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Title:
COURSE PARAMETER ESTIMATION DEVICE AND PROGRAM
Document Type and Number:
Japanese Patent JP2017105260
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To precisely estimate a course parameter even when a vehicle changes its lane.SOLUTION: A course recognition part 16 detects the position of a border of a travel lane where a self-vehicle travels on the basis of an image of the course where the self-vehicle travels, and estimates, on the basis of the position of the border of the detected travel lane, a course parameter associated with a predetermined course model and including a lateral position of the self-vehicle in the lane using an extended Karman filter. When the travel state of the self-vehicle is lane change, a lateral position correction part 20 corrects the lateral position of the lane of the course parameter, and a covariance matrix correction part 22 corrects a covariance matrix of the extended Karman filter.SELECTED DRAWING: Figure 1

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Inventors:
TAKAHASHI ARATA
NAKAMURA HIROSHI
SUZUKI SHUNSUKE
Application Number:
JP2015238890A
Publication Date:
June 15, 2017
Filing Date:
December 07, 2015
Export Citation:
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Assignee:
TOYOTA CENTRAL RES & DEV
TOYOTA MOTOR CORP
DENSO CORP
International Classes:
B60W40/06; G06T7/60; G08G1/16
Domestic Patent References:
JP2002109695A2002-04-12
JP2015140114A2015-08-03
JP2009140192A2009-06-25
JP2012519346A2012-08-23
Attorney, Agent or Firm:
Atsushi Nakajima
Kato Kazunori



 
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