PROBLEM TO BE SOLVED: To improve estimation accuracy of a vehicle position.SOLUTION: The present disclosure is directed to an own vehicle position estimation device that comprises: an input unit that receives information on a first line segment indicative of a part extending in a first direction of each road sign of a prescribed range including a position of a vehicle and a second line segment indicative of a part extending in a second direction different from the first direction, and a road surface image shot by an imaging device to be used in the vehicle; a first extraction unit that extracts a first point group serving as a point group along the first direction from each road sign included in the road surface image; a second extraction unit that extracts a second point group serving as a point group along the second direction from each road sign included in the road surface image; and a calculation unit that calculates a vehicle position on the basis of a comparison result of the first line segment with the first point group, and a comparison result of the second line segment with the second point group.SELECTED DRAWING: Figure 1
【課題】車両位置の推定精度を向上させること。【解決手段】本開示は、車両の位置を含む所定範囲の各道路標示の第一方向に延びる部分を示す第一線分および前記第一方向とは異なる第二方向に延びる部分を示す第二線分の情報と、前記車両で用いられる撮像装置で撮像された路面画像と、を受け取る入力部と、前記路面画像に含まれる各道路標示から、前記第一方向に沿う点群である第一点群を抽出する第一抽出部と、前記路面画像に含まれる各道路標示から、前記第二方向に沿う点群である第二点群を抽出する第二抽出部と、前記第一線分および前記第一点群の比較結果と、前記第二線分および前記第二点群の比較結果とに基づき、車両位置を算出する算出部と、を備えた自車位置推定装置に向けられる。【選択図】図1
OWN VEHICLE POSITION ESTIMATION DEVICE, PROGRAM, RECORDING MEDIUM, AND OWN VEHICLE POSITION ESTIMATION METHOD
自車位置推定装置、プログラム、記録媒体、および自車位置推定方法
2018-06-21
Patent
Electronic Resource
Japanese
European Patent Office | 2022
|European Patent Office | 2020
|POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, PROGRAM, AND RECORDING MEDIUM
European Patent Office | 2020
|European Patent Office | 2020
|European Patent Office | 2022
|