To estimate the position of the host vehicle with high accuracy even when the ambient brightness changes.SOLUTION: A vehicle position estimating device 10 comprises: a detection unit 20 for detecting a feature point from map information 16A that includes the feature points and feature quantity of a reference image and the position and posture of a camera 14 associated with each of a plurality of reference images captured by the camera 14 at a plurality of positions along a travel route, and a travel image captured by the camera 14 while the host vehicle runs along the travel route; a calculation unit 22 for calculating a feature quantity that indicates the feature of the detected feature point; an estimation unit 24 for selecting a similar image that resembles the travel image from the plurality of reference images on the basis of the calculated feature quantity and estimating the position and posture of the host vehicle on the basis of the result of comparison of feature quantity between images and correlating the feature point of the travel image and the feature point of the similar image; and an addition unit 26 for adding the feature quantity of feature point of the correlated travel image to the map information 16A as the feature quantity of feature point of the similar image.SELECTED DRAWING: Figure 3

    【課題】周囲の明るさが変化した場合であっても、精度良く自車位置を推定する。【解決手段】自車位置推定装置10は、走行経路に沿った複数の位置でカメラ14により撮影された複数の基準画像の各々に関連付けられた、基準画像の各特徴点、特徴量、カメラ14の位置及び姿勢を含む地図情報16Aと、走行経路に沿って自車を走行させた状態でカメラ14により撮影された走行画像から特徴点を検出する検出部20と、検出された特徴点の特徴を示す特徴量を算出する算出部22と、算出された特徴量に基づいて、複数の基準画像から走行画像に類似する類似画像を選定し、画像間の特徴量の比較により、走行画像の特徴点と類似画像の特徴点との対応付けを行った結果に基づいて、自車の位置及び姿勢を推定する推定部24と、対応付けられた走行画像の特徴点の特徴量を、類似画像の特徴点の特徴量として地図情報16Aに追加する追加部26と、を備える。【選択図】図3


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    Title :

    VEHICLE POSITION ESTIMATING DEVICE, VEHICLE POSITION ESTIMATING METHOD, AND VEHICLE POSITION ESTIMATING PROGRAM


    Additional title:

    自車位置推定装置、自車位置推定方法、及び自車位置推定プログラム


    Contributors:

    Publication date :

    2019-08-08


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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