FIELD: physics.
SUBSTANCE: present invention relates to a motion control method implemented by a motion control device that controls the motion of a vehicle, and also to the motion control device. Motion control device includes receiving device (130), made with the ability to receive position information of a considered vehicle from an external device, first detector (110), equipped in the considered vehicle and made with the ability to detect a state of the considered vehicle, and second detector (120), made with the ability to detect a situation next to the considered vehicle. Motion control device estimates the position of the considered vehicle. Control method includes the step of estimating the position of the considered vehicle based on a detection result of first detector (110), step of detecting a traffic lane in which the considered vehicle is moving, based on a detection result of second detector (120), step of determining whether or not the position of the considered vehicle is included in the traffic lane on the basis of the position information, and deriving a determination as the first determination result, and step of determining whether or not the position of the considered vehicle, estimated based on the detection result of first detector (110), is included in the traffic lane, and deriving a determination as the second determination result, and the step of performing the position estimation process for evaluating the position of the considered vehicle based on the detection result of first detector (110), when the first determination result and the second detection result are not identical.
EFFECT: technical result is accurate determination of the traffic lane in which the vehicle is moving.
8 cl, 9 dwg
