JP2007200074A - Peripheral object tracking device and peripheral object position prediction method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a peripheral object tracking device and a peripheral object position prediction method capable of keeping the tracking of a peripheral object more appropriately even if traveling on a winding section on a road. <P>SOLUTION: A position after Δ time of a monitoring target is predicted according to the vehicle velocity of an own vehicle at present, a curvature radius, and the curvature center of traveling on the one hand, and the vehicle velocity of the monitoring target at present, a curvature radius, and the curvature center of the traveling on the other. The curvature radius and the curvature center of the own vehicle are obtained as a curvature radius and the curvature center of a point on the road corresponding to a current position on the road indicated by map data which are calculated by a current position calculation part 12. Also, the curvature radius and the curvature center at present of the monitoring target are obtained as a curvature radius and the curvature center of a point on the road corresponding to the current position of the monitoring target on the road indicated by the map data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a technique for detecting a peripheral object in an in-vehicle device mounted on an automobile.

As a technique for detecting a peripheral object in an in-vehicle device mounted on a moving vehicle, the position of the peripheral object is detected using the radar device in the image captured by the camera by detecting the position of the peripheral object using the radar device. A technique for detecting another vehicle ahead of the host vehicle by performing a predetermined image recognition process on an image region corresponding to is known (for example, Patent Document 1). According to this technique, it is not necessary to perform image recognition processing on the entire image photographed using the camera, and other vehicles can be detected efficiently.
Japanese Patent Laid-Open No. 9-161063

  Now, when tracking a peripheral object detected by the technique of Patent Document 1 described above, if a peripheral object that is another vehicle or the host vehicle is traveling on a curved section of a road such as a curve, the peripheral object is captured by a camera. There are cases in which the surrounding object cannot continue to be tracked because it deviates out of the area or the relative position of the surrounding object changes too much.

  Accordingly, the present invention provides a peripheral object tracking device that can continue to track a peripheral object more appropriately even when the peripheral object that is another vehicle or the host vehicle is traveling on a curved section of a road such as a curve. The issue is to provide.

  In order to achieve the above object, the present invention provides a vehicle movement information for detecting a vehicle speed and a curvature of a current movement of the vehicle in a peripheral object tracking device that is mounted on the vehicle and tracks the position of an object around the vehicle. A calculation means; a peripheral object detection means for detecting a relative position of an object existing around the automobile with respect to the own vehicle; and the automobile moves with a vehicle speed and a curvature detected by the own vehicle movement information calculation means for a predetermined time from the present time. The change in the position of the automobile when the vehicle is continued is calculated as a change in the vehicle position, and the object detected by the surrounding object detection unit according to the calculated change in the vehicle position after the predetermined time has passed. An object position predicting unit that predicts a relative position with respect to an automobile; and a tracking unit that tracks the object using the relative position of the object predicted by the object position predicting unit. That.

  More specifically, such a peripheral object tracking device is more specifically configured such that the own vehicle movement information calculation means includes a current position calculation unit that calculates a current position of the vehicle, and a current value calculated by the current position calculation unit. A curvature of a point corresponding to the current position of the road where the position is located is configured as a curvature of the current movement of the vehicle and a vehicle movement curvature calculation unit that calculates based on map data representing a road map. It may be. Alternatively, the vehicle movement information calculating means detects a vehicle speed of the vehicle and an angular velocity of the traveling direction change, and calculates a travel locus of the vehicle from the detected vehicle speed and angular velocity, and the travel locus The vehicle trajectory calculated by the calculation unit includes a curvature of a position corresponding to the current position of the vehicle on the travel trajectory, and a vehicle movement curvature calculation unit that calculates the curvature of the current movement of the vehicle. You may do it.

  According to the surrounding object tracking devices such as these, the relative position of the future surrounding object with respect to the own vehicle is predicted in consideration of the moving speed and curvature of the own vehicle. Even when the user is moving, the future relative position of the surrounding object can be accurately predicted, and the surrounding object can be tracked more appropriately.

