To suppress erroneous determination on wobble of a vehicle.SOLUTION: A travel state determination device 30 includes: an identification section 322 for identifying a first distance between a position of a road zone line extracted from a photographed image and a position of a vehicle; a calculation section 323 for calculating the maximum lateral displacement indicating a difference between the maximum value of the first distance and the minimum value of the first distance from the plurality of first distances identified by the identification section 322 in a period between a time before a first time from a predetermined time and the predetermined time, so as to calculate a statistic of the plurality of maximum lateral displacements in a period between a time before a second time longer than the first time from the predetermined time and the predetermined time; and a determination section 324 for determining existence of wobble of the vehicle when a division value, which is obtained by dividing the statistic calculated at the predetermined time by the statistic calculated at the time before a unit time from the predetermined time, is equal to or more than a threshold.SELECTED DRAWING: Figure 1
【課題】車両のふらつきの誤判定を抑制する。【解決手段】走行状態判定装置30は、撮像画像から抽出した道路区画線の位置と車両の位置との第1距離を特定する特定部322と、所定の時刻より第1時間前の時刻から所定の時刻において特定部322が特定した複数の第1距離から、第1距離の最大値と第1距離の最小値との差を示す最大横変位を算出し、所定の時刻より、第1時間より長い第2時間前の時刻から所定の時刻における複数の最大横変位の統計量を算出する算出部323と、所定の時刻に算出した統計量を所定の時刻より単位時間前の時刻に算出した統計量で除算した除算値が閾値以上である場合に、車両のふらつきがあると判定する判定部324と、を有する。【選択図】図1
TRAVEL STATE DETERMINATION DEVICE AND TRAVEL STATE DETERMINATION METHOD
走行状態判定装置及び走行状態判定方法
2025-01-24
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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