VEHICLE POSITION ESTIMATION DEVICE

• Main Authors: HASHIBA TOSHIHIKO, KONISHI KYOSUKE, ENDO MASAYA
• Format: Patent
• Language: English; Japanese
• Published: 17.04.2024
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

To correctly estimate a current position by suppressing degradation in position estimation accuracy of a vehicle even when a vehicle changes a lane.SOLUTION: A vehicle position estimation device comprises: a first compartment line calculation determination unit which calculates a first distance between a vehicle and a compartment line and determines the presence/absence of crossing of the compartment line by the vehicle; a second compartment line calculation determination unit which calculates a second distance between the vehicle and the compartment line and determines the presence/absence of crossing of the compartment line by the vehicle; a travel compartment matching unit which matches at least one of the first distance and the second distance on the basis of the presence/absence of crossing of the compartment line determined by the first compartment line calculation determination unit and the presence/absence of crossing of the compartment line determined by the second compartment line calculation determination unit; and a position estimation unit which estimates a position of the vehicle on the basis of the first distance or the second distance matched by the travel compartment matching unit.SELECTED DRAWING: Figure 1 【課題】車両がレーン変更をおこなう場合においても、車両の位置推定精度が劣化することを抑制し現在位置を正確に推定する必要がある。【解決手段】車両と区画線の間の第一の距離を算出し車両による区画線の横断の有無を判定する第一区画線算出判定部、車両と区画線の間の第二の距離を算出し車両による区画線の横断の有無を判定する第二区画線算出判定部、第一区画線算出判定部によって判定された区画線の横断の有無と、第二区画線算出判定部によって判定された区画線の横断の有無と、に基づいて第一の距離または第二の距離の少なくとも一方を整合させる走行区画整合部、および、走行区画整合部によって整合された第一の距離または第二の距離に基づいて車両の位置を推定する位置推定部、を備えた車両位置推定装置。【選択図】図１