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 the 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.
1 Assignment
0 Petitions
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 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.
-
Citations
8 Claims
-
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 the 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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A position identifying method comprising:
-
a position detecting process that detects a position of an own vehicle on a map by using a map matching process; an information acquiring process that acquires, from the map, a road information surrounding the own vehicle based on the position of the own vehicle detected by the position detecting unit; a feature extracting process 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 process that calculates an index value representing a likelihood of a stationary object for the features extracted by the feature extracting unit; a feature selecting process that selects feature candidates from among the features having the index value larger than or equal to a predetermined likelihood of the stationary object, a correlating process that correlates the feature candidates with the road information acquired by the information acquiring unit; a weight setting process that sets weights for the feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle; and a correcting process that corrects the position of the own vehicle using the weights.
-
Specification