Patent ID: 9734718
Date: 2017-08-15
CPC Classifications: G01C,G08G,H04L

Claim:
1. A vehicle location estimation apparatus for estimating a location of an other vehicle in the periphery of a host vehicle, the vehicle location estimation apparatus comprising: an azimuth sensor configured to acquire an azimuth of a direction of travel of the host vehicle; a receiver configured to: receive the location of the other vehicle, and receive an azimuth of a travel path direction in which the other vehicle is travelling; and an ECU configured to: estimate a curvature radius of a road on which the host vehicle is traveling; arrange the other vehicle on a coordinate system, an origin of which is a position of the host vehicle, and an axis of which is the direction of travel in which the host vehicle is travelling, and determine a lane on which the other vehicle is travelling, a lane on which the host vehicle is travelling, the travel path direction in which the other vehicle, and the travel path direction in which the host vehicle is travelling, by taking account at least one from among a width of the road, error in the received location of the other vehicle, error in the estimated curvature radius of the road, change in a curvature of the direction of travel of the host vehicle, azimuth error of the host vehicle and the other vehicle, error in an azimuth and a curvature radius of the direction of travel of the host vehicle due to drift of the host vehicle and the other vehicle, set a location threshold value and an azimuth threshold value, and determine whether or not the lane on which the other vehicle is traveling is the same as the lane on which the host vehicle is travelling and the travel path direction in which the other vehicle is travelling is the same as the direction of travel in which the host vehicle is travelling, by comparing the location of the other vehicle with the location threshold value, and also comparing the azimuth of the other vehicle with the azimuth threshold value.