Host vehicle position estimation device

Abstract

The invention provides a host vehicle position estimation device that can improve the accuracy in estimating the host vehicle position on the map. The host vehicle position estimation device 100 configured to detect objects of each of which a position on a map is set in advance using a vehicle-mounted sensor 2, and configured to use the objects for estimating a host vehicle position which is a position of the host vehicle on the map, the device including: a object database 5A configured to store information on the detected objects in which the position of each of the objects on the map and anobject-detectable area are associated with each other; a measurement position acquisition unit 11 configured to acquire a measurement position which is the position of the host vehicle on the map, measured by a vehicle-mounted GPS receiving unit 1; a candidate object recognition unit 13A configured to recognize a candidate object which is associated with the object-detectable area including the measurement position among the objects, based on the object-detectable area in the information on the detected objects and the measurement position; and a host vehicle position estimation unit 14 configured to estimate the host vehicle position based on a position of the candidate object on the map and a result of detection performed by the vehicle-mounted sensor.

Description

technical field [0001] The present invention relates to a vehicle position estimation device. Background technique [0002] Conventionally, Japanese Patent Application Laid-Open No. 2007-322138 is known as a technical document related to an own vehicle position estimation device. This publication shows a method for estimating movement based on the position of a landmark (object) detected by a laser rangefinder (sensor) installed in a mobile device such as an autonomous mobile robot and the position of the landmark contained in map information. The location of the device on the map. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2007-322138 [0004] In conventional devices, for example, when a plurality of object markers approach each other on a map, an object marker detected by a sensor may be mistaken for an adjacent object marker that cannot be detected by a sensor. As a result, there is a possibility of erroneously inferring the position on the map, and ther...

AI Technical Summary

Problems solved by technology

As a result, it is possible to wrongly infer the position on the map, there is room for improving the inference accuracy

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