Vehicle processing device, vehicle processing program, and vehicle processing method

Abstract

To correctly estimate an outer shape straight line indicating a part of an outer shape of another vehicle.SOLUTION: A vehicle processing device is mounted on a vehicle so as to execute acquisition processing to acquire a plurality of position coordinates of detection points being the points on a front surface of another vehicle from detection sensors for detecting a shape of the front surface of the vehicle other than the former vehicle (S11). The vehicle processing device executes extraction processing to extract some detection points positioned on an outer edge of the other vehicle in virtual plane view when viewing the other vehicle from an upper side to a lower side from among the plurality of detection points on the basis of a positional relation of the position coordinates of the detection points acquired by the acquisition processing (S21-S28). The vehicle processing device executes estimation processing to estimate an outer shape straight line which indicates a part of the outer shape of the other vehicle in virtual plane view on the basis of the position coordinates of the detection points extracted by the extraction processing (31).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle processing device, a vehicle processing program, and a vehicle processing method. [Background technology]

[0002] The vehicle in Patent Document 1 acquires information from ultrasonic sensors, cameras, radar sensors, etc. mounted on the vehicle. Next, the vehicle estimates the shape of the side of another vehicle, which is a vehicle other than the vehicle in question, based on the acquired information. Specifically, the vehicle in Patent Document 1 imagines the side of the other vehicle as a straight line in a virtual plan view in which the other vehicle is viewed from above downward. Then, the vehicle sets a parking space for the vehicle in question based on the imaginary straight line, which is the outline line. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2011-522737 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not specifically disclose how to process information from each sensor to estimate the outline line. Therefore, the technology disclosed in Patent Document 1 leaves room for further study in terms of more accurately estimating the outline line that indicates part of the outline of another vehicle in a virtual planar view. [Means for solving the problem]

[0005] A vehicle processing device for solving the above problem executes an acquisition process (S11) for acquiring position coordinates of detection points (PD), which are points on the surface of another vehicle (100Z) other than the vehicle, from a detection sensor (76) mounted on the vehicle (100) for detecting the surface shape of the other vehicle; an extraction process (S21 to S28) for extracting, from the multiple detection points, multiple detection points that are located on the outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, based on the positional relationship of the position coordinates of the multiple detection points acquired by the acquisition process; and an estimation process (S31) for estimating an outline straight line (LE) that indicates part of the outline of the other vehicle in the virtual planar view, based on the position coordinates of the multiple detection points extracted by the extraction process.

[0006] A vehicle processing program for solving the above problem causes a vehicle processing device to execute an acquisition process that acquires multiple position coordinates of detection points, which are points on the surface of another vehicle, from a detection sensor mounted on the vehicle for detecting the surface shape of the other vehicle, an extraction process that extracts multiple detection points from the multiple detection points based on the positional relationship of the position coordinates of the multiple detection points acquired by the acquisition process, that are located on the outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, and an estimation process that estimates an outline straight line that indicates part of the outline of the other vehicle in the virtual planar view based on the position coordinates of the multiple detection points extracted by the extraction process.

[0007] A vehicle processing method for solving the above problem includes an acquisition process in which a vehicle processing device acquires position coordinates of multiple detection points, which are points on the surface of another vehicle, from a detection sensor mounted on the vehicle for detecting the surface shape of the other vehicle, an extraction process in which, based on the positional relationship of the position coordinates of the multiple detection points acquired by the acquisition process, a multiple detection points located on the outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downwards, are extracted from the multiple detection points, and an estimation process in which, based on the position coordinates of the multiple detection points extracted by the extraction process, an outline straight line indicating part of the outline of the other vehicle in the virtual planar view.

[0008] According to the above configuration, it is determined for each detection point whether it is a point on the outer edge of the vehicle or a point located inside the outer edge of the vehicle. Even if the detection point located inside the outer edge of the other vehicle in the virtual planar view is acquired in the acquisition process due to, for example, an inclined surface of the other vehicle, the inside detection point is removed in the extraction process. Therefore, the outline line can be accurately estimated based on multiple detection points located on the outer edge of the other vehicle in the virtual planar view. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of a vehicle. [Figure 2] FIG. 2 is an explanatory diagram showing the position of a LIDAR provided on a vehicle. [Figure 3] FIG. 3 is a flowchart showing the estimation control. [Figure 4] FIG. 4 is a flowchart showing the parallel parking control. [Figure 5] FIG. 5 is a flowchart showing parallel parking control. [Figure 6] FIG. 6 is an explanatory diagram of the acquisition process. [Figure 7] FIG. 7 is an explanatory diagram of the first extraction process. [Figure 8] FIG. 8 is an explanatory diagram of the second extraction process. [Figure 9] FIG. 9 is an explanatory diagram of the third extraction process. [Figure 10] FIG. 10 is an explanatory diagram of the third extraction process. [Figure 11] FIG. 11 is an explanatory diagram of the estimation process. [Figure 12] FIG. 12 is an explanatory diagram of the parallel parking control. [Figure 13] FIG. 13 is an explanatory diagram of parallel parking control. DETAILED DESCRIPTION OF THE INVENTION

[0010] <Vehicle Overview> An embodiment of the present invention will be described below with reference to Figures 1 to 13. First, a general configuration of a vehicle 100 will be described. Note that the following description will be based on the up / down, front / rear, left / right directions of the vehicle 100. Here, the up / down, front / rear, left / right directions of the vehicle 100 are directions when viewed from the driver sitting in the driver's seat of the vehicle 100.

[0011] As shown in FIG. 1, a vehicle 100 includes a powertrain system 10, a steering system 20, and a brake system 30. The powertrain system 10 includes an engine, a motor generator, a transmission, etc. The engine is capable of transmitting power to the drive wheels of the vehicle 100 via the transmission. The motor generator is also capable of transmitting power to the drive wheels of the vehicle 100 via the transmission.

[0012] The steering system 20 includes a rack and pinion type electric steering device. The steering system 20 can change the direction of the steered wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0013] The brake system 30 includes a so-called friction brake device that brakes the wheels of the vehicle 100 by friction force. In this embodiment, an example of the friction brake device is a so-called disc brake.

