PROBLEM TO BE SOLVED: To provide a vehicle control device capable of estimating a travel path with high accuracy using properly results of recognition of section lines and a travel locus of a preceding vehicle.SOLUTION: An ECU 20 comprises: a white line recognition unit 21 for recognizing section lines of a travel path; a preceding vehicle recognition unit 24 for recognizing a preceding vehicle of a subject vehicle; a locus estimation unit 25 for estimating a travel locus based on a position history of the preceding vehicle; a first estimation unit 22 that estimates a plurality of first parameters as travel path parameters based on the section lines; a second estimation unit 26 that estimates a plurality of second parameters as travel path parameters based on the travel locus; a first reliability calculation unit 23 that calculates first reliability levels of the first parameters; a second reliability calculation unit 27 that calculates second reliability levels of the second parameters; and a parameter integration unit 28 that calculates integration parameters by integrating the first parameters and the second parameters in accordance with the first reliability levels and the second reliability levels in regard to the travel path parameters.SELECTED DRAWING: Figure 2

    【課題】区画線の認識結果と先行車両の走行軌跡とを適切に用いて、走路を高精度に推定することが可能な車両制御装置を提供する。【解決手段】ECU20は、走路の区画線を認識する白線認識部21と、自車両の先行車両を認識する先行車両認識部24と、先行車両の位置の履歴に基づいて走行軌跡を推定する軌跡推定部25と、区画線に基づいて、走路パラメータとして、複数の第1パラメータを推定する第1推定部22と、走行軌跡に基づいて、走路パラメータとして、複数の第2パラメータを推定する第2推定部26と、各第1パラメータの第1信頼度をそれぞれ算出する第1信頼度算出部23と、各第2パラメータの第2信頼度をそれぞれ算出する第2信頼度算出部27と、走路パラメータのそれぞれについて、第1信頼度及び第2信頼度に応じて、第1パラメータと第2パラメータとを統合して、統合パラメータを算出するパラメータ統合部28と、を備える。【選択図】図2


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    Title :

    VEHICLE CONTROL DEVICE AND TRAVEL PATH ESTIMATION METHO


    Additional title:

    車両制御装置及び走路推定方法


    Contributors:

    Publication date :

    2017-03-02


    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 / 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



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