Title:
SELF POSITION ESTIMATION DEVICE
Document Type and Number:
Japanese Patent JP2022071741
Kind Code:
A
Abstract:
To realize a self-position estimation device with which it is possible to correct the longitudinal position of a vehicle without relying on external information serving as a landmark.SOLUTION: A self-position estimation device includes: a lateral position deviation prediction unit 102 for calculating, by vehicle motion estimation that uses a sensor for measuring the motion of a vehicle and map information, a lateral position deviation ypredict and an azimuth angle deviation θpredict relative to the runway of the vehicle on a map space; a lateral position deviation-azimuth angle deviation correction unit 104 for correcting the lateral position deviation ypredict and the azimuth angle deviation θpredict, respectively, using a lateral position deviation ysensor and azimuth angle deviation θsensor calculated by analyzing the surrounding information of the vehicle, and calculating a corrected lateral position deviation yt+Δt and a corrected azimuth angle deviation θt+Δt; and a longitudinal position correction unit 106 for correcting the longitudinal position of the vehicle having been estimated on a map space on the basis of the lateral position deviation ysensor.SELECTED DRAWING: Figure 3
Inventors:
MORI DAIKI
HATTORI YOSHIKAZU
AMANO MASAKI
TANAKA KAZUSHI
HATTORI YOSHIKAZU
AMANO MASAKI
TANAKA KAZUSHI
Application Number:
JP2020180860A
Publication Date:
May 16, 2022
Filing Date:
October 28, 2020
Export Citation:
Assignee:
TOYOTA CENTRAL RES & DEV
TOYOTA MOTOR CORP
TOYOTA MOTOR CORP
International Classes:
G01C21/30
Domestic Patent References:
| JP2019086363A | 2019-06-06 | |||
| JP2020003463A | 2020-01-09 | |||
| JP2019066193A | 2019-04-25 | |||
| JP2017211193A | 2017-11-30 |
Attorney, Agent or Firm:
Patent Service Corporation Taiyo International Patent Office