[0014] As shown in FIG. 1, the vehicle 100 is equipped with a speaker 40 and a display 50. The speaker 40 is located near the driver's seat of the vehicle 100. The speaker 40 is a device for outputting sound. The display 50 is located near the driver's seat of the vehicle 100. The display 50 is capable of displaying various types of information.

[0015] As shown in FIG. 1, the vehicle 100 includes an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an exterior camera 75, and a plurality of LIDARs 76.

[0016] The accelerator operation amount sensor 71 detects the accelerator operation amount ACC, which is the amount of operation of the accelerator pedal operated by the driver. The vehicle speed sensor 72 detects the vehicle speed SP, which is the speed of the vehicle 100. The brake operation amount sensor 73 detects the brake operation amount BRA, which is the amount of operation of the brake pedal operated by the driver. The steering angle sensor 74 detects the steering angle SA, which is the angular position of the steering wheel operated by the driver.

[0017] The exterior camera 75 is located near the driver's seat of the vehicle 100. The exterior camera 75 captures an image of the area around the vehicle 100 that is in front of the vehicle 100, and detects the image as an exterior image PO.

[0018] As shown in FIG. 2 , the LIDAR 76 radiates light from the LIDAR 76 and measures scattered light of the light to detect multiple detection points PD as points on the surface of an object outside the vehicle 100 and position coordinates PDC indicating the positions of the detection points PD. If another vehicle 100Z, which is a vehicle other than the vehicle 100, is present around the vehicle 100, the LIDAR 76 detects multiple detection points PD as points on the surface of the other vehicle 100Z. The position coordinates PDC are coordinates on three axes indicating positions along the longitudinal axis of the vehicle 100, the lateral axis of the vehicle 100, and the vertical axis of the vehicle 100. An example of a reference point for the position coordinates PDC is a point located at the center of the lateral axis of the rotation axes of the rear wheels of the vehicle 100. In this embodiment, the vehicle 100 is equipped with four LIDARs 76. Specifically, one of the four LIDARs 76 is located at the front end of the vehicle 100. The LIDAR 76 is capable of detecting position coordinates PDC of a plurality of detection points PD for another vehicle 100Z located in a region forward of the vehicle 100. One of the four LIDARs 76 is located at the rear end of the vehicle 100. The LIDAR 76 is capable of detecting position coordinates PDC of a plurality of detection points PD for another vehicle 100Z located in a region rearward of the vehicle 100. One of the four LIDARs 76 is located at the right end of the vehicle 100. The LIDAR 76 is capable of detecting position coordinates PDC of a plurality of detection points PD for another vehicle 100Z located in a region on the right side of the vehicle 100. One of the four LIDARs 76 is located at the left end of the vehicle 100. The LIDAR 76 is capable of detecting position coordinates PDC of a plurality of detection points PD for another vehicle 100Z located in a region on the left side of the vehicle 100. In this embodiment, the LIDAR 76 is an example of a detection sensor that detects the shape of another vehicle 100Z other than the vehicle 100. "LIDAR" is an abbreviation for Laser Imaging Detection and Ranging.

[0019] 1, the vehicle 100 includes a control device 90. The control device 90 acquires various types of information from an accelerator operation amount sensor 71, a vehicle speed sensor 72, a brake operation amount sensor 73, a steering angle sensor 74, an exterior camera 75, and a plurality of LIDARs 76.

[0020] The control device 90 includes an execution device 91 and a storage device 92. An example of the execution device 91 is a CPU. The storage device 92 includes a read-only ROM, a readable / writable volatile RAM, and a readable / writable non-volatile storage. The storage device 92 stores various programs and various data in advance. Specifically, the storage device 92 stores a control program 92A in advance as one of the various programs. The execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes described below. In other words, the execution device 91 executes the control program 92A stored in the storage device 92 to perform various processes related to a vehicle processing method. In this embodiment, the control device 90 is an example of a vehicle processing device. The control program 92A is an example of a vehicle processing program.

[0021] The execution unit 91 of the control device 90 calculates a vehicle required driving force, which is a required value of driving force necessary for the vehicle 100 to travel, based on the accelerator operation amount ACC and the vehicle speed SP. The execution unit 91 then controls the powertrain system 10 by outputting a control signal to the powertrain system 10 in accordance with the vehicle required driving force. The execution unit 91 also controls the steering system 20 by outputting a control signal to the steering system 20 in accordance with the steering angle SA. The execution unit 91 also controls the brake system 30 by outputting a control signal to the brake system 30 in accordance with the brake operation amount BRA. The execution unit 91 also controls the speaker 40 by outputting a control signal to the speaker 40. The execution unit 91 also controls the display 50 by outputting a control signal to the display 50.

[0022] <Estimation control> Next, an explanation will be given of the estimation control executed by the control device 90. This estimation control is a control for estimating an outline straight line LE that indicates a part of the outline of the other vehicle 100Z in a virtual plan view in which the other vehicle 100Z is viewed from above downward, as shown in Fig. 6. Note that, hereinafter, when referring to a "virtual plan view," it refers to a virtual plan view in which the other vehicle 100Z is viewed from above downward, unless otherwise specified.

[0023] The execution device 91 of the control device 90 starts estimation control at each predetermined control cycle, with the necessary conditions being that the shortest distance between the vehicle 100 and the other vehicle 100Z is equal to or less than a predetermined distance and that the vehicle speed SP is equal to or less than a predetermined specified vehicle speed. For example, the execution device 91 determines whether the shortest distance between the vehicle 100 and the other vehicle 100Z is equal to or less than a predetermined distance as follows. First, the execution device 91 determines whether the other vehicle 100Z is present around the vehicle 100 by analyzing the position coordinates PDC of multiple detection points PD. Next, when one or more other vehicles 100Z are identified, the execution device 91 determines whether the shortest distance between the identified other vehicle 100Z and the vehicle 100 is equal to or less than a predetermined distance based on the position coordinates PDC of the multiple detection points PD. Then, the execution device 91 starts estimation control for each other vehicle 100Z whose shortest distance between the vehicle 100 and the other vehicle 100Z is equal to or less than a predetermined distance. An example of the predetermined distance is about several meters to about 10 meters, and an example of the specified vehicle speed is about several kilometers per hour to about 10 kilometers per hour.

