To provide a vehicle progress status estimating system, a vehicle progress status estimating method and a vehicle progress status estimating program which, when a vehicle is automatically driven in a parking lot, facilitate the automatic drive of the vehicle in the parking lot.SOLUTION: When a trave route is a route that accompanies a change of progress direction of a vehicle, an image recognition unit recognizes a ground feature included in surrounding information that is detected in front of a point where the vehicle should start changing the progress direction, as a target ground feature, and an estimation unit finds the relative position of the target ground feature to the vehicle as a real relative position and executes a pre-course-change estimation process #80 of estimating the progress bearing of the vehicle on the basis of the real relative position and ground feature information with respect to the target ground feature.SELECTED DRAWING: Figure 7
【課題】駐車場内で車両の自動走行を行う場合において、駐車場内における車両の自動走行を円滑に行わせる車両進行状態推定システム、車両進行状態推定方法及び車両進行状態推定プログラムを提供する。【解決手段】走行経路が、車両の進行方向の変更を伴う経路である場合に、画像認識部が、車両が進行方向の変更を開始すべき地点の手前において検知された周辺情報中に含まれる地物を対象地物として認識し、推定部は、車両に対する対象地物の相対位置を実相対位置として求めると共に、当該実相対位置と対象地物についての地物情報とに基づいて、車両の進行方位を推定する進路変更前推定処理#80を実行する。【選択図】図7
VEHICLE PROGRESS STATUS ESTIMATING SYSTEM, VEHICLE PROGRESS STATUS ESTIMATING METHOD, AND VEHICLE PROGRESS STATUS ESTIMATING PROGRAM
車両進行状態推定システム、車両進行状態推定方法、及び車両進行状態推定プログラム
2020-11-26
Patent
Electronic Resource
Japanese
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