US 11,810,369 B2
Self-position estimation device
Shunya Kumano, Nisshin (JP); and Takeshi Shikimachi, Kariya (JP)
Assigned to SOKEN, INC., Nisshin (JP); and DENSO CORPORATION, Kariya (JP)
Filed by SOKEN, INC., Nisshin (JP); and DENSO CORPORATION, Kariya (JP)
Filed on Nov. 25, 2020, as Appl. No. 17/105,303.
Application 17/105,303 is a continuation of application No. PCT/JP2019/001603, filed on Jan. 21, 2019.
Claims priority of application No. 2018-103519 (JP), filed on May 30, 2018.
Prior Publication US 2021/0081682 A1, Mar. 18, 2021
Int. Cl. G06V 20/56 (2022.01); B60W 30/12 (2020.01); G01C 21/36 (2006.01); G01S 19/42 (2010.01)
CPC G06V 20/588 (2022.01) [B60W 30/12 (2013.01); G01C 21/3658 (2013.01); G01S 19/42 (2013.01); B60W 2420/42 (2013.01); B60W 2552/30 (2020.02); G06T 2207/30256 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A self-position estimation device equipped to a vehicle and estimating a position of the vehicle, the self-position estimation device comprising:
a vehicle-mounted camera capturing an image of a periphery of the vehicle;
a vehicle state quantity sensor detecting a state quantity of the vehicle;
a satellite positioning acquisition unit acquiring position information indicating a position of the vehicle from a satellite system;
a map data storage storing map data that defines a map in which a road is expressed by a link and a node;
a position estimation unit estimating a self-position of the vehicle on the map, as an estimation position, based on the image captured by the vehicle-mounted camera, the state quantity, the position information, and the map data, respectively;
a lane quantity change determiner recognizing a road section in which a lane quantity increases or decreases based on the image captured by the vehicle-mounted camera; and
a position corrector setting a weighting of the estimation position of the vehicle estimated by the position estimation unit based on the map data to be relatively smaller in response to a recognition of the road section in which the lane quantity increases or decreases compared with a case where the road section in which the lane quantity increases or decreases is not recognized.