A self-position estimation method including: detecting a relative position of a target existing around a moving body (1) relative to the moving body (S1); estimating a movement amount of the moving body (S2); 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 (S4) ; detecting a behavior change amount of the moving body (S3); 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 (S5) ; 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 (S6).
SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE
EIGENPOSITIONSCHÄTZUNGSVERFAHREN UND EIGENPOSITIONSCHÄTZUNGSVORRICHTUNG
MÉTHODE D'ESTIMATION DE L'AUTO-POSITION ET DISPOSITIF D'ESTIMATION DE L'AUTO-POSITION
2020-07-15
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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