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Device for estimating self-position and method for estimating self-position

A technology of relative position and object, applied in measurement devices, two-dimensional position/channel control, positioning and other directions, can solve problems such as accuracy decline, and achieve the effect of improving accuracy

Active Publication Date: 2019-01-01
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, if the linear path continues for a predetermined distance or more, and the information of the target object is represented by a straight line parallel to the path, there remains a degree of freedom with respect to the direction of the straight line, so the accuracy of self-position estimation may decrease.

Method used

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  • Device for estimating self-position and method for estimating self-position
  • Device for estimating self-position and method for estimating self-position
  • Device for estimating self-position and method for estimating self-position

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Embodiment Construction

[0030] Embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar symbols are attached to the same or similar parts, and repeated descriptions are omitted.

[0031] (Own position estimation device)

[0032] figure 1 It is a figure explaining the structure of the self-position estimation apparatus of this embodiment. The self-position estimating device of the present embodiment includes a surrounding sensor group 1 , a processing device 3 , a storage device 4 , and a vehicle sensor group 5 . The self-position estimating device of this embodiment is mounted on a vehicle V (see figure 2 ), the self-position of the vehicle V is estimated.

[0033] In the present embodiment, as the estimated own position of the vehicle V, a position in the east-west direction (X-axis direction) (X coordinate [m]), a north-south direction (Y-axis direction) position (Y coordinate [m] ) and the azimuth angle θ (...

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Abstract

The self-position estimating device of the present invention detects the position of a landmark existing around the vehicle, accumulates the detected position of the target object as target object position data based on the movement amount of the vehicle, and extracts a straight line from the accumulated target object position data, Based on the size of the angle formed by the intersecting straight lines, select the target object position data for self position estimation from the extracted straight lines, and estimate by comparing the selected target object position data with the target object position in the map information The vehicle's own position.

Description

technical field [0001] The present invention relates to a self-position estimating device and a self-position estimating method for estimating the self-position of a vehicle. Background technique [0002] There is known a method of comparing map information with information detected by a sensor such as a camera or a distance measuring device in order to estimate the vehicle's own position. Using map information with three-dimensional information improves the accuracy of self-position estimation, but there are problems in that the cost of creating map information and the processing load for self-position estimation increase. On the other hand, a technique has been proposed for estimating the self-position of a mobile object using map information having information on a target object described in two-dimensional information (see Patent Document 1). According to such a technique, it is possible to reduce the cost of creating map information and the processing load for estimati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/30G08G1/00
CPCG01C21/3602G01S17/88G01C21/30G01S17/86G06V20/588G08G1/00G05D1/02G01S5/16G06T7/74G01C21/005G01C21/04G06T2207/30252
Inventor 浅井俊弘
Owner NISSAN MOTOR CO LTD