高精度地図情報のためのドライバモデルを用いた車線位置情報の平滑化手法

抄録

Nowadays, for practical use of automated driving of a vehicle, the governments and manufacturers have developing actively. Most existing automated driving systems are need to use digital road map data that is included lane position information. So, digital road map needs to prepare at all roads. Currently, the lane position information data includes errors caused by development process of manually, and the errors affects vehicle stability and lane followability. Therefore, this study aims to the decreasing the effect that caused by the errors by using a smoothing method. However, the result of common smoothing methods like low-pass filter is not always appropriate for automated driving systems. Thus, this study focuses on an effect of smooth driving by human drivers, and proposed a smoothing method by driving simulation with driver model. The effectiveness of the proposed method is verified by using lane position information data.