A position of a host vehicle after having passed through an intersection via a right or left turn is made to approach a lane center even in intersections without white lines or a pedestrian crossing.In a device for correcting a position error of an autonomous vehicle provided with a navigation control unit (3) that corrects navigational error during autonomous travel, the navigation control unit (3) includes, in a target route corrector 36 that corrects a target route, a road boundary information consolidation unit (361), a lateral correction amount calculation unit (362), and a lateral/sideways movement unit (363). The road boundary information consolidation unit (361) detects a lane boundary of a lane in which the host vehicle travels. The lateral correction amount calculation unit (362) calculates a target value for a lateral correction amount of the target route by comparing positional relationships between lane boundary detection results and the target route on a map, and changes a lateral movement speed of the target route to calculate the target value for the lateral correction amount according to a bearing of the host vehicle in which the bearing being a vehicle attitude angle. The lateral/sideways movement unit (363) corrects the target route by moving the target route sideways in a lateral direction by an amount equal to the lateral correction amount upon the calculation of the lateral correction amount.


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    Title :

    METHOD FOR CORRECTING POSITIONAL ERROR AND DEVICE FOR CORRECTING POSITIONAL ERROR IN A DRIVE-ASSISTED VEHICLE


    Additional title:

    VERFAHREN ZUR KORREKTUR VON POSITIONSFEHLERN UND VORRICHTUNG ZUR KORREKTUR VON POSITIONSFEHLERN IN EINEM FAHRZEUG MIT FAHRASSISTENZ
    PROCÉDÉ DE CORRECTION D'ERREUR DE POSITION ET DISPOSITIF DE CORRECTION D'ERREUR DE POSITION DANS UN VÉHICULE AVEC ASSISTANCE DE CONDUITE


    Contributors:

    Publication date :

    2022-08-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA



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