PROBLEM TO BE SOLVED: To greatly reduce a processing time until the position and posture of a mobile entity is estimated when estimating the current position and posture of a mobile entity by collating a movement candidate that is set on the basis of an environment map against sensing data.SOLUTION: Divide collation units 30a-30c are designed in such a way that when setting a movement candidate indicating a position and posture that become possible at next detection timing on the basis of an environment map that is sensing data at previous detection timing, estimating a movement candidate that becomes a maximum evaluation value by collating the sensing data and the movement candidate at latest detection timing, and specifying the amount of change in position and posture from the position and posture indicated by the environment map to the position and posture indicated by the movement candidate of the maximum evaluation value, two kinds of variables are fixed while only one kind of variable is varied, and a movement candidate that becomes a maximum evaluation value is estimated. As compared with a configuration in which all of movement candidates are collated, a processing time until the movement candidate that becomes the maximum evaluation value is estimated is significantly reduced.SELECTED DRAWING: Figure 3

    【課題】環境地図に基づいて設定した運動候補とセンシングデータとを照合することにより移動体の現在の位置姿勢を推測する推測する場合に、移動体の位置姿勢を推定するまでの処理時間を大幅に低減する。【解決手段】分割照合部30a〜30cは、前回の検出タイミングでのセンシングデータである環境地図に基づいて次の検出タイミングで可能となる位置姿勢を示す運動候補を設定し、今回の検出タイミングでのセンシングデータと運動候補とを照合することにより最大評価値となる運動候補を推定し、環境地図が示す位置姿勢から最大評価値の運動候補が示す位置姿勢に至る位置姿勢変化量を特定する場合に、2種類の変数を固定して1種類の変数のみを変化させて最大評価値となる運動候補を推定するようにしたので、全ての運動候補と照合する構成に比較して、最大評価値となる運動候補を推定するまでの処理時間を大幅に低減することができる。【選択図】図3


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    Title :

    DEVICE FOR ESTIMATING POSITION AND POSTURE OF MOBILE ENTITY, AND AUTONOMOUS TRAVELING SYSTEM OF MOBILE ENTITY


    Additional title:

    移動体の位置姿勢推定装置及び移動体の自律走行システム


    Contributors:
    MIKI AKIRA (author)

    Publication date :

    2017-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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