Vehicle position estimation device, vehicle position estimation system, vehicle position estimation method, storage medium, and program product

Abstract

Provided are a vehicle position estimation device, an estimation system, an estimation method, a storage medium, and a program product, which employ a technique capable of estimating a vehicle position with high accuracy. A vehicle position estimation device is provided with: a coordinate acquisition unit that acquires a coordinate position of a first vehicle; a map information acquisition unit that acquires map information including the coordinate position acquired by the coordinate acquisition unit; a surroundings information acquisition unit that acquires surroundings information indicating a reflection target located in the surroundings of the first vehicle detected by a surroundings sensor mounted on the first vehicle; a vehicle position estimation unit that estimates a first vehicle position indicating the position of the first vehicle using the map information and the surrounding information; a relative position estimation unit that estimates the relative position of a second vehicle with respect to the first vehicle, the second vehicle being positioned in the vicinity of the first vehicle, using the vicinity information; and a correction unit that corrects the first vehicle position using a second vehicle position indicating the position of the second vehicle acquired from the second vehicle and the relative position.

Description

Technical Field

[0001] The present disclosure relates to a vehicle position estimating device, a vehicle position estimating system, and a vehicle position estimating method. Background Art

[0002] As a vehicle position estimation device, there is a known technology that estimates the position of a vehicle using information located by a global navigation satellite system (GNSS) such as GPS (Global Positioning System). Patent document 1 describes a technology for sharing the vehicle's estimated position with a terminal mounted on the vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-201083

[0006] Patent Document 2: Japanese Patent Application Publication No. 2011-058909 Summary of the invention

[0007] In urban areas where people, buildings, and vehicles are crowded, the positioning accuracy of GNSS and the estimation accuracy of the vehicle's own position estimated using vehicle surrounding information and map information acquired by sensors mounted on the vehicle decrease. Therefore, technology that can estimate the vehicle's position with high accuracy is required.

[0008] The present disclosure has been made to solve the above-mentioned problems and can be implemented as the following aspects.

[0009] According to one aspect of the present disclosure, a vehicle position estimation device is provided. The vehicle position estimation device comprises: a coordinate acquisition unit that acquires the coordinate position of a first vehicle; a map information acquisition unit that acquires map information including the coordinate position acquired by the coordinate acquisition unit; a surrounding information acquisition unit that acquires surrounding information representing a reflective marker located around the first vehicle detected by a surrounding sensor mounted on the first vehicle; a vehicle position estimation unit that estimates a first vehicle position representing the position of the first vehicle using the map information and the surrounding information; a relative position estimation unit that estimates a relative position of a second vehicle located around the first vehicle relative to the first vehicle using the surrounding information; and a correction unit that corrects the first vehicle position using a second vehicle position representing the position of the second vehicle acquired from the second vehicle and the relative position.

[0010] According to the vehicle position estimating device of this aspect, the first vehicle position is corrected using the second vehicle position and the relative position. Therefore, the first vehicle position can be estimated with high accuracy.

[0011] In addition, according to one embodiment of the present disclosure, a vehicle position estimation system is also provided, which comprises: a first vehicle; a second vehicle located in the vicinity of the first vehicle; a coordinate acquisition unit, which acquires the coordinate position of the first vehicle; a map information acquisition unit, which acquires map information including the coordinate position acquired by the coordinate acquisition unit; a surrounding information acquisition unit, which acquires surrounding information representing a reflective mark located in the vicinity of the first vehicle detected by a surrounding sensor mounted on the first vehicle; a vehicle position estimation unit, which estimates a first vehicle position representing the position of the first vehicle using the coordinate position, the map information and the surrounding information; a relative position estimation unit, which estimates the relative position of the second vehicle with respect to the first vehicle using the surrounding information; and a correction unit, which corrects the first vehicle position using the second vehicle position representing the position of the second vehicle and the relative position.

