To estimate a position of a white line even when a white line cannot be recognized.SOLUTION: In a vehicle V, a lane identification device 10 includes: a lane-related state identification section 121 for identifying position relation between a white line corresponding to a lane on which an own vehicle is traveling and the own vehicle, and a lane-related state indicating a curvature of a white line and a lane width or the like based on information indicating a traveling environment in front of the own vehicle; an operation state detection section 122 for detecting a vehicle speed and a yaw rate or the like being an operation state of the own vehicle; and a white line position estimation section 123 for estimating a position of a white line at a predetermined time interval based on an estimated lane-related state and an operation state by estimating a position of a white line within a predetermined range in a front and rear direction from the own vehicle at a predetermined time interval when a lane-related state is identified and also an operation state is detected, and by estimating position relation or the like based on an operation state when a lane-related state is not identified and an operation state is detected.SELECTED DRAWING: Figure 2
【課題】白線を認識できない場合であっても白線の位置を推定する。【解決手段】車両Vにおいて、車線特定装置10は、自車両の前方の走行環境を示す情報に基づいて、自車両が走行する車線に対応する白線と自車両との位置関係、白線の曲率及び車線幅等を示す車線関連状態を特定する車線関連状態特定部121と、自車両の運動状態である車速とヨーレート等を検出する運動状態検出部122と、車線関連状態が特定されるとともに運動状態が検出された場合には、所定時間おきに自車両から前後方向の所定範囲内の白線の位置を推定し、車線関連状態が特定されず、運動状態が検出された場合には、当該運動状態に基づいて位置関係等を推定することにより、推定した車線関連状態及び当該運動状態に基づいて所定時間おきに白線の位置を推定する白線位置推定部123と、を備える。【選択図】図2
WHITE LINE POSITION ESTIMATION DEVICE AND WHITE LINE POSITION ESTIMATION METHOD
白線位置推定装置及び白線位置推定方法
2020-06-04
Patent
Electronic Resource
Japanese
WHITE LINE POSITION ESTIMATION DEVICE AND WHITE LINE POSITION ESTIMATION METHOD
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