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Host vehicle position estimation device

An inference device, the technology of the vehicle, applied in the direction of measurement device, positioning, satellite radio beacon positioning system, etc., to achieve the effect of improving the inference accuracy

Active Publication Date: 2019-11-19
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, feature points may not always be extracted while the vehicle is running

Method used

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Embodiment Construction

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0018] figure 1 It is a block diagram showing an own vehicle position estimation device according to one embodiment. figure 1 The shown host vehicle position estimating device 100 is a device that is mounted on a host vehicle (host vehicle) such as a passenger car, and performs estimation of the position of the host vehicle on a map, that is, the host vehicle position. The host vehicle position estimating device 100 estimates the position of the host vehicle on the map in the extending direction of the traveling lane, that is, the longitudinal position of the host vehicle. The host vehicle position estimating device 100 performs estimation of the longitudinal position using the vehicle speed of the host vehicle.

[0019] [Structure of host vehicle position estimation device]

[0020] like figure 1 As shown, the host vehicle position estimation device 100 includes th...

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Abstract

A host vehicle position estimation device includes a target recognition unit configured to recognize a relative position of the vertical position target relative to a host vehicle on the basis of a detection result of an external sensor of the host vehicle, an amount-of-position error calculation unit configured to calculate an amount of position error, an amount-of-steady error calculation unit configured to calculate an amount of steady error from a distribution of the amount of position error when it is determined that the distribution of the amount of position error satisfies a steady condition, and a host vehicle position estimation unit configured to perform estimation of a vertical position of the host vehicle using the amount of steady error when the relative position of the vertical position target relative to the host vehicle is not recognized.

Description

technical field [0001] The present invention relates to a vehicle position estimation device. Background technique [0002] Conventionally, Japanese Patent Application Laid-Open No. 2013-104861 is known as a technical document related to an own vehicle position estimation device. This publication describes a device that extracts feature points such as corner points from an image obtained by photographing the front or rear of the host vehicle, and registers a position on a map in advance based on the extracted feature points. Register feature points to correct the vehicle position. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2013-104861 [0004] The above-mentioned prior art discloses that the vehicle position is corrected in an environment where feature points can be extracted. However, feature points may not always be able to be extracted while the host vehicle is running. Therefore, it is desired to improve the positional accuracy of the host vehicle even...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28
CPCG01C21/28G01C21/1656G01C21/1652G01C21/165G06T7/70G06T2207/30252G01S19/396G01S19/51G06T2207/30256G01S5/0284G06T2207/30244G06T7/246
Inventor 石田皓之
Owner TOYOTA JIDOSHA KK
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