US 12,236,781 B2
Position estimation method and position estimation system
Michiharu Yamamoto, Tokai (JP); and Hitoshi Aoyama, Tokai (JP)
Assigned to AICHI STEEL CORPORATION, Tokai (JP)
Appl. No. 17/777,642
Filed by Aichi Steel Corporation, Tokai (JP)
PCT Filed Nov. 20, 2020, PCT No. PCT/JP2020/043476
§ 371(c)(1), (2) Date May 18, 2022,
PCT Pub. No. WO2021/100865, PCT Pub. Date May 27, 2021.
Claims priority of application No. 2019-211864 (JP), filed on Nov. 22, 2019.
Prior Publication US 2023/0003530 A1, Jan. 5, 2023
Int. Cl. G08G 1/042 (2006.01); G01C 21/28 (2006.01)
CPC G08G 1/042 (2013.01) [G01C 21/28 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A position estimation method for a vehicle including a magnetic sensor which measures magnetism acting from a road surface forming a surface of a traveling road to estimate an own vehicle position, comprising:
a magnetic measurement process of acquiring magnetic measurement values from the magnetic sensor;
a magnetic distribution generation process of generating a measured magnetic distribution indicating a distribution of magnetic data based on the magnetic measurement values acquired from the magnetic measurement process; and
a position estimation process of, by referring to a map associated with a road-surface magnetic distribution indicating a distribution of magnetic data based on quantities of magnetism at respective points on the road surface, specifying an area of the road-surface magnetic distribution corresponding to the measured magnetic distribution and estimating the own vehicle position based on a position of the area corresponding to the measured magnetic distribution on the map.