PROBLEM TO BE SOLVED: To provide a posture estimation method and a posture estimation device of a parking control device, capable of accurately estimating a posture of a vehicle.SOLUTION: A posture estimation device for estimating a posture of a vehicle V1 and controlling parking to a parking target position 21 includes: a feature point/feature object selection section 151 for selecting a feature point separated from the parking target position 21 by a predetermined distance by referring to an environment map 12; a feature point/feature object detection section 152 for detecting a feature point in the circumference of a vehicle; and also a posture estimation section 153 for estimating a posture of the vehicle V1 by comparing a feature point selected by the feature point/feature object selection section 151 with a feature point detected by the feature point/feature object detection section 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】車両V1の姿勢を推定して駐車目標位置21への駐車を制御する姿勢推定装置であり、環境マップ12を参照して、駐車目標位置21から所定距離以上離れた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V1の姿勢を推定する姿勢推定部153を備える。【選択図】 図1
POSTURE ESTIMATION METHOD AND POSTURE ESTIMATION DEVICE OF PARKING CONTROL DEVICE
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: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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