Apparatus for identifying position of own vehicle and method for identifying position of own vehicle

A position identifying apparatus comprising:

• a position detecting unit that detects a position of an own vehicle on a map by using a map matching process;
• an information acquiring unit that acquires, from the map, road information surrounding the own vehicle based on the position of the own vehicle detected by the position detecting unit;
• a feature extracting unit that extracts features of a ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle;
• an index value calculating unit that calculates an index value representing a likelihood of a stationary object for the features extracted by the feature extracting unit;
• a feature selecting unit that selects feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object;
• a correlating unit that correlates the feature candidates with the road information acquired by the information acquiring unit;
• a weight setting unit that sets weights for feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle;
• and
• a correcting unit that corrects the position of the own vehicle using the weights;
• wherein the apparatus includes a type determination unit that determines the feature extracted by the feature extracting unit;
• and
• wherein the index value calculating unit is configured to set a smaller index value to a feature determined as either a vehicle or a pedestrian, wherein the smaller index value is smaller than an index value for a feature not determined as either a vehicle or a pedestrian.

A position identifying method comprising:

• detecting a position of an own vehicle on a map by using a map matching process;
• acquiring, from the map, a road information surrounding the own vehicle based on the position of the own vehicle detected;
• extracting features of a ground object existing around the own vehicle, based on an output of a feature detecting unit mounted on the own vehicle;
• calculating an index value representing a likelihood of a stationary object for the features extracted;
• calculating a positional change of the feature, which changes with time;
• setting a smaller index value to a feature having a large positional change relative to an index value calculated for a feature having a small positional change;
• selecting feature candidates from among the features having an index value larger than or equal to a predetermined likelihood of the stationary object,
• correlating the feature candidates with the road information acquired by the information acquiring unit;
• setting weights for the feature candidates correlated with the road information, the weight being used for correcting the position of the own vehicle;
• and
• correcting the position of the own vehicle using the weights.