  In order to achieve the above object, the present invention provides a peripheral object tracking device that is mounted on an automobile and tracks the position of an object around the automobile, and detects the relative position of the object existing around the automobile to the own vehicle. A surrounding object detection means, a surrounding object movement information calculation means for calculating the current movement speed and curvature of the object whose relative position is detected by the surrounding object detection means, and an object whose relative position is detected by the surrounding object detection means Calculates a change in the position of the object when the movement is continued with the vehicle speed and curvature calculated by the surrounding object movement information calculation means for a predetermined time from the present time, and calculates the object position according to the calculated object position change. Object position predicting means for predicting a relative position with respect to the automobile after the predetermined time elapses, and using the relative position of the object predicted by the object position predicting means It is constructed by including a tracking means for performing tracking.

  Here, such a peripheral object tracking device, more specifically, the peripheral object movement information calculation unit includes a current position calculation unit that calculates a current position of an object whose relative position is detected by the peripheral object detection unit. The road map where the current position calculated by the current position calculation unit is the curvature of the point corresponding to the current position is used as the curvature of the current movement of the object whose relative position is detected by the surrounding object detection means. And a peripheral object moving curvature calculating unit that calculates based on map data representing Alternatively, the peripheral object movement information calculating unit may be configured to calculate a current position of the object whose relative position is detected by the peripheral object detecting unit and a transition of the current position calculated by the current position calculating unit, A movement trajectory calculation unit that calculates a trajectory of movement of the object, and a current position of the object of the movement trajectory calculated by the movement trajectory calculation unit that is detected by the surrounding object detection unit at the present time on the movement trajectory The peripheral object moving curvature calculating unit that calculates the curvature of the position corresponding to the above as the curvature of the object whose relative position is detected by the peripheral object detecting means may be configured.

  According to the peripheral object tracking devices such as these, the relative position of the future peripheral object with respect to the vehicle is predicted in consideration of the speed and curvature of movement of the peripheral object. Even when the user is moving, the future relative position of the surrounding object can be accurately predicted, and the surrounding object can be tracked more appropriately.

In addition, you may combine this for the structure of each above-mentioned surrounding object tracking apparatus.
Further, in each of the peripheral object tracking devices described above, the technology for predicting the relative position of the object detected by the peripheral object detection unit with respect to the automobile after the lapse of the predetermined time is the object position of the object around the automobile. It can be similarly applied to any other use of tracking.

  As described above, according to the present invention, even when a peripheral object that is another vehicle or the host vehicle is traveling on a curved section of a road such as a curve, the peripheral object can be tracked more appropriately. .

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the periphery monitoring system according to the present embodiment.
This peripheral monitoring system is a system mounted on an automobile. As shown in the drawing, the peripheral monitoring system 1, the GPS receiver 2, the vehicle speed sensor 3, the angular velocity sensor 4, a peripheral device for detecting peripheral conditions such as a radar device and a camera. An object sensor 5, a scanning area adjustment unit 6 that adjusts a scanning area that is a range in which the surrounding object sensor 5 detects a surrounding situation, an output device 7 that is a display device, a speaker, or the like used to output information to a user; It has. Here, the vehicle speed sensor 3 is a sensor that detects the vehicle speed of the automobile such as a vehicle speed pulse sensor, and the angular speed sensor 4 is a sensor that detects the traveling azimuth angle changing speed of the automobile from the angular acceleration, the geomagnetic direction, and the like.

In addition, the periphery monitoring device 1 includes a map data storage unit 11 that is a storage device such as a DVD drive or HDD that stores map data, a current position calculation unit 12, a travel locus calculation unit 13, a target detection unit 14, and a target tracking. Unit 15, monitoring target calculation unit 16, and monitoring area setting unit 17.
However, the peripheral monitoring device 1 described above may be a CPU circuit having a general configuration including a microprocessor, a memory, and other peripheral devices in terms of hardware. Each unit of the periphery monitoring device 1 may be realized as a process embodied by a microprocessor executing a program prepared in advance.

  Now, in such a configuration, the current position calculation unit 12 includes the current vehicle position estimated from the output of the GPS receiver 2, the output of the vehicle speed sensor 3 and each speed sensor, and the map data storage unit 11. The map matching process using the read map data is performed, and the process of calculating the most probable position as the current position of the own vehicle is repeatedly performed.

