Route prediction device
A route prediction unit estimates a route of an object of interest with respect to a target object based on collision avoidance models. A collision risk estimation unit calculates collision risks between the object of interest and target object for each collision avoidance model. A collision deciding unit decides the presence or absence of a collision from the collision risks and feeds back a collision avoidance model correction value to the route prediction unit when it is determined that the collision occurs. A collision avoidance route selector selects any of the plurality of collision avoidance models in which the absence of collision is decided by the collision deciding unit, and selects a route of the collision avoidance model as a route for avoiding the collision between the objects. The route prediction unit performs a new route prediction using the collision avoidance model correction value.
1. A route prediction device comprising:
a tracking processor that carries out tracking processing based on a position of an object of interest and a position of a surrounding object near the object of interest, and that calculates an estimated position and an estimated speed of the object of interest and of the surrounding object;
a collision object detector that detects as a target object a surrounding object having a possibility of colliding with the object of interest based on the estimated position and the estimated speed;
a route predictor that estimates a route of the object of interest with respect to the target object in accordance with collision avoidance models;
a collision risk estimator that calculates collision risks between the object of interest and the target object in conformity with the collision avoidance models;
a collision decider to decide presence or absence of a collision based on the collision risks, and when it is determined that the collision occurs, that feeds back a collision avoidance model correction value to the route predictor; and
an avoidance route selector that selects any of the plurality of collision avoidance models in which the absence of collision is decided by the collision decider, and that selects a route of the collision avoidance model as a route for avoiding a collision between the objects, wherein
the route predictor carries out a new route prediction using the collision avoidance model correction value,
the tracking processor calculates an estimation error of the estimated position, and
the collision risk estimator obtains the collision risk on a basis of a value obtained by normalizing the estimated position with the estimation error.
2. The route prediction device according to claim 1 , wherein
the collision risk estimator calculates the collision risk from the value obtained by normalizing the estimated position with the estimation error.
3. The route prediction device according to claim 1 , wherein
the collision risk estimator acquires the collision risk from a table showing correspondence between the value obtained by normalizing the estimated position with the estimation error and the collision risk.
4. The route prediction device according to claim 1 , wherein
the collision decider makes a collision decision by comparing the collision risks with a threshold that has been set.
5. The route prediction device according to claim 1 , further comprising a sensor to observe a position of the object of interest and a position of the surrounding object.
6. A route prediction device comprising:
a tracking processor that carries out tracking processing based on a position of an object of interest and a position of a surrounding object near the object of interest, and that calculates an estimated position and an estimated speed of the object of interest and of the surrounding object;
a collision object detector that detects as a target object a surrounding object having a possibility of colliding with the object of interest based on the estimated position and the estimated speed;
a route predictor that estimates a route of the object of interest with respect to the target object in accordance with collision avoidance models;
a collision risk estimator that calculates collision risks between the object of interest and the target object in conformity with the collision avoidance models;
a collision decider to decide presence or absence of a collision based on the collision risks, and when it is determined that the collision occurs, that feeds back a collision avoidance model correction value to the route predictor; and
an avoidance route selector that selects any of the plurality of collision avoidance models in which the absence of collision is decided by the collision decider, and that selects a route of the collision avoidance model as a route for avoiding a collision between the objects, wherein
the route predictor carries out a new route prediction using the collision avoidance model correction value, and
the avoidance route selector selects the collision avoidance model in accordance with a result obtained by processing the collision risks of the collision avoidance models in a time direction.
7. The route prediction device according to claim 6 , wherein
the avoidance route selector selects, as for time-direction accumulated values of the collision risks of the collision avoidance models, a collision avoidance model with an accumulated value not greater than a set point.
8. The route prediction device according to claim 6 , wherein
the avoidance route selector adopts as a representative value a maximum value in a time direction of the collision risks of the collision avoidance models, and selects a collision avoidance model with the representative value not greater than a set point.
9. The route prediction device according to claim 6 , wherein
the collision decider makes a collision decision by comparing the collision risks with a threshold that has been set.
10. The route prediction device according to claim 6 , further comprising a sensor to observe a position of the object of interest and a position of the surrounding object.