To provide a vehicle state estimating system, a vehicle state estimating method and a vehicle state estimating program which, when a vehicle is automatically driven in a parking lot, properly estimate the initial bearing and/or the initial position of the vehicle at the starting origin point of automatic driving.SOLUTION: In a vehicle state estimating system 100, an image recognition unit 25 of a vehicle control device 20 recognizes a belt-like ground feature out of the ground features included in surrounding information detected while being parked when it is determined by an operating state determination unit 27 that the vehicle is parked, and an estimation unit 23 estimates the bearing of the vehicle being parked, on the basis of the recognized bearing that is the extension bearing of the belt-like ground feature based on the recognition result and the individual bearing information of the belt-like ground features included in ground feature information.SELECTED DRAWING: Figure 2

    【課題】駐車場内で車両の自動走行を行う場合において、自動走行の発進起点における車両の初期方位及び初期位置の少なくとも一方を適切に推定する車両状態推定システム、車両状態推定方法及び車両状態推定プログラムを提供する。【解決手段】車両状態推定システム100において、車両制御装置20の画像認識部25は、動作状態判定部27により車両が停車中であると判定された場合に、停車中に検知された周辺情報中に含まれる地物のうち、帯状地物を認識し、推定部23は、認識結果に基づく帯状地物の延在方位である認識方位と、地物情報に含まれる帯状地物の個別方位情報とに基づいて、停車中の車両の方位を推定する。【選択図】図2


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    Title :

    VEHICLE STATE ESTIMATING SYSTEM, VEHICLE STATE ESTIMATING METHOD, AND VEHICLE STATE ESTIMATING PROGRAM


    Additional title:

    車両状態推定システム、車両状態推定方法、及び車両状態推定プログラム


    Contributors:

    Publication date :

    2020-11-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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