US 12,260,587 B2
Vehicle position information acquisition device, vehicle position information acquisition system, and vehicle position information acquisition method
Keisuke Motegi, Tokyo (JP); and Shingo Ugajin, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Oct. 21, 2022, as Appl. No. 18/048,575.
Claims priority of application No. 2021-186097 (JP), filed on Nov. 16, 2021.
Prior Publication US 2023/0154043 A1, May 18, 2023
Int. Cl. G06T 7/73 (2017.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/74 (2017.01) [G06V 20/584 (2022.01); G06V 20/588 (2022.01); G06T 2207/30256 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle position information acquisition device comprising:
a position information detector configured to detect position information of a vehicle;
a map data storage configured to store a feature type of a feature on a map and a position data group regarding a shape of the feature in association with each other;
an imaging unit configured to capture an image of a region ahead of the vehicle;
a feature detector configured to detect, on a basis of data on the image captured by the imaging unit, a surrounding feature frequently appearing within a predetermined range from the vehicle;
a reference position data group extractor configured to extract, as a reference position data group, a position data group regarding a shape of the surrounding feature having a feature type that is same as the feature type of the feature detected on the basis of the data on the image;
a reference position data group storage configured to store the reference position data group extracted by the reference position data group extractor;
a comparative position data group extractor configured to extract a comparative position data group from the position data group regarding the shape of the feature having the feature type that is same as the feature type of the surrounding feature detected by the feature detector;
a comparative position data group storage configured to store the comparative position data group extracted by the comparative position data group extractor;
an error processor configured to
associate each of pieces of reference position data in the reference position data group stored in the reference position data group storage with a corresponding one of pieces of comparative position data in the comparative position data group stored in the comparative position data group storage, the corresponding one of the pieces of the comparative position data having a shortest distance to the piece of the reference position data, and
calculate an error in a distance between each of the pieces of the reference position data and the corresponding one of the pieces of the comparative position data that are associated with each other; and
a correction unit configured to correct, on a basis of the error in the distance calculated by the error processor, the position information of the vehicle detected by the position information detector.