| 摘要 |
<p>An azimuthΘof the direction of travel of the host vehicle MV is acquired, a radius R of the road on which the host vehicle MV is traveling is estimated, a location (Χ1,Υ1) of another vehicle OV1 is acquired, an azimuthθ1 of the direction of travel of the other vehicle OV1 is acquired, the other vehicle OV1 is positioned on a coordinate system, an origin of which is the host vehicle MV, and an axis of which is the estimated road radius R in the direction of travel of the host vehicle MV, and determination is made on whether or not the other vehicle OV1 is on the same course as the host vehicle MV by taking account of the width of the course, location error, azimuth error, error in the estimated road radius, error due to drift of the vehicle, and change in the Curvature of the course..</p> |
