ROAD WIDTH ESTIMATION DEVICE AND ROAD WIDTH ESTIMATION METHOD

摘要

PROBLEM TO BE SOLVED: To estimate a road width from an observation data group obtained using sensing equipment mounted on a moving body such as a vehicle.SOLUTION: A filter for route estimation is arranged in a virtual space in which an observation data group generated by sensing a road end by a sensor mounted on a moving body is distributed and while an observation data group for a front periphery is read, the filter is moved. As for the observation data group read by the filter, a road width is measured using a Karman filter which takes into consideration a deviation (in an extension direction of a road) in road end which is not positioned on the same straight line perpendicular to the extension direction of the road.SELECTED DRAWING: Figure 11