| CPC B60W 40/10 (2013.01) [B60W 50/0205 (2013.01); B60W 50/14 (2013.01); G06V 20/58 (2022.01); B60W 2050/0054 (2013.01); B60W 2050/0083 (2013.01); B60W 2050/021 (2013.01); B60W 2050/0215 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2520/14 (2013.01); B60W 2520/28 (2013.01); B60W 2540/18 (2013.01); B60W 2556/10 (2020.02); B60W 2556/60 (2020.02)] | 11 Claims |
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1. A traveling trajectory estimation system, comprising:
a storage device that stores traveling record information indicating a past traveling record of a vehicle, and characteristic object position information indicating an installation position of a characteristic object; and
a processor configured to perform a traveling trajectory estimation process to estimate a traveling trajectory of the vehicle, based on the traveling record information and the characteristic object position information,
wherein the traveling record information includes vehicle traveling information including a traveling state or a position of the vehicle detected by an internal sensor installed on the vehicle, and external recognition information including information on the characteristic object recognized by an external sensor installed on the vehicle,
wherein the traveling trajectory estimation process includes a vehicle position estimation process for estimating a vehicle position as a position of the vehicle,
wherein an object vehicle position is the vehicle position at an object time,
wherein a first reference vehicle position is the vehicle position at a first reference time previous to the object time,
wherein a second reference vehicle position is the vehicle position at a second reference time subsequent to the object time,
wherein a first vehicle movement amount is a movement amount of the vehicle between the first reference time and the object time,
wherein a second vehicle movement amount is a movement amount of the vehicle between the second reference time and the object time,
wherein the vehicle position estimation process includes
obtaining the first vehicle movement amount and the second vehicle movement amount, based on the vehicle traveling information,
obtaining a relative position of the characteristic object recognized at the object time, based on the external recognition information,
calculating the object vehicle position as an internal estimated vehicle position, based on the first reference vehicle position, the first vehicle movement amount, the second reference vehicle position, and the second vehicle movement amount,
calculating the object vehicle position as an external estimated vehicle position, based on the installation position of the characteristic object indicated by the characteristic object position information and the relative position of the characteristic object at the object time, and
estimating the object vehicle position by combining the internal estimated vehicle position with the external estimated vehicle position,
wherein the processor is configured to set each of a plurality of successive times as the object time, and perform the vehicle position estimation process, to estimate a plurality of object vehicle positions at the respective times, and determine a collection of the object vehicle positions estimated, as the traveling trajectory of the vehicle,
wherein the vehicle performs a localization process during traveling to estimate the vehicle position, based on the vehicle traveling information, the external recognition information, and the characteristic object position information,
wherein the processor is configured to calculate an error between the estimated traveling trajectory, and the vehicle position estimated by the localization process, and generate a warning to an operator of the traveling trajectory estimation system or a user of the vehicle, when the error satisfies a warning condition, and
wherein the processor is configured to control travel of the vehicle based on the estimated vehicle position.
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