TRAVEL TRAJECTORY ESTIMATING METHOD AND TRAVEL TRAJECTORY ESTIMATING DEVICE

摘要

To estimate the travel trajectory of a vehicle with good accuracy even when estimating the travel trajectory separately in sections.SOLUTION: A travel trajectory estimating method of the present invention includes: acquiring travel data detected when a vehicle has traveled and environment information that includes a target around the vehicle detected when the vehicle has traveled; calculating a travel trajectory on the basis of the travel data; detecting a vehicle location among vehicle locations on the travel trajectory around which a target exists in both a vehicle width direction and a progression direction at vehicle location; and when a target existing in the vehicle width direction at the detected vehicle location and a target existing in the progression direction at the detected vehicle location are recorded in map information, setting the detected vehicle location to a division point, dividing the travel trajectory at the division point into a plurality of sections and adjusting the travel trajectory for each of the plurality of divided sections.SELECTED DRAWING: Figure 5