ON-VEHICLE PROCESSING DEVICE, VEHICLE CONTROL DEVICE AND SELF-POSITION ESTIMATION METHOD

• Main Authors: SAKANO MORIHIKO, HAYASE SHIGENORI, KUME HIDEYUKI, MOJI TATSUHIKO
• Format: Patent
• Language: English; Japanese
• Published: 22.03.2023
• 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 highly accurately estimate the self-position by selecting an optimum point group while considering a property about observation accuracy of the point group.SOLUTION: An on-vehicle processing device comprises: a past map storage unit which stores a past-generated map generated in the past; a self-map generation unit which generates an in-travel map on the basis of sensor data acquired during the travel; a self-position estimation unit which estimates a self-position by collating the past-generated map with the in-travel map; and a data selection unit which selects data used by the self-position estimation unit from the in-travel map on the basis of the property of the data included in the in-travel map.SELECTED DRAWING: Figure 2 【課題】点群の観測精度に関する性質を考慮しつつ、最適な点群を選定して、高精度に自己位置を推定する。【解決手段】車載処理装置であって、過去に生成された過去生成地図を記憶する過去地図記憶部と、走行中に取得したセンサデータに基づいて走行中地図を生成する自己地図生成部と、前記過去生成地図と前記走行中地図とを照合して自己位置を推定する自己位置推定部と、前記走行中地図に含まれるデータの特性に基づいて、前記自己位置推定部が使用するデータを前記走行中地図から選択するデータ選択部とを備える。【選択図】図２