Abstract: By a traveling lane estimation apparatus, a traveling lane estimation method, a control program, a computer-readable non-temporary storage medium, a front vehicle is recognized based on a sensing result by a periphery monitoring sensor, a front vehicle traveling trajectory is estimated based on a front vehicle position, map data including lane number information is acquired; a subject vehicle position on a map is identified, an inappropriate traveling trajectory for estimating the subject vehicle traveling lane is determined; and the subject vehicle traveling lane is estimated.

Abstract: A self-position estimation device equipped to a vehicle: captures an image of a periphery of the vehicle; detects a state quantity of the vehicle; acquires position information indicating a position of the vehicle from a satellite system; stores map data that defines a map in which a road is expressed by a link and a node; estimate a self-position of the vehicle on the map, as an estimation position, based on the captured image, the state quantity, the position information, and the map data, respectively; recognizes a road section in which a lane quantity increases or decreases based on the captured image; and sets a weighting of the estimation position of the vehicle estimated based on the map data relatively smaller in response to a recognition of the road section in which the lane quantity increases or decreases.

Abstract: A vehicle position estimation device includes an external information acquisition unit for acquiring external information, a vehicle parameter acquisition unit for acquiring a vehicle parameter, a satellite positioning acquisition unit for acquiring a latitude and longitude of a self-position of the vehicle, a map data acquisition unit for acquiring map data, and a position estimation unit. The position estimation unit estimates the self-position, and includes a reliability calculation unit and a lane estimation unit. The reliability calculation unit calculates a reliability of each lane based on the external information and the map data when the vehicle is traveling on a road having multiple lanes. The reliability of each lane indicates a probability of the vehicle being traveling in the lane among the lanes. The lane estimation unit estimates a lane in which the vehicle is located by using the reliability calculated by the reliability calculation unit.

Abstract: A vehicle position estimation device includes an external information acquisition unit, a vehicle parameter acquisition unit, a map data acquisition unit, a lane change determination unit, and a position estimation unit. The external information acquisition unit acquires external information. The vehicle parameter acquisition unit acquires a vehicle parameter related to traveling. The map data acquisition unit acquires map data. The lane change determination unit determines whether the vehicle is changing lanes. The position estimation unit estimates a self-position of the vehicle on a map. When the lane change determination unit determines that the vehicle is changing lanes, the position estimation unit estimates the self-position using dead reckoning. When the lane change determination unit determines that the vehicle is not changing lanes, the position estimation unit estimates the self-position based on the external information and the map data.

Abstract: The position of the distance measurement point is acquired from the distance measurement sensor, the lateral position of the road boundary is estimated from the most frequent value in the frequency distribution indicating the distribution status of the distance measurement point group. When multiple peaks having a frequency in the frequency distribution equal to or higher than a predetermined value are disposed on one of the left side and the right side of the vehicle, it is determined whether the estimation of the road boundary is in an unstable state. The vehicle position on the map is specified, and the traveling lane of the vehicle is estimated based on the information about the numerical number of traffic lanes and the positional relationship of the road boundary without using the estimation result of the lateral position of the road boundary in the unstable state.

Abstract: By a traveling lane estimation apparatus, a traveling lane estimation method, a control program, a computer-readable non-temporary storage medium, a front vehicle is recognized based on a sensing result by a periphery monitoring sensor, a front vehicle traveling trajectory is estimated based on a front vehicle position, map data including lane number information is acquired; a subject vehicle position on a map is identified, an inappropriate traveling trajectory for estimating the subject vehicle traveling lane is determined; and the subject vehicle traveling lane is estimated.

Abstract: A traveling position detection apparatus is provided. The traveling position detection apparatus includes: a map information storage part that stores map information including route information indicating a road route and lane marker information; a route position decision part that decides a route position that is a position on a road route based on a traveling speed, a traveling direction, and a positioning result; an offset position detection part that detects an offset position of a subject vehicle related to a lane markings by analyzing a road image and extracting the lane marking; and a traveling position decision part that decides the traveling position on a road based on the route position, an offset position, and lane marker information. When the offset position is not detected, the traveling position detection part estimates the traveling position based on the traveling speed, a traveling direction, and the already decided traveling position.

Abstract: A self-position estimation device equipped to a vehicle: captures an image of a periphery of the vehicle; detects a state quantity of the vehicle; acquires position information indicating a position of the vehicle from a satellite system; stores map data that defines a map in which a road is expressed by a link and a node; estimate a self-position of the vehicle on the map, as an estimation position, based on the captured image, the state quantity, the position information, and the map data, respectively; recognizes a road section in which a lane quantity increases or decreases based on the captured image; and sets a weighting of the estimation position of the vehicle estimated based on the map data relatively smaller in response to a recognition of the road section in which the lane quantity increases or decreases.