The travel locus calculation unit 13 calculates and holds the travel locus of the host vehicle from the vehicle speed detected by the vehicle speed sensor 3 and the angular velocity detected by the angular velocity sensor 4.
Next, the target detection unit 14 calculates a relative position of an object existing in the vicinity with respect to the own vehicle and a relative speed vector with respect to the own vehicle as target information in accordance with the surrounding situation detected by the surrounding object sensor 5. Repeat.
And the target tracking part 15 repeats the tracking process shown below. That is, the target tracking unit 15 acquires the target information calculated by the target detection unit 14 in each tracking process, tracks the target information for the same object, and displays a label indicating the identifier of the object. To the monitoring target calculation unit 16 and the monitoring area setting unit 17. That is, in the n-th tracking process, the target tracking unit 15 assumes that the target information given the label a is the target information of the object a when the label a is given to certain target information. Predict the relative position and relative speed of the object a at the n + 1th tracking processing execution point predicted from the relative position and relative speed of the object a indicated by the target information of the object a up to the n-th or n-th. Obtained as target information, and when the target information representing the relative position or relative speed approximated to the relative position or relative speed indicated by the obtained predicted target information is obtained in the (n + 1) th tracking process, the obtained information is obtained. The target information is output to the monitoring target calculation unit 16 and the monitoring area setting unit 17 by giving the label a as the target information of the object a. However, for target information given a label notified as a monitoring target label, which will be described later, until the cancellation of the monitoring target label is notified, the monitoring target prediction position notified from the monitoring area setting unit 17 is used. , And used as the predicted position of the aforementioned predicted target information.

  The target information for which there is no label to be given in the (n + 1) th tracking process is the target information for the object for which the target information is calculated for the first time in the (n + 1) th tracking process. As a new label and output to the monitoring target calculation unit 16 and the monitoring area setting unit 17.

  Next, when the monitoring target is not set, the monitoring target calculation unit 16 repeatedly performs the monitoring target setting process. That is, the monitoring target calculation unit 16 acquires each target information given a label from the target tracking unit 15 in each monitoring target setting process, and follows the predetermined standard from the acquired target information. Check whether there is an object to be set as the monitoring target around the vehicle, and if it exists, set the existing object as the monitoring target and set the label given to the target information of the monitoring target. The target label is set and notified to the target tracking unit 15 and the monitoring area setting unit 17. That is, for example, the monitoring target calculation unit 16 assumes that the target information to which the label b acquired from the target tracking unit 15 is given is the target information of the object b. The relative position or relative velocity vector indicated by the target information or the transition thereof represents the approach of the object b within the predetermined distance to the own vehicle, or predicts the approach of the object b within the predetermined distance in the near future to the own vehicle. In this case, the object b is a monitoring target and the label b is a monitoring target label.

  Moreover, the monitoring target calculation part 16 will repeatedly perform the monitoring target monitoring process, if the monitoring target is set. That is, the monitoring target calculation unit 16 acquires each target information given a label from the target tracking unit 15 in each monitoring target monitoring process, and based on the target information having the monitoring target label. Check whether the monitoring target is in a state where it is no longer necessary to monitor according to a predetermined standard. If the monitoring target is in a state where monitoring is no longer necessary, the monitoring target label is cleared and the set monitoring target The target tracking unit 15 and the monitoring area setting unit 17 are notified of the cancellation of the target label. Further, the monitoring target calculation unit 16 checks whether the monitoring target is in a predetermined warning target state based on the target information having the monitoring target label. Is output to the user using the output device 7. Here, the state in which the monitoring target is in the warning target state means that, for example, the relative position or relative speed vector of the monitoring target represented by the target information of the monitoring target may collide with the monitoring target and the host vehicle. It is a state that indicates that there is.

Next, the monitoring area setting unit 17 performs the following monitoring area setting process.
FIG. 2 shows the procedure of the monitoring area setting process.
As shown in the figure, the monitoring area setting unit 17 first sets the monitoring area to a predetermined initial value, and sends a peripheral object to the scanning area adjustment unit 6 so that the center of the set monitoring area becomes the center of the scanning area. The scanning area of the sensor 5 is adjusted, and the target detection unit 14 calculates target information for the monitoring area (step 202). Here, as the initial value of the monitoring area, an area having a range equal to the maximum range of the scanning area of the peripheral object sensor 5 around the front of the vehicle is used. When the peripheral object sensor 5 can adjust the size of the scanning area, in step 202, the scanning area adjustment unit 6 sets the scanning area of the peripheral object sensor 5 to be the monitoring area. You may make it adjust so that it may correspond.

