To make it possible to accurately determine whether a vehicle is travelling on a travelling path even if an error included in positional information on the vehicle changes due to a fall in reception accuracy from a positioning satellite.SOLUTION: A vehicle travel lane estimation device recognizes partition lines Ll and Lr partitioning left and right of a travel lane on the basis of pixels taken with a camera unit 12 to find a center Lw/2 of its lane width Lw (S33), moves an estimated vehicle position P detected by a GNSS receiver 15 to the lane center Lw/2 to set a virtual vehicle position P', and sets an error ellipse R of the vehicle position set with a Kalman filter centering on the virtual vehicle position P' (S34). Then, it compares a lap rate κ between the error ellipse R and the lane width Lw with a setting threshold value κo, if κ≥κo, determines that the vehicle M is on the travel lane, and lets the vehicle continue steering control by self-driving.SELECTED DRAWING: Figure 5

    【課題】測位衛星からの受信精度が低下して、自車両の位置情報に含まれる誤差が変化しても、自車両が進行路内を走行しているか否かを正確に判定することができるようにする。【解決手段】カメラユニット12で撮像した画素に基づいて走行車線の左右を区画する区画線Ll,Lrを認識して、その車線幅Lwの中央Lw/2を求め(S33)、この車線中央Lw/2にGNSS受信機15で検出した推定自車位置Pを移動させて仮想自車位置P’を設定し、この仮想自車位置P’を中心としてカルマンフィルタにて設定した自車位置の誤差楕円Rを設定する(S34)。そして、この誤差楕円Rと車線幅Lwとのラップ率κと設定閾値κoとを比較し、κ≧κoの場合、走行車線に自車両Mが存在していると判定し、自動運転による操舵制御を継続させる。【選択図】図5


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    Title :

    VEHICLE TRAVEL LANE ESTIMATION DEVICE


    Additional title:

    車両の走行車線推定装置


    Contributors:

    Publication date :

    2018-11-01


    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 / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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