Determination device, determination method and program

A determination method executed by a determination device, the determination method comprising:

• a first acquisition process to acquire a first distance information measured by a processor and indicating a distance from a movable body to an object, and a second distance information estimated by the processor and indicating the distance from the movable body to the object;
• a second acquisition process to acquire measurement accuracy information indicating measurement accuracy of a position of the object by the processor and estimation accuracy information indicating estimation accuracy of a position of the movable body by the processor;
• and
• a determination process to determine presence or absence of deviation larger than a predetermined value between a position of the object in map information and the position of the object in real environment, based on a difference value of the distances indicated by the first distance information and the second distance information, the measurement accuracy information, and the estimation accuracy information,
• wherein the processor corrects position coordinates of the object in the map information to coincide with position coordinates of the object in the real environment based on the presence or absence of the deviation.

A non-transitory computer-readable medium storing a program executed by a determination device including a processor of a computer, the program causing the processor of the computer to function as:

• a first acquisition unit configured to acquire a first distance information measured by a measurement unit and indicating a distance from a movable body to an object, and a second distance information estimated by an estimation unit and indicating the distance from the movable body to the object;
• a second acquisition unit configured to acquire measurement accuracy information indicating measurement accuracy of a position of the object by the measurement unit and estimation accuracy information indicating estimation accuracy of a position of the movable body by the estimation unit;
• and
• a determination unit configured to determine presence or absence of deviation larger than a predetermined value between a position of the object in map information and the position of the object in real environment, based on a difference value of the distances indicated by the first distance information and the second distance information, the measurement accuracy information, and the estimation accuracy information,
• wherein the processor corrects position coordinates of the object in the map information to coincide with position coordinates of the object in the real environment based on the presence or absence of the deviation.

A determination device comprising:

• a processor coupled to a memory storing instructions to permit the processor to function as:
• a first acquisition unit configured to acquire a first distance information measured by a measurement unit and indicating a distance from a movable body to an object, and a second distance information estimated by an estimation unit and indicating the distance from the movable body to the object;
• a second acquisition unit configured to acquire measurement accuracy information indicating measurement accuracy of a position of the object by the measurement unit and estimation accuracy information indicating estimation accuracy of a position of the movable body by the estimation unit;
• and
• a determination unit configured to determine presence or absence of deviation larger than a predetermined value between a position of the object in map information and the position of the object based on the first distance information, based on a difference value of the distances indicated by the first distance information and the second distance information, the measurement accuracy information, and the estimation accuracy information,
• wherein the processor corrects position coordinates of the object in the map information to coincide with position coordinates of the object in the real environment based on the presence or absence of the deviation.