US 12,146,767 B2
Information processing device, control method, program and storage medium
Masahiro Kato, Saitama (JP)
Assigned to PIONEER CORPORATION, Tokyo (JP)
Appl. No. 17/781,323
Filed by PIONEER CORPORATION, Tokyo (JP)
PCT Filed Dec. 1, 2020, PCT No. PCT/JP2020/044665
§ 371(c)(1), (2) Date May 31, 2022,
PCT Pub. No. WO2021/112078, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-218034 (JP), filed on Dec. 2, 2019.
Prior Publication US 2023/0003521 A1, Jan. 5, 2023
Int. Cl. G01C 9/06 (2006.01); G01C 21/30 (2006.01); G08G 1/0969 (2006.01)
CPC G01C 9/06 (2013.01) [G01C 21/30 (2013.01); G01C 2009/066 (2013.01); G08G 1/0969 (2013.01)] 11 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 extraction unit configured to extract, from voxel data in an absolute coordinate system which represents statistical position data of stationary structures in each voxel, the voxel data of plural voxels located at or around a moving body, based on a predicted or estimated position in the absolute coordinate system of the moving body;
a normal vector calculation unit configured to calculate a normal vector of an approximate plane calculated based on the extracted voxel data of the plural voxels;
an angle calculation unit configured to calculate at least one of a pitch angle of the moving body or a roll angle of the moving body based on an orientation of the moving body and the normal vector; and
a position estimation unit configured to perform position estimation of the moving body through matching for each of the voxels which associates the voxel data corresponding to an object having a height measured by a measurement unit with data obtained by a coordinate transformation of measurement data of the object based on at least one of the pitch angle or the roll angle into the absolute coordinate system, the measurement data being outputted by the measurement unit mounted on the moving body,
wherein, based on an estimation result of the position estimation of the moving body, the moving body performs autonomous driving control to travel along a route.