公开(公告)号：US20200339171A1

公开(公告)日：2020-10-29

申请号：US16764901

申请日：2018-10-23

Applicant: HITACHI, LTD.

Inventor： Takayoshi NISHINO ,  Yuhi TSUTSUMI ,  Atsushi ODA ,  Kentaroh MAKI ,  Takenori WAJIMA ,  Kazuo TOKUYAMA

IPC: B61L25/02 ,  B60L3/00 ,  B61L3/00

Abstract: The present invention is provided with: a sensing unit which is provided in a vehicle and measures the three-dimensional shape of an object; a matching unit for performing matching between multiple sets of structure information, in which are associated a data group indicating the three-dimensional shapes of structures provided beforehand near a path the vehicle will travel along and positional information indicating the posit ions of the structures, and a data group indicating the three-dimensional shape of the object measured by the sensing unit, and for specifying the position of the object; and an estimated position determination unit for determining, with the position specified by the matching unit as a reference position, the estimated position of the vehicle on the basis of the reference position.