PROBLEM TO BE SOLVED: To provide a self-vehicle position recognizing device capable of increasing recognition accuracy of a self-vehicle position.SOLUTION: A self-vehicle recognizing device 1 for recognizing a self-vehicle position comprises a correction value calculating unit 17 which periodically calculates a correction value for correcting the self-vehicle position estimated by a self-vehicle estimating unit 7. The self-vehicle position recognizing device also comprises a correcting unit 19 which corrects the self-vehicle position on the basis of the correction value calculated at a plurality of points of time. The correcting unit is configured so that the weight of the correction value calculated when the following weight reducing condition is satisfied becomes lower than the weight of the correction value calculated in other conditions. The weight reducing condition: in at least a part of a range in which a feature is predicted to is present from a position of the feature acquired by a feature information acquiring unit, the number of feature detection points is less than or equal to a threshold value.SELECTED DRAWING: Figure 2
【課題】自車位置の認識精度を高めることができる自車位置認識装置を提供すること。【解決手段】自車位置を認識する自車位置認識装置1であって、自車推定ユニット7で推定した自車位置を補正する補正値を周期的に算出する補正値算出ユニット17を備える。また、複数の時点において算出された補正値に基づき、自車位置を補正する補正ユニット19を備える。補正ユニットは、以下の重み低下条件を充足する場合に算出された補正値の重みを、それ以外の場合に算出された補正値の重みよりも低くするように構成されている。重み低下条件:地物情報取得ユニットが取得した地物の位置から地物が存在すると予測される範囲の少なくとも一部において、地物検出点の数が閾値以下である。【選択図】図2
SELF-VEHICLE POSITION RECOGNIZING DEVICE
自車位置認識装置
2018-04-12
Patent
Elektronische Ressource
Japanisch
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