PROBLEM TO BE SOLVED: To provide an information processing device capable of properly narrowing down a range for detecting an object.SOLUTION: A driving support system comprises an on-vehicle machine 1, a rider 2, a gyro sensor 3 and a vehicle speed sensor 4 which are installed in a vehicle and perform control for vehicle driving support. The on-vehicle machine 1 calculates an estimation value z=(r, φ)of a measurement value zobtained by the rider 2 on the basis of a prior estimation value xand a position vector mof a landmark present in a scan range Rsc extracted from a map DB 10. The on-vehicle machine 1 sets a range, which is part of the scan range Rsc, having a scan angle being difference within a predetermined width from an angle φand a range-finding range falling within the predetermined width from a distance r, as a search range Rtag.SELECTED DRAWING: Figure 9
【課題】対象物を検出する範囲を好適に絞り込むことが可能な情報処理装置を提供する。【解決手段】運転支援システムは、車両に搭載され、車両の運転支援に関する制御を行う車載機1と、ライダ2と、ジャイロセンサ3と、車速センサ4とを有する。車載機1は、事前推定値x−tと、地図DB10から抽出したスキャン範囲Rsc内に存在するランドマークの位置ベクトルmkとに基づき、ライダ2による計測値ztkの推定値z^tk=(r^tk、φ^tk)Tを算出する。そして、車載機1は、スキャン範囲Rscのうち、スキャン角度が角度φ^tkから所定幅以内の差であって、測距範囲が距離r^tkから所定幅以内となる範囲を、探索範囲Rtagとして設定する。【選択図】図9
INFORMATION PROCESSING DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM
情報処理装置、制御方法、プログラム及び記憶媒体
2017-04-13
Patent
Electronic Resource
Japanese
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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