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

Claim 0:
1. 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,
when the traveling lane specification unit acquires position information of both of a left road edge located on a left side of the subject vehicle and a right road edge located on a right side of the subject vehicle as the road edge, the traveling lane specification unit calculates an estimated lane quantity, which is an estimated value of the lane quantity, using (i) a distance between the left road edge and the right road edge and (ii) the roadside area width, and
when a difference between a lane quantity included in the map information and the estimated lane quantity is equal to or greater than a predetermined threshold, the traveling lane specification unit determines the calculated roadside area width as an erroneous result or interrupts specifying of the traveling lane of the subject vehicle.