PROBLEM TO BE SOLVED: To provide an attitude estimation method for a parking control apparatus and an attitude estimation apparatus, which are capable of accurately estimating a vehicular attitude.SOLUTION: An attitude estimation apparatus includes: a feature point-feature article selection part 151 for selecting a number of feature points, the number increasing proportionately as a distance from a parking target position nears, by referring to an environment map 12; a feature point-feature article detection part 152 for detecting a feature point in surroundings of a vehicle; and an attitude estimation part 153 for estimating an attitude of the vehicle by collating the feature point selected by the feature point-feature article selection part 151 with the feature point detected by the feature point-feature article detection part 152.SELECTED DRAWING: Figure 1
【課題】車両の姿勢を高精度に推定することができる駐車制御装置の姿勢推定方法、及び姿勢推定装置を提供する。【解決手段】環境マップ12を参照して、駐車目標位置からの距離が近いほど、より多くの特徴点を選択する特徴点/特徴物選択部151と、車両周囲の特徴点を検出する特徴点/特徴物検出部152を備える。更に、特徴点/特徴物選択部151で選択した特徴点と、特徴点/特徴物検出部152で検出した特徴点とを照合して、車両の姿勢を推定する姿勢推定部153を備える。【選択図】図1
ATTITUDE ESTIMATION METHOD FOR PARKING CONTROL APPARATUS, AND ATTITUDE ESTIMATION APPARATUS
駐車制御装置の姿勢推定方法、及び姿勢推定装置
2018-05-17
Patent
Electronic Resource
Japanese
IPC: | 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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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