To provide a self-position estimating method capable of estimating a self-position with high accuracy even when a vehicle travels on terrain where it is likely to slip or get stuck in an environment where GNSS data cannot be received.SOLUTION: A self-position estimation method according to the present disclosure comprises: acquiring topographic data in which a ground position and a ground height are managed regarding a travel range of a vehicle; acquiring time-series data of acceleration in a vertical direction of the vehicle; estimating an altitude of the vehicle based on an initial altitude of the vehicle and the time-series data of the acceleration in the vertical direction; and estimating a position on the ground surface where a height of the ground surface approximates the altitude of the vehicle as a position of the vehicle in the topographic data.SELECTED DRAWING: Figure 4
【課題】GNSSデータを受信できない環境であって、かつスリップやスタックしやすい地形を車両が走行する場合においても、精度の良い自己位置推定を行うことができる自己位置推定方法を提供する。【解決手段】本開示に係る自己位置推定方法は、車両の走行範囲について、地表の位置と高さとが管理された地形データを取得することと、車両の上下方向の加速度の時系列データを取得することと、車両の初期高度と上下方向の加速度の時系列データに基づいて、車両の高度を推定することと、地形データにおいて地表の高さが車両の高度に近似する地表の位置を車両の位置として推定することと、を含む。【選択図】図4
SELF-POSITION ESTIMATION METHOD, CONTROL DEVICE, SELF-POSITION ESTIMATION PROGRAM
自己位置推定方法、制御装置、自己位置推定プログラム
2024-03-13
Patent
Electronic Resource
Japanese
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