Title:
VEHICLE CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/029878
Kind Code:
A1
Abstract:
The present disclosure relates to a vehicle control device comprising: a satellite positioning result processing unit that acquires first data including the state of a positioning solution from a satellite positioning device and outputs the first data as a satellite positioning result; a sensor correction unit that acquires second data indicating a state quantity pertaining to a vehicle from an autonomous sensor, corrects a first error included in the second data, and outputs the corrected second data as corrected data; an inertial positioning unit that performs an inertial positioning computation on the basis of the corrected data and outputs an inertial positioning result; an observation value prediction unit that performs a positioning computation using the inertial positioning result, and that computes and outputs a predicted observation value for estimating the correction amount of the second data; an error estimation unit that estimates the error between the predicted observation value and the satellite positioning result and outputs the estimated error as a second error, and that outputs the correction amount of the autonomous sensor computed on the basis of the second error; a positioning correction unit that corrects the predicted observation value on the basis of the predicted observation value and the second error, and that outputs the corrected value as a post-correction positioning result; and a vehicle control unit that causes the vehicle to travel along a road using the post-correction positioning result.
Inventors:
KITANO HIROAKI (JP)
KAMEOKA SHOTA (JP)
KAMEOKA SHOTA (JP)
Application Number:
PCT/JP2020/029809
Publication Date:
February 10, 2022
Filing Date:
August 04, 2020
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G01S19/49
Domestic Patent References:
| WO2020202522A1 | 2020-10-08 |
Foreign References:
| JP2016017796A | 2016-02-01 | |||
| JP2010019703A | 2010-01-28 | |||
| JP2009041932A | 2009-02-26 | |||
| JP2001337150A | 2001-12-07 | |||
| JP2002214321A | 2002-07-31 | |||
| JP2012177564A | 2012-09-13 | |||
| US20080091351A1 | 2008-04-17 |
Attorney, Agent or Firm:
YOSHITAKE Hidetoshi et al. (JP)
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