PROBLEM TO BE SOLVED: To estimate a road width from an observation data group obtained using sensing equipment mounted on a moving body such as a vehicle.SOLUTION: A filter for route estimation is arranged in a virtual space in which an observation data group generated by sensing a road end by a sensor mounted on a moving body is distributed and while an observation data group for a front periphery is read, the filter is moved. As for the observation data group read by the filter, a road width is measured using a Karman filter which takes into consideration a deviation (in an extension direction of a road) in road end which is not positioned on the same straight line perpendicular to the extension direction of the road.SELECTED DRAWING: Figure 11
【課題】車両などの移動体に搭載されたセンシング機器を用いて得られた観測データ群から、道路幅を推定する。【解決手段】移動体に搭載されたセンサーによって道路端がセンシングされた観測データ群が分布する仮想空間内に経路推定を行うためのフィルタを配置し、前方周辺の観測データ群を読み取らせながらフィルタを移動させる。フィルタによって読み取られた観測データ群に関して、道路の延伸方向に対して垂直な同一直線上に位置しない道路端のずれ(道路の延伸方向に対するずれ)を考慮するカルマンフィルタ用いて、道路幅の計算を行う。【選択図】図11
ROAD WIDTH ESTIMATION DEVICE AND ROAD WIDTH ESTIMATION METHOD
道路幅推定装置及び道路幅推定方法
2016-09-23
Patent
Electronic Resource
Japanese
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