Title:
走行車線特定装置
Document Type and Number:
Japanese Patent JP6948151
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To determine accurately, without using a forward sensing device, whether or not the own vehicle is traveling within a travel lane when controlling steering during automatic drive.SOLUTION: A lane width Lw is acquired from map information on the basis of an estimated own vehicle position P acquired by a GNSS receiver 16 (S24), and a lap rate value κo is set with first to third lap rate determination thresholds κ1-κ3 that are set in correspondence to this lane width Lw (S25-S29). Then, a lap rate κ of an error ellipse R that is set by a Kalman filter centering on the estimated own vehicle position P with the lane width Lw, this lap rate κ is compared with the lap rate threshold κo, and it is determined that the own vehicle M exists in the travel lane when the comparison result is κ≥κo, with automatic drive continued.SELECTED DRAWING: Figure 4
Inventors:
Satoshi Abe
Application Number:
JP2017091216A
Publication Date:
October 13, 2021
Filing Date:
May 01, 2017
Export Citation:
Assignee:
Subaru corporation
International Classes:
G01C21/28; B60R21/00; B60W30/14
Domestic Patent References:
| JP2013108837A | ||||
| JP2013160735A | ||||
| JP2013206312A |
Attorney, Agent or Firm:
Patent Business Corporation Itoshin International Patent Office
Susumu Ito
Yasushi Hasegawa
Osamu Shinoura
Susumu Ito
Yasushi Hasegawa
Osamu Shinoura