Title:
COMPUTING DEVICE, OWN-POSITION ESTIMATING DEVICE, AND MAP INFORMATION GENERATING METHOD
Document Type and Number:
WIPO Patent Application WO/2023/139935
Kind Code:
A1
Abstract:
This computing device comprises: a sensor information acquiring unit for acquiring sensor information output by a sensor that is mounted in a vehicle and that measures a surrounding environment; a storage unit for storing a reference map, which is a map in a reference coordinate system, being a predetermined world coordinate system, the reference map having been prepared in advance; an odometry information acquiring unit for acquiring movement information, which is information relating to movement of the vehicle, on the basis of an output of a sensor mounted in the vehicle; a periphery map generating unit for generating a periphery map, which is a map in a vehicle coordinate system, being a coordinate system different from the reference coordinate system, on the basis of the sensor information and the movement information; a partial map extracting unit for extracting partial maps, which are regions that do not overlap one another, from the periphery map; and a gap parameter calculating unit for calculating a gap parameter, which is information relating to a correlation between coordinate conversion parameters for at least partial maps that are adjacent to one another, the coordinate conversion parameter being a parameter for converting each partial map into a converted partial map, which is a map in the reference coordinate system. The partial map extracting unit generates new partial maps if an amount of offset from the reference map is equal to or greater than a prescribed threshold.
Inventors:
SAKANO MORIHIKO (JP)
KUME HIDEYUKI (JP)
HAYASE SHIGENORI (JP)
MONJI TATSUHIKO (JP)
KUME HIDEYUKI (JP)
HAYASE SHIGENORI (JP)
MONJI TATSUHIKO (JP)
Application Number:
PCT/JP2022/044066
Publication Date:
July 27, 2023
Filing Date:
November 29, 2022
Export Citation:
Assignee:
HITACHI ASTEMO LTD (JP)
International Classes:
G01C21/28; G09B29/00; G16Y10/40; G16Y20/20; G16Y40/60
Domestic Patent References:
| WO2014076844A1 | 2014-05-22 |
Foreign References:
| JP2010092147A | 2010-04-22 |
Attorney, Agent or Firm:
SUNNEXT INTERNATIONAL PATENT OFFICE (JP)
Download PDF: