A location estimation device includes an external sensor, a storage to store partial environmental maps including first and second partial environmental maps linked to each other based on a coordinate transformation relationship, and a location estimator to match scan data received from the external sensor against the partial environmental map so as to estimate the location and attitude of the vehicle. Upon movement of the estimated location of the vehicle from a location on the first partial environmental map to a location on the second partial environmental map, the location estimator determines, in accordance with the coordinate transformation relationship, a corresponding location and a corresponding attitude on the second partial environmental map that are associated with the estimated location and estimated attitude of the vehicle on the first partial environmental map, corrects, in accordance with a history of estimated locations and estimated attitudes of the vehicle on the first partial environmental map, the corresponding location and corresponding attitude on the second partial environmental map at a point of timing when matching to estimate the location and attitude of the vehicle on the second partial environmental map starts, and executes the matching by using, as initial values, the corresponding location and corresponding attitude that have been corrected.
MOBILE BODY, LOCATION ESTIMATION DEVICE, AND COMPUTER PROGRAM
2020-11-19
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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