| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect a start position of an intersection.SOLUTION: An intersection detection method includes: acquiring in-vehicle data including first data to be used in the case of examining a state around a traveling object and first position information indicating a position of the traveling object and map data including second position information indicating the position of an intersection; selecting the in-vehicle data acquired at a spot within a predetermined distance from the intersection on the basis of the first position information and the second position information; determining whether or not the characteristics of the intersection exist in the first data of the selected in-vehicle data; specifying the in-vehicle data acquired within the intersection on the basis of the determination result; determining the start position of a search range on the basis of the specified in-vehicle data; determining the search direction of the in-vehicle data as a time direction which is reverse to the recording time direction of the in-vehicle data; successively selecting the in-vehicle data to be determined in accordance with the search direction; determining whether or not characteristics corresponding to an intersection start position appear in the in-vehicle data to be determined; and specifying the in-vehicle data of the intersection start position. |
