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1. (WO2017037753) VEHICLE POSITION ESTIMATION DEVICE, VEHICLE POSITION ESTIMATION METHOD

Pub. No.:    WO/2017/037753    International Application No.:    PCT/JP2015/004383
Publication Date: Fri Mar 10 00:59:59 CET 2017 International Filing Date: Sat Aug 29 01:59:59 CEST 2015
IPC: G01C 21/30
Applicants: NISSAN MOTOR CO.,LTD.
日産自動車株式会社
Inventors: ASAI, Toshihiro
浅井 俊弘
Title: VEHICLE POSITION ESTIMATION DEVICE, VEHICLE POSITION ESTIMATION METHOD
Abstract:
In this vehicle position estimation device, the position of a target present on the periphery of a vehicle is detected, the amount of movement of the vehicle is detected, and the position of the target is stored as target position data on the basis of the amount of movement. Further, part of the target position data is grouped according to the turning state of the vehicle, and the adjustment range of the group is set on the basis of the amount of movement of the vehicle when the target position data is detected. Also, map information including the position of the target is acquired, and the position of the vehicle is estimated by comparison, on the basis of the set adjustment range, of the target position data and the position of the target in the map information.