Vehicle position estimating device and vehicle position estimating method
A technology of the vehicle and estimation unit, which is applied in the direction of vehicle position/route/altitude control, measuring device, navigation, etc. It can solve the problems of reduced contrast between information and map information, and the inability to estimate its own position with high precision, so as to improve the estimation The effect of precision
Active Publication Date: 2019-03-01
NISSAN MOTOR CO LTD
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[0004] If there is an error in the detected road information due to an error in the amount of movement, the shape of the detected road will deviate from the actual shape of the road, and the contrast between the detected road information and the map information will The degree is reduced, and the own position cannot be estimated with high precision
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[0042] "constitute"
[0043] figure 1 It is a configuration diagram of the vehicle position estimation device.
[0044] The vehicle position estimating device 11 is a device for estimating the vehicle's own position, and includes a radar device 12 , a camera 13 , a map database 14 , a sensor group 15 , and a controller 16 .
[0045] figure 2 It is a figure which shows the arrangement|positioning of a radar apparatus and a camera.
[0046] image 3 It is a diagram showing the scanning range of the radar device and the imaging range of the camera.
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A vehicle position estimating device detects the position of an object existing around the vehicle, detects the movement amount of the vehicle, and accumulates the position of the object as object position data based on the movement amount. In addition, a part of the object position data is grouped according to the turning state of the vehicle, and the adjustment range of the group is set based on the movement amount of the vehicle when the object position data is detected. Then, the map information including the position of the target is obtained, and the target position data and the position of the target in the map information are compared based on the set adjustment range, thereby estimating the own position of the vehicle.
Description
technical field [0001] The present invention relates to a vehicle position estimating device and a vehicle position estimating method. Background technique [0002] In the prior art described in Patent Document 1, a mobile robot that moves autonomously estimates its own position based on the amount of movement, and corrects the estimated self-position by comparing the path detected by laser scanning with map information acquired in advance. In addition, the detected route and map information are processed as two-dimensional data in a two-dimensional view, and only data within a predetermined range from the current position are used for comparison. [0003] Patent Document 1: (Japanese) Unexamined Patent Publication No. 2008-250906 [0004] If there is an error in the detected road information due to an error in the amount of movement, the shape of the detected road will deviate from the actual shape of the road, and the contrast between the detected road information and the...
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IPC IPC(8): G01C21/30
CPCG01C21/3602G01C21/30G01C21/367G05D1/0246G05D1/0274
Inventor 浅井俊弘
Owner NISSAN MOTOR CO LTD