US 12,085,653 B2
Position estimation device, estimation device, control method, program and storage media
Masahiro Kato, Kanagawa (JP); Kazufumi Fujiya, Kanagawa (JP); and Masahiro Kato, Kanagawa (JP)
Assigned to PIONEER CORPORATION, Tokyo (JP)
Appl. No. 17/602,637
Filed by PIONEER CORPORATION, Tokyo (JP)
PCT Filed Mar. 31, 2020, PCT No. PCT/JP2020/014871
§ 371(c)(1), (2) Date Oct. 8, 2021,
PCT Pub. No. WO2020/209144, PCT Pub. Date Oct. 15, 2020.
Claims priority of application No. 2019-074347 (JP), filed on Apr. 9, 2019.
Prior Publication US 2022/0163680 A1, May 26, 2022
Int. Cl. G01S 19/47 (2010.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 19/47 (2013.01) [G01S 17/89 (2013.01); G01S 17/931 (2020.01)] 11 Claims
OG exemplary drawing
 
1. A position estimation device comprising:
an acquisition unit configured to acquire a predicted value including a present position of a moving body and an orientation of the moving body;
a first calculation unit configured to calculate, on a basis of a measurement value of a feature by a measurement device mounted on the moving body, a first orientation indicative of an orientation of the feature in a coordinate system with respect to the moving body;
a second calculation unit configured to calculate a second orientation indicative of an orientation in the coordinate system with respect to the moving body into which an azimuth orientation of the feature indicated by map information is converted; and
a correction unit configured to correct the predicted value based on a difference between the first orientation and the second orientation.