[0012] In addition, according to one embodiment of the present disclosure, a vehicle position estimating method is also provided, which includes: a coordinate acquisition process for acquiring the coordinate position of a first vehicle; a map information acquisition process for acquiring map information including the coordinate position; a surrounding information acquisition process for acquiring surrounding information of a reflective marker located around the first vehicle; a vehicle position estimating process for estimating a first vehicle position indicating the position of the first vehicle using the coordinate position, the map information and the surrounding information; a relative position estimating process for estimating a relative position of a second vehicle located around the first vehicle relative to the first vehicle using the surrounding information; a second vehicle position acquisition process for acquiring a second vehicle position indicating the position of the second vehicle; and a correction process for correcting the first vehicle position using the second vehicle position and the relative position.

[0013] In addition, according to one aspect of the present disclosure, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program, and the computer program implements the above-mentioned vehicle position estimation method when executed by a processor.

[0014] In addition, according to one aspect of the present disclosure, a computer program product is also provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle position estimation method described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram showing the structure of a vehicle position estimation system.

[0016] Figure 2 This is a flowchart showing an example of vehicle position estimation processing.

[0017] Figure 3 This is a flowchart showing an example of the vehicle position estimation process in the third embodiment.

[0018] Figure 4 It is a schematic diagram showing the configuration of a vehicle position estimating system in a fourth embodiment.

[0019] Figure 5 It is a diagram showing an example of the positional relationship between the first vehicle and the second vehicle. DETAILED DESCRIPTION

[0020] A. First Implementation Method:

[0021] like Figure 1 As shown, the vehicle position estimation system 500 includes a first vehicle 10, a second vehicle 20, and a vehicle position estimation device 110. In the present embodiment, the vehicle position estimation device 110 is mounted on the first vehicle 10. The vehicle position estimation device 110 estimates the first vehicle position indicating the position of the first vehicle 10. The second vehicle 20 is a vehicle located around the first vehicle 10. The vehicle position estimation system 500 is used in an environment where there are many buildings and where people and vehicles are mixed. Even in such an environment where the positioning accuracy of the GNSS is reduced, the first vehicle position can be estimated by the vehicle position estimation system 500.

[0022] The first vehicle 10 of the present embodiment is provided with an automatic driving control system 100. In the present embodiment, the automatic driving control system 100 performs automatic driving of the first vehicle 10. In the present embodiment, the automatic driving control system 100 is provided with a vehicle position estimation device 110, a peripheral sensor 120, a vehicle position sensor 130, a map information storage unit 140, a driving control unit 210, a driving force control ECU (Electronic Control Unit: Electronic Control Unit) 220, a braking force control ECU 230, and a steering control ECU 240. The vehicle position estimation device 110, the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240 are connected via an in-vehicle network 250. In addition, the first vehicle 10 may also be driven by manual driving performed manually by a driver, without being limited to automatic driving.

[0023] The surrounding sensor 120 is a sensor capable of sensing reflective marks located around the first vehicle 10. The surrounding sensor 120 includes a camera 121 and an object sensor 122. The camera 121 captures the surroundings of the first vehicle 10 and acquires an image. The object sensor 122 detects objects around the first vehicle 10. As the object sensor 122, for example, a laser radar (Light Detection and Ranging) and a millimeter wave radar using reflected waves can be cited. In the present embodiment, the object sensor 122 determines the objects around the first vehicle 10 and measures the distance to the object. Not limited to this, the object sensor 122 may stop at measuring the distance to the objects around the first vehicle 10, and use the point group information obtained by the distance measurement by the subsequent device to determine the object.

[0024] The vehicle position sensor 130 detects the current coordinate position of the first vehicle 10. As the vehicle position sensor 130, a GNSS such as a GPS is exemplified.

[0025] The map information storage unit 140 stores map information. The "map information" is information indicating the positions of various features and the positions of roads, for example. In the present embodiment, the map information is three-dimensional information including latitude and longitude information.

[0026] The vehicle position estimation device 110 includes a storage unit 111, a communication unit 112, and a CPU 113. The CPU 113 implements the functions of a coordinate acquisition unit 114, a map information acquisition unit 115, a surrounding information acquisition unit 116, a vehicle position estimation unit 117, a relative position estimation unit 118, and a correction unit 119 by executing a program pre-installed in the storage unit 111. However, some or all of the functions of these units may be implemented by hardware circuits. The vehicle position estimation device 110 notifies the driving control unit 210 of the estimated vehicle position information.

