Title:
DEVICE FOR SENSING FAULTS IN LOCALIZATION DEVICE, AND VEHICLE
Document Type and Number:
WIPO Patent Application WO/2017/085989
Kind Code:
A1
Abstract:
Provided is a device for sensing faults in a localization device, comprising: a first characteristic point coordinate computation unit (181) which, on the basis of an output from a first measuring device (2a) for measuring the relative positions of a host vehicle and each characteristic point of a group of characteristic points arranged along the direction of travel of the vehicle on structures in the vicinity of the road surface the vehicle is travelling on, obtains the coordinates of each of the characteristic points represented in the coordinate system of the first measuring device and uses the local position of the vehicle to transform those coordinates to those of an external coordinate system in order to compute first coordinates therefor; a characteristic point path generating unit (182) which, on the basis of the first coordinates, generates a path for the group of characteristic points; a second characteristic point coordinate computation unit (183) which, on the basis of an output from a second measuring device (2b) for measuring the relative positions of the host vehicle and characteristic points rearward of the characteristic points measured by the first measuring device (2a) at the time of measurement by the first measuring device (2a), obtains the coordinates of the characteristic points represented in the coordinate system of the second measuring device and uses the local position of the vehicle to transform those coordinates into those of the external coordinate system in order to compute second coordinates therefor; and a fault determination unit (184) which determines that a fault has occurred in the localization device if the second coordinates are not on the path.
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Inventors:
ONO YUKIHIKO (JP)
ISHIMOTO HIDEFUMI (JP)
TANAKA WATARU (JP)
ISHIMOTO HIDEFUMI (JP)
TANAKA WATARU (JP)
Application Number:
PCT/JP2016/076353
Publication Date:
May 26, 2017
Filing Date:
September 07, 2016
Export Citation:
Assignee:
HITACHI CONSTRUCTION MACH CO (JP)
International Classes:
G05D1/02; G01S17/42; G01S17/87; G01S17/875; G01S17/89; G01S17/931; G01S19/22; G01S19/48; G01S19/50; G01S19/49
Foreign References:
| JP2000172337A | 2000-06-23 | |||
| JPH11258339A | 1999-09-24 | |||
| JP2015075826A | 2015-04-20 | |||
| US6751535B2 | 2004-06-15 |
Other References:
See also references of EP 3379363A4
Attorney, Agent or Firm:
THE PATENT BODY CORPORATE TAKEWA INTERNATIONAL PATENT OFFICE (JP)
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