定し、それぞれの乖離度合いに設定された重みの値を乗算し、これらを加算した統合乖離度合いが所定値以下となるような車線形状モデルを推定し、推定された車線形状モデルに基づいて走路形状を推定する。【選択図】図1
TRACK ESTIMATION METHOD AND TRACK ESTIMATION DEVICE
走路推定方法及び走路推定装置
2022-10-05
Patent
Elektronische Ressource
Japanisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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