PROBLEM TO BE SOLVED: To improve estimation accuracy of a self-position even if it is not possible to check all targets with map information without inconsistency.SOLUTION: A self-position estimation method of the present invention includes: moving a relative position between a target present around a vehicle and the vehicle by an amount of movement of the vehicle to store it as target position data; extracting a plurality of travel lane boundaries present right and left sides of the vehicle from the stored target position data; setting priority to each of the extracted travel lane boundaries to select a travel lane boundary with high priority; and checking target position data on the selected travel lane boundary with target position information included in map information to estimate a self-position of the vehicle.SELECTED DRAWING: Figure 3
【課題】すべての物標で矛盾なく地図情報と照合することができない場合でも自己位置の推定精度を向上させる。【解決手段】本発明の自己位置推定方法は、自車両の周囲に存在する物標と自車両との間の相対位置を自車両の移動量だけ移動させて物標位置データとして蓄積し、蓄積された物標位置データから自車両の左右に存在する複数の走路境界を抽出し、抽出された複数の走路境界のそれぞれに優先度を設定して優先度の高い走路境界を選択し、選択された走路境界の物標位置データと、地図情報に含まれる物標位置情報とを照合して自車両の自己位置を推定する。【選択図】図3
SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE
自己位置推定方法及び自己位置推定装置
2018-05-31
Patent
Electronic Resource
Japanese
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