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公开(公告)号：US11639853B2
公开(公告)日：2023-05-02
申请号：US16568606
申请日：2019-09-12
Applicant: DENSO CORPORATION
Inventor： Yuichi Minamiguchi , Kenji Miyake , Tatsumi Sugiyama , Kazuyoshi Isaji , Minoru Okada , Kenta Takahashi
Abstract: A self-localization estimation unit of a self-localization estimation device determines, based on mutual relationships between the in-lane position and the absolute position including the error, whether there is lane-relevant candidate information, the lane-relevant candidate information representing that one or more in-vehicle positions are each estimated to be in which of lanes identified by the lane information; and estimates, based on a result of the determination of whether there is lane-relevant candidate information, a localization of the own vehicle corresponding to the map information.
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公开(公告)号：US11408741B2
公开(公告)日：2022-08-09
申请号：US16568637
申请日：2019-09-12
Applicant: DENSO CORPORATION
Inventor： Kenji Miyake , Yuichi Minamiguchi , Kenta Takahashi , Minoru Okada , Kazuyoshi Isaji , Tatsumi Sugiyama
Abstract: A self-localization estimation device includes: a map-information acquisition unit that acquires map information including lane information for specifying lanes in which vehicles are enabled to travel; a position calculation unit that calculates an own-vehicle absolute position being an absolute position of an own vehicle in response to navigation signals received from a plurality of navigation satellites, the position calculation unit including a self-location measurement unit, a vehicle-momentum measurement unit, and dead reckoning unit; and a position estimation unit that estimates, based on the map information and the own-vehicle absolute position, a corrected own-vehicle position being a corrected position of the own vehicle. The position estimation unit estimates the corrected own-vehicle position by superimposing a reliability of the map information and a reliability of the own-vehicle absolute position on each other.
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