PROBLEM TO BE SOLVED: To properly calculate and output a position posture of a vehicle even if the vehicle is incapable of recognizing a road structure.SOLUTION: A division line recognition part 2a calculates a division line shape, and calculates a diagonal division line horizontal position and a division line yaw angle. When a vehicle is incapable of recognizing a division line, a virtual division line recognition part 2c calculates a virtual diagonal division line horizontal position and a virtual diagonal division line yaw angle by using a division line shape stored in a storage part 3, a diagonal division line horizontal position, a diagonal division line yaw angle, and a relative trajectory of the vehicle which is calculated by an autonomous navigation part 2b. When the vehicle is capable of recognizing the division line, an output changeover part 2d outputs the diagonal division line horizontal position and the diagonal division line yaw angle which are calculated by the division line recognition part 2a to a succeeding stage as device outputs, and when the vehicle is incapable of recognizing the division line, outputs the virtual diagonal division line horizontal position and the virtual diagonal division line yaw angle which are calculated by the virtual division line recognition part 2c to the succeeding stage as device outputs.SELECTED DRAWING: Figure 1
【課題】道路構造を認識不能中でも車両の位置姿勢を適切に算出して出力する。【解決手段】区画線認識部2aは、区画線形状を算出すると共に、対区画線横位置及び区画線ヨー角を算出する。仮想区画線認識部2cは、区画線を認識不能中であるときに、記憶部3に記憶されている区画線形状と対区画線横位置及び対区画線ヨー角と、自律航法部2bにより算出された車両の相対軌跡とを用い、仮想的な対区画線横位置及び対区画線ヨー角を算出する。出力切換部2dは、区画線を認識可能中であるときには、区画線認識部2aにより算出された対区画線横位置及び対区画線ヨー角を装置出力として後段に出力し、区画線を認識不能中であるときには、仮想区画線認識部2cにより算出された仮想的な対区画線横位置及び対区画線ヨー角を装置出力として後段に出力する。【選択図】図1
VEHICLE POSITION POSTURE CALCULATION DEVICE AND VEHICLE POSITION POSTURE CALCULATION PROGRAM
車両位置姿勢算出装置及び車両位置姿勢算出プログラム
2017-12-14
Patent
Electronic Resource
Japanese
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