US 11,927,458 B2
Map information correction apparatus, mobile object, map information correction system, map information correction method, control circuit, and non-transitory storage medium
Kyoko Hosoi, Tokyo (JP); and Takashi Sugihara, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed by MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed on Jul. 23, 2021, as Appl. No. 17/383,543.
Application 17/383,543 is a continuation of application No. PCT/JP2019/011037, filed on Mar. 18, 2019.
Prior Publication US 2021/0348943 A1, Nov. 11, 2021
Int. Cl. G01C 21/00 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/3811 (2020.08) [G01C 21/3691 (2013.01); G01C 21/3833 (2020.08)] 15 Claims
OG exemplary drawing
 
1. A map information correction apparatus comprising:
feature point priority determination circuitry to determine, on a basis of a preset priority table, a priority for one or more feature points of own mobile object surrounding information including at least one of sensor information acquired from a sensor installed on an own mobile object and calculation sensor information calculated from the sensor information;
feature pair priority determination circuitry to give, when there is one or more feature pairs, a priority to the feature pair on the basis of an own mobile object surrounding information priority and a map information priority, the feature pair being a pair of an own mobile object surrounding information feature point and a map information feature point that correspond to each other, the own mobile object surrounding information feature point being the feature point of the own mobile object surrounding information, the map information feature point being a feature point of map information received, the own mobile object surrounding information priority being a priority of the own mobile object surrounding information feature point of the feature pair, the map information priority being a priority of the map information feature point of the feature pair;
error calculation circuitry to calculate an error in the map information on the basis of a high-priority own mobile object surrounding information feature point and a high-priority map information feature point, the high-priority own mobile object surrounding information feature point being the own mobile object surrounding information feature point, the high-priority map information feature point being the map information feature point, the own mobile object surrounding information feature point and the map information feature point forming the one or more feature pairs of a high priority; and
correction circuitry to correct the map information using the error, to output the corrected map information to the own mobile object, and to control movement of the own mobile object along a path according to the corrected map information.