To provide a travel track generation method and a travel track generation apparatus, which are capable of improving accuracy when generating a travel track by applying a straight line or curve to observation points representing positions on which another vehicle has traveled.SOLUTION: A travel track generation method, for use in generating a travel track of a preceding vehicle by applying a straight line or curve to observation points representing positions on which a preceding vehicle has traveled through, includes: calculating a tangential vector of a preceding vehicle travel route at each of plural observation points to set sectional division points respectively to two observation points at which directions of the tangential vectors are different by a given angle or more; and generating a travel track of the preceding vehicle by applying a straight line or curve to an observation point that is positioned between two sectional division points that are adjacent to each other.SELECTED DRAWING: Figure 1
【課題】他車両が走行した位置を示す観測点に対して、直線または曲線を当てはめて走行軌跡を生成する際の精度を向上させることが可能な走行軌跡生成方法、及び走行軌跡生成装置を提供する。【解決手段】先行車両が通過した位置を示す観測点に対して、直線または曲線を当てはめることにより、先行車両の走行軌跡を生成する走行軌跡生成方法であり、複数の観測点の各々における先行車両の走行経路の接線ベクトルを算出し、接線ベクトルの方向が所定角度以上異なる2つの観測点にそれぞれ区間分割点を設定する。互いに隣接する2つの区間分割点の間に位置する観測点に対して、直線または曲線を当てはめることにより、先行車両の走行軌跡を生成する。【選択図】図1
TRAVEL TRACK GENERATION METHOD AND TRAVEL TRACK GENERATION APPARATUS
走行軌跡生成方法及び走行軌跡生成装置
2020-03-05
Patent
Electronic Resource
Japanese
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