A self-position estimation method includes: detecting a relative position of a target existing around a moving body relative to the moving body; estimating a movement amount of the moving body; correcting the relative position on a basis of the movement amount of the moving body and accumulating the corrected relative position as target position data; detecting a behavior change amount of the moving body; selecting, from among the accumulated target position data, the target position data of the relative position detected during a period in which the behavior change amount is less than a threshold value; and collating the selected target position data with map information indicating a position on a map of the target to estimate a present position of the moving body.
Self-position estimation method and self-position estimation device
2020-04-21
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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