US 11,840,233 B2
Traveling lane estimation apparatus, traveling lane estimation method, and computer-readable non-temporary storage medium storing control program
Shunya Kumano, Nisshin (JP); Takeshi Shikimachi, Kariya (JP); and Hiroki Ukai, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 16, 2021, as Appl. No. 17/202,766.
Application 17/202,766 is a continuation of application No. PCT/JP2019/032649, filed on Aug. 21, 2019.
Claims priority of application No. 2018-186673 (JP), filed on Oct. 1, 2018.
Prior Publication US 2021/0197828 A1, Jul. 1, 2021
Int. Cl. B60T 7/12 (2006.01); B60T 8/17 (2006.01); B60W 30/18 (2012.01); G01C 21/26 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01)
CPC B60W 30/18163 (2013.01) [G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02)] 13 Claims
OG exemplary drawing
 
1. 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.