Abstract: An own location estimation device for a vehicle having an in-vehicle camera and a cloud map server, is configured to: recognize an environment around the vehicle based on a state of the vehicle and sensing information by the in-vehicle camera; recognize a camera landmark based on the sensing information of the in-vehicle camera; update a cloud map in the map server; estimate a location of the vehicle based on the camera landmark and the map landmark in the cloud map; and generate a new landmark based on the sensing information of the in-vehicle camera when the map landmark does not exist in the cloud map, or when it is determined that an accuracy of the camera landmark is low.

Abstract: A vehicle control system includes an own vehicle position calculation section that calculates an own vehicle position on a map by using a coordinate system projected by a map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system, and a vehicle control section that controls a vehicle by using the own vehicle position calculated by the own vehicle position calculation section by using the coordinate system projected by the map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system.

Abstract: A position correction device includes: a reception unit, a position acquisition unit, a determination unit and a position information transmission unit. The reception unit receives a position information S1 of a vehicle from a navigation apparatus. The position acquisition unit acquires a position information S2 of the vehicle with a higher accuracy than the navigation apparatus. The determination unit determines whether a difference between the position information S1 and the position information S2 exceeds a predetermined threshold, or determines whether a traveling road identified by the position information S1 matches a traveling road identified by the position information S2. At least when it is determined that the difference exceeds the threshold, or when it is determined that the identified traveling roads do not match, the position information transmission unit transmits the position information S2 to the navigation apparatus.

Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of a ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.

Abstract: A vehicle control system includes an own vehicle position calculation section that calculates an own vehicle position on a map by using a coordinate system projected by a map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system, and a vehicle control section that controls a vehicle by using the own vehicle position calculated by the own vehicle position calculation section by using the coordinate system projected by the map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system.

Abstract: A position correction device includes: a reception unit, a position acquisition unit, a determination unit and a position information transmission unit. The reception unit receives a position information S1 of a vehicle from a navigation apparatus. The position acquisition unit acquires a position information S2 of the vehicle with a higher accuracy than the navigation apparatus. The determination unit determines whether a difference between the position information S1 and the position information S2 exceeds a predetermined threshold, or determines whether a traveling road identified by the position information S1 matches a traveling road identified by the position information S2. At least when it is determined that the difference exceeds the threshold, or when it is determined that the identified traveling roads do not match, the position information transmission unit transmits the position information S2 to the navigation apparatus.

Abstract: A traveling position detection apparatus is provided. The traveling position detection apparatus includes: a map information storage part that stores map information including route information indicating a road route and lane marker information; a route position decision part that decides a route position that is a position on a road route based on a traveling speed, a traveling direction, and a positioning result; an offset position detection part that detects an offset position of a subject vehicle related to a lane markings by analyzing a road image and extracting the lane marking; and a traveling position decision part that decides the traveling position on a road based on the route position, an offset position, and lane marker information. When the offset position is not detected, the traveling position detection part estimates the traveling position based on the traveling speed, a traveling direction, and the already decided traveling position.

Abstract: An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.

Abstract: An apparatus of detecting a position of a mobile body acquires a current position based on a result of accumulating heading directions and movement distances of the mobile body, acquires a modified current position acquired from modification by verifying a movement locus of the mobile body with a road shape, and compares the current position with the modified current position, thereby assigning a reliability degree to the modified current position. Alternatively, the apparatus acquires a current position based on a result of accumulating heading directions and movement distances of the mobile body, and compares the current position with a positioning result acquired based positioning satellites, thereby assigning a reliability degree to the current position.

Abstract: The host-vehicle-travel-position specification apparatus specifies an estimation error range of map matching reference positions based on relation between a map-matching reference trajectory and an estimation error range of estimated absolute positions. The map-matching reference trajectory is corrected to accord with the estimation error range of map matching reference positions. A vehicle travel position is specified based on the corrected map-matching reference trajectory.

Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.

Abstract: An in-vehicle system as a road curvature detection device calculates a curvature of a road in front of a vehicle based on an acquired front scene image. The in-vehicle system receives gradient information from the data map. The gradient information corresponds to a current road section on the road on which the vehicle drives. The in-vehicle system detects a gradient accuracy of the received gradient information. When the current road section has a gradient, i.e. the road is an uphill or downhill road, the in-vehicle system selects an appropriate special detection methods based on the gradient accuracy of the received gradient information, and calculates a road curvature by using the selected special detection method. Each of the special detection methods calculates a road curvature while effectively suppressing influence of a road gradient indicated by the received gradient information.