Mobile object position estimation apparatus and method

Mobile object position estimation apparatus and method

  • CN 101,310,163 B
  • Filed: 11/17/2006
  • Issued: 11/06/2013
  • Est. Priority Date: 11/18/2005
  • Status: Active Grant
First Claim
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1. mobile object position estimation apparatus is characterized in that comprising:

  • Position detecting device is used for utilizing communication to detect the absolute coordinates of mobile object location;

    The first apparatus for evaluating is used for according to assessing mobile object location from the output that is located at the inertial navigation sensor devices (203) on described mobile object;

    Storage device (204) is used for storing cartographic information, and described cartographic information comprises node location at least;

    the second apparatus for evaluating, be used for assessing described mobile object location according to the expectation driving path of described mobile object, described expectation driving path is estimated from described node location, wherein, described the second apparatus for evaluating will be assessed the line that near node that the road profile line thinks to be positioned in described node location described mobile object connects, side-play amount between the described mobile object location of determining described assessment road profile line and being detected by described position detecting device on the road width direction, and the assessment road profile line that will move described side-play amount is as described expectation driving path, withSynthesizer is used for determining the mobile object location of final assessment, wherein by to being synthesized by the described mobile object location of described the first apparatus for evaluating assessment and the described mobile object location of being assessed by described the second apparatus for evaluatingWhen described position detecting device can not be carried out described communication, perhaps when described position detecting device is judged to be the reliability decrease of the data that detect from described position detecting device, described the first apparatus for evaluating, described the second apparatus for evaluating and described synthesizer work.

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