A self -position estimation method including: detecting a relative position of each 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 (S3); detecting a slope amount of a traveling road of the moving body (S4) ; selecting, from among the accumulated target position data, the target position data of one or more targets in one or more sections having a slope amount less than a threshold value (S8) ; and collating the selected target position data with map information indicating positions of the targets on a two-dimensional map to estimate a present position of the moving body (S9).
SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION APPARATUS
EIGENPOSITIONSCHÄTZUNGSVERFAHREN UND EIGENPOSITIONSCHÄTZUNGSVORRICHTUNG
PROCÉDÉ D'ESTIMATION DE POSITION AUTOMATIQUE ET APPAREIL D'ESTIMATION DE POSITION AUTOMATIQUE
2020-05-06
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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