Title:
SELF-POSITION ESTIMATION DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2018/212302
Kind Code:
A1
Abstract:
A host vehicle position estimation unit 17 of an on-vehicle device 1 calculates a predicted host vehicle position X-(t). Furthermore, the host vehicle position estimation unit 17 calculates an estimated host vehicle position X^(t) obtained by correcting the predicted host vehicle position X-(t), on the basis of coordinates (LX, LY) of a body coordinate system corresponding to a distance from the vehicle to a lane marking measured by a lidar 2, and coordinates (L-
X, L-
Y) of the body coordinate system corresponding to a distance from the vehicle to the lane marking predicted on the basis of position information of the lane marking indicated by lane marking information. At this time, the host vehicle position estimation unit 17 corrects the predicted host vehicle position X-(t) by setting the Kalman gain in a travel direction, i.e. the longitudinal direction of the lane marking, to 0, such that the correction amount in a lateral direction intersecting the travel direction is greater than the correction amount in the travel direction.
Inventors:
KATO MASAHIRO (JP)
IWAI TOMOAKI (JP)
FUJIYA KAZUFUMI (JP)
IWAI TOMOAKI (JP)
FUJIYA KAZUFUMI (JP)
Application Number:
PCT/JP2018/019176
Publication Date:
November 22, 2018
Filing Date:
May 17, 2018
Export Citation:
Assignee:
PIONEER CORP (JP)
International Classes:
G01C21/28; G01S17/93; G08G1/0969
Foreign References:
| JP2017072422A | 2017-04-13 | |||
| JP2004045227A | 2004-02-12 |
Attorney, Agent or Firm:
NAKAMURA, Toshinobu (JP)
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