To estimate vehicle position regardless of a road shape.SOLUTION: An in-line vehicle position estimation device 30 comprises: a positional information extraction part 331 which extracts first compartment line positional information indicating a position of a compartment line of a traffic lane at the front side in the traveling direction of a vehicle from map information including a plurality of positions corresponding to a first coordinate system; a positional information conversion part 332 which converts the first compartment line positional information into second compartment line positional information indicating a position of the compartment line corresponding to a second coordinate system; an approximation function generating part 333 which generates an approximation function approximating the shape of compartment line corresponding to the second coordinate system based on an image imaging the front side in the traveling direction imaged by a camera; a calculation part 334 which calculates a position of the compartment line in a vehicle width direction; and an estimation part 335 which inputs the position of the compartment line in the vehicle width direction indicated by the second compartment line positional information and the position of the compartment line in the vehicle width direction calculated by the calculation part 334 into an evaluation function corresponding to the approximation function to estimate the position of the vehicle so that output value of the evaluation function is to be the minimum or the maximum.SELECTED DRAWING: Figure 2
【課題】道路の形状によらず車両の位置を推定する。【解決手段】車線内車両位置推定装置30は、第1座標系に対応する複数の位置を含む地図情報から、車両の進行方向前方の車線の区画線の位置を示す第1区画線位置情報を抽出する位置情報抽出部331と、第1区画線位置情報を、第2座標系に対応する区画線の位置を示す第2区画線位置情報に変換する位置情報変換部332と、カメラが進行方向前方を撮像した画像に基づいて、第2座標系に対応する区画線の形状を近似した近似関数を生成する近似関数生成部333と、区画線の車幅方向の位置を算出する算出部334と、第2区画線位置情報が示す区画線の車幅方向の位置及び算出部334が算出した区画線の車幅方向の位置を近似関数に対応する評価関数に入力し、評価関数の出力値を最小又は最大にする車両の位置を推定する推定部335と、を有する。【選択図】図2
IN-LANE VEHICLE POSITION ESTIMATION DEVICE
車線内車両位置推定装置
2024-04-03
Patent
Electronic Resource
Japanese
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
LANE MARKER RECOGNITION DEVICE AND OWN VEHICLE POSITION ESTIMATION DEVICE
European Patent Office | 2017
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