To provide a distance estimation device that can correctly estimate a distance between a planimetric feature and a mobile object.SOLUTION: A distance estimation device comprises first and second distance calculation units that calculates first and second right-side distances between a mobile object and a right-side planimetric feature and first and second left-side distances between the mobile object and a left-side planimetric feature, from first and second data representing planimetric features in first and second regions around the mobile object obtained using first and second sensors; a reference inter-planimetric feature distance calculation unit that determines a reference inter-planimetric feature distance between the right-side planimetric feature and the left-side planimetric feature which are at a current position of the mobile object; an error estimation unit that determines an estimation error on the basis of a difference between a first inter-planimetric feature distance, which is a sum of the first right-side distance and the first left-side distance and a reference distance; and a distance estimation unit that estimates, as a distance between the mobile object and the right-side planimetric feature and a distance between the mobile object and the left-side planimetric feature in the current position, combined right-side and left-side distances, which are inter-planimetric feature distances between the right-side planimetric feature and the left-side planimetric feature which are obtained for each combination of the first right-side distance or the second right-side distance corrected by the estimation error and the first left-side distance or the second left-side distance corrected by the estimation error, which are closest to the reference distance.SELECTED DRAWING: Figure 3
【課題】地物と移動物体との間の距離を正しく推定できる距離推定装置を提供する。【解決手段】距離推定装置は、第1及び第2センサを用いて取得された移動物体の周囲の第1及び第2領域内の地物を表す第1及び第2データから、移動物体と右側地物との間の第1及び第2右側距離と、移動物体と左側地物との間の第1及び第2左側距離を算出する第1及び第2距離算出部と、移動物体の現在位置の右側地物と左側地物との間の参照地物間距離を求め、第1右側距離と第1左側距離との和である第1地物間距離と参照距離との差に基づいて推定誤差を求め、参照距離と最も近い、推定誤差で補正された第1右側距離又は第2右側距離と推定誤差で補正された第1左側距離又は第2左側距離との組み合わせごとに得られる右側地物と左側地物との間の地物間距離となる組み合わせの右側及び左側距離を、現在位置における移動物体と右側地物との間の距離及び移動物体と左側地物との間の距離として推定する。【選択図】図3
DISTANCE ESTIMATION DEVICE AND COMPUTER PROGRAM FOR DISTANCE ESTIMATION
距離推定装置及び距離推定用コンピュータプログラム
2021-08-19
Patent
Electronic Resource
Japanese
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 / G06V / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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