To increase estimation precision of a self-location under environment in which a feature amount around a vehicle may be detected erroneously.SOLUTION: A self-location estimation device detects multiple feature amounts around a vehicle by using information regarding a situation around a vehicle acquired by an external sensor. Then it calculates a matching degree with feature amount data related to a map for each of the multiple feature amounts. Then, it estimates a self-location of a vehicle by using information regarding a traveling state of a vehicle acquired by an internal sensor by dismissing all of the multiple feature amounts when the number of the multiple feature amounts is less than a first predetermined number and the number of feature amounts in which a matching degree is less than a predetermined threshold is equal to or more than a second predetermined number.SELECTED DRAWING: Figure 3
【課題】車両の周囲の特徴量を誤検出する可能性のある環境下での自己位置の推定精度を向上させる。【解決手段】本開示の自己位置推定装置は、外部センサで取得された車両の周囲状況に関する情報を用いて車両の周囲の複数の特徴量を検出する。次に、複数の特徴量それぞれについて地図に関連付けられた特徴量データとの整合度を計算する。そして、複数の特徴量の個数が第1所定個数未満であり、且つ、整合度が所定の閾値未満の特徴量の個数が第2所定個数以上である場合、複数の特徴量の全てを棄却して内部センサで取得された車両の走行状態に関する情報を用いて車両の自己位置を推定する。【選択図】図3
SELF-LOCATION ESTIMATION DEVICE
自己位置推定装置
2024-08-13
Patent
Electronic Resource
Japanese
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