A traffic lane acquisition section obtains traffic lane information that includes the road shape of a host-vehicle lane, from road map information, based on the detected position of a host vehicle, expressed by position information obtained by a host vehicle position acquisition section. Based on detected positions of traffic lane identification-use objects, contained in object information obtained by an object acquisition section, a lane boundary line identification section identifies lane boundary lines. A region estimation section estimates a displacement-possible region of the host-vehicle lane ahead of the host vehicle, based on the lane boundary lines that are obtained by the lane boundary line identification section. If a predetermined lane reliability condition is not satisfied for the lane boundary lines, then the accuracy of estimating the displacement-possible region is updated by using the road shape of the host-vehicle lane from the traffic lane information obtained by the traffic lane acquisition section.
Intra-lane travel control apparatus and intra-lane travel control method
2019-06-25
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA |
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