US 11,938,983 B2
Train position estimation device
Yuhi Tsutsumi, Tokyo (JP); Atsushi Oda, Tokyo (JP); Keiichi Katsuta, Tokyo (JP); and Kazuo Tokuyama, Tokyo (JP)
Assigned to HITACHI, LTD., Tokyo (JP)
Appl. No. 16/977,542
Filed by HITACHI, LTD., Tokyo (JP)
PCT Filed Jan. 28, 2019, PCT No. PCT/JP2019/002725
§ 371(c)(1), (2) Date Sep. 2, 2020,
PCT Pub. No. WO2019/171821, PCT Pub. Date Sep. 12, 2019.
Claims priority of application No. 2018-038176 (JP), filed on Mar. 5, 2018.
Prior Publication US 2021/0001902 A1, Jan. 7, 2021
Int. Cl. B61L 25/02 (2006.01); G01C 21/30 (2006.01); G01S 7/48 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC B61L 25/02 (2013.01) [B61L 25/025 (2013.01); G01C 21/30 (2013.01); G01S 7/4808 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01)] 4 Claims
OG exemplary drawing
 
1. A train position estimation device comprising:
a surroundings shape measurement unit installed to a vehicle traveling on a path and configured to measure a surroundings shape at a current position of the vehicle and output data of the measured surroundings shape as measured surroundings shape data; and
a map storage unit configured to store control surroundings shape data that is data of a surroundings shape at each position measured in advance,
wherein the measured surroundings shape data is compared to the control surroundings shape data to calculate a position of the vehicle,
the train position estimation device comprising:
a start position estimation unit configured to store a presence probability at each position where the vehicle may be present;
a map retrieval section determination device configured to output the control surroundings shape data at the position in descending order of the presence probability; and
a matching processing device configured to compare the measured surroundings shape data to the control surroundings shape data outputted from the map retrieval section determination device to output a position at which the difference is a predetermined threshold or less,
wherein the start position estimation unit is configured to store a probability of position loss at a position where positional information is lost in a past to acquire the presence probability based on the probability of position loss.