| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle state estimation apparatus capable of accurately estimating a vehicle state indicating a travel state of a vehicle while using an image of a road the vehicle is travelling on.SOLUTION: A road boundary position detection part 12 detects plural road-boundary positions indicating the boundary of a road 15 on the basis of image information output from a camera 5. A road information obtainment part 11 uses the present position obtained by a vehicle position detection part 8 to obtain road information at a present position of a vehicle 2 from map data stored in a map data storage part 10. A vehicle state estimation part 13 uses a given vehicle state estimation model correlated with the road information, vehicle state, and road boundary position to estimate a vehicle state indicating a travel state of the vehicle on the basis of the road boundary position and the road information at the present position of the vehicle. |
