PROBLEM TO BE SOLVED: To improve estimation accuracy of a self-position even if a vehicle circles and an odometry error occurs.SOLUTION: A self-position estimation method of the present invention includes: moving a relative position between a target present around a vehicle and the vehicle by an amount of movement of the vehicle to store it as target position data; detecting an observation target observed in a direction from which the vehicle came; comparing target position data on the observation target with the stored target position data to select target position data stored in a section where difference of the target position is less than a prescribed value; and checking the selected target position data with target position information included in map information to estimate a self-position of the vehicle.SELECTED DRAWING: Figure 3
【課題】車両が旋回してオドメトリの誤差が発生した場合でも自己位置の推定精度を向上させる。【解決手段】本発明の自己位置推定方法は、自車両の周囲に存在する物標と自車両との間の相対位置を自車両の移動量だけ移動させて物標位置データとして蓄積し、自車両が走行してきた方向に観測される観測物標を検出し、観測物標の物標位置データと蓄積された物標位置データとを比較して物標位置の差が所定値未満となる区間に蓄積された物標位置データを選択し、選択された物標位置データと、地図情報に含まれる物標位置情報とを照合して自車両の自己位置を推定する。【選択図】図3
SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE
自己位置推定方法及び自己位置推定装置
31.05.2018
Patent
Elektronische Ressource
Japanisch
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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