PROBLEM TO BE SOLVED: To provide a vehicle location detection device that can accurately estimate a location of an own vehicle at a low processing load.SOLUTION: A vehicle location detection device includes: a particle generation unit (23) that generates a plurality of particles expressing a luminance change in a direction crossing a line according to a category of the line as to each line to be marked on a road extracted from map information in accordance with a prediction location at a current time of an own vehicle (10); a projection unit (24) that projects each particle onto an image of the current time obtained by an imaging unit (2) loaded in the vehicle (10) as changing the prediction location within an expected error range; a selection unit (25) that selects the particle in which a degree of matching to the image satisfies a prescribed matching condition of each particle; and a location update unit (26) that obtains an estimation location of the vehicle (10) in accordance with a total sum of errors when projecting each of the selected particles onto the line to be marked on the corresponding road on the basis of the estimation location of the vehicle (10) at the current time.SELECTED DRAWING: Figure 4

    【課題】低い処理負荷で自車両の位置を正確に推定できる車両位置検出装置を提供する。【解決手段】車両位置検出装置は、車両(10)の現時刻における予測位置に応じて、地図情報から抽出した道路上に標示される各線について、その線の種類に応じて、その線を横切る方向の輝度変化を表すパーティクルを複数生成するパーティクル生成部(23)と、各パーティクルについて、予測位置を想定される誤差範囲内で変化させながら車両(10)に搭載された撮像部(2)により得られた現時刻の画像に投影する投影部(24)と、各パーティクルのうち、画像との一致度合が所定の一致条件を満たすパーティクルを選択する選択部(25)と、選択された各パーティクルを現時刻における車両(10)の推定位置に基づいて対応する道路上に標示される線に射影したときの誤差の総和に応じて車両(10)の推定位置を求める位置更新部(26)とを有する。【選択図】図4


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    Title :

    VEHICLE LOCATION DETECTION DEVICE, VEHICLE LOCATION DETECTION METHOD AND VEHICLE LOCATION DETECTION-PURPOSE COMPUTER PROGRAM


    Additional title:

    車両位置検出装置、車両位置検出方法及び車両位置検出用コンピュータプログラム


    Contributors:
    HARA KOSUKE (author)

    Publication date :

    2017-10-05


    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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