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US 2021/0197828 A1Published application
Traveling lane estimation apparatus, traveling lane estimation method, and computer-readable non-temporary storage medium storing control program
AssigneeDenso Corporation
InventorsShunya KUMANO, Takeshi SHIKIMACHI, Hiroki UKAI
Life of this patent
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Abstract
By a traveling lane estimation apparatus, a traveling lane estimation method, a control program, a computer-readable non-temporary storage medium, a front vehicle is recognized based on a sensing result by a periphery monitoring sensor, a front vehicle traveling trajectory is estimated based on a front vehicle position, map data including lane number information is acquired; a subject vehicle position on a map is identified, an inappropriate traveling trajectory for estimating the subject vehicle traveling lane is determined; and the subject vehicle traveling lane is estimated.
Claims13
A traveling lane estimation apparatus comprising:
- a front vehicle recognition portion configured to recognize a front vehicle in front of a subject vehicle based on a sensing result by a periphery monitoring sensor that is mounted on a vehicle and is configured to monitor a periphery of the subject vehicle;
- a trajectory estimation portion configured to estimate a front vehicle traveling trajectory based on a front vehicle position sequentially recognized by the front vehicle recognition portion;
- a map data acquisition portion configured to acquire map data including lane number information;
- a subject vehicle identification portion configured to identify a subject vehicle position on a map based on the map data acquired by the map data acquisition portion;
- a traveling lane estimation portion configured to estimate a traveling lane of the subject vehicle based on
- the lane number information that is included in the map data acquired by the map data acquisition portion and corresponds to the subject vehicle position identified by the subject vehicle position identification portion and
- a lateral direction positional relationship of the subject vehicle position identified by the subject vehicle position identification portion with respect to the front vehicle traveling trajectory estimated by the traveling trajectory estimation portion;
- and
- a determination portion configured to determine an inappropriate traveling trajectory for estimating the subject vehicle traveling lane by the traveling lane estimation portion,
- wherein:
- the traveling lane estimation portion is configured to estimate the subject vehicle traveling lane without using a traveling trajectory that is the front vehicle traveling trajectory estimated by the trajectory estimation portion and is determined to be inappropriate by the determination portion.
8 more elements
A traveling lane estimation method comprising:
- recognizing a front vehicle in front of a subject vehicle based on a sensing result by a periphery monitoring sensor that is mounted on a vehicle and is configured to monitor a periphery of the subject vehicle;
- estimating a front vehicle traveling trajectory based on a front vehicle position that is sequentially recognized;
- acquiring map data including lane number information;
- identifying a subject vehicle position on a map based on acquired map data;
- determining an inappropriate traveling trajectory for estimating the subject vehicle traveling lane;
- and
- estimating the subject vehicle traveling lane based on
- the lane number information that is included in acquired map data and corresponds to an identified subject vehicle position and
- a lateral direction positional relationship of the identified subject vehicle position with respect to a traveling trajectory that is an estimated front vehicle traveling trajectory and is other than the inappropriate traveling trajectory for estimating the subject vehicle traveling lane.
6 more elements
A computer-readable non-temporary storage medium storing a control program configured to cause a computer to:
- recognize a front vehicle in front of a subject vehicle based on a sensing result by a periphery monitor sensor configured to monitor a periphery of the subject vehicle;
- estimate a front vehicle traveling trajectory based on a front vehicle position sequentially that is recognized;
- acquire map data including lane number information;
- identify a subject vehicle position on a map based on acquired map data;
- determine an inappropriate traveling trajectory for estimating the subject vehicle traveling lane;
- and
- estimate a traveling lane of the subject vehicle based on
- the lane number information that is included in the acquired map data and corresponds to an identified subject vehicle position and
- a lateral direction positional relationship of the identified subject vehicle position with respect to a traveling trajectory that is an estimated front vehicle traveling trajectory and is other than the inappropriate traveling trajectory determined to be inappropriate.
6 more elements
Dependencies are inferred from the claim text.