To realize a self-position estimating device with which it is possible to estimate a self-position attitude on a map with high accuracy that includes such information as a lane center line, stop line and traffic rules.SOLUTION: One example of a representative self-position estimating device of the present invention comprises: a self-position estimation unit for estimating a self-position attitude on a high-accuracy map from the measurement result of a sensor that measures an object present in the surrounding of a vehicle; a low-accuracy section detection unit for detecting a low-accuracy section the estimation accuracy of which is low, on the basis of the self-position attitude estimated by the self-position estimation unit; and a map self-generation unit for generating a self-generated map in which the position and type of the object on the high-accuracy map in the low-accuracy section detected by the low-accuracy section detection unit are preserved.SELECTED DRAWING: Figure 1
【課題】 車線中心線や停止線、交通ルールといった情報を含んだ地図上での自己位置姿勢を高精度に推定することができる自己位置推定装置を実現することを目的とする。【解決手段】 本発明の代表的な自己位置推定装置の一つを示せば、車両の周囲に存在する物体を計測するセンサの計測結果から高精度地図上での自己位置姿勢を推定する自己位置推定部と、該自己位置推定部が推定した前記自己位置姿勢に基づいて推定精度の低い低精度区間を検出する低精度区間検出部と、該低精度区間検出部が検出した前記低精度区間における、前記物体の前記高精度地図上の位置と種類を保存した、自己生成地図を生成する自己地図生成部と、を備えるものである。【選択図】 図1
SELF-POSITION ESTIMATING DEVICE, AUTOMATIC DRIVE SYSTEM EQUIPPED THEREWITH, AND SELF-GENERATED MAP SHARING DEVICE
自己位置推定装置、それを備えた自動運転システム、および、自己生成地図共有装置
2020-09-17
Patent
Electronic Resource
Japanese
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