[0024] As shown in FIG. 3, when the execution device 91 of the control device 90 starts estimation control, it executes the processing of step S11. In step S11, the execution device 91 acquires the latest multiple detection points PD acquired at the start of the current estimation control. Specifically, as shown in FIG. 6, the execution device 91 acquires all detection points PD detected by the LIDAR 76 for the other vehicle 100Z and the position coordinates PDC corresponding to the detection points PD. Therefore, the processing of step S11 is an example of an acquisition processing for acquiring multiple position coordinates PDC of the detection points PD. As shown in FIG. 3, after step S11, the execution device 91 advances the processing to step S21.

[0025] In step S21, the execution device 91 extracts, from the plurality of detection points PD, a plurality of detection points PD located on the outer edge of the other vehicle 100Z in the virtual planar view, based on the positional relationship of the position coordinates PDC of the plurality of detection points PD acquired in step S11. As a premise, as shown in FIG. 6 , light is emitted radially from the LIDAR 76, and thus, in the virtual planar view, a plurality of detection points PD may exist on a straight line indicating the trajectory of the light emitted from the LIDAR 76. In this case, the execution device 91 extracts only the detection points PD located on the outer edge of the other vehicle 100Z from the plurality of detection points PD for each straight line indicating the trajectory of the light emitted from the LIDAR 76 in the virtual planar view. As a specific example, the execution device 91 extracts the detection points PD located on the outer edge of the other vehicle 100Z as follows. First, the execution device 91 calculates the shortest distance between each detection point PD and the vehicle 100 in the virtual planar view. Then, for each straight line indicating the trajectory of light emitted from the LIDAR 76, the execution device 91 extracts the detection point PD with the shortest calculated shortest distance from among the multiple detection points PD as the detection point PD located on the outer edge of the other vehicle 100Z. In this embodiment, the processing of step S21 is an example of a first extraction processing. Note that FIG. 6 illustrates only a portion of the detection points PD, which is fewer than the actual number of detection points PD. As shown in FIG. 3, after step S21, the execution device 91 proceeds to the processing of step S22.

[0026] In step S22, the executing device 91 extracts some of the multiple detection points PD extracted in step S21 as representative points. Specifically, the executing device 91 extracts the detection points PD as follows. First, as shown in FIG. 7, it is assumed that multiple detection points PD exist on the outer edge of the other vehicle 100Z after step S21. Here, as shown in FIG. 8, the executing device 91 equally divides the area in a virtual planar view into multiple specified sections AP of the same area and shape. Next, for each specified section AP, the executing device 91 determines whether multiple detection points PD exist within one specified section AP. Then, if multiple detection points PD exist within one specified section AP, the executing device 91 extracts one of the multiple detection points PD as a representative. At this time, the executing device 91 extracts the detection point PD closest to the center of the specified section AP as the representative point. In this embodiment, the processing of step S22 is an example of a second extraction processing. Note that, in a virtual planar view, the specified section AP is a square section with sides measuring several hundred millimeters. As shown in FIG. 3, after step S22, the execution device 91 advances the process to step S23.

[0027] In step S23, the execution device 91 identifies, from the plurality of detection points PD extracted in step S22, combinations of two detection points PD whose shortest distance in the virtual planar view is equal to or greater than a predetermined specified distance DS. Specifically, the execution device 91 identifies the combinations as follows. First, as shown in FIG. 9 , the execution device 91 selects any two detection points PD from the plurality of detection points PD extracted in step S22 and calculates the shortest distance between the two detection points PD of the selected combination. Then, the execution device 91 determines whether the calculated shortest distance is equal to or greater than the specified distance DS. At this time, the execution device 91 performs the above process for all combinations of the plurality of detection points PD extracted in step S22, thereby identifying combinations of two detection points PD whose calculated shortest distance is equal to or greater than the specified distance DS. In this embodiment, the specified distance DS is predetermined to be a value that is a certain value longer than the expected length of the other vehicle 100Z along the left-right axis. In other words, the specified distance DS is a value that is a certain value longer than the expected vehicle width of the other vehicle 100Z. An example of the specified distance DS is equivalent to 2.5 meters. As shown in Fig. 3, after step S23, the execution device 91 advances the process to step S24.

[0028] In step S24, the execution device 91 sets a passing line LP that passes through the two detection points PD in the virtual planar view, as shown by the dashed dotted line in Fig. 10, for the two detection points PD whose shortest distance identified in step S23 is equal to or greater than the specified distance DS. Note that if there are multiple combinations of two detection points PD whose shortest distance identified in step S23 is equal to or greater than the specified distance DS, the execution device 91 sets a passing line LP for each combination. As shown in Fig. 3, after step S24, the execution device 91 proceeds to step S25.

[0029] In step S25, the execution device 91 sets a pair of reference lines LS in a virtual planar view, with the passing line LP set in step S24 as the target. Specifically, as shown by the dashed lines in FIG. 10, the execution device 91 sets a pair of reference lines LS that are parallel to the passing line LP in a virtual planar view and are spaced a predetermined reference distance from the passing line LP. Note that, if there are multiple passing lines LP set in step S24, the execution device 91 sets a pair of reference lines LS for each passing line LP. An example of the reference distance is equivalent to several tens to several hundreds of millimeters. As shown in FIG. 3, after step S25, the execution device 91 advances the process to step S26.

[0030] In step S26, the execution device 91 counts the number of detection points PD located within a reference area AS, which is an area sandwiched between the pair of reference lines LS set in step S25. At this time, the execution device 91 counts the number of detection points PD located within the reference area AS in the virtual planar view. Note that, if there are multiple reference areas AS, the execution device 91 counts the number of detection points PD located within the reference area AS for each reference area AS. After step S26, the execution device 91 proceeds to step S27.

[0031] In step S27, the executing unit 91 determines, for each reference area AS, whether the number of detection points PD counted in step S26 is equal to or greater than a predetermined specified number NS. The specified number NS is predetermined as a lower limit value for the allowable number of detection points PD when estimating the outline line LE in step S31, which will be described later. If the executing unit 91 determines in step S27 that the number of counted detection points PD for all reference areas AS is less than the specified number NS (S27: NO), the executing unit 91 terminates the current estimation control. On the other hand, if the executing unit 91 determines in step S27 that there is one or more reference areas AS in which the number of counted detection points PD is equal to or greater than the specified number NS (S27: YES), the executing unit 91 proceeds to step S28.

