To provide a technology which can estimate an entrance lane which a target vehicle is going to enter in a relative early stage after the target vehicle starts turning.SOLUTION: In an entrance lane estimation system, when it is determined that, after a target vehicle V starts turning at an intersection C, an actual turn trajectory T1 which is a travel trajectory T based on the travel trajectory information during turning of the target vehicle V has changed from a first curve C1 that is a clothoid curve with which the radius of curvature is gradually reduced to a second curve C2 that is a circular act with which a radius r of curvature is constant, an entrance lane estimation unit for estimating an entrance lane Li on the basis of travel trajectory information, lane information and relative relation information, estimates, on the basis of the shape of the first curve C1 and the radius r of curvature of the second curve C2, an estimate turn trajectory T2 that is the travel trajectory T of the target vehicle V until the target vehicle enters the entrance lane Li from a position P4 at which the radius of curvature shifts from the first curve C1 to the second curve C2.SELECTED DRAWING: Figure 2
【課題】対象車両が旋回を開始してから比較的早い段階で、対象車両が進入しようとしている進入車線を推定できる技術を提供する。【解決手段】進入車線推定システムにおいて、走行軌跡情報、車線情報及び相対関係情報に基づいて進入車線Liを推定する進入車線推定部は、交差点Cにおいて対象車両Vが旋回を開始した後、走行軌跡情報に基づく対象車両Vの旋回中の走行軌跡Tである実旋回軌跡T1が、曲率半径が次第に小さくなるクロソイド曲線状である第1曲線C1から、曲率半径rが一定の円弧状である第2曲線C2に変化したと判定した場合に、第1曲線C1から第2曲線C2に移行したと判定した位置P4から進入車線Liに進入するまでの対象車両Vの走行軌跡Tである推定旋回軌跡T2を、第1曲線C1の形状と、第2曲線C2の曲率半径rと、に基づいて推定する。【選択図】図2
ENTRANCE LANE ESTIMATION SYSTEM, ENTRANCE LANE ESTIMATION METHOD, AND ENTRANCE LANE ESTIMATION PROGRAM
進入車線推定システム、進入車線推定方法、及び進入車線推定プログラム
2020-08-20
Patent
Electronic Resource
Japanese
Engineering Index Backfile | 1968
|Methods and systems for electronically assisted lane entrance
European Patent Office | 2019
|METHODS AND SYSTEMS FOR ELECTRONICALLY ASSISTED LANE ENTRANCE
European Patent Office | 2017
|Road surface information acquisition apparatus for entrance/exit lane
European Patent Office | 2018
|High-speed station entrance lane management method and storage medium
European Patent Office | 2023
|