Title:
POSITION ESTIMATING DEVICE, ESTIMATING DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2020/209144
Kind Code:
A1
Abstract:
A host vehicle position estimating unit 17 of a vehicle-mounted machine 1 acquires a predicted host vehicle position X-(t), which is a predicted value of the current position and azimuth of a moving body. Furthermore, the host vehicle position estimating unit 17 acquires a relative angle Lψ(t), which is first orientation information indicating the orientation of a landmark relative to the vehicle, based on measured data of the landmark obtained using a LiDAR 2, and acquires a relative angle Lψ
-(t), which is second orientation information indicating an orientation obtained by converting an orientation Mψ(t) of the landmark included in landmark information into an orientation relative to the vehicle. The host vehicle position estimating unit 17 then corrects the predicted host vehicle position X-(t) on the basis of the difference between the relative angle Lψ(t) and the relative angle Lψ
-(t).
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Inventors:
KATO MASAHIRO (JP)
FUJIYA KAZUFUMI (JP)
KATO MASAHIRO (JP)
FUJIYA KAZUFUMI (JP)
KATO MASAHIRO (JP)
Application Number:
PCT/JP2020/014871
Publication Date:
October 15, 2020
Filing Date:
March 31, 2020
Export Citation:
Assignee:
PIONEER CORP (JP)
International Classes:
G01C21/28; G01C15/00
Domestic Patent References:
| WO2018212294A1 | 2018-11-22 | |||
| WO2017060947A1 | 2017-04-13 | |||
| WO2017199369A1 | 2017-11-23 |
Foreign References:
| JP2017211307A | 2017-11-30 | |||
| JP2008249639A | 2008-10-16 | |||
| JP2013257742A | 2013-12-26 | |||
| JP2017072422A | 2017-04-13 | |||
| JP2017211307A | 2017-11-30 |
Other References:
See also references of EP 3954968A4
Attorney, Agent or Firm:
NAKAMURA, Toshinobu (JP)
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