PROBLEM TO BE SOLVED: To provide an on-board processing device that enables increase in accuracy of estimating a position of a vehicle.SOLUTION: In a storage unit 124, a parking lot point group 124A is stored that has a coordinate of a point of a part of an object in a parking lot coordinate system plurally included. A sensor input unit (I/F 125) is configured to acquire surround information from a camera 102. A movement information acquisition unit (I/F 125) is configured to acquire movement information, and a local circumference information compilation unit 121B is configured to generate local circumference information 122B indicative of second point group data that has a position of a vehicle in a local coordinate system and a coordinate of a point of a part of an object in the local coordinate system plurally included on the basis of the surround information and movement information. A position estimation unit 121C is configured to: estimate a corresponding relationship between the parking lot coordinate system and the local coordinate system on the basis of the parking lot point group 124A and the local circumference information 122B; and estimate a position of a vehicle 1 in the parking lot coordinate system from a position of the vehicle 1 in the local coordinate system, and the corresponding relationship.SELECTED DRAWING: Figure 1

    【課題】車両の位置を推定する精度を向上することができる車載処理装置を提供する。【解決手段】記憶部124には、駐車場座標系における物体の一部の点の座標が複数含まれる駐車場点群124Aが格納される。センサ入力部(I/F125)は、カメラ102から周囲情報を取得する。移動情報取得部(I/F125)は、移動情報を取得する。局所周辺情報作成部121Bは、周囲情報、および移動情報に基づき、局所座標系における車両の位置および局所座標系における物体の一部の点の座標が複数含まれる第2点群データを示す局所周辺情報122Bを生成する。位置推定部121Cは、駐車場点群124Aおよび局所周辺情報122Bに基づき駐車場座標系と局所座標系の対応関係を推定し、局所座標系における車両1の位置および対応関係から駐車場座標系における車両1の位置を推定する。【選択図】図1


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    Title :

    ON-BOARD PROCESSING DEVICE


    Additional title:

    車載処理装置


    Contributors:

    Publication date :

    2018-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



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