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1. (WO2018061084) SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE

Pub. No.:    WO/2018/061084    International Application No.:    PCT/JP2016/078428
Publication Date: Fri Apr 06 01:59:59 CEST 2018 International Filing Date: Wed Sep 28 01:59:59 CEST 2016
IPC: G05D 1/02
Applicants: NISSAN MOTOR CO., LTD.
日産自動車株式会社
Inventors: SANO, Yasuhito
佐野 泰仁
TSUCHIYA, Chikao
土谷 千加夫
NANRI, Takuya
南里 卓也
TAKANO, Hiroyuki
▲高▼野 博幸
Title: SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE
Abstract:
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.