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|1. (WO2018061084) SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE|
|Applicants:||NISSAN MOTOR CO., LTD.
|Title:||SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE|
In a self-position estimation method, the relative positions of a moving body and a target present in the vicinity of the moving body are detected, positions obtained by moving the relative positions by the movement amount of the moving body are stored as target position data, target position data is selected on the basis of the reliability of the relative position of the target position data in relation to the moving body, and the selected target position data is compared with map information including the position information of the target present on a road or near a road, whereby the self-position, which is the current position of the moving body, is estimated.