Vehicle position estimation device, method and computer readable recording medium

Patent metadata

Field	Value
Publication number	US-10032278-B2
Application number	US-201514924298-A
Country	US
Kind code	B2
Filing date	Oct 27, 2015
Priority date	Nov 19, 2014
Publication date	Jul 24, 2018
Grant date	Jul 24, 2018

Abstract

Sensor information acquisition section acquires surrounding information including three dimensional information of respective surrounding positions of subject vehicle, and positional information of subject vehicle. Road surface information extraction section generates road surface image in which acquired surrounding information is projected onto road surface on which subject vehicle is travelling. Environment image generation section generates environment image in which three dimensional information of respective surrounding positions included in surrounding information has been appended to positions corresponding to surrounding positions in generated road surface image. Based on acquired positional information of subject vehicle, stored image acquisition section acquires stored image corresponding to positional information of subject vehicle from database. Image matching section matches generated environment image against acquired stored image. Estimation section estimates amount of displacement in positional information of subject vehicle based on obtained matching result.

First claim

What is claimed is:

1. A vehicle position estimation device, comprising:
a processor programmed to:
acquire surrounding information including three dimensional information of respective surrounding positions of a subject vehicle, and acquire positional information of the subject vehicle;
detect solid objects in surroundings of the subject vehicle based on the acquired surrounding information;
as three dimensional information of the surroundings of the subject vehicle, generate a pseudo-image representing positions and heights of the solid objects on a road surface based on the detected solid objects;
generate a road surface image in which the acquired surrounding information is projected onto the road surface along which the subject vehicle is travelling;
generate an environment image in which the three dimensional information of the respective surrounding positions included in the surrounding information has been appended to positions corresponding to the surrounding positions in the generated road surface image, including appending the generated pseudo-image to the generated road surface image;
based on the acquired positional information of the subject vehicle, acquire a stored image corresponding to the positional information of the subject vehicle from a database in which stored images, that are road surface images corresponding to respective items of positional information of a vehicle and that are road surface images to which three dimensional information has been appended to respective positions, are pre-stored;
calculate a match the generated environment image with the acquired stored image; and
estimate an amount of displacement in the positional information of the subject vehicle based on the calculated matching result.

2. The vehicle position estimation device of claim 1 , wherein:
the processor generates the environment image in a complex number format having the generated road surface image as a real component of the environment image, and the three dimensional information as an imaginary component of the environment image;
the processor acquires the stored image corresponding to the positional information of the subject vehicle from the database, in which the stored images are stored in a complex number format having a road surface image as a real component of the stored images and three dimensional information of the respective positions as an imaginary component of the stored images;
the processor performs frequency conversion on each of the generated environment image and the acquired stored image, and matches the environment image with the stored image by calculating a correlation between a frequency component of the environment image and a frequency components of the stored image; and
the processor estimates the amount of displacement in the positional information of the subject vehicle based on the calculated correlation.

3. The vehicle position estimation device of claim 1 , wherein:
the processor generates the environment image in a complex number format having the generated road surface image as an imaginary component of the environment image, and the three dimensional information as a real component of the environment image;
the processor acquires the stored image corresponding to the positional information of the subject vehicle from the database, in which the stored images are stored in a complex number format having the road surface image as an imaginary component of the stored images, and the three dimensional information of the respective positions as a real component of the stored images;
the processor performs frequency conversion on each of the generated environment image and the acquired stored image, and matches the environment image with the stored image by calculating a correlation between a frequency component of the environment image and a frequency component of the stored image; and
the processor estimates the amount of displacement in the positional information of the subject vehicle based on the calculated correlation.

4. A vehicle position estimation method comprising:
acquiring surrounding information including three dimensional information of respective surrounding positions of a subject vehicle, and acquiring positional information of the subject vehicle;
detecting solid objects in surroundings of the subject vehicle based on the acquired surrounding information;
as three dimensional information of the surroundings of the subject vehicle, generating a pseudo-image representing positions and heights of the solid objects on a road surface based on the detected solid objects;
generating a road surface image in which the acquired surrounding information is projected onto the road surface on which the subject vehicle is travelling;
generating an environment image in which the three dimensional information of the respective surrounding positions included in the surrounding information has been appended to positions corresponding to the surrounding positions in the generated road surface image, including appending the generated pseudo-image to the generated road surface image;
based on the acquired positional information of the subject vehicle, acquiring the stored image corresponding to the positional information of the subject vehicle from a database in which stored images, that are road surface images corresponding to respective items of positional information of a vehicle and that are road surface images to which three dimensional information has been appended to respective positions, are pre-stored;
matching the generated environment image with the acquired stored image; and
estimating an amount of displacement in the positional information of the subject vehicle based on an obtained matching result.

5. A non-transitory computer readable medium storing a program causing a computer to execute a process for vehicle position estimation, the process comprising:
acquiring surrounding information including three dimensional information of respective surrounding positions of a subject vehicle, and acquiring positional information of the subject vehicle;
detecting solid objects in surroundings of the subject vehicle based on the acquired surrounding information;
as three dimensional information of the surroundings of the subject vehicle, generating a pseudo-image representing positions and heights of the solid objects on a road surface based on the detected solid objects;
generating a road surface image in which the acquired surrounding information is projected onto the road surface on which the subject vehicle is travelling;
generating an environment image in which the three dimensional information of the respective surrounding positions included in the surrounding information has been appended to positions corresponding to the surrounding positions in the generated road surface image, including appending the generated pseudo-image to the generated road surface image;
based on the acquired positional information of the subject vehicle, acquiring the stored image corresponding to the positional information of the subject vehicle from a database in which stored images, that are road surface images corresponding to respective items of positional information of a vehicle and that are road surface images to which three dimensional information has been appended to respective positions, are pre-stored;
matching the generated environment image with the acquired stored image; and
estimating an amount of displacement in the positional information of the subject vehicle based on an obtained matching result.

Assignees

• Toyota Chuo Kenkyusho Kk

Inventors

• Ishida Hiroyuki

Classifications

• G06T7/32

  using correlation-based methods · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V10/431

  Frequency domain transformation; Autocorrelation · CPC title

• H04N2013/0092

  Image segmentation from stereoscopic image signals · CPC title

• G06T2207/20056

  Discrete and fast Fourier transform, [DFT, FFT] · CPC title