US 11,912,290 B2
Self-position estimation accuracy verification method and self-position estimation system
Kazuhiko Kamikado, Susono (JP); Taichi Kawanai, Susono (JP); Sadayuki Abe, Shizuoka-ken (JP); and Hideyuki Matsui, Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 1, 2021, as Appl. No. 17/516,107.
Claims priority of application No. 2021-012450 (JP), filed on Jan. 28, 2021.
Prior Publication US 2022/0234601 A1, Jul. 28, 2022
Int. Cl. B60W 50/02 (2012.01)
CPC B60W 50/0205 (2013.01) [B60W 2050/0215 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A self-position estimation accuracy verification method of verifying accuracy of self-position estimation that estimates a position and a posture of a mobile object on a map, a check point being a point at which the position and the posture of the mobile object on the map is specifiable by a self-position estimation system comprising at least one processor and a position specifying device, the position specifying device is an external device, when the mobile object is positioned, and a first check point and a second check point being any two check points that are different from each other from among a plurality of check points, the position specifying device being installed at each of the check points, the self-position estimation accuracy verification method comprising:
an initial step of moving the mobile object to the first check point;
a step of specifying a position and a posture of the mobile object positioned at the first check point on the map and acquiring first check information indicating specified information;
a step of starting the self-position estimation using the first check information as an initial value;
a step of moving the mobile object to the second check point while continuing the self-position estimation;
a step of specifying a position and a posture of the mobile object positioned at the second check point on the map and acquiring second check information indicating the specified information; and
a verification step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and the position and the posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.