VEHICLE STATE ESTIMATING SYSTEM, VEHICLE STATE ESTIMATING METHOD, AND VEHICLE STATE ESTIMATING PROGRAM

• Main Authors: TANAKA MASARU, HIYOKAWA TOYOJI
• Format: Patent
• Language: English; Japanese
• Published: 26.11.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

To provide a vehicle state estimating system, a vehicle state estimating method and a vehicle state estimating program which heighten the accuracy of estimating the position and bearing of a vehicle in order to facilitate the self-driving of the vehicle in a parking lot.SOLUTION: In a vehicle state estimating system 100, an estimation unit 23 of a vehicle control device 20 finds the relative position of an identification object ground feature to a vehicle as a real relative position on the basis of the recognition result of the identification object ground feature by an image recognition unit 25 and estimates the position of the vehicle on the basis of the real relative position and ground feature information with respect to the identification object ground feature. The estimation unit 23 finds the relative bearing of a belt-like ground feature to the vehicle as a real relative bearing on the basis of the recognition result of the belt-like ground feature by the image recognition unit 25 and estimates the bearing of the vehicle on the basis of the real relative bearing.SELECTED DRAWING: Figure 2 【課題】駐車場内で車両の自動走行を円滑に行わせるために、当該車両の位置および方位の推定精度を高める車両状態推定システム、車両状態推定方法及び車両状態推定プログラムを提供する。【解決手段】車両状態推定システム１００において、車両制御装置２０の推定部２３は、画像認識部２５による識別対象地物の認識結果に基づいて、車両に対する識別対象地物の相対位置を実相対位置として求めると共に、当該実相対位置と識別対象地物についての地物情報とに基づいて車両の位置を推定する。推定部２３は、画像認識部２５による帯状地物の認識結果に基づいて、車両に対する帯状地物の相対方位を実相対方位として求めると共に、当該実相対方位に基づいて車両の方位を推定する。【選択図】図２