STATE ESTIMATION DEVICE

• Main Authors: TANAKA YUSUKE, TATEISHI KOJIRO, KOBAYASHI KENJI, KAWASAKI NAOTERU, SUZUKI SHUNSUKE, MIZUNO HIROSHI, KONISHI MASAKI
• Format: Patent
• Language: English; Japanese
• Published: 08.03.2018
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

PROBLEM TO BE SOLVED: To provide a technique for suppressing misalignment of the lateral position of a vehicle and the vehicle azimuth even if the vertical position of the vehicle was corrected.SOLUTION: When a state estimation device 1 determines that a vertical correction amount calculated in S170 is larger than a predetermined threshold value in S210, the state estimation device 1 acquires map data including label data and boundary data at a comparison position set in S170 in S220 and performs re-association of features in S230. The state estimation device 1 corrects the lateral position of the comparison position in S240, and corrects the vehicle azimuth of the comparison position in S250.SELECTED DRAWING: Figure 5 【課題】縦位置を補正した場合でも車両の横位置及び車両方位がずれることを抑制する技術を提供する。【解決手段】Ｓ２１０で状態推定装置１がＳ１７０で算出された縦補正量があらかじめ決められた閾値より大きいと判定した場合には、Ｓ２２０で状態推定装置１は、Ｓ１７０で設定された比較位置での、標識データ及び境界データを含む地図データを取得し、Ｓ２３０で、地物の再対応付けを行う。Ｓ２４０で状態推定装置１は、比較位置の横位置の補正を行う。Ｓ２５０で状態推定装置１は比較位置の車両方位の補正を行う。【選択図】図５