| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect the traveling direction of a mobile object by a simple method. <P>SOLUTION: An object around a vehicle V as a mobile object is detected by an object detection sensor 1. The position and the orientation of the vehicle V including errors are roughly measured by a GPS 3. Map data 4 and detection data detected by the object detection sensor 1 are matched by using an orthogonal coordinate system, and then the current position of the vehicle V is measured. By using a polar coordinate system where the position of the vehicle V is an origin, the map data and the detection data are matched, and the traveling direction of the vehicle V is determined. <P>COPYRIGHT: (C)2013,JPO&INPIT |
