Self-localization device, control method, program, and storage medium

Abstract

To provide a self-position estimation device that can suitably suppress the deterioration of self-position estimation accuracy even when there is a possibility of measurement errors in geographic features. [Solution] The vehicle position estimation unit 17 of the in-vehicle device 1 predicts the vehicle position X - The system generates information indicating (t) and, using the lider 2, obtains normal and size information of the feature to be measured from the map DB 10. Then, the vehicle position estimation unit 17 predicts the vehicle position X based on the angle difference Δθ calculated from the vehicle's direction of travel information and the feature's normal information, and the size S indicated by the feature's size information. - Correct (t).

Claims

[Claim 1] A first acquisition unit that acquires predicted position information indicating the predicted self-position, A second acquisition unit that acquires information on the direction of movement of a moving object, A third acquisition unit acquires normal information and size information of the ground object to be measured by a measurement unit that moves together with the aforementioned moving body, A correction unit corrects the predicted self-position based on the information of the direction of travel, the normal information, and the size information. A self-localization device equipped with the following features.

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