[0027] The communication unit 112 performs inter-vehicle communication with the second vehicle 20. By performing inter-vehicle communication, the first vehicle 10 can obtain various information from the second vehicle 20. The communication unit 112 may perform at least one of wireless communication with an Intelligent Transport System (ITS), inter-vehicle communication with the second vehicle 20, and road-to-vehicle communication with a roadside radio device installed on a road device.

[0028] The coordinate acquisition unit 114 acquires the current coordinate position of the first vehicle 10 from the vehicle position sensor 130 .

[0029] The map information acquisition unit 115 acquires the map information including the coordinate position acquired by the coordinate acquisition unit 114 from the map information storage unit 140. That is, the map information acquisition unit 115 acquires the three-dimensional information of the features estimated to exist around the first vehicle 10.

[0030] The surrounding information acquisition unit 116 acquires surrounding information indicating the coordinate positions of reflective markers located around the first vehicle 10 detected by the surrounding sensor 120 mounted on the first vehicle 10 .

[0031] The vehicle position estimating unit 117 estimates the first vehicle position indicating the position of the first vehicle 10 using the map information and the surrounding information. More specifically, the first vehicle position is estimated based on the positional relationship between the objects around the first vehicle 10 and the first vehicle 10 using the map information and the surrounding information. As a result, the probability that the position of the first vehicle 10 can be estimated with higher accuracy than the coordinate position of the first vehicle 10 acquired from the vehicle position sensor 130 becomes higher.

[0032] The relative position estimating unit 118 estimates the relative position of the second vehicle 20 located around the first vehicle 10 with respect to the first vehicle 10 using the surrounding information. The relative position is represented by coordinates.

[0033] The correction unit 119 corrects the first vehicle position using the second vehicle position and the relative position obtained from the second vehicle 20, indicating the position of the second vehicle 20. In the present embodiment, the correction unit 119 obtains the second vehicle position from the second vehicle 20 via the communication unit 112. In the present embodiment, the second vehicle position is a coordinate position detected by a vehicle position sensor provided in the second vehicle 20.

[0034] The driving control unit 210 includes a microcomputer composed of a central processing unit (CPU), RAM, and ROM, and realizes the automatic driving function by executing a pre-installed program by the microcomputer. The driving control unit 210 controls the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240 based on the first vehicle position received from the vehicle position estimation device 110, thereby realizing the automatic driving function of driving on a predetermined path. For example, the driving control unit 210 controls the driving force control ECU 220 and the braking force control ECU 230, and uses the steering control ECU 240 to automatically change lanes.

[0035] The driving force control ECU 220 is an electronic control device that controls a power source such as an engine that generates driving force for the first vehicle 10. When the driver is driving manually, the driving force control ECU 220 controls the engine, the motor, or the power source according to the amount of operation of the accelerator pedal. When the automatic driving is performed, the driving force control ECU 220 controls the power source according to the required driving force calculated by the driving control unit 210.

[0036] The braking force control ECU 230 is an electronic control unit that controls a brake actuator that generates a braking force for the first vehicle 10. When the driver is driving manually or when the braking force control ECU 230 is performing automatic driving that controls the brake actuator according to the amount of operation of the brake pedal, the braking force control ECU 230 controls the brake actuator according to the required braking force calculated by the driving control unit 210.

[0037] The steering control ECU 240 is an electronic control device that controls a motor that generates a steering torque of the first vehicle 10. When the driver is driving manually, the steering control ECU 240 controls the motor according to the operation of the steering wheel to generate an auxiliary torque for the steering operation. As a result, the driver can operate the steering wheel with a small amount of force to achieve the steering of the first vehicle 10. When the automatic driving is performed, the steering control ECU 240 controls the motor according to the required steering angle calculated by the driving control unit 210 to perform steering.

[0038] Figure 2 The vehicle position estimation process shown is a process for estimating the position of the first vehicle by the vehicle position estimation device 110. This process is repeatedly executed by the vehicle position estimation device 110 while the first vehicle 10 is traveling, and is repeatedly executed every 100 ms, for example.

[0039] In step S100, the vehicle position estimating device 110 acquires the current coordinate position of the first vehicle 10 from the vehicle position sensor 130. This process is also referred to as a "coordinate acquisition process."

