PROBLEM TO BE SOLVED: To improve estimation accuracy of a vehicle position.SOLUTION: A vehicle position estimation device includes: a positioning section which calculates an estimated position of a vehicle; a map database which stores map information, a type and a boundary position of road surface paint; a road surface database which stores the type of road surface paint in association with a length and an interval; an environment recognition sensor which recognizes the road surface paint; an actual road surface image generation section which generates an actual road surface image on the basis of the recognized road surface paint; a virtual road surface image generation section which acquires the type and the boundary position of the road surface paint on the basis of the estimated position by referring to the map database, acquires the length and the interval of the road surface paint by referring to the road surface database, and generates a virtual road surface image in which an end section of the road surface paint is complemented on the basis of the map information, and the boundary position and the length and the interval of the road surface paint; and a vehicle position correction section which corrects the estimated position by comparing a position of the end section of the road surface paint in the actual road surface image with a position of the end section of the road surface paint in the virtual road surface image.SELECTED DRAWING: Figure 1
【課題】車両の位置の推定精度を向上させる。【解決手段】車両位置推定装置は、車両の推定位置を算出する測位部と、地図情報と路面ペイントの種別及び境界位置とを保存する地図データベースと、路面ペイントの種別と長さ及び間隔とを対応付けて保存する路面データベースと、路面ペイントを認識する環境認識センサと、認識された路面ペイントに基づき実路面画像を生成する実路面画像生成部と、地図データベースを参照して推定位置に基づき路面ペイントの種別及び境界位置を取得し、路面データベースを参照して路面ペイントの長さ及び間隔を取得し、地図情報並びに路面ペイントの境界位置、長さ及び間隔に基づいて路面ペイントの端部が補完された仮想路面画像を生成する仮想路面画像生成部と、実路面画像及び仮想路面画像の路面ペイントの端部の位置を比較して推定位置を補正する車両位置補正部とを備える。【選択図】図1
VEHICLE POSITION ESTIMATION DEVICE
車両位置推定装置
2017-08-24
Patent
Electronic Resource
Japanese
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