To provide a course estimation device and a course estimation program that have improved estimation accuracy and follow-up performance when estimating a course parameter on a course including various shapes as compared with a case using a course model by a tertiary B-spline.SOLUTION: A course estimation device includes: an imaging unit mounted on a movable body for capturing a course image, which is an image of a course in which the movable body travels; a detection unit for detecting a travelling state, which is a state accompanying the travelling of the movable body; an extraction unit for extracting border information corresponding to a border of the course on the basis of the course image; a storage unit for storing a function group, which is an aggregate of double integration of each of a plurality of predetermined functions; a generation unit for executing predetermined processing for the function group on the basis of the border information and generating a course model of the course including a straight track and a curved track; and an estimation unit for estimating a course parameter of the course by using the travelling state and the course model.SELECTED DRAWING: Figure 1

    【課題】3次のB−スプラインによる走路モデルを用いる場合と比較して、様々な形状を含む走路についての走路パラメータを推定する場合の、推定精度や追従性能の向上が図られた走路推定装置、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、予め定められた複数の関数の各々の二回積分の集合である関数群を記憶する記憶部と、境界情報に基づいて関数群に予め定められた処理を施し、直線路および曲線路を含む走路の走路モデルを生成する生成部と、走行状態、および走路モデルを用いて走路の走路パラメータを推定する推定部と、を含む。【選択図】図1


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    Title :

    COURSE ESTIMATION DEVICE AND COURSE ESTIMATION PROGRAM


    Additional title:

    走路推定装置、および走路推定プログラム


    Contributors:

    Publication date :

    2021-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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