VEHICLE POSITION ESTIMATION DEVICE, PARKING LOT, AND VEHICLE CONTROL DEVICE

• Main Authors: IMAMURA YOSHIAKI, TANAKA MASARU, KUNO KOSHI, OGAWA KEITA, HIYOKAWA TOYOJI
• Format: Patent
• Language: English; Japanese
• Published: 20.06.2019
• Subjects: CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL

To correctly obtain a current position of a vehicle.SOLUTION: A vehicle position estimation device in one embodiment includes: a parking lot data acquisition section for acquiring parking lot data including information related to each one of absolute positions of multiple markers including multiple kinds of markers arranged on a road surface of a parking lot; an image data acquisition section for acquiring image data of a captured image obtained by an on-vehicle camera for capturing a peripheral state of a vehicle; and a position estimation section for calculating a relative position of at least two markers with respect to a vehicle on image data by detecting road surface sign data related to at least two markers among the multiple markers from the image data, and estimating an actual position of the vehicle on the basis of the calculated relative position and parking lot data.SELECTED DRAWING: Figure 5 【課題】車両の現在位置を正確に把握すること。【解決手段】実施形態の一例としての車両位置推定装置は、駐車場の路面に設置された複数の種類のマーカを含む複数のマーカのそれぞれの絶対位置に関する情報を含む駐車場データを取得する駐車場データ取得部と、車両の周辺の状況を撮像する車載カメラによって得られる撮像画像の画像データを取得する画像データ取得部と、画像データから複数のマーカのうち少なくとも２つのマーカに関する路面標示データを検出することで、画像データ上における車両に対する少なくとも２つのマーカの相対位置を算出し、算出した相対位置と、駐車場データと、に基づいて、車両の実位置を推定する位置推定部と、を備える。【選択図】図５