To provide an own vehicle position estimation device and an own vehicle position estimation method that can estimate its own vehicle position with high accuracy, including not only one-dimensional movement distance but also a two-dimensional turning direction.SOLUTION: An own vehicle position estimation device includes: a vehicle position estimation unit 2 that calculates the position of a vehicle based on output of a sensor that detects behavior of the vehicle; a radio position estimation unit 1 that communicates with a radio device 101 installed at an arbitrary position and calculates a relative position between the vehicle and the radio device 101; and a position estimation parameter correction unit 3 that corrects a parameter used for calculation of at least the position of the vehicle and turning angle information in the vehicle position estimation unit 2. The position estimation parameter correction unit 3 compares a movement amount of the vehicle calculated by the radio position estimation unit 1 and a movement amount of the vehicle calculated by the vehicle position estimation unit 2 and corrects the parameter.SELECTED DRAWING: Figure 1
【課題】1次元の移動距離のみではなく、2次元の旋回方向を含めて高精度に自車位置を推定することができる自車位置推定装置及び自車位置推定方法を提供する。【解決手段】車両の挙動を検知するセンサの出力に基づいて前記車両の位置を算出する車両位置推定部2と、任意の位置に設置された無線機101と通信して前記車両と前記無線機101の相対位置を算出する無線位置推定部1と、前記車両位置推定部2で少なくとも前記車両の位置および旋回の角度情報の演算に用いるパラメータを補正する位置推定パラメータ補正部3と、を備え、前記位置推定パラメータ補正部3は、前記無線位置推定部1により算出した前記車両の移動量と前記車両位置推定部2により算出した前記車両の移動量とを比較して前記パラメータを補正する。【選択図】図1
OWN VEHICLE POSITION ESTIMATION DEVICE AND OWN VEHICLE POSITION ESTIMATION METHOD
自車位置推定装置及び自車位置推定方法
2022-12-08
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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