To provide a vehicle tracking device capable of properly tracking a vehicle.SOLUTION: A vehicle tracking device for tracking a target vehicle traveling near a host vehicle 1 is provided, the device comprising: an estimation unit configured to estimate a rectangular frame 7 that approximates an outline of an oncoming vehicle based on past data; an adjustment unit configured to adjust outline data 4 according to the attitude of the rectangular frame 7, the outline data comprising detection point data 3 consisting of a plurality of detection points representing the outline of the target vehicle detected by a LIDAR (sensor) 20 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; and an identification unit configured to identify a traveling direction of the target vehicle based on the adjusted outline data 4.SELECTED DRAWING: Figure 6
【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1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、対向車量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LIDAR20(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を、矩形枠7の姿勢に基づいて調整する調整部と、調整後の輪郭データ4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6
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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