Vehicle Position Estimation Using Parking Lot Point-Group Correlation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing automated driving systems face challenges in accurately estimating the position of a vehicle due to outdoor environmental disturbances, leading to potential inaccuracies in positioning.
Innovation Solution
An on-vehicle processing device that includes a storage unit for point group data, a sensor input unit for acquiring peripheral information, a movement information acquisition unit, a local peripheral information creation unit, and a position estimation unit to estimate the vehicle's position by correlating between different coordinate systems based on acquired data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If position estimation is performed using outdoor sensors in automated driving, then the vehicle can navigate autonomously, but the position estimation accuracy deteriorates due to environmental disturbances
Solution Approach 1:
The patent introduces a coordinate system correlation estimation unit as an intermediary that transforms sensor data from one coordinate system to another. This intermediary processing step enables accurate position estimation by establishing and utilizing the correlation between different coordinate systems, thereby resolving the position accuracy issue caused by outdoor environmental disturbances while maintaining automated driving functionality
2Adaptability or versatility
If the search range of road structure is expanded in image data processing, then position estimation coverage is improved, but processing time and computational load increase
Solution Approach 1:
The patent divides the image data processing into segmented steps: first establishing coordinate system correlation, then using this correlation to guide the search for road structures. This segmentation allows the system to maintain broad position estimation coverage while reducing overall processing time by avoiding exhaustive search across the entire image range
3Measurement precision
If multiple sensors and processing units are added to improve position estimation accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the existing sensor input unit and calculation unit perform multiple functions: the sensor input unit acquires both peripheral information and movement information, while the calculation unit performs both coordinate system correlation estimation and position estimation. This multi-functionality approach improves position estimation accuracy without adding separate dedicated hardware components, thereby avoiding increased device complexity
Data Source
AI summary
Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information. A position estimation unit estimates a correlation between the parking lot coordinate system and the local coordinate system on the basis of the parking lot point group and the local peripheral information, and estimates the position of the vehicle in the parking lot coordinate system from the position of the vehicle in the local coordinate system and the correlation.