Vehicle Position Estimation with Dynamic Turn-Range Adjustment
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Solution Overview
Problem
Existing position estimation techniques for vehicles experience a decrease in accuracy during turning due to inadequate adjustment of comparison ranges, leading to increased processing loads.
Innovation Solution
A position estimating apparatus that includes a first coordinate system-data acquiring unit, a second coordinate system-data acquiring unit, a position estimating unit, and a comparison range adjusting unit, which shrinks the comparison range in the second coordinate system data when the vehicle is turning, using learned map data and odometry information to enhance estimation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the adjustment range of each group is not strictly set, then the processing load is reduced, but the accuracy of self-position estimation is lowered
Solution Approach 1:
The patent applies dynamics by making the adjustment range variable based on vehicle motion state. When the vehicle is turning, the adjustment range is set to a smaller value compared to when the vehicle is traveling straight. This dynamic adjustment allows the system to maintain high position estimation accuracy during turning by using a more appropriate comparison range, while also optimizing processing load by adapting the range to current operational conditions rather than using a fixed conservative range at all times.
Solution Approach 2:
The patent changes the parameter of adjustment range based on the vehicle's motion state (turning vs. straight travel). By detecting whether the vehicle is turning and accordingly modifying the adjustment range parameter, the system achieves both accurate position estimation during turning and optimized processing efficiency under different operating conditions.
2Measurement precision
If grouping and adjustment range setting processes are performed when the vehicle turns, then position estimation can be maintained, but the processing load is increased
Solution Approach 1:
The system dynamically adjusts the adjustment range parameter based on detected vehicle turning state. During turning, a smaller adjustment range is applied which reduces the number of map data points requiring comparison, thereby maintaining position estimation accuracy while reducing processing load compared to using a fixed larger range.
Solution Approach 2:
The patent applies local quality by using different adjustment range values for different operational conditions (turning vs. straight travel). Instead of applying a uniform adjustment range throughout, the system tailors the range to the specific local condition of vehicle motion, optimizing both accuracy and processing efficiency for each scenario.
3Device complexity
If a fixed adjustment range is used for position estimation, then processing is simplified, but position estimation accuracy decreases during turning
Solution Approach 1:
The patent implements dynamics by transitioning from a fixed adjustment range to a dynamic adjustment range that changes based on vehicle motion state. The system detects turning conditions and automatically adjusts the adjustment range parameter, adding minimal processing complexity while dramatically improving position estimation accuracy during turning operations.
Solution Approach 2:
The system changes the adjustment range parameter based on detected turning state. This parameter change approach maintains relatively simple processing logic while significantly improving accuracy during turning by using an appropriately smaller comparison range rather than a fixed suboptimal range.
Data Source
AI summary
A position estimating apparatus including: a position estimating unit that compares a target in first coordinate system data indicating a position of the target by coordinates in a first coordinate system and a target in second coordinate system data indicating a position of the target present around a position estimation object by coordinates in a second coordinate system set based on a position and an attitude of the position estimation object at a predetermined starting timing, and estimates a position of the position estimation object in the first coordinate system based on a comparison result; and a comparison range adjusting unit that shrinks a coordinate range used for the comparison by the position estimating unit in the second coordinate system data when the position estimation object is turning.