PROBLEM TO BE SOLVED: To make it possible to estimate preceding vehicles even when lane marks are unclear or do not exist.SOLUTION: By a vehicle detection unit 36, preceding vehicle candidates are detected based on a stereo image generated by an imaging device 14. By an own drive lane estimation unit 32, a drive lane where an own vehicle drives is estimated based on a vehicle drive trajectory represented by time-series data on a location of the own vehicle detected by a location detection unit 20. By a lane allocation unit 40, a drive lane where the preceding vehicle drives is determined based on a vehicle drive trajectory represented by time-series data on locations of the detected preceding vehicle candidates. By a preceding vehicle determination unit 42, a tracking preceding vehicle is estimated from the preceding vehicle candidates, based on the vehicle drive trajectory of the own vehicle, the vehicle drive trajectory of the preceding vehicle candidate, the drive lane of the own vehicle, and the drive lane of the preceding vehicle candidate.SELECTED DRAWING: Figure 3

    【課題】レーンマークが不明瞭もしくは存在しない場合であっても、精度よく先行車両を推定することができるようにする。【解決手段】車両検出部36によって、撮像装置14によって生成されたステレオ画像に基づいて、先行車両候補を検出する。自車走行車線推定部32によって、位置検出部20によって検出された自車両の位置の時系列データが表す車両走行軌跡に基づいて、自車両が走行している走行車線を推定する。車線割当部40によって、検出された先行車両候補の位置の時系列データが表す車両走行軌跡に基づいて、先行車両候補が走行している走行車線を判定する。先行車判定部42によって、自車両の車両走行軌跡、先行車両候補の車両走行軌跡、自車両の走行車線、及び先行車両候補の走行車線に基づいて、自車両の走行車線と同じ走行車線を走行している先行車両候補から、追従先行車両を推定する。【選択図】図3


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    Title :

    PRECEDING VEHICLE ESTIMATION DEVICE AND PROGRAM


    Additional title:

    先行車両推定装置及びプログラム


    Contributors:
    GUO CHUNJAO (author)

    Publication date :

    2016-12-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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