Next, the monitoring area setting unit 17 monitors the generation of the notification of the monitoring target label from the monitoring target calculating unit 16 (step 204).
If the notification of the monitoring target label is generated, the current vehicle speed, the radius of curvature of movement, and the center of curvature are acquired as own vehicle information (step 206). In addition, from the target information given the same label as the last monitored target label input from the target tracking unit 15, the current vehicle speed, the radius of curvature of movement and the center of curvature of the monitored target are monitored. It is calculated as information (step 208). Here, the calculation method of the curvature radius and the curvature center of the movement of the own vehicle acquired as the own vehicle information, and the calculation method of the curvature radius and the curvature center of the monitoring target acquired as the monitoring target information will be described later.

Next, based on the acquired own vehicle information and the monitored target information, the relative position of the monitored target after a minute time Δt is estimated as the monitored target predicted position (step 210). Details of the estimation of the predicted target position will be described later.
The estimated target position of the monitored target after Δt is notified to the target tracking unit 15 (step 212). Further, a monitoring area centered on the monitoring target prediction position is set, and the scanning area adjustment unit 6 adjusts the scanning area of the peripheral object sensor 5 so that the center of the set monitoring area becomes the center of the scanning area. Then, the target detection unit 14 is caused to calculate the target information for the monitoring area (step 214). In this step 214, the size of the monitoring target to be set is set to a range that is smaller than the maximum range of the scanning area of the peripheral object sensor 5 and is large enough to monitor only the monitoring target.

  Then, it is checked whether or not a notification of cancellation of the monitoring target label from the monitoring target calculation unit 16 has occurred (step 216). If it has not occurred, the processing returns to step 206 and returns to the monitoring target prediction position. The updating of the monitoring area is repeated, and if it has occurred, the process returns to the process from step 202 to return the monitoring area to the initial value.

Here, the current vehicle speed, the radius of curvature and the curvature center of the host vehicle acquired as the host vehicle information in step 206 of the monitoring area setting process described above, and the current point of the monitoring target acquired as the monitoring target information in step 208 A method of obtaining the vehicle speed, the radius of curvature of movement, and the center of curvature will be described.
First, the vehicle speed represented by the vehicle speed sensor 3 is used as the current vehicle speed of the host vehicle. Further, the current vehicle speed of the monitored target is obtained by subtracting the vehicle speed vector of the vehicle from the relative vehicle speed vector represented by the target information last input from the target tracking unit 15 from the target tracking unit 15. The vehicle speed vector is calculated as follows.

  Next, the radius of curvature and the center of curvature of the current movement of the host vehicle are obtained as the radius of curvature and the center of curvature of the position corresponding to the current position on the traveling locus of the own vehicle held by the traveling locus calculation unit 13. The radius of curvature and the center of curvature can also be obtained by using the value obtained by differentiating the time integral value of the angular velocity detected by the angular velocity sensor 4 with the traveling distance of the own vehicle as the curvature of movement of the own vehicle.

However, the radius of curvature of the current movement of the host vehicle may be obtained as the radius of curvature and the center of curvature of the road at a point on the road corresponding to the current position of the host vehicle calculated by the current position calculation unit 12.
Note that the radius of curvature and the center of curvature of the current movement of the vehicle can be calculated according to the steering angle of the vehicle.
Next, the radius of curvature and the center of curvature of the movement of the monitoring target are the current monitoring target position on the trajectory of the monitoring target position obtained by subtracting the current position of the host vehicle from the relative position of the monitoring target. Find the radius of curvature and the center of curvature at the corresponding position.
However, the radius of curvature of the current movement of the monitored target is the curvature of the road at the point on the road corresponding to the current position of the monitored target obtained by performing map matching processing using the position of the monitored target and map data. You may make it obtain | require as a radius and a curvature center.
Here, the radius of curvature and the center of curvature of the road at the point on the road corresponding to the current position of the own vehicle calculated by the current position calculation unit and the current position of the monitoring target obtained by performing the map matching process are, for example, It can also be obtained as follows.
That is, the map data stored in the map data storage unit 11 now includes a set of links 301 that connect the road 300 shown in FIG. 3a with a node 302 using a link 301 that is a straight line as shown in FIG. 3b. In this case, the current position of the own vehicle calculated by the current position calculation unit and the current position of the monitoring target obtained by performing the map matching process are points on any link.

