To enable position estimation resistant to disturbances to be carried out taking into account the fact that sensor accuracy changes depending on an environment condition.SOLUTION: An onboard processing device comprises: a storage unit which stores point group data created on the basis of the output of a sensor that acquires surrounding information on a vehicle, and including an environment condition being an ambient environment when sensor output is obtained and including a plurality of coordinates in a first coordinate system of points representing part of an object; a sensor input unit for acquiring sensor output; a present environment acquisition unit for acquiring an environment condition; a movement information acquisition unit for acquiring information pertaining to the movement of the vehicle; a local periphery information creation unit for generating, on the basis of information acquired by the sensor input unit and movement information acquisition unit, local periphery information which includes the position of the vehicle in a second coordinate system and a plurality of coordinates in the second coordinate system of points representing part of an object; and a position estimation unit for estimating a relationship between the first and second coordinate systems on the basis of the point group data, the local periphery information, the environment condition included in the point group data, and the environment condition acquired by the present environment acquisition unit, and estimating the position of the vehicle in the first coordinate system.SELECTED DRAWING: Figure 1
【課題】センサの精度が環境条件により変化することを考慮したうえで外乱に強い位置推定を行うことができる。【解決手段】車載処理装置は、車両の周囲の情報を取得するセンサの出力に基づき作成され、センサの出力が得られた際の周囲環境の条件である環境条件を含み、物体の一部を表す点の第1座標系における座標が複数含まれる点群データが格納される記憶部と、センサの出力を取得するセンサ入力部と、環境条件を取得する現在環境取得部と、車両の移動に関する情報を取得する移動情報取得部と、センサ入力部、および移動情報取得部が取得する情報に基づき、第2座標系における車両の位置および物体の一部を表す点の第2座標系における座標が複数含まれる局所周辺情報を生成する局所周辺情報作成部と、点群データ、局所周辺情報、点群データに含まれる環境条件、および現在環境取得部が取得する環境条件に基づき第1座標系と第2座標系の関係を推定し、第1座標系における車両の位置を推定する位置推定部とを備える。【選択図】図1
ONBOARD PROCESSING DEVICE
車載処理装置
05.03.2020
Patent
Elektronische Ressource
Japanisch
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