| 摘要 |
An object of the invention is to accurately predict a movement trajectory of an object from a history of positions of the object even in a case where shaking or deflection of a vehicle occurs. In order to achieve the object, in the invention, the position of the object around the vehicle is acquired (S1), a ground speed of the object is acquired (S3), a slope &thetas; of a trajectory prediction vector (relative movement vector) of the object with respect to the vehicle is calculated by using a speed of the vehicle and the ground speed of the object (S7), fitting is performed (classification of the recorded positions of the object in the movement trajectory) with respect to the history of the positions of the object with a straight line having the slope &thetas; of the trajectory prediction vector (S8), and a straight line having the slope &thetas; of the position fitting best in the straight line having the slope &thetas; (straight line having a plurality of positions included in a group classified through the fitting) is predicted as the movement trajectory of the object (S9). |
