VEHICLE RELATIVE POSITION ESTIMATION APPARATUS AND VEHICLE RELATIVE POSITION ESTIMATION METHOD

摘要

Disclosed is a vehicle relative position estimation apparatus that estimates the relative position between vehicles. The vehicle relative position estimation apparatus includes: a motional state acquiring unit 12 that acquires vehicle control information for controlling the motional state of a vehicle C n or the motional state of the vehicle C n detected by an in-vehicle apparatus of the vehicle C n , and vehicle control information for controlling the motional state of another vehicle or the motional state of another vehicle detected by an in-vehicle apparatus of another vehicle; a relative position acquiring unit 13 that acquires the relative position detected by the in-vehicle apparatus provided in the vehicle C n or another vehicle; an estimation unit 14 that receives the vehicle control information or the motional state of the vehicle C n , and the vehicle control information or the motional state of another vehicle acquired by the motional state acquiring unit 12 and estimates the relative position with a Kalman filter using the relative position acquired by the relative position acquiring unit 13 as the amount of observation. According to this structure, it is possible to accurately estimate the relative position.