PROBLEM TO BE SOLVED: To provide a self-vehicle position estimation apparatus capable of performing a self-vehicle position estimation at a short time.SOLUTION: An identification marker 34 which emits light with an inherent light emission pattern by a near-infrared light emitting LED 28 is placed in advance at a known place in a parking area. On the side of a vehicle, the identification marker 34 is imaged by peripheral cameras 10a, 10b, 10c and 10d provided so as to image the surrounding of the vehicle, and the identification marker 34 is detected by a marker detection unit 11 from the captured image. Next, a self-vehicle position calculation unit 13 calculates a relative position between the self-vehicle and the identification marker 34 to support movement of the self-vehicle to the parking area.SELECTED DRAWING: Figure 1
【課題】短い時間で自車位置推定を行うことができる自車位置推定装置を得る。【解決手段】近赤外LED28により、固有の発光パターンを発光する識別マーカー34を、あらかじめ駐車領域の既知の場所に配置しておき、車両側では、車両の周辺を撮影するように配置された周辺カメラ10a、10b、10c、10dにより識別マーカー34を撮影し、マーカー検出部11により撮影画像から識別マーカー34を検出し、次いで、自車両位置演算部13により、自車両と識別マーカー34との相対位置を演算して、自車両の駐車領域への移動を支援するようにした。【選択図】図1
SELF-VEHICLE POSITION ESTIMATION APPARATUS
自車位置推定装置
2017-12-14
Patent
Electronic Resource
Japanese
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