RUNNING PATH ESTIMATION METHOD AND RUNNING PATH ESTIMATION DEVICE

To estimate a geometry of a running path at an intersection even in a region where a traveling track has not been acquired.SOLUTION: A running path estimation method includes: acquiring data indicating positions and directions of a plurality of road surface arrow signs before an intersection; acquiring data indicating a traveling track of a vehicle traveling in the intersection; calculating a distance in a vehicle lane width direction from the traveling track to each of the plurality of road surface arrow signs; determining a destination of the traveling track on the basis of a direction of a reference road surface arrow sign, which is a road surface arrow sign with a distance of less than a first threshold value; generating data indicating a duplicated traveling track by duplicating the traveling track by translating it to a position of a road surface arrow sign indicative of the same direction as the destination of the traveling track and being different from the reference road surface arrow sign; and estimating a geometry of a running path in the intersection on the basis of the data indicating the duplicated traveling track.SELECTED DRAWING: Figure 1 【課題】交差点において、走行軌跡が取得されていない領域でも走路の形状を推定する。【解決手段】交差点手前の複数の路面矢印標示の位置及び方向を示すデータ取得し、交差点を走行する車両の走行軌跡を示すデータを取得し、走行軌跡から複数の路面矢印標示の各々までの車線幅方向の距離を算出し、距離が第１閾値未満の路面矢印標示である基準路面矢印標示の方向に基づいて、走行軌跡の行き先を判定し、走行軌跡を、走行軌跡の行き先と同一の方向を示し、基準路面矢印標示とは異なる路面矢印標示の位置に平行移動して複製した複製走行軌跡を示すデータを生成し、複製走行軌跡を示すデータに基づいて、交差点内の走路の形状を推定する。【選択図】図１