Title:
SELF-POSITION ESTIMATION DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2018/212301
Kind Code:
A1
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:
KATO MASAHIRO (JP)
IWAI TOMOAKI (JP)
FUJIYA KAZUFUMI (JP)
IWAI TOMOAKI (JP)
FUJIYA KAZUFUMI (JP)
Application Number:
PCT/JP2018/019173
Publication Date:
November 22, 2018
Filing Date:
May 17, 2018
Export Citation:
Assignee:
PIONEER CORP (JP)
International Classes:
G01S17/42; G01C21/28; G08G1/0969; G01S17/89
Foreign References:
| JP2017072423A | 2017-04-13 | |||
| JP2011027595A | 2011-02-10 | |||
| JP2008002906A | 2008-01-10 |
Attorney, Agent or Firm:
NAKAMURA, Toshinobu (JP)
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