JP6690703B2 - 走路推定方法及び走路推定装置 - Google Patents
走路推定方法及び走路推定装置 Download PDFInfo
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Description
次に、図面を参照して、実施形態を詳細に説明する。
図6を参照して、第2実施形態に係わる走路推定装置1bの全体構成を説明する。走路推定装置1bは、少なくとも道路の分岐情報を含む地図情報を取得し、自車両81が分岐点を通過すると判断される場合には、自車両の走路を推定しない。走路決定部40cは、自車両81が分岐点を通過しないと判断される場合には、基準走行軌跡補正部40bが補正した基準走行軌跡91を、自車両の走路として決定する。
図9を参照して、第3実施形態に係わる走路推定装置1cの全体構成を説明する。走路推定装置1cは、少なくとも地図上の自車両81の走行ルート情報を取得し、自車両81の走行ルートと類似した周囲車両82の走行軌跡83に基づいて走路を推定する。走路決定部40cは、基準走行軌跡補正部40bが補正した基準走行軌跡91が、自車両81の走行ルートに類似していると判断される場合に限り、補正後の基準走行軌跡91を、自車両の走路として決定する。
10 位置取得回路
40 走路推定回路
81 自車両
82、82i、82j 周囲車両
83、83i、83j、83M 走行軌跡
87 分岐点
Di、Dj、DM 横位置
P1〜P5 周囲車両の位置
R 旋回半径
Claims (8)
- 周囲車両の位置を取得する位置取得回路を用いて、前記周囲車両の位置の履歴による前記周囲車両の走行軌跡に基づいて自車両の走行軌跡を設定する走路推定方法において、
少なくとも地図上の前記自車両の走行ルートを取得し、
前記周囲車両の走行軌跡における前記周囲車両の旋回方向および前記自車両に対する横位置に基づいて、前記周囲車両の走行軌跡を、旋回中心を一定としながら旋回半径を拡大または縮小して、基準走行軌跡を取得し、
前記基準走行軌跡が前記走行ルートと類似しているか否かを判定し、
前記基準走行軌跡が前記走行ルートと類似していると判定された場合に、前記基準走行軌跡を前記自車両の走行軌跡として設定することを特徴とする走路推定方法。 - 少なくとも道路の分岐情報を含む地図情報を取得し、
前記自車両が分岐点を通過すると判断される場合には、前記自車両の走行軌跡を設定しないことを特徴とする請求項1に記載の走路推定方法。 - 前記周囲車両の走行軌跡の旋回半径が大きいほど、拡大または縮小する大きさを小さくすることを特徴とする請求項1又は2に記載の走路推定方法。
- 前記周囲車両の横位置が前記自車両から離れているほど拡大または縮小する大きさを大きくすることを特徴とする請求項1〜3のいずれか一項に記載の走路推定方法。
- 前記自車両に対する周囲車両の距離が最も近い前記周囲車両の走行軌跡に基づいて前記自車両の走行軌跡を設定することを特徴とする請求項1〜4のいずれか一項に記載の走路推定方法。
- 前記自車両の走行車線の隣接車線にいる前記周囲車両の走行軌跡に基づいて前記自車両の走行軌跡を設定することを特徴とする請求項1〜5のいずれか一項に記載の走路推定方法。
- 周囲車両の位置を取得する位置取得回路と、
前記周囲車両の位置の履歴による前記周囲車両の走行軌跡に基づいて自車両の走行軌跡を設定する走路推定回路と、
少なくとも地図上の前記自車両の走行ルートを取得するルート取得回路と、を備え、
前記走路推定回路は、
前記周囲車両の走行軌跡における前記周囲車両の旋回方向および前記自車両に対する横位置に基づいて、前記周囲車両の走行軌跡を、旋回中心を一定としながら旋回半径を拡大または縮小して、基準走行軌跡を取得し、
前記基準走行軌跡が前記走行ルートと類似しているか否かを判定し、
前記基準走行軌跡が前記走行ルートと類似していると判定された場合に、前記基準走行軌跡を前記自車両の走行軌跡として設定すること
を特徴とする走路推定装置。 - 少なくとも道路の分岐情報を含む地図情報を取得する地図取得回路と、を備え、
前記走路推定回路は、
前記自車両が分岐点を通過すると判断される場合には、前記自車両の走行軌跡を設定しないことを特徴とする請求項7に記載の走路推定装置。
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JP6520863B2 (ja) * | 2016-08-11 | 2019-05-29 | 株式会社デンソー | 走行制御装置 |
JP6592423B2 (ja) * | 2016-11-25 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
JPWO2018131090A1 (ja) * | 2017-01-11 | 2019-11-07 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
KR102215325B1 (ko) * | 2017-02-28 | 2021-02-15 | 현대자동차주식회사 | 차량의 위치 추정 장치 및 방법과 이를 이용한 차량 |
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CN111301411B (zh) * | 2018-12-10 | 2021-04-20 | 广州汽车集团股份有限公司 | 车辆的行驶控制方法和装置 |
CN111655561B (zh) * | 2018-12-26 | 2023-05-23 | 百度时代网络技术(北京)有限公司 | 无需地图和定位的自动驾驶车辆的拐角协商方法 |
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JP4059033B2 (ja) * | 2002-08-12 | 2008-03-12 | 日産自動車株式会社 | 走行経路生成装置 |
DE102004028404A1 (de) * | 2004-06-14 | 2006-01-19 | Daimlerchrysler Ag | Verfahren zur Schätzung des Verlaufs einer Fahrspur eines Kraftfahrzeuges |
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BR112018069433B1 (pt) | 2023-01-17 |
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US10435019B2 (en) | 2019-10-08 |
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KR101942230B1 (ko) | 2019-01-24 |
BR112018069433A2 (pt) | 2019-02-12 |
CN108883770A (zh) | 2018-11-23 |
CN108883770B (zh) | 2020-09-22 |
WO2017163366A1 (ja) | 2017-09-28 |
EP3434545A1 (en) | 2019-01-30 |
MX2018011511A (es) | 2019-01-10 |
US20190100199A1 (en) | 2019-04-04 |
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