To improve the accuracy of estimating the amount of movement of a vehicle autonomously moving along a route.SOLUTION: A movement amount estimating device 10 comprises a vehicle movement amount calculation unit 14, a sensor movement amount calculation unit 11, a cause of error determination unit 16, and a vehicle movement amount correction unit 17. The vehicle movement amount calculation unit 14 acquires vehicle information 30 relating to the movement of the host vehicle, and calculates a vehicle movement amount that represents the movement amount of the host vehicle based on the vehicle information 30. The sensor movement amount calculation unit 11 acquires sensor information relating to the surrounding environment of the host vehicle from an external sensor 20 and calculates a sensor movement amount that represents the movement amount of the host vehicle based on the sensor information. The cause of error determination unit 16 determines the cause of error of the vehicle movement amount. The vehicle movement amount correction unit 17 corrects the vehicle movement amount using the sensor movement amount in accordance with the cause of error and estimates the movement amount of the host vehicle.SELECTED DRAWING: Figure 1

    【課題】経路に従って自律移動する車両を対象に行われる移動量推定の精度を向上させる。【解決手段】移動量推定装置10は、車両移動量計算部14と、センサ移動量計算部11と、誤差要因判定部16と、車両移動量補正部17とを備える。車両移動量計算部14は、自車両の移動に関する車両情報30を取得し、その車両情報30に基づく自車両の移動量を表す車両移動量を計算する。センサ移動量計算部11は、自車両の周囲環境に関するセンサ情報を外界センサ20から取得し、そのセンサ情報に基づく自車両の移動量を表すセンサ移動量を計算する。誤差要因判定部16は、車両移動量の誤差要因を判定する。車両移動量補正部17は、誤差要因に応じてセンサ移動量を用いた車両移動量の補正を行い、自車両の移動量を推定する。【選択図】図1


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    Title :

    MOVEMENT AMOUNT ESTIMATING DEVICE


    Additional title:

    移動量推定装置


    Contributors:

    Publication date :

    2020-07-09


    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



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