US 12,472,942 B2
Control apparatus, control method, and non-transitory computer readable recording medium for controlling a moving body based on an estimated position
Keisuke Hokai, Gotemba (JP); and Taichi Kawanai, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 25, 2023, as Appl. No. 18/456,203.
Claims priority of application No. 2022-166989 (JP), filed on Oct. 18, 2022.
Prior Publication US 2024/0132062 A1, Apr. 25, 2024
Int. Cl. B60W 30/09 (2012.01)
CPC B60W 30/09 (2013.01) 5 Claims
OG exemplary drawing
 
1. A control apparatus configured to execute:
a localization of a moving body to obtain an estimated position of the moving body;
calculating a revised estimated position by revising the estimated position such that a displacement amount of the revised estimated position with respect to a previous position is within a predetermined range, the previous position being a position of the moving body estimated in a previous process;
regarding the revised estimated position obtained by the revising the estimated position as a position of the moving body in a current process, and performing a control of the moving body based on the revised estimated position;
detecting whether there is a poor accuracy of the localization based on a difference between the estimated position and the revised estimated position; and
performing an emergency control corresponding to a magnitude of the difference between the estimated position and the revised estimated position based on the poor accuracy of the localization being detected.