Vehicle position recognition system
First Claim
1. A vehicle position recognition system comprising:
- a vehicle position calculation unit that calculates an estimated position of a vehicle based on satellite positioning and dead reckoning navigation;
an error range calculation unit that calculates a basic error range, wherein there is a possibility that the vehicle exists in the basic error range;
a first estimated error amount calculation unit that calculates at least one first estimated error amount regarding at least one directional error factor, wherein the at least one directional error factor is at least one error factor that tends to cause at least one error in at least one specific direction with respect to a vehicle traveling direction, and the at least one first estimated error amount is at least one estimated amount of the at least one error that is caused by the at least one directional error factor;
a first error range adjustment unit that adjusts the basic error range based on at least one direction in which the at least one error tends to be caused by the at least one directional error factor, and the at least one first estimated error amount; and
a surrounding information obtaining range determination unit that determines a surrounding information obtaining range based on the adjusted error range, the surrounding information obtaining range being used for obtaining reference data for scene matching regarding a surrounding region around the estimated position, the reference data for scene matching being used when scenic image recognition is performed based on a captured image obtained by capturing an image of a scene viewed from the vehicle;
wherein the surrounding information obtaining range determined by the surrounding information obtaining range determination unit is used as an extraction range for extracting the reference data from a database, when a position of the vehicle is determined through matching between the reference data and data for matching, which is generated from an actually-captured image obtained by capturing an image of a scene using a vehicle-mounted camera.
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Abstract
A vehicle position recognition system calculates an estimated position of a vehicle based on satellite positioning and dead reckoning navigation, and calculates a basic error range in which there is a possibility that the vehicle exists. The system calculates an estimated error amount regarding a directional error factor. The directional error factor is an error factor that tends to cause an error in a specific direction with respect to a vehicle traveling direction. The estimated error amount is an estimated amount of the error that is caused by the directional error factor. The system adjusts the basic error range based on (1) a direction in which the error tends to be caused by the directional error factor and (2) the estimated error amount.
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Citations
6 Claims
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1. A vehicle position recognition system comprising:
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a vehicle position calculation unit that calculates an estimated position of a vehicle based on satellite positioning and dead reckoning navigation; an error range calculation unit that calculates a basic error range, wherein there is a possibility that the vehicle exists in the basic error range; a first estimated error amount calculation unit that calculates at least one first estimated error amount regarding at least one directional error factor, wherein the at least one directional error factor is at least one error factor that tends to cause at least one error in at least one specific direction with respect to a vehicle traveling direction, and the at least one first estimated error amount is at least one estimated amount of the at least one error that is caused by the at least one directional error factor; a first error range adjustment unit that adjusts the basic error range based on at least one direction in which the at least one error tends to be caused by the at least one directional error factor, and the at least one first estimated error amount; and a surrounding information obtaining range determination unit that determines a surrounding information obtaining range based on the adjusted error range, the surrounding information obtaining range being used for obtaining reference data for scene matching regarding a surrounding region around the estimated position, the reference data for scene matching being used when scenic image recognition is performed based on a captured image obtained by capturing an image of a scene viewed from the vehicle; wherein the surrounding information obtaining range determined by the surrounding information obtaining range determination unit is used as an extraction range for extracting the reference data from a database, when a position of the vehicle is determined through matching between the reference data and data for matching, which is generated from an actually-captured image obtained by capturing an image of a scene using a vehicle-mounted camera. - View Dependent Claims (2, 3, 4, 5)
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6. A vehicle position recognition system comprising:
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a vehicle position calculation unit that calculates an estimated position of a vehicle based on satellite positioning and dead reckoning navigation; an error range calculation unit that calculates a basic error range, wherein there is a possibility that the vehicle exists in the basic error range; a first estimated error amount calculation unit that calculates at least one first estimated error amount regarding at least one directional error factor, wherein the at least one directional error factor is at least one error factor that tends to cause at least one error in at least one specific direction with respect to a vehicle traveling direction, and the at least one first estimated error amount is at least one estimated amount of the at least one error that is caused by the at least one directional error factor; and a first error range adjustment unit that adjusts the basic error range based on at least one direction in which the at least one error tends to be caused by the at least one directional error factor, and the at least one first estimated error amount; a second estimated error amount calculation unit that calculates at least one second estimated error amount regarding at least one non-directional error factor, wherein at least one non-directional error factor is at least one error factor that causes at least one error regardless of the vehicle traveling direction, and the at least one second estimated error amount is at least one estimated amount of the at least one error that is caused by the at least one non-directional error factor; and a second error range adjustment unit that evenly adjusts a front region and a rear region of the basic error range in the vehicle traveling direction, based on the at least one second estimated error amount.
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Specification