To provide an emergency vehicle estimation device capable of estimating a position and a moving direction of an emergency vehicle without using communication.SOLUTION: A vehicle control device 32 includes: an emergency vehicle distance acquisition unit 38 that acquires a distance between a vehicle 10 and the emergency vehicle, from an external sound of the vehicle 10 collected by microphones 12a to 12d; a frontward vehicle behavior acquisition unit 40 that acquires behavior of another vehicle existing in front of the vehicle 10 from information acquired by a camera 14; and an emergency vehicle behavior estimation unit 42 that estimates at least one of a position of the emergency vehicle and a moving direction of the emergency vehicle, based on the behavior of another vehicle, when the distance between the vehicle 10 and the emergency vehicle is less than a predetermined distance.SELECTED DRAWING: Figure 2
【課題】通信を用いずに緊急車両の位置や移動方向を推定できる緊急車両推定装置を提供する。【解決手段】車両制御装置32は、マイク12a〜12dにより集音された車両10の外部の音から、車両10と緊急車両との距離を取得する緊急車両距離取得部38と、カメラ14により取得された情報から、車両10の前方に存在する他車両の挙動を取得する前方車両挙動取得部40と、車両10と緊急車両との距離が所定距離未満である場合には、他車両の挙動に基づいて、緊急車両の位置、及び、緊急車両の移動方向のうち少なくとも1つを推定する緊急車両行動推定部42と、を有する。【選択図】図2
EMERGENCY VEHICLE ESTIMATION DEVICE AND EMERGENCY VEHICLE ESTIMATION METHOD
緊急車両推定装置及び緊急車両推定方法
2021-08-30
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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