| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle-advancing direction estimating device for estimating the advancing direction of own vehicle, after passing an intersection utilizing infrastructure information. SOLUTION: An ECU (electric control unit) of the vehicle-advancing direction estimating device, first, acquires the infrastructure information including a connection angle of a road at a node and intersection corresponding to the intersection; sequentially determines azimuthal angle average values of own vehicle, before and after passing the intersection; and determines the azimuth variationΔof the own vehicle after passing the intersection, with respect to before passing the intersection. Then, the ECU determines whether the absolute value of the difference between the azimuth variationΔof own vehicle and the link connection angle of an arbitrary road is smaller than the absolute value of the difference of the azimuth variationΔof own vehicle and the link connection angle of another road and the absolute value of the difference of the azimuth variationΔof own vehicle and the link connection angle of the optional road is smaller than an angle error threshold. When this is established, the ECU determines that the advancing direction of own vehicle, after passing the intersection is the optional road. COPYRIGHT: (C)2010,JPO&INPIT |