[0040] In step S110, the vehicle position estimating device 110 acquires the map information including the coordinate position acquired in step S100 from the map information storage unit 140. This process is also referred to as a "map information acquisition process."

[0041] In step S120, the vehicle position estimation device 110 acquires surrounding information from the surrounding sensor 120. This process is also referred to as a "surrounding information acquisition process." In addition, steps S100 to S120 only need to perform the process of step S110 after the process of step S100, and are not limited to this order, and can be performed in any order or in parallel.

[0042] In step S130, the vehicle position estimating device 110 estimates the first vehicle position using the map information acquired in step S110 and the surrounding information acquired in step S120. This process is also referred to as a "vehicle position estimating process."

[0043] In step S140, the vehicle position estimating device 110 acquires the second vehicle position indicating the position of the second vehicle 20. This step is also referred to as a "second vehicle position acquiring step."

[0044] In step S150, the vehicle position estimating device 110 estimates the relative position of the second vehicle 20 with respect to the first vehicle 10 using the surrounding information acquired in step S120. This process is also referred to as a "relative position estimating process". In the present embodiment, the vehicle position estimating device 110 determines the vehicle estimated to be located at the second vehicle position among the vehicles located around the first vehicle 10 indicated by the surrounding information acquired in step S140 as the second vehicle 20. The vehicle position estimating device 110 estimates the relative position of the determined second vehicle 20 with respect to the first vehicle 10 using the surrounding information.

[0045] In step S160, the vehicle position estimating device 110 uses the second vehicle position acquired in step S140 and the relative position estimated in step S150 to correct the first vehicle position estimated in step S130. This process is also referred to as a "correction process". More specifically, the vehicle position estimating device 110 corrects the first vehicle position to, for example, an intermediate position between the first vehicle position estimated in step S130 and the position of the first vehicle 10 estimated using the second vehicle position and the relative position.

[0046] In addition, without being limited to the above-mentioned correction method, the correction unit 119 may, for example, correct the first vehicle position to the centroid or midpoint of a line segment of a polygon obtained by connecting the current coordinate position of the first vehicle 10 acquired by the coordinate acquisition unit 114, the first vehicle position estimated by the vehicle position estimation unit 117, and the position of the first vehicle 10 estimated using the second vehicle position and the relative position.

[0047] According to the vehicle position estimating device 110 of the present embodiment described above, the first vehicle position is corrected using the second vehicle position and the relative position. Therefore, the first vehicle position can be estimated with high accuracy.

[0048] B. Second Implementation Method:

[0049] The vehicle position estimation processing of the second embodiment uses the accuracy of the first vehicle position and the accuracy of the second vehicle position to correct the first vehicle position in the processing of step S160, which is different from the first embodiment, and the other steps are the same. The structure of the vehicle position estimation device 110 of the second embodiment is the same as the structure of the vehicle position estimation device 110 of the second embodiment, so the description of the structure of the vehicle position estimation device 110 is omitted.

[0050] Hereinafter, the accuracy of the first vehicle position is referred to as the first accuracy, and the accuracy of the second vehicle position is referred to as the second accuracy. In the present embodiment, the first accuracy and the second accuracy are, for example, the reception strength of the GNSS signal represented by the signal to noise ratio (SNR) and the carrier to noise density ratio (C / N0).

[0051] The correction unit 119 corrects the first vehicle position using a first accuracy representing the accuracy of the first vehicle position and a second accuracy representing the accuracy of the second vehicle position. More specifically, when the first accuracy is higher than the second accuracy, the correction unit 119 corrects the first vehicle position to a position closer to the first vehicle position, i.e., the temporary first vehicle position, estimated by the vehicle position estimating unit 117 in step S130 than the position of the first vehicle 10 estimated using the second vehicle position and the relative position, i.e., the new first vehicle position. In addition, when the second accuracy is higher than the first accuracy, the correction unit 119 corrects the first vehicle position to a position closer to the new first vehicle position than the temporary first vehicle position. For example, on a straight line connecting the new first vehicle position and the temporary first vehicle position, the correction unit 119 corrects the first vehicle position to a coordinate where the ratio between the distance from the temporary first vehicle position and the distance from the new first vehicle position is the same as the ratio between the first accuracy and the second accuracy.

