PROBLEM TO BE SOLVED: To provide an own vehicle position determination device and own vehicle position determination method that can suppress degradation of own vehicle position accuracy in determining an own vehicle position on a map, using a road side object located on a road side.SOLUTION: An ECU 20 comprises: an own vehicle position estimation unit 21 that estimates an own vehicle position CP on a map due to map matching processing; a characteristic extraction unit 23 that extracts an edge point P of a road side object around an own vehicle on the basis of an output of characteristic detection means loaded in the own vehicle; a variation calculation unit 24 that calculates a variation level in a vehicle lateral direction at each edge point P in a direction along a road; and a correction unit 26 that makes a correction as to the estimated own vehicle position on the basis of the calculated variation level.SELECTED DRAWING: Figure 1
【課題】路側に位置する路側物を用いた地図上の自車位置の特定において、自車位置精度の悪化を抑制することができる自車位置特定装置、及び自車位置特定方法を提供することを目的とする。【解決手段】ECU20は、地図上の自車位置CPをマップマッチング処理により推定する自車位置推定部21と、自車両に搭載された特徴検出手段の出力に基づいて、自車両の周辺の路側物のエッジ点Pを抽出する特徴抽出部23と、道路に沿う方向において、各エッジ点Pの車両横方向でのばらつき度合を算出するばらつき算出部24と、算出された前記ばらつき度合に基づいて、推定された前記自車位置についての前記補正を実施する補正部26と、を備える。【選択図】 図1
OWN VEHICLE POSITION DETERMINATION DEVICE AND OWN VEHICLE POSITION DETERMINATION METHOD
自車位置特定装置、及び自車位置特定方法
2018-01-11
Patent
Elektronische Ressource
Japanisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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