To provide a travel path estimation device and a travel path estimation program capable of accurately estimating a state of a remote travel path.SOLUTION: A travel path estimation device includes: an image pickup section that is mounted on a moving body and picks up a travel path image that is an image of a travel path on which the moving body travels; a detection section that detects a traveling state that is a state accompanying traveling of the moving body; an extraction section that extracts boundary information corresponding to a boundary of the travel path based on the travel path image; a travel path model setting section for setting a travel path model that is a travel path model with bending and has a different extraction interval of boundary information according to a distance from the moving body; and an estimation section for estimating a travel path parameter that is a parameter related to the travel path by using the travel state, the travel path model, and the boundary information.SELECTED DRAWING: Figure 1
【課題】遠方の走路の状態を精度よく推定することが可能な走路推定装置、および走路推定プログラムを提供すること。【解決手段】移動体に搭載され、移動体の走行する走路の画像である走路画像を撮像する撮像部と、移動体の走行に伴う状態である走行状態を検知する検知部と、走路画像に基づいて走路の境界に対応する境界情報を抽出する抽出部と、屈曲を伴う走路のモデルである走路モデルであって、移動体からの距離に応じて境界情報の抽出間隔が異なる走路モデルを設定する走路モデル設定部と、走行状態、走路モデル、および境界情報を用いて走路に関連するパラメータである走路パラメータを推定する推定部と、を含む。【選択図】図1
TRAVEL PATH ESTIMATION DEVICE AND TRAVEL PATH ESTIMATION PROGRAM
走路推定装置、および走路推定プログラム
2021-05-27
Patent
Electronic Resource
Japanese
TRAVEL PATH ESTIMATION DEVICE, AND TRAVEL PATH ESTIMATION PROGRAM
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