PROBLEM TO BE SOLVED: To provide a traffic lane confluence determination device with which it is possible to determine the confluence of traffic lanes without recognizing a white line.SOLUTION: The traffic lane confluence determination device comprises: first generation means for generating a first path that is the future running path of the own vehicle MA; second generation means for generating, on the basis of the history of positions of other vehicles present ahead of the own vehicle MA, a second path that corresponds to the running path of an adjacent vehicle MB running down an adjacent lane to the traffic lane of the own vehicle MA, out of other vehicles; intersection determination means for determining whether the first path generated by the first generation means and the second path generated by the second generation means intersect or not; and confluence determination means for determining that the lanes join ahead of the own vehicle MA when it is determined by the intersection determination means that the paths intersect.SELECTED DRAWING: Figure 2
【課題】白線を認識しなくても、車線の合流を判定することが可能な車線合流判定装置を提供する。【解決手段】自車両MAの将来の走行軌跡である第1軌跡を生成する第1生成手段と、自車両MAの前方に存在する他車両の位置の履歴に基づいて、他車両のうち、自車両MAの走行車線の隣の車線を走行する隣接車両MBの走行軌跡に対応する第2軌跡を生成する第2生成手段と、第1生成手段により生成された第1軌跡と、第2生成手段により生成された第2軌跡とが、交差するか否かを判定する交差判定手段と、交差判定手段により交差すると判定された場合に、自車両MAの前方において車線が合流することを判定する合流判定手段と、を備える。【選択図】 図2
TRAFFIC LANE CONFLUENCE DETERMINATION DEVICE
車線合流判定装置
2016-12-22
Patent
Electronic Resource
Japanese
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