To accurately estimate a shape of a traveling road on which an own vehicle travels in a range including a front area of an intersection where the number of traffic lanes increases or decreases.SOLUTION: A traveling road estimating method estimates a traveling road on which an own vehicle travels, by using map data 2 in which a shape of each road comprising a plurality of traveling roads on which one or a plurality of vehicles can travel side by side is represented by an arrangement of a plurality of nodes. The traveling road estimating method includes: extracting a shape sR2 of a second road along which the vehicles travel in a direction facing the own vehicle along a first road R1 from the map data 2, the second road corresponding to a first predetermined range A including a front area of an intersection of the first road R1 on which the own vehicle is scheduled to travel; and estimating a shape of a traveling road on which the own vehicle travels in the first predetermined range A of the first road R1 based on the shape sR2 of the second road.SELECTED DRAWING: Figure 6
【課題】車線の数が増減する交差点手前を含む範囲の自車両が走行する走路の形状を精度良く推定する。【解決手段】1又は複数の車両が並走可能な複数の走路からなる道路の各々の形状が複数のノードの配列により表現された地図データ2を用いて、自車両が走行する走路を推定する。自車両が走行する予定の第1の道路R1の交差点手前を含む第1の所定範囲Aに対応する、第1の道路R1に沿って自車両と向かい合う方向に通行が行われる第2の道路の形状sR2を地図データ2から抽出し、第2の道路の形状sR2に基づいて第1の道路R1の第1の所定範囲Aの自車両が走行する走路の形状を推定する。【選択図】図6
TRAVELING ROAD ESTIMATING METHOD AND TRAVELING ROAD ESTIMATING DEVICE
走路推定方法及び走路推定装置
2023-04-19
Patent
Electronic Resource
Japanese
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