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LOCAL MAP GENERATING DEVICE, LOCAL MAP GENERATING SYSTEM, GLOBAL MAP GENERATING DEVICE, GLOBAL MAP GENERATING SYSTEM, AND PROGRAM

  • US 20140074393A1
  • Filed: 03/02/2012
  • Published: 03/13/2014
  • Est. Priority Date: 03/03/2011
  • Status: Active Grant
First Claim
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1. A local map generating device comprising:

  • an environment information acquiring section that is installed in a moving body, and that acquires environment information of a periphery of the moving body as seen from a set position;

    a satellite information acquiring section that acquires satellite information that includes information relating to respective positions of a plurality of GPS satellites that are transmitted from the respective GPS satellites, and information relating to distances between the respective GPS satellites and the moving body, and information relating to relative velocities of the moving body with respect to the respective GPS satellites;

    a computing section that, on the basis of the satellite information acquired by the satellite information acquiring section, computes a velocity vector that includes a traveling direction of the moving body, or velocity information that expresses a velocity of the moving body and the traveling direction of the moving body;

    a locus computing section that integrates the velocity information of the moving body that was computed by the computing section, and computes a locus of positions of the moving body; and

    a local map generating section that records the environment information, that was acquired by the environment information acquiring section for each point on the locus of positions of the moving body that was computed by the locus computing section, in respective regions on a local map that includes the locus of positions of the moving body and that is determined on the basis of the traveling direction of the moving body at each point on the locus and the set position and posture of the environment information acquiring section.

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