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

Claim 8:
9. A non-transitory computer readable recording medium in which a relative position determining program for causing a computer to function as a relative position determining apparatus is stored, the program causing the computer to execute steps of:
(a) obtaining first trajectory information that is a set of first trajectory points indicating positions that a first moving object has passed;
(b) obtaining second trajectory information that is a set of second trajectory points indicating positions that a second moving object has passed;
(c) obtaining map information including lane shape information indicating a shape of each lane using geometric information;
(d) determining whether each of the first trajectory information and the second trajectory information matches the lane shape information; and
(e) determining relative lanes of the first moving object and the second moving object, based on a result of the determining in step (d),
wherein step (d) 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;

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.