TRAVEL PATH ESTIMATION APPARATUS AND TRAVEL PATH ESTIMATION PROGRAM

摘要

In a travel path estimation apparatus, a calculating unit calculates coordinates of edge points configuring a division line on a travel path, from an image captured by an on-board camera. An estimating unit estimates a travel path parameter of a state of the travel path and a shape of the travel path using a predetermined filter, based on the calculated coordinates of edge points. A setting unit sets a filter parameter of the predetermined filter of responsiveness of estimation of the travel path parameter. A detecting unit detects a sharp curve based on information giving advance notice of a sharp curve before the vehicle enters the sharp curve. The setting unit sets the filter parameter so that the responsiveness increases from that before detection of the sharp curve, during a period from detection of the sharp curve until the vehicle enters the sharp curve.

主权项

1. A travel path estimation apparatus comprising:
a calculating unit that calculates coordinates of edge points configuring a division line on a travel path, from an image captured by an on-board camera that captures an image of the travel path ahead of a vehicle; an estimating unit that estimates travel path parameters related to a state of the travel path in relation to the vehicle and a shape of the travel path using a predetermined filter, based on the coordinates of edge points calculated by the calculating unit; a setting unit that sets a filter parameter related to responsiveness of estimation of the travel path parameter by the estimating unit, the filter parameter being a parameter of the predetermined filter; and a detecting unit that detects a sharp curve based on information giving advance notice of a sharp curve before the vehicle enters the sharp curve, the setting unit setting the filter parameter so that the responsiveness increases from that before detection of the sharp curve, during a period from detection of the sharp curve by the detecting unit until the vehicle enters the sharp curve.