Mobile object target state determination device and program

摘要

An environmental movement detection section detects the speed of a vehicle and detects a mobile object in the vicinity of the vehicle. A collision probability prediction section predicts the probability of a prospective collision between the vehicle and the detected vicinity mobile object. On the basis of approach speeds, collision probabilities and sideward passing speeds when passing other mobile objects to sideward that have been determined from standard movements, a movement standard learning section learns relationships between approach speed, collision probability and sideward passing speed. On the basis of learning results at the movement standard learning section, a path characteristic point generation section determines a standard sideward passing speed for when passing the vicinity mobile object to sideward that corresponds with the detected approach speed and the predicted collision probability. Thus, standard mobile object states may be determined efficiently.

主权项

1. A mobile object target state determination device comprising:
a detection section that detects a mobile object state that is at least one of a position, attitude state and movement state of a mobile object subject to a determination, and that detects a mobile object state of a mobile object in a vicinity of the determination target mobile object; a collision prediction section that, on the basis of the mobile object state of the determination target mobile object and the mobile object state of the vicinity mobile object detected by the detection section, predicts a prospective collision probability between the determination target mobile object and the detected vicinity mobile object; and a determination section that determines a mobile object target state of the determination target mobile object corresponding to the mobile object state of the determination target mobile object detected by the detection section and the collision probability predicted by the collision prediction section, on the basis of a pre-specified relationship from which the mobile object target state, which is the mobile object state of the mobile object after the time that the mobile object state is detected, is determined by the determination section in accordance with the mobile object state of the mobile object and the collision probability predicted at the time that the mobile object state is detected.