Vehicle control system and host vehicle position estimation method
A vehicle control system and vehicle technology, applied in two-dimensional position/channel control, measuring devices, instruments, etc., can solve problems such as inability to accurately estimate vehicle position
Pending Publication Date: 2022-07-15
HONDA MOTOR CO LTD
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Problems solved by technology
Therefore, if the vehicle's position on the map is only estimated based on dead reckoning, then the vehicle's position on the map may not be accurately estimated
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[0026] A vehicle control system 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings. like figure 1 As shown in , the vehicle control system 1 includes: a vehicle system 2 mounted on a vehicle V; Hereinafter, the word "vehicle V" denotes a vehicle provided with the vehicle system 2 (ie, the host vehicle).
[0027]
[0028] First, the vehicle system 2 will be described. The vehicle system 2 includes a power system 4, a braking device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a communication device 9, a GNSS receiver 10, a navigation device 11, a driving operation member 12, a driving operation sensor 13, a human A computer interface 14 , a start switch 15 and a controller 16 are provided. Each component of the vehicle system 2 is interconnected via a communication means such as a Controller Area Network (CAN) so that signals can be transmitted between them.
[0029] Th...
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The invention provides a vehicle control system and a vehicle position estimation method. A vehicle control system includes: a movement amount calculation unit configured to calculate a movement amount of a vehicle by using a dead reckoning method; an imaging device configured to capture an image of a travel route on which the vehicle is traveling; a map generation unit configured to generate a map of a surrounding area of the vehicle; and a host vehicle position estimation unit configured to estimate a position of the vehicle on the map. The host vehicle position estimation unit is configured to calculate a first host vehicle position based on the movement amount of the vehicle calculated by the movement amount calculation unit, calculate a second host vehicle position by comparing the image captured by the imaging device with the map, and estimate the host vehicle position based on the first host vehicle position. And estimating a location of the vehicle on the map based on the first host vehicle location and the second host vehicle location.
Description
technical field [0001] The present invention relates to a vehicle control system and an own vehicle position estimation method. Background technique [0002] Conventionally, various methods of estimating the position of a vehicle on a map by using so-called dead reckoning have been proposed. For example, the navigation device disclosed in JP2007-263662A includes: a dead reckoning device for calculating the coordinates of the position of the vehicle by using the dead reckoning method; and a map matching device for combining the data acquired by the dead reckoning device The coordinates of the own vehicle position are map-matched with respect to the road map data. [0003] The vehicle position estimated by using dead reckoning is unlikely to show large instantaneous deviations from the actual position of the vehicle, but may show long-term deviations from the actual position of the vehicle. Therefore, if the position of the vehicle on the map is estimated only based on dead ...
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IPC IPC(8): G01C21/34G05D1/02
CPCG05D1/0214G05D1/0223G01C21/3415G01C21/3446G01C21/1656G01C21/3602G01C21/32G01C21/3647G01C21/3833
Inventor 和田康一郎
Owner HONDA MOTOR CO LTD