The invention relates to a vehicle position estimation device, a method therefor, and a program. A vehicle position estimation device is provided with: a longitudinal position estimation unit that estimates the longitudinal position of a vehicle on the basis of the output of a vehicle state detection device; a division line detection unit that detects actual division lines on the left and right sides of the vehicle; a lateral position estimation unit that compares the division line on the map at the longitudinal position of the vehicle with the actual division line, and estimates the lateral position of the vehicle on the basis of the relative positional relationship between the actual division line and the vehicle; and a travel route determination unit that determines a travel route of the vehicle. The lateral position estimation unit calculates the amount of change in the lateral position with respect to the travel path on the basis of the map information on each of the left and right side lines of the travel path in a predetermined range before and after the longitudinal position of the vehicle, and determines the line on the map to be compared on the basis of the amount of change in the lateral position. The present invention suppresses a decrease in estimation accuracy of a vehicle lateral position due to an estimation error of a vehicle longitudinal position.
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。
Vehicle position estimation device, vehicle position estimation method, and computer program for estimating vehicle position
车辆位置推测装置、车辆位置推测方法及车辆位置推测用计算机程序
2022-10-18
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 |
Europäisches Patentamt | 2020
|Europäisches Patentamt | 2020
|Europäisches Patentamt | 2019
|VEHICLE POSITION ESTIMATION DEVICE AND VEHICLE POSITION ESTIMATION METHOD
Europäisches Patentamt | 2020
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