Self-position estimation device and method
The self-position estimation device improves accuracy by converting target and provisional self-position detections into probability distributions, addressing detection errors to enhance estimation precision.
JP7877915B2Active Publication Date: 2026-06-23MAZDA MOTOR CORP
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- MAZDA MOTOR CORP
- Filing Date
- 2022-07-22
- Publication Date
- 2026-06-23
Smart Images
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Abstract
To provide a self-position estimation device and method capable of improving estimation accuracy.SOLUTION: A self-position estimation device D converts a position of a previously detected target detected at a past estimation timing into a target existence probability distribution; converts a temporary self-position obtained by odometry at a current estimation timing to a mobile object existence probability distribution; based on these conversions, determines the target existence probability distribution of the previously detected target seen from the temporary self-position as a mobile object consideration target existence probability distribution; and estimates a current self-position, based on each position of the previously detected target and a currently detected target, a target existence probability distribution of the currently detected target detected at the current estimation timing, and the mobile object consideration target existence probability distribution of the previously detected target, in a predetermined high-precision map.SELECTED DRAWING: Figure 1
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