| 摘要 |
<P>PROBLEM TO BE SOLVED: To suppress an increase in amount of calculation even if a future shape of position distribution of a moving object is complicated. <P>SOLUTION: A region division part 42 generates a region division map by dividing a region according to a region of runway classification and a region of motionless object. A branch node generation part 44 generates a branch node on a region boundary. A moving object generation part 46 records a position distribution of a moving object with a speed distribution. When the region division map has the branch node near the position distribution of the moving object, a moving object division part 52 generates position distributions of the moving object as many as branched directions of the branch node, calculates a branching ratio of each branched direction based on a possibility of entering a region adjacent at a boundary where the branch node exists, weights the position distribution of the moving object based on the branching ratio, and changes each of the corresponding speed distributions based on each of the branched directions. A position update part 48 updates the position distribution of the moving object. <P>COPYRIGHT: (C)2012,JPO&INPIT |
