To estimate the position of an own vehicle with precision higher than a certain degree even if position estimation precision does not meet predetermined conditions, for example, the position of the own vehicle cannot be identified through satellite positioning (radio navigation positioning).SOLUTION: A vehicle position estimation device has: a position estimation part 114 which estimates a vehicle position; and a correction determination part 111 which determines whether satellite positioning by a satellite positioning part 103 is available. When the satellite positioning is not available, the vehicle position estimation device uses vehicle position information 400 and propagation vehicle position information 500 from another vehicle capable of satellite positioning to correct an autonomous navigation positioning position using an inertia sensor 104 and estimate the position of the vehicle, thereby, identifying and correcting estimated positions between vehicles in a relay manner starting with a vehicle capable of satellite positioning so as to improve precision of an autonomous estimated position of the vehicle having a large deviation in long-distance destination.SELECTED DRAWING: Figure 1
【課題】衛星測位(電波航法測位)により自車位置を特定できてないなど位置推定精度が所定条件を満たさない場合でも、一定以上の精度での位置推定を可能とする。【解決手段】車両の位置を推定する位置推定部114と、衛星測位部103で衛星測位が可能かを判断する補正判断部111とを有し、衛星測位が不可能な場合、これが可能な他車からの車両位置情報400や伝播車両位置情報500を用いて、慣性センサ104を用いた自律航法測位位置を補正して車両の位置を推定することで、衛星測位が可能な車両を起点に、車両間での推定位置をリレー方式で特定、補正していき、長距離先の大きな乖離が生じている車両の自車推定位置の精度を向上する。【選択図】図1
VEHICLE POSITION ESTIMATION DEVICE, AUTOMATIC DRIVE DEVICE AND VEHICLE POSITION ESTIMATION METHOD
車両位置推定装置、自動運転装置および車両位置推定方法
15.08.2022
Patent
Elektronische Ressource
Japanisch
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