PROBLEM TO BE SOLVED: To suppress a travel track of another vehicle from meandering from an actual travel track due to a distance between a vehicle and the other vehicle becoming longer, the travel track calculated from a detected position by a sensor that is incorporated in the vehicle for detecting a position of an article nearby the vehicle.SOLUTION: A travel track estimation method includes: detecting a position of another vehicle 22 by a sensor 6 that is incorporated in a vehicle 1 for detecting a position of a nearby article, and storing a time sequence of a detected position of the other vehicle 22; determining a distance between the vehicle 1 and the other vehicle 22 from the time sequence of the detected position, and setting a larger threshold as the distance between the vehicle 1 and other vehicle 22 is longer; interpolating the time sequence of the detected position with a curve approximation in the case of a deviation of the other vehicle 22 in the vehicular width direction being equal to or larger than a threshold, thus estimating a travel track of the other vehicle 22; and, in the case of the deviation being less than the threshold, interpolating the time sequence of the detected position with a linear approximation, thus estimating the travel track.SELECTED DRAWING: Figure 7

    【課題】車両に搭載されて車両周辺の物体の位置を検出するセンサによる検出位置から算出した他車両の走行軌跡が、車両と他車両との距離が長くなることで実際の走行軌跡よりも蛇行するのを抑制する。【解決手段】走行軌跡推定方法では、車両1に搭載され周辺物体の位置を検出するセンサ6により他車両22の位置を検出し、他車両22の検出位置の時系列を記憶する。検出位置の時系列から車両1と他車両22との距離を決定し、車両1と他車両22との距離が長いほど大きな閾値を設定する。他車両22の車幅方向位置の偏差が閾値以上の場合には検出位置の時系列を曲線近似で補間することにより他車両22の走行軌跡を推定する。偏差が閾値未満の場合には検出位置の時系列を直線近似で補間することにより走行軌跡を推定する。【選択図】図7


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    Title :

    TRAVEL TRACK ESTIMATION METHOD AND TRAVEL TRACK ESTIMATION APPARATUS


    Additional title:

    走行軌跡推定方法、及び走行軌跡推定装置


    Contributors:

    Publication date :

    2018-02-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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