Title:
自車位置推定装置、自車位置推定方法、および自車位置推定プログラム
Document Type and Number:
Japanese Patent JP7056840
Kind Code:
B2
Abstract:
To provide a vehicle position estimation apparatus, a vehicle position estimation method, and a vehicle position estimation program capable of estimating a position of a vehicle position more quickly and more accurately.SOLUTION: The vehicle position estimation apparatus estimates a position X and an attitude of the own vehicle on a prescribed traveling route by collating a plurality of traveling images with map information including an environmental feature point FP and a position CP of imaging means at the time when imaging a plurality of reference images in the environment along the prescribed traveling route S associated with each of the plural reference images, and includes setting means for estimating a road surface gradient difference of the traveling route and setting a detection range of the corresponding feature point corresponding to the environmental feature point FP in the traveling image from the estimated road surface gradient difference; and estimation means for selecting a reference image most similar to the traveling image from the plurality of reference images on the basis of the corresponding feature point detected in the detection range and for estimating the position and attitude of the own vehicle on the basis of the correspondence between the environmental feature point and the corresponding feature point.SELECTED DRAWING: Figure 2
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Inventors:
Shoji Asai
Around the shallow sea
Yoshikazu Hattori
Hiroshi Ishiguro
Kazutaka Hayakawa
Takashi Suzuki
Around the shallow sea
Yoshikazu Hattori
Hiroshi Ishiguro
Kazutaka Hayakawa
Takashi Suzuki
Application Number:
JP2018005012A
Publication Date:
April 19, 2022
Filing Date:
January 16, 2018
Export Citation:
Assignee:
Toyota Central R & D Labs.
Aisin Co., Ltd.
Aisin Co., Ltd.
International Classes:
G01C21/30
Domestic Patent References:
| JP2005202761A |
Foreign References:
| WO2005038402A1 |
Attorney, Agent or Firm:
Atsushi Nakajima
Kato Kazuho
Kato Kazuho
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