To provide a traffic lane estimation method and a traffic lane estimation device capable of determining in which traffic lane a self vehicle is traveling among traffic lanes included in a road where the self vehicle is traveling even in a case where information on the number of traffic lanes in map data is not available.SOLUTION: A traffic lane estimation method includes: acquiring position information for a link line on a traveling road from map information; estimating a target vehicle lane boundary line on the basis of surroundings information; estimating a road width of the traveling road on the basis of a target distance between the link line and a traffic lane boundary line of the target vehicle lane boundary line that is at a position farthest from the link line; estimating the number of traffic lanes on the traveling road on the basis of the road width and a traffic lane width per traffic lane on the traveling road; and estimating the traveling traffic lane where the self vehicle is traveling on the basis of the traveling road consisting of the estimated number of traffic lane and a current position of the self vehicle.SELECTED DRAWING: Figure 1

    【課題】地図データの車線数の情報が利用できない場合であっても、自車両が走行している道路に含まれる車線のうち、自車両がどの車線を走行しているかを判断できる車線推定方法及び車線推定装置を提供することである。【解決手段】本発明は、地図情報から走行道路のリンク線の位置情報を取得し、周囲情報に基づいて、対象車線境界線を推定し、対象車線境界線のうちリンク線から最も離れた位置にある車線境界線とリンク線との間の対象距離に基づいて、走行道路の道路幅を推定し、道路幅と、走行道路における1車線あたりの車線幅とに基づいて、走行道路の車線数を推定し、推定した車線数の車線で構成される走行道路と、自車両の現在位置とに基づいて、自車両が走行する走行車線を推定する。【選択図】 図1


    Access

    Download


    Export, share and cite



    Title :

    TRAFFIC LANE ESTIMATION METHOD AND TRAFFIC LANE ESTIMATION DEVICE


    Additional title:

    車線推定方法及び車線推定装置


    Contributors:

    Publication date :

    2024-10-31


    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



    TRAFFIC LANE ESTIMATION DEVICE AND TRAFFIC LANE ESTIMATION METHOD

    IIHOSHI AKIRA / KAKINUMA ATSUKI / OISHI YASUO et al. | European Patent Office | 2021

    Free access

    DRIVING TRAFFIC LANE ESTIMATION DEVICE

    KUMANO TOSHIYA / SHIKIMACHI TAKESHI | European Patent Office | 2022

    Free access

    TRAFFIC LANE IDENTIFICATION DEVICE AND TRAFFIC LANE IDENTIFICATION METHOD

    TANI YUJIRO | European Patent Office | 2015

    Free access

    TRAFFIC LANE IDENTIFICATION DEVICE AND TRAFFIC LANE IDENTIFICATION METHOD

    TANI YUJIRO | European Patent Office | 2015

    Free access