PROBLEM TO BE SOLVED: To provide a self-vehicle position estimation device and a self-vehicle position estimation method capable of reducing a possibility to erroneously recognize a start position of branching or confluence.SOLUTION: An ECU 20 includes: a sign recognition section 21 for recognizing a road surface sign indicating a boundary of a lane in front of a course of a self- vehicle on the basis of an imaging result by an imaging section 32; an extraction section 22 for extracting an angle change part to be changed at a predetermined angle with respect to a direction along a lane within a recognized road surface sign as a candidate of a shape change part indicating a road shape change; an information acquisition section 23 for acquiring position information indicating a position where a road shape change occurs in front of a course; a narrowing section 24 for narrowing extracted candidates to a candidate present within a predetermined distance in a direction along a lane from a position indicated by the position information; a sign identification section 25 for identifying a narrowed candidate as a shape change part in front of a course; and a position estimation section 26 for identifying a self-vehicle position on a map on the basis of an identified branch point or confluence point of a lane.SELECTED DRAWING: Figure 1

    【課題】分岐や合流の開始位置を誤認識する可能性を低減することができる自車位置推定装置、及び自車位置推定方法を提供することを目的とする。【解決手段】ECU20は、撮像部32による撮像結果に基づいて、自車両の進路前方における車線の境界を示す路面標示を認識する標示認識部21と、認識された路面標示の内、車線に沿った方向に対して所定角度で変化する角度変化部を、道路の形状変化を示す形状変化部の候補として抽出する抽出部22と、進路前方において、道路の形状変化が生じる位置を示す位置情報を取得する情報取得部23と、抽出された候補を、位置情報で示される位置から車線に沿った方向で所定距離内に存在する候補に絞り込む絞込み部24と、絞り込まれた候補を、進路前方での形状変化部として特定する標示特定部25と、特定された車線の分岐点又は合流点に基づいて、地図上の自車位置を特定する位置推定部26と、を備える。【選択図】 図1


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    Title :

    SELF-VEHICLE POSITION ESTIMATION DEVICE AND SELF-VEHICLE POSITION ESTIMATION METHOD


    Additional title:

    自車位置推定装置、自車位置推定方法


    Contributors:

    Publication date :

    2018-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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