[0032] In step S28, the executing device 91 identifies the reference area AS having the largest number of detection points PD counted in step S26. Then, the executing device 91 extracts multiple detection points PD located within the identified reference area AS. In this embodiment, the processes of steps S23 to S28 are an example of a third extraction process. Furthermore, the processes of steps S21 to S28 are an example of an extraction process. After step S28, the executing device 91 advances the process to step S31.

[0033] In step S31, the execution device 91 estimates an outline line LE that indicates a part of the outline of the other vehicle 100Z in a virtual planar view, based on the position coordinates PDC of the multiple detection points PD extracted in step S28. In this embodiment, the execution device 91 estimates the outline line LE by using the least squares method based on the position coordinates PDC of the multiple detection points PD extracted in step S28. Specifically, as shown in FIG. 11 , the execution device 91 identifies a line that approximates the multiple detection points PD in a virtual planar view using the least squares method. Then, the execution device 91 estimates the identified line as the outline line LE. Note that the outline line LE indicates the shape of one of the left and right sides of the other vehicle 100Z in the virtual planar view, among the outline of the other vehicle 100Z. In this embodiment, the processing of step S31 is an example of estimation processing. As shown in FIG. 3 , after step S31, the execution device 91 ends the current estimation control.

[0034] <Parallel parking control> Next, a description will be given of the parallel parking control executed by the control device 90. As shown in Fig. 12, this parallel parking control is control for setting a parallel parking space PA for parking the vehicle 100 parallel. In this embodiment, the execution device 91 of the control device 90 starts the parallel parking control at each predetermined control cycle, with the necessary condition being that the outline straight lines LE of two or more other vehicles 100Z have been estimated in the estimation control.

[0035] As shown in FIG. 4, when the execution unit 91 of the control device 90 starts the perpendicular parking control, it executes the processing of step S61. In step S61, the execution unit 91 determines whether the other vehicle 100Z is perpendicularly parked. For example, the execution unit 91 determines whether the other vehicle 100Z is perpendicularly parked as follows. First, the execution unit 91 identifies the positional relationship between two or more other vehicles 100Z by analyzing the position coordinates PDC of multiple detection points PD. Then, as shown in FIG. 12, when two other vehicles 100Z are lined up with a gap between them in a direction along the left-right axis of the other vehicle 100Z, the execution unit 91 determines that the other vehicle 100Z is perpendicularly parked. As shown in FIG. 4, if the execution unit 91 determines in step S61 that the other vehicle 100Z is not perpendicularly parked (S61: NO), the execution unit 91 ends the current perpendicular parking control. On the other hand, if the execution unit 91 determines in step S61 that the other vehicle 100Z is parallel parked (S61: YES), the execution unit 91 proceeds to step S62.

[0036] In step S62, the execution device 91 determines whether the shortest distance between the two other vehicles 100Z targeted in step S61 is equal to or greater than a predetermined first predetermined distance B1. For example, the execution device 91 makes the determination as follows. First, the execution device 91 identifies the shortest distance between the two other vehicles 100Z by analyzing the position coordinates PDC of the multiple detection points PD. Then, the execution device 91 determines whether the identified shortest distance is equal to or greater than the first predetermined distance B1. Here, the first predetermined distance B1 is a value that is longer by a certain value than the length along the left-right axis of the vehicle 100. An example of the first predetermined distance B1 is approximately 2 to 3 meters. In step S62, if the execution device 91 determines that the shortest distance between the two other vehicles 100Z is less than the first predetermined distance B1 (S62: NO), the execution device 91 ends the current parallel parking control. On the other hand, if the execution device 91 determines in step S62 that the shortest distance between the two other vehicles 100Z is equal to or greater than the first predetermined distance B1 (S62: YES), the execution device 91 proceeds to step S63.

[0037] In step S63, the execution unit 91 determines whether the outline lines LE of the two other vehicles 100Z targeted in step S61 are parallel. If the execution unit 91 determines in step S63 that the outline lines LE of the two other vehicles 100Z are parallel (S63: YES), the execution unit 91 proceeds to step S71.

[0038] In step S71, the execution device 91 executes a first setting process to set a double parking space PA between two parallel outline lines LE. For example, the execution device 91 sets the double parking space PA as follows. First, as shown in FIG. 12, the execution device 91 sets a center line LC that is parallel to the two outline lines LE and located at the center of the two outline lines LE in a virtual planar view. Then, the execution device 91 sets a double parking space PA that is located between two other vehicles 100Z and is line-symmetrical with respect to the center line LC. Here, the double parking space PA has a rectangular shape. The long sides of the double parking space PA are parallel to the center line LC. The short sides of the double parking space PA are shorter than a first predetermined distance B1 and slightly longer than the length along the left-right axis of the vehicle 100. As shown in FIG. 4, after step S71, the execution device 91 ends the current double parking control.

[0039] On the other hand, if the execution device 91 determines in step S63 that the outline straight lines LE of the two other vehicles 100Z are not parallel (S63: NO), the execution device 91 proceeds to step S72.

[0040] In step S72, the execution device 91 executes a second setting process to set a parallel parking space PA between two non-parallel outline lines LE. For example, the execution device 91 sets the parallel parking space PA as follows. First, in a virtual plan view, the execution device 91 sets a center line LC that passes through the intersection of the two outline lines LE and equally divides the acute angle formed by the two outline lines LE. Then, the execution device 91 sets a parallel parking space PA that is located between two other vehicles 100Z and is line-symmetrical with respect to the center line LC. Here, the parallel parking space PA has a rectangular shape with the same size as in step S71. Furthermore, the long side of the parallel parking space PA is parallel to the center line LC. After step S72, the execution device 91 ends the current parallel parking control.

[0041] <Parallel parking control> Next, a description will be given of the parallel parking control executed by the control device 90. As shown in Fig. 13, this parallel parking control is control for setting a parallel parking space PB for parallel parking the vehicle 100. In this embodiment, the execution device 91 of the control device 90 starts the parallel parking control at each predetermined control cycle, with the necessary condition being that the outline straight lines LE of two or more other vehicles 100Z have been estimated in the estimation control.

