| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling propriety determination device which reduces a processing load for determining whether or not an own vehicle can travel on a traveling path.SOLUTION: A traveling propriety determination device acquires peripheral information representing an object and road state around an own vehicle (S400), detects a traveling path on which the own vehicle travels from a compartment line sectioning a lane on the basis of the peripheral information (S402), detects an object existing in the periphery of the own vehicle on the basis of peripheral information (S404), generates one or more assumption paths assumed that the own vehicle travels on by using an SVM (Support Vector Machine) as a discriminator on the basis of the detected traveling path and the object (S406), extracts a feature point characterizing the shape of the assumption path from a detection point representing a boundary of the traveling path and a detection point representing the object (S408), calculates the distance between the feature point and the assumption path (S410), and determines whether or not the own vehicle can travel on the traveling path on the basis of the calculated distance (S412). |
