# US 12,181,284 B2 · Measurement device, measurement method and program

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- Number: US 12,181,284 B2
- Document ID: US12181284B2
- Status: Granted
- Kind: B2
- Application number: 17/983,739
- Filed: 2022-11-09
- Published: 2023-04-06
- Granted: 2024-12-31
- Earliest claimed: 2017-05-19
- Assignees: Pioneer Corporation
- Applicants: Pioneer Corporation
- Inventors: Kazufumi Fujiya; Tomoaki Iwai; Masahiro Kato
- Web page: https://patentgrep.com/patent/US12181284B2

## CPC

- G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)}
- G01C 21/3811: {Point data, e.g. Point of Interest [POI]}
- G01C 21/265: {constructional aspects of navigation devices, e.g. housings, mountings, displays (G01C21/3688 takes precedence)}
- G01C 21/30: Map- or contour-matching
- G01C 21/3605: {Destination input or retrieval}
- G01C 21/3644: {Landmark guidance, e.g. using POIs or conspicuous other objects}
- G01C 21/3896: {Transmission of map data from central databases}
- G01S 17/93: for anti-collision purposes
- G08G 1/00: Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D})
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The measurement device according to claim 1, wherein the average values of the coordinates of the extracted data comprise an average value of coordinates in the first direction of the extracted data and an average value of coordinates in a second direction of the extracted data, the second direction being perpendicular to the first direction.

### Claim 3 (depends on 1)

The measurement device according to claim 1, wherein the processor is further configured to execute the program to set the predetermined range at four positions including a right-front position, a right-rear position, a left-front position and a left-rear position with respect to the predicted own position.

### Claim 4

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.

### Claim 5

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.