To provide a travel path shape estimation device capable of improving estimation accuracy of a shape of a travel path where a vehicle travels, in a cross point.SOLUTION: In a method for estimating a shape of a travel path, positions of multiple vehicles traveling on multiple lanes on a road are detected, out of the multiple vehicles, a first travel locus being a travel locus of the first vehicle, is calculated (S3), then a duplicate travel locus which is obtained by duplication of the first travel locus, according to a position of a second vehicle out of the multiple vehicles, is generated, then, a position of road surface sign being a zebra zone or a guide line on a road surface of the road on a front side of a route of the second vehicle is detected (S2), and on the basis of the duplicate travel locus where, a distance with the detected position of the road surface sign, is a first prescribed distance or greater, a shape of a travel path of the second vehicle is estimated (S8-13).SELECTED DRAWING: Figure 9

    【課題】交差点において車両が走行する走路の形状の推定精度を向上する。【解決手段】走路形状推定方法では、道路上の複数の車線を走行する複数の車両の位置を検出し、複数の車両のうち第1車両の走行軌跡である第1走行軌跡を算出し(S3)、第1走行軌跡を、複数の車両のうち第2車両の位置に合わせて複製した複製走行軌跡を生成し、第2車両の進路前方の道路の路面上のゼブラゾーン又は誘導線である路面標示の位置を検出し(S2)、検出した路面標示の位置との距離が第1所定距離以上である複製走行軌跡に基づいて、第2車両の走路の形状を推定する(S8~S13)。【選択図】図9


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    Title :

    TRAVEL PATH SHAPE ESTIMATION DEVICE AND METHOD


    Additional title:

    走路形状推定方法及び走路形状推定装置


    Contributors:

    Publication date :

    2023-10-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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