To improve the accuracy of determining a preceding vehicle ahead of the host vehicle, using map data in which road shapes are expressed in road units by arrangement of a plurality of nodes.SOLUTION: A controller 16 detects a mobile object that moves ahead of a host vehicle 1 in the same direction as the host vehicle, extracts from map data 12 an opposite road shape 31 that represents the road shape of an opposite road to the road on which an opposite vehicle to the host vehicle 1 travels, parallel shifts the opposite road shape 31 so that a point on the opposite road shape 31 near the vehicle position matches the vehicle position, and determines whether or not the mobile object is a preceding vehicle ahead of the host vehicle, on the basis of the degree of deviation in the road width direction between the mobile object and the opposite road shape 32 after parallel shifting.SELECTED DRAWING: Figure 2
【課題】道路形状が複数のノードの配列によって道路単位で表現された地図データを用いて自車両の先行車両を判定する精度を向上する。【解決手段】コントローラ16は、自車両1の前方において自車両と同じ方向に移動する移動物体を検出し、自車両1の対向車両が走行する対向道路の道路形状である対向道路形状31を、地図データ12から抽出し、自車位置の近傍にある対向道路形状31上の点が自車位置となるように対向道路形状31を平行移動し、移動物体と平行移動後の対向道路形状32との道路幅方向での乖離度合いに基づいて移動物体が自車両の先行車両であるか否かを判定する。【選択図】図2
PRECEDING VEHICLE DETERMINATION METHOD AND PRECEDING VEHICLE DETERMINATION DEVICE
先行車両判定方法及び先行車両判定装置
2023-10-16
Patent
Electronic Resource
Japanese
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