Lane estimation device and lane estimation method

Abstract

This lane estimation device is provided with: a positional information acquisition unit which acquires positional information obtained by a positioning sensor; a travel information acquisition unit which acquires vehicle travel information, including vehicle speed information and information about detected values of the road surface profile of the road surface on which the vehicle is traveling; a reference information acquisition unit which acquires vehicle speed reference information, which is the reference for changing the vehicle speed in each of multiple travel lanes that extend in mutually parallel directions; a road map information acquisition unit which acquires road map information that includes travel lane information about the road and information about the road surface profile; and a travel lane identification unit which, on the basis of the acquired travel information, vehicle speed reference information and road map information, identifies from among the multiple travel lanes the travel lane that corresponds to the position of the vehicle, which is determined on the basis of the positional information.

Claims

1. a position information acquisition unit that acquires position information including positioning accuracy information obtained by a positioning sensor that receives a signal transmitted from a positioning satellite and measures the position of the vehicle; a travel information acquisition unit that acquires travel information of the vehicle, the travel information including vehicle speed information of the vehicle and information of a detection value of a detector that changes according to a road surface profile on which the vehicle is traveling; a reference information acquisition unit that acquires vehicle speed reference information that is a reference for a change in vehicle speed in each of a plurality of travel lanes that extend substantially parallel to one another; a road map information acquisition unit that acquires road map information including road lane information and road surface profile information; a lane identification unit that, when identifying a driving lane among the multiple driving lanes that corresponds to the vehicle's position determined by the position information weighted by the positioning accuracy information based on the position information acquired by the position information acquisition unit, the driving information acquired by the driving information acquisition unit, the vehicle speed reference information acquired by the reference information acquisition unit, and the road map information acquired by the road map information acquisition unit, identifies the driving lane based on the driving information and the vehicle speed reference information when there is no reference road surface profile in which the degree of match between the driving information and the road surface profile is equal to or greater than a predetermined value.

2. The lane estimation device according to claim 1, The lane estimation device, wherein the vehicle speed reference information includes a vehicle speed change model corresponding to each of the plurality of driving lanes constructed by machine learning.

3. The lane estimation device according to claim 2, The lane estimation device, wherein the vehicle speed change model includes a vehicle speed change model when a traffic jam occurs and a vehicle speed change model when no traffic jam occurs.

4. The lane estimation device according to any one of claims 1 to 3, The driving information acquired by the driving information acquisition unit further includes operation information of a turn signal light, The lane estimation device is characterized in that the driving lane identification unit further identifies the driving lane based on operation information of the turn signal.

5. The lane estimation device according to any one of claims 1 to 4, The driving information acquired by the driving information acquisition unit further includes steering angle information indicating a steering angle of a steering wheel, The lane estimation device is characterized in that the driving lane identification unit further identifies the driving lane based on steering angle information of the steering wheel.

6. acquiring position information including positioning accuracy information obtained by a positioning sensor that receives a signal transmitted from a positioning satellite and measures the position of the vehicle; acquiring travel information of the vehicle, the travel information including vehicle speed information of the vehicle and information of a detection value of a detector that changes according to a road surface profile on which the vehicle is traveling; acquiring vehicle speed reference information serving as a reference for a change in vehicle speed in each of a plurality of travel lanes extending substantially parallel to one another; obtaining road map information including road lane information and road surface profile information; a step of identifying a driving lane among the multiple driving lanes that corresponds to the vehicle's position determined by the position information weighted by the positioning accuracy information based on the position information, the driving information, the vehicle speed reference information, and the road map information, when there is no reference road surface profile in which the degree of match between the driving information and the road surface profile is equal to or greater than a predetermined value, by executing the steps of:

Images