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US 12,181,284 B2Granted
Measurement device, measurement method and program
AssigneePioneer Corporation
InventorsKazufumi Fujiya, Tomoaki Iwai, Masahiro Kato
Life of this patent
Estimating the term…
Abstract
The above measurement device acquires output data from a sensor unit for detecting surrounding feature, and extracts, from the output data, data corresponding to detection result in a predetermined range in a predetermined positional relation with an own position. The predetermined range is determined in accordance with accuracy of the own position. Then, the measurement device executes predetermined processing based on the extracted data.
Claims5
A measurement device comprising:
- a memory configured to store a program;
- and
- a processor coupled to the memory and configured to execute the program to:
- predict an own position of the measurement device based on first output data from a first sensor;
- determine a predetermined range of a road surface line on a road surface at a predetermined positional relation to the predicted own position of the measurement device;
- change the predetermined range in a first direction in accordance with an accuracy of the predicted own position in the first direction, the first direction crossing a longitudinal direction of the road surface line;
- acquire second output data from a second sensor which detects the road surface line around the measurement device;
- extract, from the second output data, data corresponding to the changed predetermined range;
- calculate a center position of the road surface line based on average values of coordinates of the extracted data;
- and
- estimate a position of the measurement device based on the calculated center position of the road surface line,
- wherein the measurement device is loaded on a movable body traveling on the road surface,
- wherein the position of the measurement device is used as a position of the movable body to perform an automatic driving of the movable body using the position of the movable body, and
- wherein the measurement device improves accuracy in estimating the position of the measurement device based on the center position of the road surface line calculated based on the data corresponding to the changed predetermined range.
11 more elements
A measurement method executed by a measurement device, the method comprising:
- predicting an own position of the measurement device based on first output data from a first sensor;
- determining a predetermined range of a road surface line on a road surface at a predetermined positional relation to the predicted own position of the measurement device;
- changing the predetermined range in a first direction in accordance with an accuracy of the predicted own position in the first direction, the first direction crossing a longitudinal direction of the road surface line;
- acquiring second output data from a second sensor which detects the road surface line around the measurement device;
- extracting, from the second output data, data corresponding to the changed predetermined ranged;
- calculating a center position of the road surface line based on average values of coordinates of the extracted data;
- and
- estimating a position of the measurement device based on the calculated center position of the road surface line,
- wherein the measurement device is loaded on a movable body traveling on the road surface,
- wherein the position of the measurement device is used as a position of the movable body to perform an automatic driving of the movable body using the position of the movable body, and
- wherein the measurement device improves accuracy in estimating the position of the measurement device based on the center position of the road surface line calculated based on the data corresponding to the changed predetermined range.
8 more elements
A non-transitory computer-readable storage medium storing a program that, when executed by a measurement device including a computer, causes the computer to perform operations comprising:
- predicting an own position of the measurement device based on first output data from a first sensor;
- determining a predetermined range of a road surface line on a road surface at a predetermined positional relation to the predicted own position of the measurement device;
- changing the predetermined range in a first direction in accordance with an accuracy of the predicted own position in the first direction, the first direction crossing a longitudinal direction of the road surface line;
- acquiring second output data from a second sensor which detects the road surface line around the measurement device;
- extracting, from the second output data, data corresponding to the changed predetermined range;
- calculating a center position of the road surface line based on average values of coordinates of the extracted data;
- and
- estimating a position of the measurement device based on the calculated center position of the road surface line,
- wherein the measurement device is loaded on a movable body traveling on the road surface,
- wherein the position of the measurement device is used as a position of the movable body to perform an automatic driving of the movable body using the position of the movable body, and
- wherein the measurement device improves accuracy in estimating the position of the measurement device based on the center position of the road surface line calculated based on the data corresponding to the changed predetermined range.
8 more elements
Dependencies are inferred from the claim text.