Title:
自己位置推定装置、制御方法、プログラム及び記憶媒体
Document Type and Number:
Japanese Patent JP6968877
Kind Code:
B2
Abstract:
A host vehicle position estimation unit 17 of an on-vehicle device 1 is provided with: a position prediction unit 21 which generates information indicating a predicted host vehicle position X-(t); and a position estimation unit 22. The position estimation unit 22 calculates a planimetric feature predicted value Z-(t) predicted on the basis of planimetric feature information and a planimetric feature measured value Z(t) indicating the distance from a moving body to an object measured by a lidar 2. Furthermore, the position estimation unit 22 determines coefficient values aX(t),aY(t) for correcting the Kalman gain K(t), in accordance with difference evaluation values Ex, Ey based on difference values dx, dy between the planimetric feature measured value and the planimetric feature predicted value, the position estimation accuracy σP, and the lidar measurement accuracy σL.
Inventors:
Masahiro Kato
Tomoaki Iwai
Fujitani Tafumi
Tomoaki Iwai
Fujitani Tafumi
Application Number:
JP2019518877A
Publication Date:
November 17, 2021
Filing Date:
May 17, 2018
Export Citation:
Assignee:
Pioneer Corporation
International Classes:
G01S17/42; G01C21/28; G08G1/0969; G01S17/89
Domestic Patent References:
| JP2017072423A | ||||
| JP2011027595A | ||||
| JP2008002906A |
Attorney, Agent or Firm:
Satoshi Nakamura