[0042] As shown in FIG. 5, when the execution unit 91 of the control device 90 starts parallel parking control, it executes the processing of step S81. In step S81, the execution unit 91 determines whether the other vehicle 100Z is parallel parked. For example, the execution unit 91 determines whether the other vehicle 100Z is parallel parked as follows. First, the execution unit 91 identifies the positional relationship between two or more other vehicles 100Z by analyzing the position coordinates PDC of multiple detection points PD. Then, as shown in FIG. 13, when two other vehicles 100Z are lined up with a gap between them in the direction along the front-rear axis of the other vehicle 100Z, the execution unit 91 determines that the other vehicle 100Z is parallel parked. As shown in FIG. 5, if the execution unit 91 determines in step S81 that the other vehicle 100Z is not parallel parked (S81: NO), the execution unit 91 ends the current parallel parking control. On the other hand, if the execution unit 91 determines in step S81 that the other vehicle 100Z is parallel parked (S81: YES), the execution unit 91 proceeds to step S82.

[0043] In step S82, the execution device 91 determines whether the shortest distance between the two other vehicles 100Z targeted in step S81 is equal to or greater than a predetermined second predetermined distance B2. For example, the execution device 91 makes the determination as follows. First, the execution device 91 identifies the shortest distance between the two other vehicles 100Z by analyzing the position coordinates PDC of the multiple detection points PD. Then, the execution device 91 determines whether the identified shortest distance is equal to or greater than the second predetermined distance B2. Here, the second predetermined distance B2 is a value that is longer by a certain value than the length along the front-rear axis of the vehicle 100. An example of the second predetermined distance B2 is approximately 5 to 8 meters. In step S82, if the execution device 91 determines that the shortest distance between the two other vehicles 100Z is less than the second predetermined distance B2 (S82: NO), the execution device 91 ends the current parallel parking control. On the other hand, if the execution device 91 determines in step S82 that the shortest distance between the two other vehicles 100Z is equal to or greater than the second predetermined distance B2 (S82: YES), the execution device 91 proceeds to step S83.

[0044] In step S83, the execution device 91 sets an orthogonal line LO that is perpendicular to the outline line LE in a virtual planar view, based on the outline line LE of the two other vehicles 100Z targeted in step S81. For example, the execution device 91 sets the orthogonal line LO as follows. As shown in FIG. 13, the execution device 91 sets a first orthogonal line LO as a line that is perpendicular to the outline line LE of one of the two other vehicles 100Z and passes through the edge of the outer edge of the other vehicle 100Z on the side where the other of the two other vehicles 100Z is located. Furthermore, the execution device 91 sets a second orthogonal line LO as a line that is perpendicular to the outline line LE of the other of the two other vehicles 100Z and passes through the edge of the outer edge of the other vehicle 100Z on the side where one of the two other vehicles 100Z is located. As shown in FIG. 5, after step S83, the execution device 91 proceeds to step S84.

[0045] In step S84, the execution unit 91 determines whether the two orthogonal lines LO set in step S83 are parallel to each other. If the execution unit 91 determines in step S84 that the two orthogonal lines LO are parallel to each other (S84: YES), the execution unit 91 proceeds to step S91.

[0046] In step S91, the execution unit 91 executes a third setting process to set a parallel parking space PB between two parallel orthogonal lines LO. For example, the execution unit 91 sets the parallel parking space PB as follows. First, as shown in FIG. 13, the execution unit 91 sets a center line LC that is parallel to the two orthogonal lines LO and located at the center of the two orthogonal lines LO in a virtual planar view. Then, the execution unit 91 sets a parallel parking space PB that is located between two other vehicles 100Z and is line-symmetrical with respect to the center line LC. Here, the parallel parking space PB has a rectangular shape. The short sides of the parallel parking space PB are parallel to the center line LC. The long sides of the parallel parking space PB are shorter than the second predetermined distance B2 and slightly longer than the length along the front-rear axis of the vehicle 100. As shown in FIG. 5, after step S91, the execution unit 91 ends the current parallel parking control.

[0047] On the other hand, if the execution unit 91 determines in step S84 above that the two orthogonal lines LO are not parallel (S84: NO), the execution unit 91 advances the process to step S92.

[0048] In step S92, the execution unit 91 executes a fourth setting process to set a parallel parking space PB between two non-parallel orthogonal lines LO. For example, the execution unit 91 sets the parallel parking space PB as follows. First, in a virtual plan view, the execution unit 91 sets a center line LC that passes through the intersection of the two orthogonal lines LO and equally divides the acute angle formed by the two orthogonal lines LO. Then, the execution unit 91 sets a parallel parking space PB that is located between two other vehicles 100Z and is line-symmetrical with respect to the center line LC. Here, the parallel parking space PB has a rectangular shape with the same size as in step S91. Furthermore, the short side of the parallel parking space PB is parallel to the center line LC. As shown in FIG. 5, after step S92, the execution unit 91 ends the current parallel parking control.

[0049] <Operation of this embodiment> As shown in FIG. 6, assume that another vehicle 100Z is present around the vehicle 100 in a virtual planar view, and that the vehicle speed SP of the vehicle 100 is equal to or lower than a specified vehicle speed. In this case, as shown in FIG. 3, the execution unit 91 of the control device 90 in the vehicle 100 executes estimation control. Specifically, in an acquisition process of step S11, the execution unit 91 acquires a plurality of detection points PD detected by the LIDAR 76. Furthermore, in an extraction process of steps S21 to S28, the execution unit 91 extracts a plurality of detection points PD that are located on the outer edge of the other vehicle 100Z in a virtual planar view from among the plurality of detection points PD, based on the positional relationships of the position coordinates PDC of the plurality of detection points PD. Then, in an estimation process of step S31, the execution unit 91 estimates an outline straight line LE that indicates a part of the outline of the other vehicle 100Z in a virtual planar view, based on the position coordinates PDC of the extracted plurality of detection points PD.

[0050] <Effects of this embodiment> (1) According to this embodiment, it is determined for each detection point PD whether it is a point on the outer edge of the vehicle 100 or a point located inside the outer edge of the vehicle 100 based on the position coordinates PDC of each detection point PD. Therefore, even if the surface of the other vehicle 100Z is inclined and a detection point PD inside the outer edge of the other vehicle 100Z in the virtual planar view is acquired in the acquisition process, the inside detection point PD is removed in the extraction process. This makes it possible to accurately estimate the outline line LE based on multiple detection points PD located on the outer edge of the other vehicle 100Z in the virtual planar view.

