A scene determination device includes a determination processor configured to, when determining a driving action of a subject vehicle traveling on a route, determine a scene which the subject vehicle encounters. The determination processor calculates a travel estimation line of time series of the subject vehicle traveling on a first route, extracts an event which the subject vehicle encounters, on the basis of positions of points of intersections between the travel estimation line and a second route having a point of intersection with the first route, and determines the scene using a relationship between the extracted event and the subject vehicle.
Scene determination device, travel assistance apparatus, and scene determination method
2019-07-30
Patent
Electronic Resource
English
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