The invention relates to a moving body, a computer program product and a position estimation method, and aims to reduce precision reduction of autonomous movement of the moving body. The mobile body has: an information generation unit for associating each node on a movement path with a plurality of external sensors, and generating calculation information for calculating a deviation between a node through which travel is guided and a location through which the mobile body passes during autonomous movement; the deviation calculation part is used for calculating deviation according to the calculation information and the sensor value of the external sensor during autonomous movement; a position estimation unit for estimating the obtained deviation as the position and orientation of each node on the movement path based on the position and orientation of the moving body; an integration processing unit for integrating the estimated position and orientation of each node; and an autonomous movement processing unit for autonomously moving through the movement path on the basis of the integrated position and orientation of each node.
本发明涉及移动体、计算机程序产品以及位置推定方法,其目的在于减少移动体自主移动的精度下降。移动体具有:信息生成部,用于将移动路径上各节点与多个外界传感器对应,生成用来计算指导行驶时通过的节点和自主移动时通过的地点之间的偏差的计算信息;偏差计算部,用于根据计算信息和自主移动时外界传感器的传感器值,计算偏差;位置推定部,用于将求出的偏差推定为以移动体的位置和姿势为基准的移动路径上各节点的位置及姿势;整合处理部,用于整合所推定的各节点的位置及姿势;以及,自主移动处理部,用于根据经过整合的各节点的位置及姿势,自主移动通过移动路径。
Moving body, position estimation method, computer program product, and storage medium
移动体、位置推定方法、以及计算机程序产品、存储介质
20.12.2024
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / B62D MOTOR VEHICLES , Motorfahrzeuge |
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