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: extracting a first road shape that represents 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 (S3); detecting a road boundary of the first road (S4); calculating the road width of the first road (S5); calculating the position of the road boundary in a map of map data on the basis of the vehicle position, and estimating a runway which is a travel track along the first road on the basis of the first road shape, when the road width is constant and the position of node of the first road shape is at center of road boundary of both edges (S8); and estimating a runway without using the first road shape, when the road width varies and the position of node of the first road shape is at center of road boundary of both edges (S11).SELECTED DRAWING: Figure 6

    【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】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、自車両が走行する第1道路の第1道路形状を抽出し(S3)、第1道路の道路境界を検出し(S4)、第1道路の道路幅を算出し(S5)、自車位置に基づいて地図データの地図上の道路境界の位置を算出し、道路幅が一定であり且つ第1道路形状のノードの位置が両端部の道路境界の中央である場合に、第1道路形状に基づいて第1道路に沿った走行軌道である走路を推定し(S8)、道路幅が変化し且つ第1道路形状のノードの位置が両端部の道路境界の中央である場合に、第1道路形状を使用せずに走路を推定する(S11)。【選択図】図6


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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:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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