[0052] According to the vehicle position estimating device 110 of the second embodiment described above, the first vehicle position can be corrected using the vehicle position with high accuracy. Therefore, the accuracy of the first vehicle position can be improved.

[0053] C. Third Implementation Method:

[0054] Figure 3 The vehicle position estimation process of the third embodiment shown in the figure performs step S160 when the accuracy of the second vehicle position is above a predetermined threshold value, which is different from the second embodiment, and the other steps are the same. The structure of the vehicle position estimation device 110 of the third embodiment is the same as the structure of the vehicle position estimation device 110 of the second embodiment, so the description of the structure of the vehicle position estimation device 110 is omitted.

[0055] In step S155, the vehicle position estimation device 110 determines whether the second accuracy is greater than a threshold value. The threshold value may be a value determined in advance by experiment or experience, or may be a value calculated based on a mapping or function that defines the relationship between the first accuracy and the threshold value. In the present embodiment, the threshold value is the value of the first accuracy. When the second accuracy is greater than the threshold value, that is, when the second accuracy is greater than the first accuracy, the vehicle position estimation device 110 proceeds to the process of step S160. On the other hand, when the second accuracy is less than the threshold value, that is, when the second accuracy is less than the first accuracy, the vehicle position estimation process is terminated.

[0056] According to the vehicle position estimating device 110 of the third embodiment described above, the first vehicle position is corrected when the second accuracy is equal to or greater than the threshold, thereby improving the accuracy of the first vehicle position. In addition, since the threshold is the value of the first accuracy, the accuracy of the first vehicle position can be improved.

[0057] D. Fourth Implementation Method:

[0058] Figure 4 The vehicle position estimating system 500D of the third embodiment shown is different from the first embodiment in that a vehicle position estimating device 110D includes a vehicle information acquiring unit 150 , and the other structures are the same as those of the first embodiment.

[0059] The vehicle information acquisition unit 150 acquires second vehicle information including at least one of the model of the second vehicle 20 and the size of the second vehicle 20. The second vehicle information is transmitted from the second vehicle 20 together with the second vehicle position, for example.

[0060] In the present embodiment, the relative position estimating unit 118 uses the surrounding information and the second vehicle information to identify the second vehicle 20 from the vehicles located around the first vehicle 10 and estimates the relative position. More specifically, the relative position estimating unit 118 identifies the vehicle whose information matches the vehicle information indicated by the second vehicle information among the vehicles located around the first vehicle 10 indicated by the surrounding information as the second vehicle 20. The relative position estimating unit 118 estimates the relative position of the identified second vehicle 20 with respect to the first vehicle 10 using the surrounding information.

[0061] According to the vehicle position estimating device 110D of the fourth embodiment described above, since the second vehicle 20 is identified using the second vehicle information, the second vehicle 20 can be identified with high accuracy from among the vehicles located around the first vehicle 10 .

[0062] E. Other implementation methods:

[0063] (E1) In the above-described embodiment, the vehicle position estimating device 110 is mounted on the first vehicle 10. The present invention is not limited thereto, and the vehicle position estimating device 110 may be, for example, a server or a transportation infrastructure installed outside the first vehicle 10.

[0064] (E2) In the above-mentioned embodiment, the vehicle position estimation system 500 may also include a plurality of second vehicles 20. In this case, the vehicle position estimation device 110 uses the second vehicle position and relative position of each second vehicle 20 to correct the first vehicle position. More specifically, the relative position estimation unit 118 estimates each relative position of the plurality of second vehicles 20 relative to the first vehicle 10. The correction unit 119 uses each second vehicle position of the plurality of second vehicles 20 and the relative position with each second vehicle 20 estimated by the relative position estimation unit 118 to correct the first vehicle position. The correction unit 119 corrects the first vehicle position, for example, to the centroid or midpoint of a line segment of a polygon obtained by connecting the position of the first vehicle 10 estimated using each second vehicle position and the relative position, i.e., each new first vehicle position, with the first vehicle position estimated in step S130, i.e., the temporary first vehicle position. In addition, in this case, in the second embodiment and the third embodiment, the first vehicle position may be corrected using the second vehicle position with the highest second accuracy and the relative position with the second vehicle 20.

