To suppress a decrease in the accuracy of estimating a runway due to that the runway of the host vehicle is estimated using road shapes of map data, when the road shapes of map data differ from the actual lane shapes.SOLUTION: The present invention includes: detecting a vehicle position that is the current position of the host vehicle; extracting a first road shape that represents the road shape of a first road along which the host vehicle travels, from map data in which road shapes are expressed in road units by arrangement of a plurality of nodes; detecting a road boundary shape that represents the shape of edges of the first road in the road width direction, along the extension direction of the first road; determining whether or not the first road shape and the road boundary shape agree; estimating a runway that represents a travel track along the first road on the basis of the first road shape or the road boundary shape, when the first road shape and the road boundary shape agree; and estimating a runway without using the first road shape, when the first road shape and the road boundary shape do not agree.SELECTED DRAWING: Figure 8

    【課題】地図データの道路形状が現実の車線形状と異なる場合に、地図データの道路形状を用いて自車両の走路を推定することで走路の推定精度が低下するのを抑制する。【解決手段】自車両の現在位置である自車位置を検出し、道路形状が複数のノードの配列によって道路単位で表現された地図データから、自車両が走行する道路である第1道路の道路形状である第1道路形状を抽出し、第1道路の道路幅方向の端部の第1道路の延在方向に沿った形状である道路境界形状を検出し、第1道路形状と道路境界形状とが一致するか否かを判定し、第1道路形状と道路境界形状とが一致する場合に、第1道路形状又は道路境界形状に基づいて、第1道路に沿った走行軌道である走路を推定し、第1道路形状と道路境界形状とが一致しない場合に、第1道路形状を使用せずに走路を推定する。【選択図】図8


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    Title :

    RUNWAY ESTIMATION METHOD AND RUNWAY ESTIMATION DEVICE


    Additional title:

    走路推定方法及び走路推定装置


    Contributors:

    Publication date :

    2023-10-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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