To provide a movable body detection device capable of acquiring a history of positions of a movable body with less impact of a user's vehicle behavior.SOLUTION: In a movable body detection device 1, a movable body relative position acquisition unit 12 acquires position coordinates of a movable body indicated by a user's vehicle reference coordinate system with the position of the user's vehicle as a reference. A user's vehicle state quantity acquisition unit 11 acquires a state quantity of the user's vehicle. A coordinate conversion unit 13 generates a history of position coordinates of the movable body indicated by a movable body reference coordinate system with the position of the movable body as a reference on the basis of the position coordinates of the movable body indicated by the user's vehicle reference coordinate system, and the state quantity of the user's vehicle.SELECTED DRAWING: Figure 1
【課題】自車の挙動の影響が少ない移動体の位置の履歴を取得可能な移動体検出装置を提供する。【解決手段】移動体検出装置1において、移動体相対位置取得部12は、自車の位置を基準にする自車基準座標系で表された移動体の位置座標を取得する。自車状態量取得部11は、自車の状態量を取得する。座標変換部13は、自車基準座標系で表された移動体の位置座標および自車の状態量に基づいて、移動体の位置を基準にする移動体基準座標系で表された移動体の位置座標の履歴を生成する。【選択図】図1
MOVABLE BODY DETECTION DEVICE, VEHICLE CONTROL SYSTEM, MOVABLE BODY DETECTION METHOD, AND VEHICLE CONTROL METHOD
移動体検出装置、車両制御システム、移動体検出方法および車両制御方法
2019-11-14
Patent
Elektronische Ressource
Japanisch
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