PROBLEM TO BE SOLVED: To provide a technique that estimates a movable area ahead of the own vehicle in an own vehicle lane with high complementariness even when a white line cannot, for example, be recognized, and thereby contribute to the safe travel of the own vehicle.SOLUTION: According to the present invention, a lane acquisition unit acquires lane information including the road shape of an own vehicle lane from road map information that includes a road shape on the basis of a detection position indicated by position information acquired by an own vehicle position acquisition unit. A boundary line recognition unit recognizes a lane boundary line that defines the own vehicle lane on the basis of the detection position of an object for lane recognition that is included in object information acquired by an object acquisition unit. An area estimation unit estimates a movable area ahead of the own vehicle within the lane of the own vehicle lane on the basis of the lane boundary line recognized by the boundary line recognition unit, and on which occasion, if a line reliability condition previously prescribed about the lane boundary line does not hold true, complements the accuracy of movable area estimation using the road shape of the own vehicle lane indicated in the lane information acquired by the lane acquisition unit. Then, information based on the movable area is outputted.SELECTED DRAWING: Figure 4

    【課題】例えば白線等を認識できない場合においても、自車線内における自車両前方の移動可能領域を補完性高く推定することにより、自車両の安定走行に資する技術を提供する。【解決手段】車線取得部は、自車位置取得部により取得した位置情報で示される検出位置を基に、道路形状を含む道路地図情報から自車線の道路形状を含む車線情報を取得する。境界線認識部は、対象物取得部により取得した対象物情報に含まれる車線認識用対象物の検出位置を基に、自車線を規定する車線境界線を認識する。領域推定部は、境界線認識部により認識した車線境界線を基に、自車線の車線内における自車両前方での移動可能領域を推定するにあたり、車線境界線について予め規定された車線信頼性条件が不成立である場合に、車線取得部により取得した車線情報で示される自車線の道路形状を用いて、移動可能領域の推定精度を補完する。そして移動可能領域に基づく情報が出力される。【選択図】図4


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    Title :

    INTRA-LANE TRAVEL CONTROL DEVICE, AND METHOD FOR CONTROLLING INTRA-LANE TRAVEL


    Additional title:

    車線内走行制御装置、車線内走行制御方法


    Contributors:
    OOKA MASAO (author)

    Publication date :

    2017-01-19


    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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