| CPC G01C 21/16 (2013.01) | 4 Claims |
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1. A self-localization method for a vehicle, including:
acquiring terrain data in which a position and an elevation of a ground surface on a traveling area of the vehicle are managed, the traveling area corresponding to a range in which the vehicle travels and including terrain indicative of where the vehicle is slipping or getting stuck, the traveling area being changed in accordance with a control state of the vehicle;
acquiring time series data of acceleration in a vertical direction of the vehicle;
estimating an altitude of the vehicle based on an initial altitude of the vehicle and the time series data of acceleration;
estimating a vehicle position based on the position of the ground surface at which the elevation of the ground surface approximates the estimated altitude of the vehicle;
generating a self-localization-result obtained by executing self-localization processing;
generating a target vehicle speed in accordance with a distance between the self-localization result and a target position, and setting the target vehicle speed to zero in response to the self-localization not being completed in a predetermined period;
transmitting the target vehicle speed to a motor of the vehicle; and
controlling driving of the motor to travel in accordance with the target vehicle speed so that the vehicle reaches the target position.
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