To provide a self position estimation device and self position estimation method capable of shortening the time required for a mobile object to reach a destination.SOLUTION: A self position estimation unit 11 evaluates that a self position estimation accuracy has deteriorated. Then, the self position estimation unit 11 reduces a frequency of selection as a route at the time of route setting for a low evaluation region VE evaluated to have low self position estimation accuracy. Therefore, when a route setting unit 10 sets a route, a region having high self position estimation accuracy (a region other than the low evaluation region VE) is preferentially selected as the route instead of the low evaluation region VE (for example, see Fig. 2 b). Thus, a self position estimation device 100 can suppress unnecessary movements (for example, see Fig. 6) such as a mobile object 2 actually going to the low evaluation region VE, and can suppress using a large amount of time.SELECTED DRAWING: Figure 1

    【課題】移動体が目的地に到達するまでの時間を短くすることができる自己位置推定装置、及び自己位置推定方法を提供する。【解決手段】自己位置推定部11は、自己位置推定精度が低下したと評価する。そして、自己位置推定部11は、当該自己位置推定精度が低いと評価された低評価領域VEについて、経路設定時において経路として選択される頻度を下げる。従って、経路設定部10が経路設定を行う時には、低評価領域VEではなく、自己位置推定精度の高い領域(低評価領域VE以外の領域)が優先的に経路として選ばれる(例えば、図2(b)参照)。そのため、自己位置推定装置100は、移動体2が低評価領域VEへ実際に行くなどの不要な動作(例えば図6参照)を抑制し、不要な時間がかかることを抑制できる。【選択図】図1


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    Title :

    SELF POSITION ESTIMATION DEVICE AND SELF POSITION ESTIMATION METHOD


    Additional title:

    自己位置推定装置、及び自己位置推定方法


    Contributors:

    Publication date :

    2021-08-10


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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