Apparatus for identifying position of own vehicle and method for identifying position of own vehicle
First Claim
1. A position identifying apparatus comprising:
- a position detecting unit that detects a position of an own vehicle on a map by using a map matching process;
an information acquiring unit that acquires, from the map, road information surrounding the own vehicle based on the position of the own vehicle detected by the position detecting unit;
a feature extracting unit that extracts features of ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle;
an index value calculating unit that calculates an index value representing a likelihood of a stationary object for the features extracted by the feature extracting unit;
a feature selecting unit that selects feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object;
a correlating unit that correlates the feature candidates with the road information acquired by the information acquiring unit;
a weight setting unit that sets weights for feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle; and
wherein the index value calculating unit is configured to calculate a positional change of the feature, which changes with time, and configured to set a smaller index value to a feature having a large positional change relative to an index value calculated for a feature having a small positional change.
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Accused Products
Abstract
A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of a ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.
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Citations
7 Claims
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1. A position identifying apparatus comprising:
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a position detecting unit that detects a position of an own vehicle on a map by using a map matching process; an information acquiring unit that acquires, from the map, road information surrounding the own vehicle based on the position of the own vehicle detected by the position detecting unit; a feature extracting unit that extracts features of ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle; an index value calculating unit that calculates an index value representing a likelihood of a stationary object for the features extracted by the feature extracting unit; a feature selecting unit that selects feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object; a correlating unit that correlates the feature candidates with the road information acquired by the information acquiring unit; a weight setting unit that sets weights for feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle; and wherein the index value calculating unit is configured to calculate a positional change of the feature, which changes with time, and configured to set a smaller index value to a feature having a large positional change relative to an index value calculated for a feature having a small positional change. - View Dependent Claims (3, 4, 5, 6)
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2. A position identifying apparatus comprising:
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a position detecting unit that detects a position of an own vehicle on a map by using a map matching process; an information acquiring unit that acquires, from the map, road information surrounding the own vehicle based on the position of the own vehicle detected by the position detecting unit; a feature extracting unit that extracts features of a ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle; an index value calculating unit that calculates an index value representing a likelihood of a stationary object for the features extracted by the feature extracting unit; a feature selecting unit that selects feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object; a correlating unit that correlates the feature candidates with the road information acquired by the information acquiring unit; a weight setting unit that sets weights for feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle; and a correcting unit that corrects the position of the own vehicle using the weights; wherein the apparatus includes a type determination unit that determines the feature extracted by the feature extracting unit; and wherein the index value calculating unit is configured to set a smaller index value to a feature determined as either a vehicle or a pedestrian, wherein the smaller index value is smaller than an index value for a feature not determined as either a vehicle or a pedestrian.
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7. A position identifying method comprising:
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detecting a position of an own vehicle on a map by using a map matching process; acquiring, from the map, a road information surrounding the own vehicle based on the position of the own vehicle detected; extracting features of a ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle; calculating an index value representing a likelihood of a stationary object for the features extracted; calculating a positional change of the feature, which changes with time; setting a smaller index value to a feature having a large positional change relative to an index value calculated for a feature having a small positional change; selecting feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object, correlating the feature candidates with the road information acquired by the information acquiring unit; setting weights for the feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle; and correcting the position of the own vehicle using the weights.
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Specification