To provide a trajectory prediction device which predicts a vehicle that will take an evasive action between a forward vehicle and a rearward vehicle that may collide, and calculates a future traveling trajectory of the vehicle.SOLUTION: A trajectory prediction device comprises: a vehicle information detection unit that detects positions and speeds of a plurality of vehicles; a road information acquisition unit that acquires road information indicating a position of a lane of a road on which the vehicle travels; a predicted trajectory calculating unit that calculates a predicted trajectory which is a future travel trajectory of the vehicle; a collision-predicted vehicle extracting unit that extracts a forward vehicle and a rearward vehicle that may collide with each other on the same lane based on the road information and the predicted trajectory; an evasive action vehicle predicting unit that predicts an evasive action vehicle that will take an evasive action out of the forward vehicle and the rearward vehicle; and an evasive trajectory calculation unit that calculates an evasive trajectory of the evasive action vehicle.SELECTED DRAWING: Figure 1
【課題】衝突の可能性のある前方車両と後方車両について、どちらの車両が回避行動をとるか予測し、車両の将来の走行軌道を算出する必要がある。【解決手段】複数の車両の位置と速度を検出する車両情報検出部、車両が走行する道路の車線の位置を示す道路情報を取得する道路情報取得部、車両の将来の走行軌道である予測軌道を算出する予測軌道算出部、道路情報と予測軌道に基づいて衝突する可能性のある同一車線上の前方車両と後方車両を抽出する衝突予想車両抽出部、前方車両と後方車両のうち回避行動をとる回避行動車両を予測する回避行動車両予測部、回避行動車両の回避軌道を算出する回避軌道算出部、を備えた軌道予測装置。【選択図】図1
TRAJECTORY PREDICTION DEVICE
軌道予測装置
2023-04-28
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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