Self-position estimation device, self-position estimation method, program, and recording medium

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United States of America Patent

PATENT NO 11822009
APP PUB NO 20210025981A1
SERIAL NO

17042854

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Abstract

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A self-position estimation device is mounted on a mobile body and acquires a predicted position of the mobile body. Additionally, the self-position estimation device calculates a difference value between a predicted position of an end point of a lane division line that is obtained based on information on the end point of the lane division line acquired from map information and a measured position of the end point of the lane division line measured in such a manner that a measurement unit mounted on the mobile body performs scanning with a light in a predetermined direction. The self-position estimation device estimates a self-position of the mobile body by correcting the predicted position with a value obtained by multiplying the difference value by a coefficient. Further, the self-position estimation device corrects the coefficient based on an interval of scanning positions of the measurement unit at a position where the end point of the lane division line is detected.

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Patent Owner(s)

Patent OwnerAddress
PIONEER CORPORATION28-8 HONKOMAGOME 2-CHOME BUNKYO-KU TOKYO 113-0021

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Fujiya, Kazufumi Kawagoe, JP 9 2
Iwai, Tomoaki Kawagoe, JP 25 88
Kato, Masahiro Kawagoe, JP 439 2371

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