US 11,915,494 B2
Relative position determining apparatus, relative position determining method, and non-transitory computer readable recording medium
Yoshiaki Adachi, Tokyo (JP); Yuji Hamada, Tokyo (JP); and Takayoshi Takehara, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 17/605,233
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Jun. 19, 2019, PCT No. PCT/JP2019/024281
§ 371(c)(1), (2) Date Oct. 21, 2021,
PCT Pub. No. WO2020/255296, PCT Pub. Date Dec. 24, 2020.
Prior Publication US 2022/0180645 A1, Jun. 9, 2022
Int. Cl. G01C 21/30 (2006.01); G06V 20/56 (2022.01); G06V 10/74 (2022.01)
CPC G06V 20/588 (2022.01) [G01C 21/30 (2013.01); G06V 10/74 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A relative position determining apparatus, comprising:
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of:
obtaining first trajectory information that is a set of first trajectory points indicating positions that a first moving object has passed;
obtaining second trajectory information that is a set of second trajectory points indicating positions that a second moving object has passed;
obtaining map information including lane shape information indicating a shape of each lane using geometric information;
determining whether each of the first trajectory information and the second trajectory information matches the lane shape information;
determining relative lanes of the first moving object and the second moving object, based on a result of the determination,
wherein the determining of whether each of the first trajectory information and the second trajectory information matches the lane shape information includes determining whether a shape of a line connecting the first trajectory points matches the shape of the lane by calculating a differential amount between each of the first trajectory points and the shape of the lane based on latitude and longitude, determining whether a shape of a line connecting the second trajectory points matches the shape of the lane by calculating a differential amount between each of the second trajectory points and the shape of the lane based on latitude and longitude, and evaluating whether the first trajectory information, the second trajectory information, and the lane shape information are accurate; and
controlling the first moving object based on the result of determining relative lanes of the first moving object and the second moving object.