Vehicle Position Determination Apparatus and Vehicle Position Determination Method
First Claim
1. A vehicle position determination apparatus comprising:
- a storage device that stores map information containing positions of terrestrial objects located around roads;
a vehicle position estimator that estimates a current position of a vehicle in the map information;
a camera that captures an image of an area around the vehicle;
an area identifier that identifies an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition;
a terrestrial object recognizer that recognizes, in the image, the terrestrial object in the area identified by the area identifier;
a relative position calculator that calculates, in the map information, a relative position of the vehicle with respect to a position of the terrestrial object recognized by the terrestrial object recognizer;
a position corrector that corrects the current position of the vehicle based on the relative position calculated by the relative position calculator; and
a speed detector that detects a speed of the vehicle, whereinthe area identifier identifies a first area as the area when the speed of the vehicle is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and identifies a second area as the area when the speed of the vehicle is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle.
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Abstract
A vehicle position determination apparatus includes a storage device that stores map information containing positions of terrestrial objects located around roads, a vehicle position estimator that estimates a current position of a vehicle in the map information, a camera that captures an image of an area around the vehicle, an area identifier that identifies an area in which a terrestrial object to serve as a recognition target is located, the area Q being identified in the map information based on a predetermined condition, a terrestrial object recognizer that recognizes, in the image, the terrestrial object in the area Q, a relative position calculator that calculates, in the map information, a relative position of the vehicle P with respect to a position of the terrestrial object recognized, and a position corrector that corrects the current position of the vehicle based on the relative position calculated by the relative position calculator.
16 Citations
8 Claims
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1. A vehicle position determination apparatus comprising:
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a storage device that stores map information containing positions of terrestrial objects located around roads; a vehicle position estimator that estimates a current position of a vehicle in the map information; a camera that captures an image of an area around the vehicle; an area identifier that identifies an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition; a terrestrial object recognizer that recognizes, in the image, the terrestrial object in the area identified by the area identifier; a relative position calculator that calculates, in the map information, a relative position of the vehicle with respect to a position of the terrestrial object recognized by the terrestrial object recognizer; a position corrector that corrects the current position of the vehicle based on the relative position calculated by the relative position calculator; and a speed detector that detects a speed of the vehicle, wherein the area identifier identifies a first area as the area when the speed of the vehicle is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and identifies a second area as the area when the speed of the vehicle is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle position determination method comprising:
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estimating a current position of a vehicle in map information containing positions of terrestrial objects located around roads; capturing an image of an area around the vehicle; identifying an area in which a terrestrial object to serve as a recognition target is located, in the map information based on a predetermined condition; recognizing, in the image, the terrestrial object in the area identified; calculating, in the map information, a relative position of the vehicle with respect to a position of the terrestrial object recognized; correcting the current position of the vehicle based on the relative position calculated; detecting a speed of the vehicle; and identifying a first area as the area when the speed of the vehicle is below a predetermined threshold, the first area being an area from a first value to a second value larger than the first value in a distance from the vehicle, and identifies a second area as the area when the speed of the vehicle is above the threshold, the second area being an area from the first value to a third value larger than the second value in the distance from the vehicle.
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Specification