Self-Position Estimation Method and Self-Position Estimation Device

Patent metadata

Field	Value
Publication number	US-2020019792-A1
Application number	US-201616336366-A
Country	US
Kind code	A1
Filing date	Sep 27, 2016
Priority date	Sep 27, 2016
Publication date	Jan 16, 2020
Grant date	—

Abstract

A self-position estimation method includes: detecting a relative position between a target present in surroundings of a moving object and the moving object; storing a position where the relative position is moved by the moved amount of the moving object, as target position data; selecting the target position data on the basis of reliability of the relative position of the target position data with respect to the moving object; and comparing the selected target position data with map information including the position information on the target present on a road or around the road, thereby estimating a self-position which is a current position of the moving object.

First claim

1 . A self-position estimation method using a target detection sensor and a self-position estimation circuit,
the target detection sensor being mounted in a moving object, the target detection sensor configured to detect a relative position between a target present in surroundings of the moving object and the moving object, the self-position estimation circuit configured to store a position where the relative position is moved by a moved amount of the moving object as target position data, and to compare the stored target position data with map information including position information on the target present on a road or around the road, thereby estimating a self-position which is a current position of the moving object, the self-position estimation method comprising:
selecting target position data to be compared with the map information from the stored target position data on the basis of reliability of the relative position of the target position data with respect to the moving object; and
comparing the selected target position data with the map information, thereby estimating the self-position.

2 . The self-position estimation method according to claim 1 , wherein the reliability is determined such that the reliability is higher as a difference between a distance from the moving object to the target obtained from the relative position and an assumed distance from the moving object to the target is smaller.

3 . The self-position estimation method according to claim 1 , wherein the reliability is determined on the basis of an attribute of the target.

4 . The self-position estimation method according to claim 1 , wherein the reliability is determined on the basis of a time period when the target position data can be continuously detected.

5 . The self-position estimation method according to claim 1 , wherein the target position data having high reliability of the relative position with respect to the moving object is selected, when target position data indicating a plurality of parallel traveling lane boundaries, which specify a traveling lane on which moving object travels, is detected.

6 . The self-position estimation method according to claim 5 , wherein the reliability is determined such that the reliability of the relative position of the target position data indicating the traveling lane boundary with respect to the moving object is higher, as an error between a line approximating a plurality of the target position data indicating the traveling lane boundary and the plurality of the target position data is smaller.

7 . A self-position estimation device comprising:
a target detection sensor mounted in a moving object, the target detection sensor configured to detect a relative position between a target present in surroundings of the moving object and the moving object; and a self-position estimation circuit configured to store a position where the relative position is moved by a moved amount of the moving object as target position data, to select target position data to be compared with map information from the stored target position data on the basis of reliability of the relative position of the target position data with respect to the moving object, and to compare the selected target position data with the map information including the position information on the target present on a map, thereby estimating a self-position which is a current position of the moving object.

Assignees

• Nissan Motor

Inventors

• Sano Yasuhito
• Tsuchiya Chikao
• Nanri Takuya
• Takano Hiroyuki

Classifications

• G06T2207/30256

  Lane; Road marking · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06T7/246

  using feature-based methods, e.g. the tracking of corners or segments · CPC title

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T2207/30244

  Camera pose · CPC title