Host vehicle position estimation device

Patent metadata

Field	Value
Publication number	US-11313976-B2
Application number	US-201816041938-A
Country	US
Kind code	B2
Filing date	Jul 23, 2018
Priority date	Sep 5, 2017
Publication date	Apr 26, 2022
Grant date	Apr 26, 2022

Abstract

A host vehicle position estimation device includes a object database configured to store information on detected objects in which a position of each of the objects on the map and an object-detectable area are associated with each other, a measurement position acquisition unit configured to acquire a measurement position which is the position of the host vehicle on the map, measured by a vehicle-mounted measurement unit, a candidate object recognition unit configured to recognize a candidate object which is associated with the object-detectable area including the measurement position among the objects, based on the object-detectable area in the information on the detected objects and the measurement position, and a host vehicle position estimation unit configured to estimate a host vehicle position based on a position of the candidate object on the map and a result of detection performed by the vehicle-mounted sensor.

First claim

What is claimed is:

1. A host vehicle position estimation device comprising:
an external sensor mounted on a host vehicle, configured to detect objects in a surrounding environment of the host vehicle;
an object database that stores information on previously detected objects which includes: (i) a position of each of the previously detected objects on a map and (ii) an object-detectable area for each of the previously detected objects, wherein the object-detectable area is an area set in advance as an area from which the external sensor of the host vehicle can detect the previously detected objects, and wherein the object-detectable area is set as a different area for each of the previously detected objects; and
an electronic control unit (ECU), including one or more processors, programmed to:
acquire a measurement position which is the position of the host vehicle on the map, measured by a GPS receiver while the vehicle is traveling;
detect an object using the external sensor mounted on the host vehicle while the host vehicle is traveling;
recognize, from among the previously detected objects, a candidate object which is associated with the object-detectable area including the measurement position of the host vehicle, wherein the candidate object is recognized based on the object-detectable area in the information on the detected objects and the measurement position; and
estimate the host vehicle position based on a comparison of a position of the candidate object on the map and a position of the detected object on the map.

2. The host vehicle position estimation device according to claim 1 , wherein the objects that are stored in the object database are detected previously by an other vehicle that is not the host vehicle, and the object-detectable area is set based on a position from which the other vehicle has detected the objects previously.

3. The host vehicle position estimation device according to claim 2 , wherein the other vehicle uses an external sensor having a sensor detection range that is the same as the external sensor of the host vehicle.

4. The host vehicle position estimation device according to claim 3 , wherein, when, based on the comparison, a deviation between the position of the candidate object on the map and the position of the detected object on the map is larger than a predetermined threshold, change a travel plan of the host vehicle.

Assignees

• Toyota Motor Co Ltd

Inventors

• Otaki Sho
• Funayama Ryuji

Classifications

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01S19/485

  whereby the further system is an optical system or imaging system · CPC title

• G01S13/867 Primary

  Combination of radar systems with cameras · CPC title

• G01S19/45 Primary

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title

• G01S19/47

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title