PROBLEM TO BE SOLVED: To enable accurate estimation of an edge of a travel road.SOLUTION: A travel road edge estimation apparatus 1 includes: a laser sensor 2 for detecting positional information of a set of measurement points p around a vehicle V; a first extraction part 11 for extracting, from the set of measurement points p, a travel road edge candidate point N of a travel road R in a vehicular width direction, the road where the vehicle V travels, on the basis of the positional information of the set of measurement points p detected by the laser sensor 2; and a first estimation part 12 for estimating a travel road edge position xl, xr on the basis of the positional information of the travel road edge candidate point N extracted by the first extraction part 11. The first extraction part 11 extracts, from among a set of measurement points p existing on a line VL extending along the vehicular width direction when viewed the surrounding from the vehicle V, a measurement point ps whose positional information has continuity relative to a progress direction of the vehicle V, as the travel road edge candidate point N.SELECTED DRAWING: Figure 1

    【課題】走路の端部を精度よく推定することを可能とする。【解決手段】走路端部推定装置1は、車両Vの周囲における一群の測定点pの位置情報を検出するレーザセンサ2と、レーザセンサ2で検出した一群の測定点pの位置情報に基づいて、車両Vが走行する走路Rの車幅方向における走路端部候補点Nを一群の測定点pから抽出する第1抽出部11と、第1抽出部11で抽出した走路端部候補点Nに係る位置情報に基づいて、走路端部位置xl、xrを推定する第1推定部12と、を備える。第1抽出部11は、車両Vから周囲を見たときにおいて車幅方向に沿う直線VL上に存在する一群の測定点pのうち位置情報が車両Vの進行方向に関して連続性を有する測定点psを、走路端部候補点Nとして抽出する。【選択図】図1


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    Title :

    TRAVEL ROAD EDGE ESTIMATION APPARATUS


    Additional title:

    走路端部推定装置


    Contributors:

    Publication date :

    2016-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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