To provide a vehicle tracking device capable of properly tacking a vehicle.SOLUTION: A vehicle tacking device for tracking a target vehicle traveling near a host vehicle is provided, the device comprising: an estimation unit configured to estimate a rectangular frame 7 that approximates an outline of the target vehicle based on past data; and an identification unit configured to identify a traveling direction of the target vehicle based on positioning relative to a reference side N1, one of the sides of the rectangular frame 7 lying in a vehicle width direction of the rectangular frame 7 on a host-vehicle side, according to outline data 4 comprising detection point data 3 consisting of a plurality of detection points representing the outline of the target vehicle detected by a sensor installed in the host vehicle and configured to detect positions of detection targets relative to the host vehicle in the form of detection point data.SELECTED DRAWING: Figure 13
【課題】車両を適切に追跡することが可能な車両追跡装置を提供する。【解決手段】車両追跡装置は、自車両の周囲を走行する対象車両を追跡する車両追跡装置であって、対象車両の外形を近似する矩形枠7を過去のデータに基づいて推定する推定部と、自車両に搭載され当該自車両に対する検出対象の相対位置を検出点データとして検出するセンサにより検出された対象車両の輪郭を示す複数の検出点データ3である輪郭データ4の、矩形枠7の車幅方向に沿った当該矩形枠7の辺のうちの自車両側の辺である基準辺N1に対する配置に基づいて、対象車両の進行方向を特定する特定部と、を備える。【選択図】図13
VEHICLE TRACKING DEVICE
車両追跡装置
2021-04-30
Patent
Electronic Resource
Japanese
VEHICLE TRACKING DEVICE, VEHICLE TRACKING METHOD, AND VEHICLE TRACKING PROGRAM
European Patent Office | 2020
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