Self-Position Estimation Verification Using Map Checkpoints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The accuracy of self-position estimation in mobile objects, such as vehicles, is compromised when initial position and posture values are inaccurate, leading to potential errors in subsequent estimation and verification processes.
Innovation Solution
A self-position estimation accuracy verification method and system that uses check points to specify the initial position and posture of a mobile object on a map, allowing for the verification of self-position estimation accuracy by comparing calculated check information with self-position estimation results, and repeating the process if deviations exceed predetermined thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If initial position and posture values are used for self-position estimation without verification, then the self-position estimation process can start, but the accuracy of the estimation is compromised when initial values are inaccurate
Solution Approach 1:
The patent applies preliminary action by performing verification of initial position and posture values before starting the self-position estimation process. The system calculates check information from map data and compares it with the provided initial values to verify their accuracy beforehand, preventing propagation of errors through the estimation process.
Solution Approach 2:
The patent implements feedback by calculating check information from map data and comparing it with the initial position and posture values. This feedback mechanism verifies the accuracy of initial values before self-position estimation begins, allowing the system to identify and correct potential errors in the initial state.
2Measurement precision
If verification of initial values is performed, then the accuracy of self-position estimation is improved, but the complexity of the verification process increases
Solution Approach 1:
The patent applies self-service by using the map data itself to generate check information for verification purposes. The system leverages its own existing map database to create expected position and posture values, eliminating the need for external verification tools or additional complex infrastructure.
Solution Approach 2:
The patent uses copying by creating check information that replicates what the initial values should represent based on map data. The system generates expected position and posture values from map coordinates and compares them with the provided initial values, using a simplified copy of the verification logic rather than complex measurement systems.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A self-position estimation accuracy verification method includes a step of moving a mobile object (100) to a first check point (CP1), a step of acquiring first check information, a step of starting a self-position estimation using the first check information as an initial value, a step of moving the mobile object (100) to a second check point (CP2) while continuing the self-position estimation, a step of acquiring second check information, and a step of calculating a deviation between a position and a posture of the mobile object (100) on the map estimated by the self-position estimation at the second check point (CP2) and a position and a posture of the mobile object (100) on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.