Motion state determination apparatus of vehicle

A motion state determination apparatus of a vehicle comprising:

• a sensor that is mounted in the vehicle and configured to obtain observation data on motion dimensions including at least a position among a position, a speed, and acceleration of a target object in a first coordinate system whose coordinate axes are an anteroposterior direction and a transverse direction of the vehicle;
• a memory that stores route data indicating a shape of a route on which the target object can move;
• and
• a processor configured to execute instructions stored in the memory to:
• calculate a prediction value for the motion dimension of the target object in a route on which the target object is traveling and a prediction value for an error in the motion dimension thereof;
• calculate a component parallel to the route and a component vertical to the route of each of a prediction value for the motion dimension off the target object and a prediction value for an error in the motion dimension thereof in a second coordinate system whose coordinate axes are a direction parallel to the route and a direction vertical to the route;
• perform a first coordinate transformation to transform a component parallel to the route and a component vertical to the route of each of a prediction value for the motion dimension of the target object and a prediction value for an error, in the motion dimension thereof into a component in an anteroposterior direction of the vehicle and a component in a transverse direction of the vehicle in the first coordinate system;
• calculate an estimation value for the motion dimension of the target object and an estimation value for an error in the motion dimension thereof in the first coordinate system, based on the observation data of the target object in the first coordinate system, a prediction value for the motion dimension of the target object, a prediction value for an error in the motion dimension thereof, and the route data stored in the memory;
• perform a second coordinate transformation to transform an estimation value for the motion dimension of the target object and an estimation value for an error in the motion dimension thereof in the first coordinate system into an estimation value for the motion dimension of the subject and an estimation value for an error in the motion dimension thereof in the second coordinate system;
• determine a motion state of the target object, based on a component parallel to the route and a component vertical to the route of each of an estimation value for the motion dimension of the target object and an estimation value for an error in the motion dimension thereof in the second coordinate system;
• and
• determine whether or not the target object is meandering.