Mobile object position estimation apparatus and method
First Claim
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.
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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.
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Citations
13 Claims
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1. A mobile object position estimation apparatus, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for estimating a position of a mobile object, comprising:
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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.
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Specification