[0065] (E3) In the above-mentioned embodiment, the second vehicle position is a coordinate position detected by a vehicle position sensor of the second vehicle 20. However, the second vehicle position may be a position obtained by correcting the coordinate position detected by the vehicle position sensor of the second vehicle 20 using the positions of other vehicles and the relative positions of other vehicles relative to the second vehicle 20 by the vehicle position estimation device 110, similarly to the first vehicle position. In other words, the vehicle positions may be corrected in a linked manner. Figure 5 As shown, when the first vehicle 10 and the second vehicle 20 are traveling in a tunnel and the other vehicle 30 is traveling outside the tunnel, the vehicle position estimating device 110 can correct the first vehicle position using the coordinate position detected by the vehicle position sensor of the other vehicle 30 located outside the tunnel via the second vehicle 20. In addition, even in a very chaotic environment due to congestion, the first vehicle position can be corrected using the vehicle position estimated by the other vehicle located in a non-cluttered environment.

[0066] (E4) In the above-mentioned embodiment, the vehicle position estimating device 110 may obtain, from the second vehicle 20, the positions of other vehicles 30 acquired by the second vehicle 20 from other vehicles 30 and the relative positions of other vehicles 30 with respect to the second vehicle 20 in addition to the second vehicle position. The correction unit 119 corrects the first vehicle position to, for example, the centroid or midpoint of a line segment of a polygon obtained by connecting the position of the first vehicle 10 estimated using the second vehicle position and the relative position, that is, the new first vehicle position, the position of the first vehicle 10 estimated using the positions of other vehicles and the relative positions of other vehicles with respect to the first vehicle 10, that is, the quasi-first vehicle position, and the first vehicle position estimated in step S130, that is, the temporary first vehicle position.

[0067] (E5) In the second and third embodiments described above, the first accuracy and the second accuracy are the strengths of the signals received by the vehicle position sensor. Without limitation thereto, the first accuracy and the second accuracy may be, for example, the degree of consistency between the current coordinate position of the vehicle obtained from the vehicle position sensor and the current coordinate position of the vehicle estimated using the map information and the surrounding information. In this case, the second vehicle position is estimated using the map information including the coordinate position detected by the vehicle position sensor of the second vehicle 20 and the surrounding information indicating the reflective mark located around the second vehicle 20, similarly to the first vehicle position. In addition, the first accuracy and the second accuracy may also be values ​​determined based on predetermined parameters. The parameters may include, for example, weather and vehicle speed. When weather is used as a parameter, the first accuracy and the second accuracy on a sunny day may be set to values ​​higher than the first accuracy and the second accuracy on a rainy day. In addition, when vehicle speed is used as a parameter, the first accuracy and the second accuracy may also be calculated based on, for example, a mapping or a function defining the relationship between vehicle speed and accuracy. In addition, the first accuracy and the second accuracy may also be set by combining them.

[0068] (E6) In the fourth embodiment described above, the second vehicle information is information including at least one of the model of the second vehicle 20 and the size of the second vehicle 20. Without being limited thereto, the second vehicle information may be information including the number marked on the license plate of the second vehicle 20, that is, the vehicle registration number.

[0069] The present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various structures within the scope of its main purpose. For example, the technical features in the embodiments corresponding to the technical features in each method described in the invention content column can be appropriately replaced or combined in order to solve the above-mentioned problems or to achieve part or all of the above-mentioned effects. In addition, if the technical features are not described as necessary technical features in this specification, they can be appropriately deleted.

[0070] The vehicle position estimation device 110 and the method thereof described in the present disclosure may also be implemented by a special-purpose computer as follows: the special-purpose computer is provided by constituting a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and the method thereof described in the present disclosure may also be implemented by a special-purpose computer as follows: the special-purpose computer is provided by constituting a processor composed of one or more special-purpose hardware logic circuits. Alternatively, the control unit and the method thereof described in the present disclosure may also be implemented by one or more special-purpose computers as follows: the one or more special-purpose computers are constituted by a combination of a processor and a memory programmed to execute one or more functions and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored as instructions executed by a computer in a computer-readable non-transient tangible storage medium.

