The problem of the present invention is to predict a movement trajectory of an object with high accuracy from a positional history of the object even when vibrations or deflection develop in a vehicle. In order to solve the problem, the present invention acquires the position of the object in the vicinity of the vehicle (S1); acquires a ground speed of the object (S3); calculates an slope (theta) of a trajectory prediction vector (relative movement vector) of the object from the vehicle using a vehicle speed and the ground speed of the object (S7); performs fitting (classification of recorded positions in the movement trajectory of the object) with respect to the positional history of the object using a line of the slope (theta) of the trajectory prediction vector (S8); and predicts the line of the slope (theta)(line according to a plurality of positions included in a group classified by the fitting) at the position of the best fit with the line of the slope (theta) as the movement trajectory of the object (S9).
Movement trajectory prediction device, and movement trajectory prediction method
10.02.2016
Patent
Elektronische Ressource
Englisch
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