Positioning apparatus

• US 10,114,108 B2
• Filed: 11/06/2015
• Issued: 10/30/2018
• Est. Priority Date: 11/06/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nagura, Toru
• Primary Examiner(s): Bolda, Eric L
• Application Number:
  US14/935,144
• Publication Number:
  US 20160131763A1
• Time in Patent Office: 1,089 Days
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data

Abstract

A positioning apparatus is mounted to an own vehicle, and performs positioning of the own vehicle. The positioning apparatus acquires a light reception pattern. The light reception pattern indicates a pattern of a change in strength of reflected light in relation to a position of the own vehicle. The reflected light is obtained using a light wave for measurement that has been transmitted from the own vehicle. The positioning apparatus estimates a position of the own vehicle by referencing a database in which a reference pattern is recorded in advance, and by comparing the light reception pattern and the reference pattern. The reference pattern indicates a pattern in which a strength of reflected light is associated with each position in which a vehicle travels.

Claims

1. A positioning apparatus that is mounted to an own vehicle, and performs positioning of the own vehicle, the positioning apparatus comprising:

a light reception pattern acquisition unit that acquires a light reception pattern, the light reception pattern indicating a pattern of a change in strength of reflected light in relation to a position of the own vehicle, the reflected light being obtained using a light wave for measurement that has been transmitted from the own vehicle;

a first own vehicle position estimation unit that estimates a position of the own vehicle by referencing a database in which a reference pattern is recorded in advance, and by comparing the light reception pattern and the reference pattern, the reference pattern indicating a pattern in which a strength of reflected light is associated with each position in which a vehicle travels;

a reliability level calculator that calculates a reliability level of the position of the own vehicle estimated by the first own vehicle position estimation unit; and

an adoption determination unit that determines whether or not the estimated position of the own vehicle is adopted as a position of the own vehicle by comparing the light reception pattern and the reference pattern based on the reliability level, wherein

the reliability level calculator calculates the reliability level taking into consideration a degree of similarity in an environment in which a strength of reflected light is acquired, between the reference pattern and the light reception pattern.

2. The positioning apparatus according to claim 1, further comprising:

a reference pattern generator that generates the reference pattern based on the obtained reflected light, and records the generated reference pattern in the database.

3. The positioning apparatus according to claim 1, further comprising:

a second own vehicle position estimation unit that estimates a position of the own vehicle using a sensor that is mounted to the own vehicle,

wherein the adoption determination unit adopts, as the position of the own vehicle, the estimated position of the own vehicle estimated using the sensor, when a value of the reliability level is lower than a predetermined threshold.

4. The positioning apparatus according to claim 1, wherein:

the reliability level calculator calculates the reliability level taking into consideration a degree of similarity in a relative distance of a reflective object that reflects the light wave for measurement or a degree of similarity in a relative orientation of the reflective object, between the reference pattern and the light reception pattern.

5. The positioning apparatus according to claim 1, wherein:

the reliability level calculator calculates the reliability level taking into consideration a degree of similarity in an external environment between the reference pattern and the light reception pattern.

6. The positioning apparatus according to claim 1, wherein:

the reliability level calculator calculates the reliability level based on a distinctiveness in which a strength of reflected light changes in the reference pattern.

7. The positioning apparatus according to claim 1, wherein:

the reliability level calculator calculates the reliability level based on a distinctiveness in a spatial interval between reflective objects that reflect the light wave for measurement in the reference pattern.

8. The positioning apparatus according to claim 6, wherein:

the reliability level calculator calculates the reliability level based on an autocorrelation value of the reference pattern that has been spatially shifted by an amount corresponding to a spatial interval between reflective objects that reflect the light wave for measurement.

9. A positioning apparatus that is mounted to an own vehicle, and performs positioning of the own vehicle, the positioning apparatus comprising:

a light reception pattern acquisition unit that acquires a light reception pattern, the light reception pattern indicating a pattern of a change in strength of reflected light in relation to a position of the own vehicle, the reflected light being obtained using a light wave for measurement that has been transmitted from the own vehicle; and

a first own vehicle position estimation unit that estimates a position of the own vehicle by referencing a database in which a reference pattern is recorded in advance, and by comparing the light reception pattern and the reference pattern, the reference pattern indicating a pattern in which a strength of reflected light is associated with each position in which a vehicle travels, wherein

the reference pattern and the light reception pattern are configured such that a strength of reflected light equal to or lower than a predetermined threshold is eliminated from the reference pattern and the light reception pattern.

10. The positioning apparatus according to claim 9, wherein:

the predetermined threshold is set based on a reflection strength from a retroreflective object.

11. A method for performing positioning of an own vehicle by a positioning apparatus that is mounted to the own vehicle, the method comprising:

acquiring, by the positioning apparatus, a light reception pattern, the light reception pattern indicating a pattern of a change in strength of reflected light in relation to a position of the own vehicle, the reflected light being obtained using a light wave for measurement that has been transmitted from the own vehicle;

estimating, by the positioning apparatus, a position of the own vehicle by referencing a database in which a reference pattern is recorded in advance and by comparing the light reception pattern and the reference pattern, the reference pattern indicating a pattern in which a strength of reflected light is associated with each position in which a vehicle travels;

calculating, by a reliability level calculator, a reliability level of the position of the own vehicle estimated by the first own vehicle position estimation unit; and

determining, by an adoption determination unit, whether or not the estimated position of the own vehicle is adopted as a position of the own vehicle by comparing the light reception pattern and the reference pattern based on the reliability level, wherein

the reliability level calculator calculates the reliability level taking into consideration a degree of similarity in an environment in which a strength of reflected light is acquired, between the reference pattern and the light reception pattern.

12. A method for performing positioning of an own vehicle by a positioning apparatus that is mounted to the own vehicle, the method comprising:

acquiring, by the positioning apparatus, a light reception pattern, the light reception pattern indicating a pattern of a change in strength of reflected light in relation to a position of the own vehicle, the reflected light being obtained using a light wave for measurement that has been transmitted from the own vehicle; and

estimating, by the positioning apparatus, a position of the own vehicle by referencing a database in which a reference pattern is recorded in advance and by comparing the light reception pattern and the reference pattern, the reference pattern indicating a pattern in which a strength of reflected light is associated with each position in which a vehicle travels, wherein

the reference pattern and the light reception pattern are configured such that a strength of reflected light equal to or lower than a predetermined threshold is eliminated from the reference pattern and the light reception pattern.