[0051] (2) As shown in Fig. 7, after the first extraction process in step S21, the detection points PD may be concentrated in a portion of the surface of the other vehicle 100Z due to, for example, the distance and positional relationship between the LIDAR 76 and the other vehicle 100Z. In this case, a portion of the shape of the surface of the other vehicle 100Z where the detection points PD are densely located is more likely to affect the outline straight line LE estimated in the estimation process than a portion where the detection points PD are sparsely located.

[0052] In this regard, as shown in FIG. 8 , in the second extraction process of step S22, the execution device 91 divides the area in a virtual planar view into multiple equal sections, each of which is a specified section AP of the same area and shape. Next, for each specified section AP, the execution device 91 determines whether multiple detection points PD exist within the specified section AP. If multiple detection points PD exist within the specified section AP, the execution device 91 extracts one of the multiple detection points PD as a representative. Therefore, even if multiple detection points PD exist within the specified section AP, i.e., even if there is a portion with a high density of detection points PD, the density of the detection points PD in that portion is reduced. This prevents a partial shape of the surface of the other vehicle 100Z from excessively affecting the outline line LE due to variations in the density of the detection points PD.

[0053] (3) In the third extraction process of steps S23 to S28, the execution device 91 sets a passing line LP that passes through two detection points PD whose shortest distance is equal to or greater than the specified distance DS in the virtual planar view. Next, the execution device 91 sets a pair of reference lines LS that are spaced a predetermined reference distance from the passing line LP. The execution device 91 then extracts detection points PD that are located within a reference area AS that is an area sandwiched between the pair of reference lines LS. Therefore, the outline line LE is estimated based on multiple detection points PD that are located within the reference area AS corresponding to the two detection points PD whose shortest distance is equal to or greater than the specified distance DS. This allows the outline line LE to be estimated taking into account the shape of a relatively wide portion of the surface of the other vehicle 100Z, thereby improving the estimation accuracy of the outline line LE.

[0054] (4) The specified distance DS is a value longer than the vehicle width of the other vehicle 100Z. Therefore, the outline straight line LE is estimated based on a plurality of detection points PD corresponding to a portion of the surface of the other vehicle 100Z that is longer than the specified distance DS, specifically, one of the left and right sides of the other vehicle 100Z. This makes it possible to prevent the outline straight line LE from deviating from the shape of the surface of the other vehicle 100Z, compared to when the detection points PD are based on a portion with many irregularities, such as the front of the vehicle 100.

[0055] (5) For example, in step S22, the execution device 91 extracts a detection point PD at the front end and right end of the other vehicle 100Z and a detection point PD at the rear end and left end of the other vehicle 100Z as multiple detection points PD for the other vehicle 100Z. In other words, the execution device 91 extracts two detection points PD located diagonally on the other vehicle 100Z. Then, in steps S23 and S24, the execution device 91 sets a passing line LP that passes through the two detection points PD. Furthermore, in step S25, the execution device 91 sets a pair of reference lines LS in a virtual planar view, with the passing line LP as the target. Here, it is assumed that the execution device 91 estimates an outline line LE based on position coordinates PDC of multiple detection points PD located within a reference area AS, which is an area sandwiched between the pair of reference lines LS. In this case, the outline straight line LE estimated by the execution device 91 significantly deviates from the shape of a part of the outline of the other vehicle 100Z, for example, the shape of one of the left and right sides of the other vehicle 100Z.

[0056] In this regard, in the third extraction process of steps S23 to S28, the execution device 91 executes the estimation process of step S31 on the condition that a predetermined number of detection points PD or more NS have been extracted within the reference area AS. Therefore, the execution device 91 does not estimate the outline straight line LE if the number of detection points PD located within the reference area AS is less than the predetermined number NS. Here, as in the above example, the number of detection points PD located within the reference area AS set according to two detection points PD located diagonally on the other vehicle 100Z is relatively small. Therefore, according to this embodiment, the execution device 91 does not estimate the outline straight line LE based on the position coordinates PDC of the detection points PD located within the reference area AS set according to two detection points PD located diagonally on the other vehicle 100Z. This prevents a situation in which the outline straight line LE estimated by the execution device 91 significantly deviates from the shape of a portion of the outline of the other vehicle 100Z.

[0057] (6) In the third extraction process of steps S23 to S28, if there are multiple reference areas AS, the execution device 91 identifies the reference area AS with the largest number of detection points PD. Next, the execution device 91 extracts multiple detection points PD located within the identified reference area AS. Then, in the estimation process of step S31, the execution device 91 estimates an outline line LE that indicates part of the outline of the other vehicle 100Z in the virtual planar view based on the position coordinates PDC of the extracted multiple detection points PD. Therefore, the number of detection points PD used to estimate the outline line LE is the largest compared to, for example, a case where multiple detection points PD located within a reference area AS other than the reference area AS with the largest number of detection points PD are extracted. This minimizes the degradation in the estimation accuracy of the outline line LE due to bias in the position coordinates PDC of some of the detection points PD.

[0058] (7) In the estimation process of step S31, the execution device 91 estimates the outline line LE by using the least squares method based on the position coordinates PDC of the extracted multiple detection points PD. Therefore, compared to, for example, using so-called RANSAC instead of the least squares method, that is, estimating the outline line LE based on some of the position coordinates PDC of the multiple detection points PD, it is possible to prevent the number of detection points PD referenced in estimating the outline line LE from decreasing.

[0059] (8) In this embodiment, the detection sensor that detects the detection point PD is the LIDAR 76. Therefore, compared to when the detection sensor is a camera, for example, the position coordinates PDC of the detection point PD can be acquired more accurately.

[0060] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0061] In the above embodiment, the estimation control may be changed. For example, the conditions for executing the estimation control may be changed. As a specific example, regardless of whether the vehicle speed SP is equal to or less than a predetermined specified vehicle speed, the execution device 91 may start the estimation control at every predetermined control cycle, with the necessary condition being that the shortest distance between the vehicle 100 and the other vehicle 100Z is equal to or less than a predetermined distance. Also, as a specific example, regardless of whether the shortest distance between the vehicle 100 and the other vehicle 100Z is equal to or less than a predetermined distance, the execution device 91 may start the estimation control at every predetermined control cycle.

