To provide a technology with which it is possible to estimate the position of a vehicle in which the technology is implemented, with good accuracy even under a condition where it is difficult to visually detect the position of the vehicle.SOLUTION: An ECU as a position estimating device comprises: a map information acquisition unit 51 for acquiring the map information of a road that a vehicle 10 travels; an acceleration sensor 23 and a yaw rate sensor 24 as inertial sensors mounted in the vehicle; a lateral gradient detection unit 55, a vertical gradient detection unit 56, a curvature detection unit 57 and a joint detection unit 58 as shape detection units that detect the road surface shape of the road that the vehicle travels, on the basis of the traveling state of the vehicle detected by at least one of vehicle speed sensors 21; a relative position detection unit 53 for detecting the relative position of the vehicle to the road surface shape; and a vehicle position estimation unit 60 for comparing the road surface shape detected by the shape detection unit with the road surface shape included in the map information, specifying the position of the road surface shape in the map position, and estimating the position of the vehicle on the basis of the specified position of the road surface shape and the relative position.SELECTED DRAWING: Figure 1
【課題】視覚的に自車の位置を検出することが困難な状況下でも、自車の位置を精度よく推定できる技術を提供する。【解決手段】位置推定装置としてのECUは、自車10が走行する道路の地図情報を取得する地図情報取得部51と、自車に搭載された慣性センサとしての加速度センサ23,及びヨーレートセンサ24と、車速センサ21のうちの少なくともいずれか1つにより検出される自車の走行状態に基づいて、自車が走行する道路の路面形状を検出する形状検出部としての横勾配検出部55、舘勾配検出部56、曲率検出部57、ジョイント検出部58と、路面形状に対する自車の相対位置を検出する相対位置検出部53と、形状検出部により検出された路面形状を地図情報に含まれる路面形状と照合して地図情報内の路面形状の位置を特定し、特定された路面形状の位置および相対位置に基づいて自車の位置を推定する自車位置推定部60と、を備える。【選択図】図1
POSITION ESTIMATING DEVICE AND DRIVING ASSISTANCE DEVICE
位置推定装置および運転支援装置
15.10.2020
Patent
Elektronische Ressource
Japanisch
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