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


    Access

    Download


    Export, share and cite



    Title :

    SELF-LOCATION ESTIMATION DEVICE


    Additional title:

    自己位置推定装置


    Contributors:

    Publication date :

    2024-08-13


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



    SELF-LOCATION ESTIMATION DEVICE AND SELF-LOCATION ESTIMATION METHOD

    ADACHI JINGO / YAMANO CHIHARU / SUZUKI KOICHIRO | European Patent Office | 2015

    Free access

    LOCATION ESTIMATION DEVICE, LOCATION ESTIMATION SYSTEM, LOCATION ESTIMATION METHOD AND LOCATION ESTIMATION PROGRAM

    HIRAKAWA MITSURU / TEKI YASUSHI / OKADA YOJI et al. | European Patent Office | 2017

    Free access

    LOCATION ESTIMATION DEVICE

    TATEISHI KOJIRO / KAWASAKI NAOKI / SUZUKI SHUNSUKE et al. | European Patent Office | 2018

    Free access

    Location estimation device

    TATEISHI KOJIRO / KAWASAKI NAOKI / SUZUKI SHUNSUKE et al. | European Patent Office | 2019

    Free access

    VEHICLE LOCATION ESTIMATION DEVICE AND VEHICLE LOCATION ESTIMATION METHOD

    KUMANO TOSHIYA / SHIKIMACHI TAKESHI | European Patent Office | 2024

    Free access