PROBLEM TO BE SOLVED: To provide a vehicle controller capable of determining accurately estimated reliability of a travel path.SOLUTION: A vehicle controller comprises: a detection unit for extracting plural edge points of a partition line for partitioning a lane where a self vehicle travels on the basis of an image, then detecting a position of the partition line; an estimation unit for estimating a travel path parameter for specifying a lane at a prescribed cycle on the basis of the detected position of the partition line, predicting a predicted value of the travel path parameter on the basis of a previous travel path parameter estimated value, and behavior of the self vehicle, and estimating a current travel path parameter estimated value so that deflection between the detected position of the partition line and a value corresponding to the predicted value of the travel path parameter is reduced; and a determination unit for calculating difference between the detected position of the partition line and a position of the partition line calculated based on the current travel path parameter estimated value or the predicted value, for every edge point, and according to the calculated difference, determining reliability of the current travel path parameter estimated value.SELECTED DRAWING: Figure 1
【課題】推定した走路の信頼度を高精度に判定することが可能な車両制御装置を提供する。【解決手段】画像に基づいて自車両が走行する車線を区画する区画線の複数のエッジ点を抽出し、区画線の位置を検出する検出部と、車線を特定する走路パラメータを検出された区画線の位置に基づいて所定周期で推定する推定部であって、前回の走路パラメータの推定値と自車両の挙動とに基づいて走路パラメータの予測値を予測するとともに、検出された区画線の位置と走路パラメータの予測値に対応した値との偏差が減少するように、今回の走路パラメータの推定値を推定する推定部と、複数のエッジ点のそれぞれについて、検出された区画線の位置と今回の走路パラメータの推定値又は前記予測値から算出した区画線の位置との差分を算出し、算出した前記差分に応じて、今回の走路パラメータの推定値の信頼度を判定する判定部と、を備える。【選択図】 図1
VEHICLE CONTROLLER AND TRAVEL PATH RELIABILITY DETERMINATION METHOD
車両制御装置、及び走路信頼度判定方法
2017-03-02
Patent
Electronic Resource
Japanese
IPC: | 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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