Abstract: Conventionally, a method in which pieces of point group information for use in position matching between a white line position detected by an object detection sensor and a white line position on a map are extracted from the white line positions according to a travel environment, has not been taken into account. In the present disclosure, a point group extraction condition is changed according to change in the travel environment so that: a process of position matching that exhibits robustness with respect to change in the travel environment can be realized; and an own position and a white line position existing at a long distance from an own vehicle can be detected with high accuracy.

Abstract: There is provided a vehicle position estimation device, including: a first boundary-line calculation determination unit that calculates a first distance between the vehicle and a boundary line, and determines whether or not the vehicle has crossed the boundary line; a second boundary-line calculation determination unit that calculates a second distance between the vehicle and the boundary line, and determines whether or not the vehicle has crossed the boundary line; a traveling lane matching unit that adjusts at least one of the first and second distances for matching, based on whether or not the vehicle has crossed the boundary line, determined by the first boundary-line calculation determination unit and the second boundary-line calculation determination unit; and a position estimation unit that estimates a position of the vehicle, based on the first or second distance adjusted by the traveling lane matching unit.

Abstract: Host vehicle position measuring accuracy can be improved even in a situation where a position of a feature present around the host vehicle cannot be detected on the basis of sensor information from an in-vehicle sensor. A host vehicle position measuring device is configured to include: a host vehicle position measuring unit that measures a position of a host vehicle using a satellite signal emitted from a satellite positioning system; and a position correcting unit that estimates, using an error estimating model for estimating a position measuring error in the host vehicle position measuring unit, a measuring error corresponding to the position of the host vehicle measured by the host vehicle position measuring unit, and corrects the position of the host vehicle measured by the host vehicle position measuring unit using the measuring error.

Abstract: A lane-change prediction device includes: a first index calculating unit to calculate a first index that corresponds to a conditional probability of keeping the travel lane of a second vehicle and a conditional probability of changing the travel lane of the second vehicle, on the basis of time-series information related to the travel lane of the second vehicle; a second index calculating unit to calculate a second index related to a travel lane change or deceleration of the second vehicle, on the basis of surrounding vehicle information; and a lane-change prediction unit to calculate a lane change probability that the second vehicle changes the travel lane, on the basis of the first index and the second index.

Abstract: This route prediction device includes: an information acquisition circuitry to acquire a position and a speed of an own vehicle, positions and speeds of surrounding vehicles traveling around the own vehicle, and map information around the own vehicle; a cut-in determinator to determine whether or not the surrounding vehicle will cut in onto a traveling lane of the own vehicle, on the basis of an inducing factor of inducing cut-in of another vehicle; an assumptive vehicle setting circuitry to determine a traveling position, on a road, of an assumptive vehicle assumed to influence traveling of a cut-in vehicle determined to cut in, among the surrounding vehicles, using road information obtained from the map information; and a route prediction circuitry to predict a traveling route of one of the surrounding vehicles, on the basis of the traveling position of the assumptive vehicle, and so forth.

Abstract: There is provided a course prediction device which includes: a vehicle information detection unit for detecting positions and velocities of multiple vehicles; a road information acquisition unit for acquiring road information indicative of positions of lanes in a road on which the vehicles are traveling; a predicted course calculation unit for calculating a predicted course of each vehicle that is a future traveling course thereof; a collision-expected vehicle extraction unit for extracting the front vehicle and the rear vehicle on the same lane that may possibly collide with each other, on the basis of the road information and the predicted courses; an avoidance-action vehicle prediction unit for predicting which one of the front and rear vehicles is an avoidance action vehicle that will take a collision avoidance action; and an avoidance course calculation unit for calculating a collision avoidance course of the avoidance action vehicle.

Abstract: To provide an own position estimation apparatus and an own position estimation method which can correct the position coordinate of own vehicle, even if a periphery monitoring apparatus in which detection points detected with good accuracy at the same timing is few is used. An own position estimation apparatus detects relative positions of a road side wall based on detection information of a periphery monitoring apparatus; converts the past relative positions, into relative positions on a basis of the current position of the own vehicle, and superimposes the current relative positions and the past relative positions after conversion; searches for a relative position relation that a coincidence degree between the relative positions of the road side wall after superposition and the positions of the road side wall of the map data becomes high; and corrects the position coordinate of the own vehicle based on the relative position relation.

Abstract: Conventionally, a method in which pieces of point group information for use in position matching between a white line position detected by an object detection sensor and a white line position on a map are extracted from the white line positions according to a travel environment, has not been taken into account. In the present disclosure, a point group extraction condition is changed according to change in the travel environment so that: a process of position matching that exhibits robustness with respect to change in the travel environment can be realized; and an own position and a white line position existing at a long distance from an own vehicle can be detected with high accuracy.

Abstract: A motion state determination apparatus according to the present disclosure includes a sensor for obtaining observation data on a target object, a route data storage unit, a route component predictor that calculates component parallel and vertical to the route of a motion-dimension prediction value and a prediction error, a first coordinate transformer that transforms a motion-dimension prediction value and a prediction error into those on a coordinate system the same as a first coordinate system, a filter that calculates a motion-dimension estimation value and an estimation error, a second coordinate transformer that transforms a motion-dimension estimation value and an estimation error into a component parallel to the route and a component vertical to the route and a motion-dimension prediction value and a prediction error, and a state determinator that determines a motion state of the target object. As a result, the frequency of an erroneous determination can be decreased.

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A target tracking apparatus (1) includes: a plurality of nth-time-around echo tracking filter units (3-n) for generating a candidate track of a target from information of the target on an assumption that n is an integer larger than or equal to 1 and that the target to be observed is present at a range observed as an nth-time-around echo with a premise that the information of the target observed by a radar (2) includes missed detection of the target and false detection of the target; a track reliability calculating unit (4) for calculating track reliability representing likelihood of the candidate track generated by the plurality of nth-time-around echo tracking filter units (3-n) with the premise that the information of the target includes missed detection of the target and false detection of the target; and a track determining unit (6) for determining a track to be displayed on a display device (7) from among the candidate tracks generated by the plurality of nth-time-around echo tracking filter units (3-n)

Abstract: A configuration includes: a target-motion prediction unit (5) that calculates predicted movement ranges of one or more other vehicles (60) based on target tracking; an inter-target collision possibility estimator (6) that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (60); a target-motion re-prediction unit (7) that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles (60) exists; an own-motion prediction unit (10) that calculates a predicted movement range of a user's vehicle (50) based on an observation result; and an own-collision possibility estimator (11) that estimates collision possibilities between the user's vehicle (50) and the other vehicles (60) based on overlap of the final predicted movement ranges of the other vehicles (60) and the predicted movement range of the user's vehicle (50).

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A configuration includes: a target-motion prediction unit (5) that calculates predicted movement ranges of one or more other vehicles (60) based on target tracking; an inter-target collision possibility estimator (6) that estimates a collision possibility based on overlap of predicted movement ranges of the other vehicles (60); a target-motion re-prediction unit (7) that again calculates predicted movement ranges to avoid collision when the collision possibility between the other vehicles (60) exists; an own-motion prediction unit (10) that calculates a predicted movement range of a user's vehicle (50) based on an observation result; and an own-collision possibility estimator (11) that estimates collision possibilities between the user's vehicle (50) and the other vehicles (60) based on overlap of the final predicted movement ranges of the other vehicles (60) and the predicted movement range of the user's vehicle (50).