This vehicle-mounted processing device comprises: a storage unit that stores point cloud data which is created on the basis of an output from a sensor that acquires information related to the surroundings of a vehicle, the point cloud data including a plurality of coordinates of points representing a portion of an object in a first coordinate system and including environmental conditions that are the conditions of the surrounding environment when the output from the sensor is obtained; a sensor input unit that acquires the output from the sensor; a current environment acquisition unit that acquires environmental conditions; a movement information acquisition unit that acquires information related to the movement of the vehicle; a local periphery information creation unit that generates local periphery information including the position of the vehicle in a second coordinate system and a plurality of coordinates of points representing the portion of the object in the second coordinate system on the basis of the information acquired by the sensor input unit and the movement information acquisition unit; and a position estimation unit that estimates the relationship between the first coordinate system and the second coordinate system on the basis of the point cloud data, the local periphery information, the environmental conditions included in the point cloud data, and the environmental conditions acquired by the current environment acquisition unit, and estimates the position of the vehicle in the first coordinate system.

    车载处理装置具备:存储部,其存储点群数据,该点群数据基于取得车辆的周围的信息的传感器的输出而制作,包含获得传感器的输出时的周围环境的条件即环境条件,并包含表示物体的一部分的点在第一坐标系中的多个坐标;传感器输入部,其取得传感器的输出;当前环境取得部,其取得环境条件;移动信息取得部,其取得与车辆的移动相关的信息;局部周边信息制作部,其基于传感器输入部和移动信息取得部所取得的信息,生成局部周边信息,该局部周边信息包含车辆在第二坐标系中的位置以及表示物体的一部分的点在第二坐标系中的多个坐标;以及位置推定部,其基于点群数据、局部周边信息、点群数据所包含的环境条件、以及当前环境取得部所取得的环境条件,推定第一坐标系与第二坐标系的关系,并推定车辆在第一坐标系中的位置。


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    Titel :

    VEHICLE-MOUNTED PROCESSING DEVICE


    Weitere Titelangaben:

    车载处理装置


    Beteiligte:
    TAGAWA SHINYA (Autor:in) / SAKANO MORIHIKO (Autor:in)

    Erscheinungsdatum :

    23.07.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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