本发明涉及车辆位置推测装置及其方法、程序。车辆位置推测装置具备:纵向位置推测部,根据车辆状态检测装置的输出来推测车辆的纵向位置;区划线检测部,检测车辆左右两侧的实际区划线;横向位置推测部,将车辆的纵向位置处的地图上的区划线与实际区划线进行比对,根据实际区划线与车辆的相对位置关系推测车辆的横向位置;及行驶路径决定部,决定车辆的行驶路径。横向位置推测部根据地图信息关于车辆的纵向位置的前后的预定范围中的行驶路径的左右两侧的区划线的各个区划线计算横向位置相对于行驶路径的变化量,根据横向位置的变化量决定作为比对对象的地图上的区划线。抑制由于车辆纵向位置的推测误差而车辆横向位置的推测精度下降。
The vehicle position estimation device includes a processor configured to estimate a vertical position of a vehicle based on an output of a vehicle state detection device, detect actual dividing lines at both left and right sides of the vehicle, compare a dividing line on a map at the vertical position of the vehicle and an actual dividing line and estimate a horizontal position of the vehicle, and determine a driving route of the vehicle. The processor is configured to calculate an amount of change of a horizontal position with respect to the driving route based on a map information for each of dividing lines of both left and right sides of the driving route in a predetermined range, and determine a dividing line on the map for comparison based on the amounts of change.
车辆位置推测装置、车辆位置推测方法及计算机可读存储介质
20.06.2025
Patent
Elektronische Ressource
Chinesisch
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 |