Claims

1. A vehicle position estimation device, characterized in that: have: A coordinate acquisition unit, which acquires the coordinate position of the first vehicle; a map information acquisition unit, configured to acquire map information including the coordinate position acquired by the coordinate acquisition unit; a surrounding information acquisition unit configured to acquire surrounding information indicating a reflective mark located around the first vehicle and detected by a surrounding sensor mounted on the first vehicle; a vehicle position estimating unit that estimates a first vehicle position indicating a position of the first vehicle using the map information and the surrounding information; a relative position estimating unit that estimates a relative position of a second vehicle located around the first vehicle with respect to the first vehicle using the surrounding information; as well as A correction unit corrects the first vehicle position using a second vehicle position indicating a position of the second vehicle acquired from the second vehicle and the relative position.

2. The vehicle position estimation device according to claim 1, characterized in that: The relative position estimating unit estimates the relative positions of the plurality of second vehicles with respect to the first vehicle. The correction unit corrects the first vehicle position using each second vehicle position of a plurality of the second vehicles and each of the relative positions.

3. The vehicle position estimating device according to claim 1 or 2, characterized in that: the correction unit corrects the first vehicle position to a position closer to the first vehicle position, i.e., the temporary first vehicle position, estimated by the vehicle position estimating unit, than to the first vehicle position, i.e., the new first vehicle position, estimated using the second vehicle position and the relative position, when a first accuracy indicating the accuracy of the first vehicle position is higher than a second accuracy indicating the accuracy of the second vehicle position. The correction unit corrects the first vehicle position to a position closer to the new first vehicle position than the temporary first vehicle position when the second accuracy is higher than the first accuracy.

4. The vehicle position estimating device according to claim 1 or 2, characterized in that: The correction unit corrects the first vehicle position using the second vehicle position having a second accuracy indicating the accuracy of the second vehicle position that is equal to or greater than a preset threshold value and the relative position.

5. The vehicle position estimating device according to claim 1 or 2, characterized in that: The vehicle position estimation device further includes a vehicle information acquisition unit that acquires second vehicle information including at least one of a model of the second vehicle and a size of the second vehicle. The relative position estimating unit identifies the second vehicle from vehicles located around the first vehicle using the surrounding information and the second vehicle information, and estimates the relative position.

6. A vehicle position estimation system, characterized in that: have: first vehicle; a second vehicle located around the first vehicle; A coordinate acquisition unit, which acquires the coordinate position of the first vehicle; a map information acquisition unit, configured to acquire map information including the coordinate position acquired by the coordinate acquisition unit; a surrounding information acquisition unit configured to acquire surrounding information indicating a reflective mark located around the first vehicle and detected by a surrounding sensor mounted on the first vehicle; a vehicle position estimating unit that estimates a first vehicle position indicating a position of the first vehicle using the coordinate position, the map information, and the surrounding information; a relative position estimating unit that estimates a relative position of the second vehicle with respect to the first vehicle using the surrounding information; as well as A correction unit corrects the first vehicle position using a second vehicle position indicating a position of the second vehicle and the relative position.

7. A vehicle position estimation method, characterized in that: Include: A coordinate acquisition step, acquiring the coordinate position of the first vehicle; A map information acquisition step, acquiring map information including the coordinate position; A peripheral information acquisition step of acquiring peripheral information representing reflective markers located around the first vehicle; a vehicle position estimating step of estimating a first vehicle position indicating a position of the first vehicle using the coordinate position, the map information, and the surrounding information; a relative position estimating step of estimating a relative position of a second vehicle located around the first vehicle with respect to the first vehicle using the surrounding information; a second vehicle position acquiring step of acquiring a second vehicle position indicating the position of the second vehicle; as well as The correction step corrects the first vehicle position using the second vehicle position and the relative position.

8. A computer-readable storage medium storing a computer program, characterized in that: The computer program implements the vehicle position estimation method according to claim 7 when executed by a processor.

9. A computer program product comprising a computer program, characterized in that The computer program implements the vehicle position estimation method according to claim 7 when executed by a processor.

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