Vehicle position detecting apparatus

Patent metadata

Field	Value
Publication number	US-10518772-B2
Application number	US-201715821187-A
Country	US
Kind code	B2
Filing date	Nov 22, 2017
Priority date	May 11, 2015
Publication date	Dec 31, 2019
Grant date	Dec 31, 2019

Abstract

A vehicle position detecting apparatus includes: a position measurement unit that obtains first position information of a first vehicle; an autonomous sensor that obtains relative position information of a second vehicle; a receiver that receives communication data containing second position information of the second vehicle; an identification unit that performs identification on the second vehicle specified based on the relative position information and the second vehicle from which the communication data is sent; a position error calculator that calculates a position error between a position of the second vehicle specified based on the relative position information and that of the second vehicle specified based on the second position information; and a position corrector that performs, based on the position error, a correction on the position of the second vehicle specified based on the second position information, on a condition that the identified second vehicle is no longer detected by the autonomous sensor.

First claim

The invention claimed is:

1. A vehicle position detecting apparatus comprising:
a positioning sensor that measures a position of a first vehicle as an own vehicle to obtain first position information as position information of the first vehicle;
an autonomous sensor that detects a relative position, relative to the first vehicle, of a second vehicle to obtain relative position information of the second vehicle, the second vehicle being a vehicle different from the first vehicle;
a receiver that receives communication data obtained by the second vehicle and sent from the second vehicle, the communication data containing second position information as position information of the second vehicle; and
a processor configured to:
identify a position of the second vehicle specified based on the relative position information and a position of the second vehicle specified based on the second position information;
determine a difference, as a position error, between the position of the second vehicle specified based on the relative position information and the position of the second vehicle specified based on the second position information;
when the second vehicle specified based on the relative position information is no longer detected by the autonomous sensor, correct, based on the position error, the position of the second vehicle specified based on the second position information; and
adjust the position error based on one of an elapse of time from and a traveling distance of the second vehicle specified based on the relative position information from a time at which the second vehicle specified based on the relative position information is no longer detected by the autonomous sensor.

2. The vehicle position detecting apparatus according to claim 1 , wherein the processor is further configured to:
average, on a time axis, the position error sequentially calculated for the second vehicle, and
perform the correction, based on the averaged position error.

3. The vehicle position detecting apparatus according to claim 2 , wherein the processor is further configured to perform a driving support control on the first vehicle, based on the corrected position of the second vehicle specified based on the relative position information.

4. The vehicle position detecting apparatus according to claim 3 , wherein the processor is further configured to perform the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

5. The vehicle position detecting apparatus according to claim 2 , wherein the processor is further configured to perform the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

6. The vehicle position detecting apparatus according to claim 1 , wherein the processor is further configured to perform a driving support control on the first vehicle, based on the corrected position of the second vehicle specified based on the relative position information.

7. The vehicle position detecting apparatus according to claim 6 , wherein the processor is further configured to perform the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

8. The vehicle position detecting apparatus according to claim 1 , wherein the processor is further configured to perform the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

Assignees

• Subaru Corp

Inventors

• Tezuka Shunsuke

Classifications

• B60W2554/4041

  Position · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title

• B60W2754/10

  Spatial relation or speed relative to objects · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title