To improve accuracy in predicting a future position of a mobile object in the periphery of a self vehicle.SOLUTION: A mobile object position prediction device 1 includes: an information acquisition section 121 for acquiring a present position, a traveling direction and speed of a mobile object present in the periphery of a self vehicle 2 traveling on a road; a determination section 122 for determining that the mobile object is moving along a travel route when a distance between a proximity route point closer to the present position of the mobile object than another route point among a plurality of route points of the travel route on which the self vehicle 2 travels and the present position of the mobile body is within a determination distance corresponding to a width of the road, and also when the travel direction of the mobile body is within a determination angle range where a tangential direction of the proximity route point is defined as reference; and a future position identification section 123 for identifying, as a future position of the mobile object, the route point whose distance from an estimation position when the mobile object determined to be in moving along the travel route moves for a predetermined prediction time at a speed of the mobile object along the travel route from the present position of the mobile body is shorter than the other route points among the plurality of route points.SELECTED DRAWING: Figure 1
【課題】自車両周辺の移動物の将来位置の予測精度を向上する。【解決手段】移動物位置予測装置1は、道路を走行する自車両2の周辺に存在する移動物の現在位置、進行する向き及び速度を取得する情報取得部121と、自車両2が走行する走行経路の複数の経路点のうちの他の経路点よりも移動物の現在位置に近い近接経路点と移動物の現在位置との距離が道路の幅に応じた判定距離以内であり、かつ移動物の進行する向きが近接経路点の接線方向を基準とする判定角度範囲内であれば、移動物が走行経路に沿って移動していると判定する判定部122と、走行経路に沿って移動していると判定された移動物が移動物の現在位置から走行経路に沿って移動物の速度で所定の予測時間移動するときの推定位置からの距離が、複数の経路点のうちの他の経路点よりも短い経路点を、移動物の将来位置として特定する将来位置特定部123と、を有する。【選択図】図1
MOBILE OBJECT POSITION PREDICTION DEVICE
移動物位置予測装置
2024-04-05
Patent
Electronic Resource
Japanese
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