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Own-Position Estimation Device and Own-Position Estimation Method
Own-Position Estimation Device and Own-Position Estimation Method
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机译:本位估计装置和本位估计方法
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摘要
An own-position estimation device: detects positions of landmarks present around a vehicle; accumulates the detected positions of the landmarks as landmark position data based on a movement amount of the vehicle; extracts straight lines from the accumulated landmark position data; selects pieces of the landmark position data used for own-position estimation based on angles formed by intersecting ones of the extracted straight lines; and estimates a position of the vehicle by matching the selected pieces of the landmark position data and positions of landmarks in map information.
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