PROBLEM TO BE SOLVED: To provide a travel controller for vehicles that can continue appropriate traveling control even when lane compartment line information cannot be obtained due to accumulation of snow.SOLUTION: A travel controller 10 comprises: calculating a plurality of estimated positions regarding a current one's own car position by means of a plurality of calculation methods using information related to a past most recent one's own car position, respectively; calculating the reliability of the estimated positions on the basis of comparison results of position information including the estimated positions; calculating control information for travel control using the estimated positions, when lane compartment line information cannot be detected due to accumulation of snow; calculating an estimated position using information related to a newly calculated one's own car position if the one's own car position on map information is newly calculated on the basis of a feature obtained as traveling environment information, even when the lane compartment line information cannot be detected; and continuing traveling control until the reliability of the estimated positions reaches a threshold or less, even when the lane compartment line information cannot be detected.SELECTED DRAWING: Figure 4

    【課題】積雪により車線区画線情報が取得不能となった場合にも適切な走行制御を継続することができる車両の走行制御装置を提供する。【解決手段】走行制御装置10は、過去直近の自車位置に関する情報を用いた複数の演算方法によって現在の自車位置に関する複数の推定位置をそれぞれ算出するとともに、推定位置を含む位置情報の比較結果に基づいて推定位置信頼度を算出し、車線区画線情報が積雪によって検出不能であるとき、推定位置を用いて走行制御のための制御情報を演算し、車線区画線情報を検出不能な場合であっても、走行環境情報として取得された地物に基づいて地図情報上の自車位置が新たに算出されたとき、当該新たに算出された自車位置に関する情報を用いた推定位置の算出を行い、車線区画線情報が検出不能となった場合であっても、推定位置信頼度が閾値以下となるまでの間は、走行制御を継続する。【選択図】図4


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    Title :

    TRAVEL CONTROLLER FOR VEHICLES


    Additional title:

    車両の走行制御装置


    Contributors:

    Publication date :

    2018-11-08


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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