Patent ID: 11928871
Assignee: DENSO CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC B  G

Claim 10:
11. A vehicle position estimation device comprising:
a road edge information acquisition unit acquiring a distance from a subject vehicle to a road edge using at least one of an imaging device or a distance measuring sensor, the imaging device capturing images of a predetermined range around the subject vehicle, the distance measuring sensor detecting an object existing in a predetermined direction relative to the subject vehicle by transmitting a probe wave or a laser beam;
a map acquisition unit acquiring map information including a lane quantity of a traveling road of the subject vehicle from a map storage disposed inside or outside of the subject vehicle;
a boundary line information acquisition unit acquiring position information of lane boundary lines detected by analyzing the images captured by the imaging device;
a roadside area width calculation unit calculating, as a roadside area width, a lateral direction distance between an outermost detection line, which is an outermost boundary line among the detected boundary lines, and the road edge; and
a traveling lane specification unit specifying a traveling lane of the subject vehicle, in which the subject vehicle is traveling, based on (i) the distance from the subject vehicle to the road edge, (ii) the roadside area width, and (iii) the lane quantity included in the map information acquired by the map acquisition unit,, wherein
the traveling lane specification unit specifies, based on the position information of the detected lane boundary lines, a lane detection range in which at least one traveling lane exists, and
when the position information of the road edge acquired by the road edge information acquisition unit indicates that the road edge is located on an inner side of the lane detection range, the traveling lane specification unit (i) determines the position information of the road edge as an erroneous result, (ii) does not use the position information of the road edge in specifying of the traveling lane of the subject vehicle, or (iii) interrupts the specifying of the traveling lane of the subject vehicle.