Then, the radius of curvature of the point on the actual road corresponding to the point X on the link is obtained as follows.
That is, as shown in FIG. 3c, when the point X is a position that internally divides the link 313 having the length La into t: (1-t) (however, 0 <t <1), first, the link Of the two parts divided at the point X at 313, the link 312 connected to the part having the length tLa is Lb and the link 214 is connected to the part having the length (1-t) La. Let Lc be the length of
{(1-t) (Lb + La) + t (La + Lc)} / 2
Is obtained as a reference distance L. If the point X is on a node connecting the link 313 and the link 312, t = 0 and the above equation is applied to obtain the reference distance L.

  Then, a point P and a point Q where the road distance along the link from the point X is the reference distance L are set, and an azimuth difference θ between the vector from the point P to the point X and the vector from the point X to the point Q And θ / L is used as the road curvature of the point X representing the curvature of the point 3132 on the actual road corresponding to the point X, and the radius of curvature and the center of curvature are obtained.

  Here, the reference distance L set as described above represents the average length of the links around the point X, and thus the reference distance L according to the average length of the links around the point X. By setting the point P or the point Q on the same link as the point X, it becomes impossible to obtain the curvature, or the point P on the link far away from the link where the point X is located It is possible to suppress the calculation of a curvature that is different from the curvature of the point on the actual road corresponding to the point X because the point Q is set.

Next, the details of the process of estimating the predicted target position performed in step 210 of the monitoring area setting process shown in FIG. 2 will be described.
Now, as shown in FIG. 4a, the current position of the host vehicle at time t is P (t), the current vehicle speed indicated by the host vehicle information acquired in step 206 is Vp, and the current position of the host vehicle is When the radius of curvature of movement is R and the center of curvature is Op (t), the position of the vehicle at time t + Δt after the minute time Δt has passed is on a circle of radius R centered on Op (t). It is predicted as a position P (t + Δt) that has moved by the change of the central angle by Φp. Here, Φp is obtained as KpVpΔt, where Kp is the curvature of the current movement of the vehicle determined from the curvature radius R.

  On the other hand, the current position of the monitoring target at time t is Q (t), the current vehicle speed of the monitoring target indicated by the monitoring target information acquired in step 208 is Vq, and the current movement of the monitoring target is When the radius of curvature is r and the center of curvature is Oq (t), the position of the monitored target at time t + Δt after the minute time Δt has passed is centered on a circle of radius r centered on Oq (t). It is predicted as a position Q (t + Δt) that has moved by an angle that changes by Φq. Here, Φq is obtained as KqVqΔt, where Kq is the curvature of the current movement of the monitoring target obtained from the curvature radius r.

  The relative position vector indicating the predicted target position of the monitored target at time t + Δt with respect to the own vehicle position is Q (t + Δt) from position P (t + Δt). It can be obtained as a vector heading to. A coordinate system in which the vehicle position P (t + Δt) at time t + Δt is the origin, the vehicle traveling direction at time t + Δt is the y direction, and the vehicle left-right direction at time t + Δt is the x direction, By converting the coordinates of this relative position vector, time t + Δt on the xL-yL coordinate system, which is a coordinate system in which the own vehicle position is the origin, the own vehicle traveling direction is the y direction, and the left and right direction of the own vehicle is the x direction. The predicted target position (x0, y0) is indicated by the relative position vector after coordinate conversion. In addition, the own vehicle traveling direction at time t + Δt is obtained as a direction changed by Φp from the own vehicle traveling direction at time t. The coordinate conversion of the relative position vector is performed in the xW-yW coordinate system which is a coordinate system in which the own vehicle traveling direction at time t + Δt and the position P and the position Q are represented (generally, the north is the y direction). The angle difference from the y direction is θ, and the rotation is −θ.

