Patent ID: 11915494
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 7:
8. A relative position determining method, comprising:
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 determining;
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;
evaluating whether the first trajectory information, the second trajectory information, and the lane shape info ration 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.