Vehicle control device
AssigneeHitachi Astemo, Ltd.
InventorSatoh HIROYUKI
Life of this patent
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Abstract
Provided is a technique that when a traveling lane is determined by using a plurality of detection methods, can accurately estimate the traveling lane even if any of the detection methods is not sufficient in accuracy. A vehicle control device according to the present invention calculates integrated reliabilities by integrating reliabilities of lane estimation results by a first detector and reliabilities of lane estimation results by a second detector, and estimates a lane in which a vehicle is traveling by comparing the integrated reliabilities with each other.
Claims11
A vehicle control device that controls operations of a vehicle, the vehicle control device comprising:
- first and second detectors that estimate a lane in which the vehicle is traveling;
- a reliability calculation unit that calculates reliabilities of estimation results by the respective first and second detectors;
- an integrated reliability calculation unit that calculates integrated reliability in which the reliabilities are integrated for each lane;
- and
- a traveling lane determination unit that estimates a lane in which the vehicle is traveling by using the integrated reliability,
- wherein:
- the first detector estimates the lane using a first detection procedure, and the second detector estimates the lane using a second detection procedure different from the first detection procedure;
- the integrated reliability calculation unit calculates a first integrated reliability, representing a probability that the vehicle is traveling in a first lane, by using the reliability of a result of the first detector estimating that the vehicle is traveling in the first lane, and the reliability of a result of the second detector estimating that the vehicle is traveling in the first lane;
- the integrated reliability calculation unit calculates a second integrated reliability, representing a probability that the vehicle is traveling in a second lane, by using the reliability of a result of the first detector estimating that the vehicle is traveling in the second lane, and the reliability of a result of the second detector estimating that the vehicle is traveling in the second lane;
- and
- the traveling lane determination unit estimates a lane in which the vehicle is traveling by comparing the first integrated reliability and the second integrated reliability.
Dependencies are inferred from the claim text.