Mobile object position estimation apparatus and method

• US 8,145,419 B2
• Filed: 11/17/2006
• Issued: 03/27/2012
• Est. Priority Date: 11/18/2005
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Onome, Hirohisa, Kagawa, Kazunori, Tajima, Yasuhiro, Maeda, Iwao, Nagamiya, Kiyomi, Ueda, Akihiro
• Primary Examiner(s): Shah, Amee A
• Application Number:
  US12/092,088
• Publication Number:
  US 20080262730A1
• Time in Patent Office: 1,957 Days
• Field of Search: 701/220, 701/301
• US Class Current: 701/220
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.

Claims

1. A mobile object position estimation apparatus, comprising:

a position detection device that detects absolute coordinates of a mobile object position using communication;

a first estimation device that estimates the mobile object position based on output from inertial navigation sensor devices mounted on a mobile object;

a storage device that stores map information including at least node information;

a second estimation device that estimates the mobile object position based on a predicted travel path of the mobile object as predicted from the node information, the predicted travel path being a line that is an estimated road contour line shifted by an offset, the estimated road contour line being a line connecting nodes of the node information in a vicinity of the mobile object, and the offset being determined by the second estimation device in a road widthwise direction between the estimated road contour line and the mobile object position detected by the position detection device; and

a synthesizing device that determines a final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation device and the mobile object position estimated by the second estimation device.

2. The mobile object position estimation apparatus according to claim 1, wherein when the final estimated mobile object position is determined by the synthesizing device, the first estimation device uses a preceding final estimated position as a new starting point for estimating the mobile object position based on the output from the inertial navigation sensor devices.

3. The mobile object position estimation apparatus according to claim 1, wherein the inertial navigation sensor devices include an acceleration sensor and a yaw rate sensor.

4. The mobile object position estimation apparatus according to claim 1, wherein the inertial navigation sensor devices include a wheel speed sensor and a steering angle sensor.

5. The mobile object position estimation apparatus according to claim 1, wherein the first estimation device, the second estimation device, and the synthesizing device operate when the position detection device fails to perform the communication.

6. The mobile object position estimation apparatus according to claim 1, wherein the first estimation device, the second estimation device, and the synthesizing device operate when the position detection device determines that reliability of data detected from the position detection device decreases.

7. The mobile object position estimation apparatus according to claim 1, wherein the second estimation device adopts the estimated road contour line to be a curve based on a prescribed interpolation method connecting nodes in the vicinity.

8. The mobile object position estimation apparatus according to claim 7, wherein the prescribed interpolation method is a clothoid interpolation method.

9. The mobile object position estimation apparatus according to claim 7, wherein the prescribed interpolation method is a spline interpolation method.

10. The mobile object position estimation apparatus according to claim 1, wherein the second estimation device includes a distance detection device that detects a travel distance of the mobile object, and adopts, as a new mobile object position, a position that is moved along the predicted travel path by an amount of traveling detected by the distance detection device from a time when the second estimation device previously estimated the mobile object position.

11. The mobile object position estimation apparatus according to claim 10, wherein the distance detection device includes a wheel speed sensor, and

wherein the travel distance is calculated based on an amount of time elapsed from a previous prediction of the estimated mobile object position and output from the wheel speed sensor.

12. The mobile object position estimation apparatus according to claim 1, wherein the second estimation device adopts, as a final mobile object position, a point of intersection of a vertical line extended to the predicted travel path from the estimated mobile object position estimated by the first estimation device with the predicted travel path.

13. A method for estimating a position of a mobile object, comprising:

detecting absolute coordinates of a mobile object position using a communication device;

estimating of the mobile object position based on outputs from inertial navigation sensor devices;

setting a predicted travel path of the mobile object based on node information included in map information, the setting including determining the predicted travel path as a line that is an estimated road contour line shifted by an offset, the estimated road contour line being a line connecting nodes of the node information in a vicinity of the mobile object, and the offset being determined in a road widthwise direction between the estimated road contour line and the mobile object position detected by the detecting step;

estimating the mobile object position based on the predicted travel path; and

determining a final estimated mobile object position by synthesizing the mobile object position estimated based on the outputs from the inertial navigation sensor devices and the mobile object position estimated based on the predicted travel path.