Own-position estimation device and own-position estimation method

Patent metadata

Field	Value
Publication number	US-10145693-B2
Application number	US-201515743853-A
Country	US
Kind code	B2
Filing date	Jul 13, 2015
Priority date	Jul 13, 2015
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

An own-position estimation device: detects positions of landmarks present around a vehicle; accumulates the detected positions of the landmarks as landmark position data based on a movement amount of the vehicle; extracts straight lines from the accumulated landmark position data; selects pieces of the landmark position data used for own-position estimation based on angles formed by intersecting ones of the extracted straight lines; and estimates a position of the vehicle by matching the selected pieces of the landmark position data and positions of landmarks in map information.

First claim

The invention claimed is:

1. An own-position estimation device comprising:
one or more peripheral sensor mounted in a vehicle and configured to detect positions of landmarks present around the vehicle relative to the vehicle;
one or more vehicle sensor configured to detect a movement amount of the vehicle; and
a controller configured to:
accumulate the positions of the landmarks relative to the vehicle detected by the one or more peripheral sensor as landmark position data by coordinates based on the movement amount detected by the one or more vehicle sensor;
extract straight lines from the landmark position data accumulated at a plurality of times;
select pieces of the landmark position data based on angles formed by intersecting ones of the extracted straight lines;
store map information including positions of landmarks; and
estimate a position of the vehicle by matching the selected pieces of the landmark position data and the positions of the landmarks in the map information.

2. The own-position estimation device according to claim 1 , wherein the controller selects the pieces of the landmark position data corresponding to pieces of straight line information on at least a combination of the intersecting straight lines forming a largest angle among angles of 90° or smaller formed by combinations of the intersecting straight lines.

3. The own-position estimation device according to claim 1 , wherein the controller sets priorities of pieces of straight line information such that the greater the angles formed by the intersecting ones of the straight lines equal to or less than 90° are, the higher the priority is set to combinations of the intersecting ones of the straight lines, and selects the pieces of the landmark position data in a descending order of the priorities set for the pieces of straight line information.

4. The own-position estimation device according to claim 3 , wherein the controller sets priorities of the pieces of straight line information such that the later times of obtaining the pieces of the landmark position data are, the higher the priority is set to the pieces of straight line information corresponding to the pieces of the landmark position data, and selects the pieces of the landmark position data in a descending order of the priorities set for the pieces of straight line information.

5. The own-position estimation device according to claim 3 , wherein the controller determines the pieces of the landmark position data to be accumulated based on the priorities.

6. An own position estimation method comprising:
detecting positions of landmarks present around a vehicle relative to the vehicle by one or more peripheral sensor mounted in the vehicle;
detecting a movement amount of the vehicle by one or more vehicle sensors;
accumulating the positions of the landmarks relative to the vehicle detected by the one or more peripheral sensor as landmark position data by coordinates based on the movement amount detected by the one or more vehicle sensors;
extracting straight lines from the landmark position data accumulated at a plurality of times;
selecting pieces of the landmark position data based on angles formed by intersecting ones of the extracted straight lines; and
estimating a position of the vehicle by matching the selected pieces of the landmark position data and positions of landmarks in map information.

Assignees

• Nissan Motor

Inventors

• Asai Toshihiro

Classifications

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title

• G01C21/04

  by terrestrial means (G01C21/24, G01C21/26 take precedence) · CPC title

• G08G1/00

  Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D}) · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title