Displacement amount estimation device, displacement amount estimation method, and non-transitory computer readable storage medium

A non-transitory tangible computer readable storage medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for estimating a displacement amount of a mobile object that is movable on a road surface, the instructions including:

• acquiring distance measurement data, which is related to a position and Doppler speed of a distance measurement point detected by a distance measurement sensor;
• extracting from the distance measurement data an extraction point that is a distance measurement point disposed outside a range between a position where a distance in a vertical direction from a road surface point that is the distance measurement point on a road surface is a first predetermined distance and a position where the distance in the vertical direction from the road surface point is a second predetermined distance that is larger than the first predetermined distance;
• and
• estimating the displacement amount based on a value related to the Doppler speed of the extraction point.

A displacement amount estimation method for estimating a displacement amount of a mobile object that is movable on a road surface, the displacement amount estimation method comprising:

• acquiring distance measurement data, which is related to a position and Doppler speed of a distance measurement point detected by a distance measurement sensor;
• extracting from the distance measurement data an extraction point that is a distance measurement point disposed outside a range between a position where a distance in a vertical direction from a road surface point that is the distance measurement point on a road surface is a first predetermined distance and a position where the distance in the vertical direction from the road surface point is a second predetermined distance that is larger than the first predetermined distance;
• and
• estimating the displacement amount based on a value related to the Doppler speed of the extraction point.