US 12,215,979 B2
Vehicle position estimation device
Shunya Kumano, Nisshin (JP); and Takeshi Shikimachi, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Sep. 19, 2022, as Appl. No. 17/933,252.
Claims priority of application No. 2021-154532 (JP), filed on Sep. 22, 2021.
Prior Publication US 2023/0090861 A1, Mar. 23, 2023
Int. Cl. G01C 21/30 (2006.01)
CPC G01C 21/30 (2013.01) 9 Claims
OG exemplary drawing
 
1. A vehicle position estimation device mounted on a vehicle, comprising:
an external information acquisition unit configured to acquire external information regarding objects and road markings around the vehicle;
a vehicle parameter acquisition unit configured to acquire a vehicle parameter related to traveling of the vehicle;
a satellite positioning acquisition unit configured to acquire a latitude and longitude of a position of the vehicle from a satellite positioning system;
a map data acquisition unit configured to acquire map data including road information about lanes; and
a position estimation unit configured to estimate a self-position of the vehicle on a map based on the external information, the vehicle parameter, the latitude and longitude, and the map data, wherein
the position estimation unit includes:
a reliability calculation unit configured to calculate a reliability of each lane based on the external information and the map data when the vehicle is traveling on a road having multiple lanes, the reliability of each lane indicating a probability of the vehicle being traveling in the lane among the lanes; and
a lane estimation unit configured to estimate a lane in which the vehicle is located by using the reliability calculated by the reliability calculation unit.