Patent Document ID: 9683861
Application ID: 15024000
Patent Status: 1

Claim One:
1. An estimated route presentation apparatus for a vehicle, comprising: an image acquisition unit configured to acquire a captured image captured using a camera provided on the vehicle, the captured image including at least a part of a vehicle tire image; an estimated route calculation unit configured to: detect a tire angle from an edge feature extracted from the captured image; calculate a center of gyration of the vehicle on a basis of the tire angle; and calculate an estimated route of the vehicle with reference to the center of gyration; and a presentation unit configured to present the estimated route calculated, wherein the estimated route calculation unit extracts a shadow region which has a luminance value of less than a predetermined value and is included in captured images by cameras provided at different positions of the vehicle, selects a captured image in which a ratio of area occupied by an extracted shadow region is low, and detects the tire angle on the basis of the edge feature extracted from a selected captured image.