[0062] For example, the estimation method in the estimation process may be changed. As a specific example, in step S31, the execution device 91 may estimate the contour line LE using a so-called RANSAC algorithm instead of the least squares method, that is, may estimate the contour line LE based on a portion of the position coordinates PDC of the multiple detection points PD.

[0063] For example, the conditions for executing the estimation process may be changed. As a specific example, the execution device 91 may execute the estimation process of step S31 regardless of whether the number of detection points PD counted in step S26 is equal to or greater than a predetermined number NS. In this case, after step S26, the execution device 91 may proceed with the process to step S28.

[0064] For example, the extraction method in step S28 may be changed. As a specific example, in step S28, the executing device 91 may identify one of the reference areas AS other than the reference area AS having the largest number of detection points PD counted in step S26. In this case, the executing device 91 may extract multiple detection points PD located within the identified reference area AS.

[0065] For example, the specified distance DS in step S23 may be changed. As a specific example, the specified distance DS may be changed depending on the vehicle width of the target other vehicle 100Z. In other words, the specified distance DS may be shorter or longer than 2.5 meters.

[0066] For example, the way in which the passing line LP is set in step S24 may be changed. As a specific example, in step S24, the execution device 91 may set a passing line LP that passes through two detection points PD in the virtual planar view out of the multiple detection points PD extracted in step S22, regardless of whether the shortest distance is equal to or greater than the specified distance DS. In this case, after step S22, the execution device 91 may proceed with the process to step S24.

[0067] For example, the extraction method in step S22 may be changed. As a specific example, the execution device 91 may extract a detection point PD other than the detection point PD closest to the center of the specified section AP as a representative. Also, as a specific example, when multiple detection points PD exist in one specified section AP, the execution device 91 may extract two or more detection points PD from the multiple detection points PD as representative.

[0068] For example, the defined section AP in step S22 may be changed. As a specific example, the shape of the defined section AP in the virtual planar view does not have to be a square. As an example, the shape of the defined section AP in the virtual planar view may be a rectangle, a triangle, or a hexagon. Also, as a specific example, the size of the defined section AP in the virtual planar view may be changed. In other words, as long as the area in the virtual planar view can be equally divided into multiple defined sections AP of the same area and shape, the shape and size of the defined section AP may be changed.

[0069] For example, the process of step S22 may be omitted. As a specific example, if the influence of a portion of the surface shape of the other vehicle 100Z where the density of detection points PD is high on the outline straight line LE is relatively small, the process of step S22 may be omitted.

[0070] In the above embodiment, the parallel parking control may be modified. For example, the execution device 91 may execute the process of step S63 regardless of the determination result of step S62. In this case, if the execution device 91 determines in step S61 that the other vehicle 100Z is parallel parked (S61: YES), the execution device 91 may proceed with the process to step S63.

[0071] In the above embodiment, the perpendicular parking control may be omitted. In this case, the execution device 91 may execute another control based on the outline straight line LE instead of the perpendicular parking control. As a specific example, the execution device 91 may execute only the parallel parking control based on the outline straight line LE. As another specific example, the execution device 91 may set, in a virtual planar view, an area in which the other vehicle 100Z is located that corresponds to the outline straight line LE, based on the outline straight line LE. Here, an example of the shape of the area in which the other vehicle 100Z is located is a rectangle. In this case, the execution device 91 may set the area in which the other vehicle 100Z is located so that the long side of the rectangle coincides with the outline straight line LE.

[0072] In the above embodiment, the parallel parking control may be modified. For example, the execution device 91 may execute the processing of step S83 regardless of the determination result of step S82. In this case, if the execution device 91 determines in step S81 that the other vehicle 100Z is parallel parked (S81: YES), the execution device 91 may proceed with the processing to step S83.

[0073] In the above embodiment, the parallel parking control may be omitted. In this case, the execution device 91 may execute another control based on the outline straight line LE instead of the parallel parking control. As a specific example, the execution device 91 may execute only the perpendicular parking control based on the outline straight line LE. As another specific example, the execution device 91 may set, in a virtual planar view, an area in which the other vehicle 100Z is located that corresponds to the outline straight line LE, based on the outline straight line LE. Here, an example of the shape of the area in which the other vehicle 100Z is located is a rectangle. In this case, the execution device 91 may set the area in which the other vehicle 100Z is located so that the long side of the rectangle coincides with the outline straight line LE.

[0074] In the above embodiment, the configuration of the vehicle 100 may be changed. For example, the detection sensor may be changed. As a specific example, the vehicle 100 may be provided with another sensor as a detection sensor for detecting the surface shape of the other vehicle 100Z, instead of or in addition to the LIDAR 76. Examples of the other sensor include a camera, a millimeter-wave radar, etc.

[0075] For example, the configuration of the control device 90 may be changed. Specifically, the control device 90 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The control device 90 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. The memory, i.e., computer-readable medium, includes any medium accessible by a general-purpose or dedicated computer.

[0076] <Other technical ideas> The technical concepts that can be understood from the above-described embodiments and modifications will be described below. (Appendix 1) an acquisition process (S11) for acquiring, from a detection sensor (76) mounted on the vehicle (100) for detecting the surface shape of another vehicle (100Z) other than the vehicle (100), position coordinates of a plurality of detection points (PD), which are points on the surface of the other vehicle; an extraction process (S21 to S28) for extracting, from the plurality of detection points, a plurality of detection points that are located on the outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, based on a positional relationship of the position coordinates of the plurality of detection points acquired by the acquisition process; an estimation process (S31) for estimating an outline line (LE) indicating a part of the outline of the other vehicle in the virtual planar view based on the position coordinates of the plurality of detection points extracted by the extraction process; Run Vehicle processing equipment.

[0077] (Appendix 2) The extraction process includes: a first extraction process (S21) for extracting, from the plurality of detection points, a plurality of detection points that are located on an outer edge of the other vehicle in the virtual planar view, based on a positional relationship of the position coordinates of the plurality of detection points acquired by the acquisition process; a second extraction process (S22) of extracting a part of the plurality of detection points as representative points when the region viewed in the virtual plane is equally divided into a plurality of defined sections having the same area and the same shape and when a plurality of the detection points extracted in the first extraction process exist within one defined section; Equipped with 10. The vehicle processing device of claim 1.

