VEHICLE POSITION IDENTIFICATION SYSTEM, VEHICLE POSITION IDENTIFICATION METHOD, AND VEHICLE POSITION IDENTIFICATION PROGRAM

• Main Authors: TANAKA MASARU, HIYOKAWA TOYOJI
• Format: Patent
• Language: English; Japanese
• Published: 26.11.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

To provide a vehicle position identification system, a vehicle position identification method, and a vehicle position identification program that can accurately identify the position of a vehicle on the basis of detection information around the vehicle.SOLUTION: A vehicle position identification system acquires detection information around a target vehicle, acquires detection time information that shows the detection time ts of the detection information, and performs recognition processing of a recognition object included in the detection information. In addition, the system calculates the relative position between the recognition object and the target vehicle, memorizes a running trajectory K of the target vehicle based on the positions P2 to P6 at each time of the target vehicle, acquires object absolute position information that shows the position of the recognition object in a reference coordinate system, and identifies a first position Ps that is the position of the target vehicle at a detection time ts on the basis of the relative position and the object absolute position information of the recognition object. The system further identifies a second position Pc that is the position of the target vehicle at a target time tc on the basis of the first position Ps and a target running trajectory KT that is the running trajectory K of the target vehicle between the detection time ts and the target time tc corresponding to the current time.SELECTED DRAWING: Figure 10 【課題】車両の周辺の検知情報に基づいて車両の位置を精度よく特定する車両位置特定システム、車両位置特定方法及び車両位置特定プログラムを提供する。【解決手段】車両位置特定システムは、対象車両の周辺の検知情報を取得し、検知情報の検知時刻ｔｓを示す検知時刻情報を取得し、検知情報に含まれる認識対象物の認識処理を行う。認識対象物と対象車両との相対位置を演算し、対象車両の各時刻における位置Ｐ２〜Ｐ６に基づく対象車両の走行軌跡Ｋを記憶し、認識対象物の基準座標系における位置を示す対象物絶対位置情報を取得し、相対位置と認識対象物の対象物絶対位置情報とに基づいて検知時刻ｔｓにおける対象車両の位置である第１位置Ｐｓを特定する。検知時刻ｔｓから現在時刻に対応する対象時刻ｔｃまでの対象車両の走行軌跡Ｋである対象走行軌跡ＫＴと、第１位置Ｐｓとに基づいて、対象時刻ｔｃにおける対象車両の位置である第２位置Ｐｃを特定する。【選択図】図１０