SELF-POSITION CONFIDENCE LEVEL COMPUTING DEVICE

• Main Authors: OTAKI SHO, SAKAGUCHI YASUO, KANEMICHI TOSHIKI, IWAMOTO TAKAYUKI, SHIMIZU AYAKO, FUNAYAMA RYUJI, JUNG HOJUNG
• Format: Patent
• Language: English; Japanese
• Published: 14.03.2019
• Subjects: ADVERTISING; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND,DEAF OR MUTE; CRYPTOGRAPHY; DIAGRAMS; DISPLAY; EDUCATION; EDUCATIONAL OR DEMONSTRATION APPLIANCES; GLOBES; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; PLANETARIA; SEALS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

To provide a self-position confidence level computing device with which it is possible to appropriately find the confidence level of self-position estimation.SOLUTION: The self-position confidence level computing device comprises: a target database for storing position information about a target on a map that is used in estimating the self-position of the vehicle; a reference confidence level computing unit for computing the reference confidence level of self-position estimation at a preset passage candidate position of the vehicle on the basis of position information about the target on the map; a shielding-object information acquisition unit for acquiring shielding-object information pertaining to a shielding object around the vehicle; a shielding effect level computing unit for computing the shielding effect level of self-position estimation at the passage candidate position on the basis of the shield-object information; and a confidence level computing unit for computing the confidence level of self-position estimation at the passage candidate position on the basis of the reference confidence level and the shielding effect level.SELECTED DRAWING: Figure 2 【課題】自車位置推定の自信度を適切に求めることができる自車位置自信度演算装置を提供する。【解決手段】自車両の自車位置推定に利用される物標の地図上の位置情報を記憶する物標データベースと、物標の地図上の位置情報に基づいて、予め設定された自車両の通過候補位置における自車位置推定の基準自信度を演算する基準自信度演算部と、自車両の車載センサの検出結果に基づいて、自車両の周囲の遮蔽物に関する遮蔽物情報を取得する遮蔽物情報取得部と、遮蔽物情報に基づいて、通過候補位置における自車位置推定の遮蔽影響度を演算する遮蔽影響度演算部と、基準自信度と遮蔽影響度とに基づいて、通過候補位置における自車位置推定の自信度を演算する自信度演算部と、を備える。【選択図】図２