PROBLEM TO BE SOLVED: To accurately determine other vehicle which is further likely to encounter a self-vehicle.SOLUTION: An encountering vehicle determination device comprises: a self-vehicle intersection entry probability estimation unit 33 for estimating probability of entry of a self-vehicle into a self-vehicle intersection on a self-vehicle route on a map; an other-vehicle intersection extraction unit 35 for, on the basis of vehicle information acquired from an other-vehicle through inter-vehicle communication, extracting an other-vehicle intersection on a route where the other-vehicle, which is matched with one of the self-vehicle route and a connection road within a fixed range connected to the self-vehicle intersection, runs toward the self-vehicle route; an other-vehicle intersection entry probability estimation unit 36 for estimating probability of entry into the extracted other-vehicle intersection; an encounter probability calculation unit 37 for calculating probability that the self-vehicle encounters the other-vehicle at the self-vehicle intersection from the estimated probability of entry of the self-vehicle into the self-vehicle intersection and the estimated probability of entry of the other-vehicle into the other-vehicle intersection; and an encounter determination unit 38 for determining the other-vehicle which has the calculated probability of encounter of a threshold or more as an other-vehicle which encounters the self-vehicle.SELECTED DRAWING: Figure 3
【課題】自車と遭遇する可能性のより高い他車を精度良く判定する。【解決手段】地図上での自車進路における自車交叉点への自車の進入確率を推定する自車交叉点進入確率推定部33と、車車間通信で他車から取得した車両情報をもとにして、自車進路と自車交叉点に接続する一定範囲の接続道路とのいずれかにマッチングされる他車について、自車進路に向かって走行する進路上の他車交叉点を抽出する他車交叉点抽出部35と、抽出した他車交叉点への進入確率を推定する他車交叉点進入確率推定部36と、推定した自車交叉点への自車の進入確率と他車交叉点への他車の進入確率とから、自車交叉点での自車と他車との遭遇確率を算出する遭遇確率算出部37と、算出した遭遇確率が閾値以上となる他車を、自車と遭遇する他車と判定する遭遇判定部38とを備える。【選択図】図3
ENCOUNTERING VEHICLE DETERMINATION DEVICE
遭遇車両判定装置
2016-09-05
Patent
Electronic Resource
Japanese
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