Note that the predicted target position (x0, y0) on the xL-yL coordinate system at the time t + Δt may actually be calculated as follows.
That is, as shown in FIG. 4b, the current position of the monitoring target on the xL-yL coordinate system at time t is LQ (t), the radius of curvature of movement of the monitoring target at time t is r, and xL− at time t. If the center of curvature of the monitoring target on the yL coordinate system is obtained as LOq (t), first, on the xL-yL coordinate system, on the circle of radius r centering on LOq (t), the center angle is set. A position DQ (t + Δt) obtained by moving LQ (t) by a change of Φq is obtained. Here, Φq is KqVqΔt, where Kq is the curvature of the current movement of the monitored target obtained from the curvature radius r.
Next, a position LQ (t + Δt) obtained by rotating DQ (t + Δt) by −Φp around the rotation center LOp (t) on the xL-yL coordinate system at time t of the vehicle is obtained. , The position (x0, y0) of LQ (t + Δt) is the monitoring target prediction position on the xL-yL coordinate system at time t + Δt. Note that Φp is obtained as KpVpΔt, where Kp is the curvature of movement of the vehicle at time t, which is obtained from the curvature radius R.
Note that the coordinates on the xL-yL coordinate system of LOp are (Cx, Cy), the coordinates on the xL-yL coordinate system of DQ (t + Δt) are (x, y), and DQ (t The coordinates (x0, y0) on the xL-yL coordinate system of the position of LQ (t + Δt) obtained by rotating + Δt) by the angle −Φp can be obtained by the following equation 1.
The embodiment of the present invention has been described above.
As described above, according to the present embodiment, the relative position of the future monitoring target with respect to the own vehicle is predicted in consideration of the moving speed and curvature of the own vehicle and the monitoring target. Even when the vehicle is moving on a curved section of a road such as a curve, the relative position of the monitored target with respect to the vehicle in the future can be accurately predicted, and the monitored target can be tracked more appropriately. Become.

It is a block diagram which shows the structure of the periphery monitoring system which concerns on embodiment of this invention. It is a flowchart which shows the monitoring area | region setting process which concerns on embodiment of this invention. It is a figure which shows the curvature calculation method which concerns on embodiment of this invention. It is a figure which shows the calculation method of the curvature radius and curvature center performed by the monitoring area | region setting process which concerns on embodiment of this invention. It is a figure which shows the calculation method of the predicted position of the monitoring target performed by the monitoring area | region setting process which concerns on embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Perimeter monitoring apparatus, 2 ... GPS receiver, 3 ... Vehicle speed sensor, 4 ... Angular velocity sensor, 5 ... Peripheral object sensor, 6 ... Scanning area adjustment part, 7 ... Output device, 11 ... Map data storage part, 12 ... Present Position calculation unit, 13 ... traveling locus calculation unit, 14 ... target detection unit, 15 ... target tracking unit, 16 ... monitoring target calculation unit, 17 ... monitoring area setting unit.

Claims (10)

