Patent ID: 8606539
Filing Date: 2013-12-10
Classification: G01S,G06K

Abstract:
1. A road configuration estimation apparatus comprising: a relative position acquisition unit, configured to obtain a result of an observation by a peripheral object observation device that repeatedly observes an object, from among a plurality of objects, located in the vicinity of a moving object to measure a relative position of the object relative to the moving object; a stationary object determination unit, configured to determine whether or not the object observed by the peripheral object observation device is still, based on the result of the observation obtained by the relative position acquisition unit; an object correlation unit, configured to determine a set of relative positions measured by observing the object from among the plurality of objects by the peripheral object observation device, from among a plurality of the relative positions measured by the peripheral object observation device, based on a plurality of the results of the observations obtained by the relative position acquisition unit; an approximate curve computation unit, configured to compute an approximate curve that approximates a configuration of a road on which the moving object is located, based on a result of the determination by the stationary object determination unit and a result of the determination by the object correlation unit; a reliability level computation unit, configured to compute a reliability level of the approximate curve computed by the approximate curve computation unit; and the approximate curve computation unit discards the computed approximate curve when the reliability level computed by the reliability level computation unit is lower than a predetermined threshold value.