Vehicle position determination apparatus and vehicle position determination method

• US 10,145,692 B2
• Filed: 06/26/2015
• Issued: 12/04/2018
• Est. Priority Date: 06/26/2015
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Okuyama, Takeshi
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/739,510
• Publication Number:
  US 20180209795A1
• Time in Patent Office: 1,257 Days
• Field of Search: 701448, 701472, 701469, 701445, 701 26, 73 179
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/0969 having a display in the form of a map

Abstract

A vehicle position determination apparatus includes a storage device that stores map information containing positions of terrestrial objects located around roads, a vehicle position estimator that estimates a current position of a vehicle in the map information, a camera that captures an image of an area around the vehicle, an area identifier that identifies an area in which a terrestrial object to serve as a recognition target is located, the area Q being identified in the map information based on a predetermined condition, a terrestrial object recognizer that recognizes, in the image, the terrestrial object in the area Q, a relative position calculator that calculates, in the map information, a relative position of the vehicle P with respect to a position of the terrestrial object recognized, and a position corrector that corrects the current position of the vehicle based on the relative position calculated by the relative position calculator.

Claims

1. A vehicle position determination apparatus comprising:

a storage device that stores map information containing positions of terrestrial objects located around roads;

a vehicle position estimator that estimates a current position of a vehicle in the map information;

a camera that captures an image of an area around the vehicle;

an area identifier that identifies an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition;

a terrestrial object recognizer that recognizes, in the image, the terrestrial object in the area identified by the area identifier;

a relative position calculator that calculates, in the map information, a relative position of the vehicle with respect to a position of the terrestrial object recognized by the terrestrial object recognizer;

a position corrector that corrects the current position of the vehicle based on the relative position calculated by the relative position calculator; and

a speed detector that detects a speed of the vehicle, wherein

the area identifier identifies a first area as the area when the speed of the vehicle is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and identifies a second area as the area when the speed of the vehicle is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle.

2. The vehicle position determination apparatus according to claim 1, wherein the area identifier identifies the area based on a surrounding environment of the vehicle, which is at least one of weather, a time slot, a road surface condition, and a travel location.

3. The vehicle position determination apparatus according to claim 1, wherein the area identifier identifies the area based on a travel lane of the vehicle.

4. The vehicle position determination apparatus according to claim 1, further comprising a route setter that sets a travel route of the vehicle in the map information, wherein the area identifier identifies the area based on the travel route set by the route setter.

5. The vehicle position determination apparatus according to claim 4, wherein

when the travel route bends at an angle below a predetermined threshold, the area identifier identifies, as the area, an area around the travel route ahead in a travel direction of the vehicle.

6. The vehicle position determination apparatus according to claim 1, wherein

when the vehicle is going to travel straight through an intersection, the area identifier identifies the area by excluding an area around a road off a travel route of the vehicle out of roads intersecting at the intersection.

7. The vehicle position determination apparatus according to claim 1, wherein

if there is an intersection ahead in a travel direction of the vehicle and a first road on which the vehicle is travelling is smaller in scale than a second road which intersects with the first road at the intersection, the area identifier identifies the area by excluding an area around a road ahead of the intersection in the travel direction.

8. A vehicle position determination method comprising:

capturing an image of an area around a vehicle with a camera;

detecting a speed of the vehicle by a speed sensor;

estimating, with a processor, a current position of the vehicle in map information containing positions of terrestrial objects located around roads;

identifying, with the processor, an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition;

recognizing, with the processor, in the image captured by the camera, the terrestrial object in the area identified;

calculating, with the processor, in the map information, a relative position of the vehicle with respect to a position of the terrestrial object recognized;

correcting, with the processor, the current position of the vehicle based on the relative position calculated;

and

identifying, with the processor, a first area as the area when the speed of the vehicle detected by the speed sensor is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and identifying a second area as the area when the speed of the vehicle detected by the speed sensor is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle.

9. A vehicle position determination apparatus comprising:

a storage device that stores map information containing positions of terrestrial objects located around roads;

a camera that captures an image of an area around a vehicle;

a speed sensor that detects a speed of the vehicle;

a processor; and

a memory for storing instructions executable by the processor, wherein the instructions, when executed by the processor, cause the processor to;

estimate a current position of the vehicle in the map information;

identify an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition, wherein a first area is identified as the area when the speed of the vehicle detected by the speed sensor is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and a second area is identified as the area when the speed of the vehicle detected by the speed sensor is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle;

recognize, in the image, the terrestrial object in the identified area;

calculate, in the map information, a relative position of the vehicle with respect to a position of the recognized terrestrial object; and

correct the current position of the vehicle based on the calculated relative position.