[0078] (Appendix 3) The extraction process includes: a third extraction process (S23 to S28) for setting, for the plurality of detection points extracted by the second extraction process, a passing line (LP) passing through two of the detection points whose shortest distance is equal to or greater than a predetermined specified distance in the virtual plan view, and a pair of reference lines (LS) parallel to the passing line and spaced a predetermined reference distance from the passing line, and extracting, from the plurality of detection points extracted by the second extraction process, a plurality of the detection points located within a reference area (AS) that is an area sandwiched between the pair of reference lines in the virtual plan view. 10. The vehicle processing device of claim 2.

[0079] (Appendix 4) The estimation process is executed under the condition that a predetermined number or more of the detection points have been extracted in the third extraction process. 4. The vehicle processing device of claim 3.

[0080] (Appendix 5) Regarding the plurality of detection points extracted by the second extraction process, when there are a plurality of combinations of two of the detection points in the virtual planar view, the shortest distance between the plurality of detection points is equal to or greater than a predetermined specified distance, In the third extraction process, For each of the combinations, the passing line and a pair of the reference lines corresponding to the passing line are set; Among the plurality of detection points extracted by the second extraction process, a plurality of detection points located within the reference region in which the number of detection points is the largest in the virtual planar view are extracted. 10. The vehicle processing device of claim 3 or 4.

[0081] (Appendix 6) In the estimation process, an outline line is estimated by using a least squares method based on the position coordinates of the plurality of detection points extracted in the extraction process. 6. The vehicle processing device of claim 5.

[0082] (Appendix 7) The detection sensor is a LIDAR 7. A vehicle processing device according to any one of Supplementary notes 1 to 6. [Explanation of symbols]

[0083] LE...straight line PA...parallel parking space PB...parallel parking space PD...detection point 10...powertrain system 20...steering system 30...brake system 40...speaker 50...display 71...accelerator operation amount sensor 72...vehicle speed sensor 73...brake operation amount sensor 74...steering angle sensor 75...exterior camera 76...LIDAR 90...control device 91...execution device 92...storage device 92A...control program 100...vehicle 100Z...other vehicle

Claims

1. an acquisition process (S11) for acquiring, from a detection sensor (76) mounted on the vehicle (100) for detecting the surface shape of another vehicle (100Z) other than the vehicle (100), a plurality of position coordinates of detection points (PD) which are points on the surface of the other vehicle; an extraction process (S21 to S28) for extracting, from the plurality of detection points, a plurality of detection points that are located on the outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, based on the positional relationship of the position coordinates of the plurality of detection points acquired by the acquisition process; an estimation process (S31) of estimating an outline line (LE) indicating a part of an outline of the other vehicle in the virtual planar view based on position coordinates of the plurality of detection points extracted by the extraction process; Run Vehicle processing equipment.

2. The extraction process includes: a first extraction process (S21) of extracting, from the plurality of detection points, a plurality of detection points that are located on an outer edge of the other vehicle in the virtual planar view, based on a positional relationship between the position coordinates of the plurality of detection points acquired by the acquisition process; a second extraction process (S22) of extracting a part of the plurality of detection points as representative points when the region viewed in the virtual plane is equally divided into a plurality of defined sections having the same area and the same shape and when a plurality of the detection points extracted in the first extraction process exist within one defined section; Equipped with The vehicle processing device of claim 1 .

3. The extraction process includes: a third extraction process (S23 to S28) for setting, for the plurality of detection points extracted by the second extraction process, a passing line (LP) that passes through two of the detection points whose shortest distance is equal to or greater than a predetermined specified distance in the virtual plan view, and a pair of reference lines (LS) that are parallel to the passing line and spaced apart from the passing line by a predetermined reference distance, and extracting, from the plurality of detection points extracted by the second extraction process, a plurality of the detection points that are located within a reference area (AS) that is an area sandwiched between the pair of reference lines in the virtual plan view. The vehicle processing device of claim 2 .

4. The estimation process is performed under the condition that a predetermined number or more of the detection points have been extracted in the third extraction process. The vehicle processing device of claim 3 .

5. Regarding the plurality of detection points extracted by the second extraction process, when there are a plurality of combinations of two of the detection points in the virtual planar view, the shortest distance between the plurality of detection points is equal to or greater than a predetermined specified distance, In the third extraction process, For each of the combinations, the passing line and a pair of the reference lines corresponding to the passing line are set; Among the plurality of detection points extracted by the second extraction process, a plurality of detection points located within the reference region in which the number of detection points is the largest in the virtual planar view are extracted.

5. The vehicle processing device according to claim 3 or 4.

6. In the estimation process, an outline line is estimated by using a least squares method based on the position coordinates of the plurality of detection points extracted in the extraction process. The vehicle processing device of claim 5 .

7. The detection sensor is a LIDAR The vehicle processing device according to any one of claims 1 to 4.

8. Vehicle processing equipment, an acquisition process for acquiring, from a detection sensor mounted on a vehicle for detecting a surface shape of another vehicle, position coordinates of a plurality of detection points that are points on the surface of the other vehicle; an extraction process for extracting, from the plurality of detection points, a plurality of detection points that are located on an outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, based on a positional relationship of the position coordinates of the plurality of detection points acquired by the acquisition process; an estimation process of estimating an outline straight line that indicates a part of an outline of the other vehicle in the virtual planar view based on the position coordinates of the plurality of detection points extracted by the extraction process; Run Vehicle processing program.

9. The vehicle processing device an acquisition process for acquiring, from a detection sensor mounted on a vehicle for detecting a surface shape of another vehicle, position coordinates of a plurality of detection points that are points on the surface of the other vehicle; an extraction process for extracting, from the plurality of detection points, a plurality of detection points that are located on an outer edge of the other vehicle in a virtual planar view in which the other vehicle is viewed from above downward, based on a positional relationship of the position coordinates of the plurality of detection points acquired by the acquisition process; an estimation process of estimating an outline straight line that indicates a part of an outline of the other vehicle in the virtual planar view based on the position coordinates of the plurality of detection points extracted by the extraction process; Run Vehicle processing methods.

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