A peripheral object tracking device that is mounted on an automobile and tracks the position of an object around the automobile,
Own vehicle movement information calculating means for detecting the vehicle speed and curvature of the current movement of the automobile;
Surrounding object detection means for detecting a relative position of an object existing around the automobile with respect to the own vehicle;
The change of the position of the automobile when the automobile continues moving with the vehicle speed and curvature detected by the own vehicle movement information calculating means for a predetermined time from the present time is calculated as the own vehicle position change, and according to the calculated own vehicle position change Object position prediction means for predicting the relative position of the object whose peripheral object detection means has detected the relative position with respect to the car after the lapse of the predetermined time;
A peripheral object tracking device comprising: tracking means for tracking the object using the relative position of the object predicted by the object position prediction means. The peripheral object tracking device according to claim 1,
The vehicle movement information calculation means includes
A current position calculating unit for calculating a current position of the automobile;
The own vehicle that calculates the curvature of the point corresponding to the current position of the road on which the current position calculated by the current position calculation unit is located as the current movement curvature of the vehicle based on map data representing a road map A peripheral object tracking device comprising a moving curvature calculation unit. The peripheral object tracking device according to claim 2,
The vehicle movement information calculation means includes
A traveling locus calculating unit that detects the vehicle speed and the angular velocity of the traveling direction change of the vehicle, and calculates a traveling locus of the vehicle from the detected vehicle speed and angular velocity;
An own vehicle movement curvature calculating unit that calculates a curvature of a position of the traveling locus calculated by the traveling locus calculation unit corresponding to the current position of the vehicle on the traveling locus as a curvature of the current movement of the vehicle; A peripheral object tracking device characterized by comprising: A peripheral object tracking device that is mounted on an automobile and tracks the position of an object around the automobile,
Surrounding object detection means for detecting a relative position of an object existing around the automobile with respect to the own vehicle;
A peripheral object movement information calculating means for calculating a current movement speed and curvature of the object whose relative position is detected by the peripheral object detection means;
The change in the position of the object when the peripheral object detection means detects the relative position continues for a predetermined time from the current time with the vehicle speed and curvature calculated by the peripheral object movement information calculation means as the object position change. Object position predicting means for calculating a relative position of the object with respect to the automobile after the predetermined time has elapsed according to the calculated object position change;
A peripheral object tracking device comprising: tracking means for tracking the object using the relative position of the object predicted by the object position prediction means. The peripheral object tracking device according to claim 1, 2, or 3,
The surrounding object detection means has a surrounding object movement information calculation means for calculating the speed and curvature of the current movement of the object whose relative position is detected;
The object position prediction means calculates the vehicle position change, and the object whose relative position is detected by the surrounding object detection means has a vehicle speed and curvature calculated by the surrounding object movement information calculation means for a predetermined time from the present time. The change in the position of the object when the movement is continued is calculated as an object position change, and the predetermined time elapses of the object whose relative position is detected by the surrounding object detection means according to the calculated vehicle position change and the object position change. A peripheral object tracking device that predicts a relative position to the automobile later. A peripheral object tracking device according to claim 4 or 5,
The peripheral object movement information calculation means includes:
A current position calculation unit for calculating a current position of the object whose relative position is detected by the surrounding object detection unit;
The road map is calculated by using the curvature of the road corresponding to the current position of the road where the current position calculated by the current position calculation unit is calculated as the curvature of the current movement of the object detected by the surrounding object detection unit. A peripheral object tracking device comprising: a peripheral object movement curvature calculating unit that calculates based on map data to be expressed. A peripheral object tracking device according to claim 4 or 5,
The peripheral object movement information calculation means includes:
A current position calculation unit for calculating a current position of the object whose relative position is detected by the surrounding object detection unit;
A movement trajectory calculation unit that calculates a trajectory of the movement of the object from the transition of the current position calculated by the current position calculation unit;
The peripheral object detection means calculates the curvature of the position of the movement locus calculated by the movement locus calculation unit corresponding to the current position of the object whose relative position is detected by the surrounding object detection means at the present time. A peripheral object tracking device, comprising: a peripheral object movement curvature calculation unit that calculates a curvature of a current movement of an object whose relative position is detected. In a vehicle-mounted device mounted on an automobile, a surrounding object position prediction method for predicting the position of an object around the automobile,
Detecting the vehicle speed and curvature of the current movement of the vehicle;
Detecting a relative position of an object existing around the vehicle with respect to the vehicle;
A change in the position of the automobile when the automobile continues to move with the detected vehicle speed and curvature for a predetermined time from the present time is calculated as a change in the vehicle position, and the relative position is detected according to the calculated change in the vehicle position. Predicting a relative position of an object relative to the automobile after the predetermined time has elapsed. In a vehicle-mounted device mounted on an automobile, a surrounding object position prediction method for predicting the position of an object around the automobile,
Detecting a relative position of an object existing around the vehicle with respect to the vehicle;
Calculating the speed and curvature of the current movement of the object that has detected the relative position;
When the object that has detected the relative position continues to move with the calculated vehicle speed and curvature for a predetermined time from the current time, a change in the position of the object is calculated as an object position change, and the predetermined position is determined according to the calculated object position change. And predicting a relative position of the object with respect to the automobile after a lapse of time. The surrounding object position prediction method according to claim 8,
Calculating the speed and curvature of the current movement of the object that has detected the relative position;
In the step of predicting the relative position, the vehicle position change is calculated, and the object in which the relative position is detected continues to move with the calculated current vehicle speed and curvature of the object for a predetermined time from the present time. A change in the position of the object is calculated as an object position change, and according to the calculated vehicle position change and the object position change, the object whose relative position is detected by the surrounding object detection unit with respect to the automobile after the predetermined time has elapsed. A surrounding object position prediction method characterized by predicting a relative position.