US 12,248,070 B2
Information processing device, control method, program and storage medium
Masahiro Kato, Kawagoe (JP)
Assigned to PIONEER CORPORATION, Tokyo (JP)
Appl. No. 17/781,248
Filed by PIONEER CORPORATION, Tokyo (JP)
PCT Filed Dec. 3, 2020, PCT No. PCT/JP2020/045044
§ 371(c)(1), (2) Date May 31, 2022,
PCT Pub. No. WO2021/112177, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-219675 (JP), filed on Dec. 4, 2019.
Prior Publication US 2022/0413150 A1, Dec. 29, 2022
Int. Cl. G01S 17/89 (2020.01)
CPC G01S 17/89 (2013.01) 6 Claims
OG exemplary drawing
 
1. An information processing device comprising:
a processor coupled to a memory storing instructions to permit the processor to function as:
an acquisition unit configured to acquire point cloud data outputted by a measurement device;
an association unit configured to associate, through matching between the point cloud data and position information of an object for each of voxels into which a space is divided, measurement points constituting the point cloud data with the voxels;
a position estimation unit configured to perform a position estimation of a moving body equipped with the measurement device, based on the measurement points associated with any of the voxels and the position information for the associated voxels; and
a calculation unit configured to calculate a reliability index of a position acquired by the position estimation based on a ratio of a number of the measurement points associated with any of the voxels to a number of the measurement points constituting the point cloud data,
wherein, based on a result of the calculated reliability index, autonomous driving assistance of the moving body is controlled,
wherein the position estimation unit determines whether or not to re-perform the position estimation based on the reliability index,
wherein the position estimation unit repeatedly performs the position estimation until at least one condition is satisfied among:
a condition that the reliability index is equal to or larger than a predetermined threshold value;
a condition that there is no variation in the reliability index; and
a condition that a number of times to have performed the position estimation reaches a predetermined upper limit number, and
wherein the position estimation unit determines the upper limit number based on a movement speed of the moving body.