Position estimation device, automated driving system, position estimation method, and storage medium storing program

An automated driving method comprising a position estimation method, performed by a position estimation device, and a vehicle automatic control method performed by a vehicle automatic control device,

• the position estimation method comprising:
• determining weights to be set to first yaw information of a vehicle based on an angular velocity of the vehicle, second yaw information of the vehicle based on a difference in movement distance between left and right wheels of the vehicle, and third yaw information of the vehicle based on a steering angle and a vehicle speed of the vehicle, on a basis of a travel state of the vehicle or a peripheral state of the vehicle;
• acquiring the first yaw information, the second yaw information, and the third yaw information;
• generating combined yaw information obtained by combining the first yaw information, the second yaw information, and the third yaw information to which the determined weights have been set;
• and
• estimating an estimated position of the vehicle using positioning information of the vehicle, the vehicle speed of the vehicle, and the combined yaw information, and
• the vehicle automatic control method comprising controlling control movement of the vehicle on a basis of the estimated position.

A non-transitory tangible computer readable storage medium storing a program to cause a computer to perform:

• to determine, on a basis of a travel state of a vehicle or a peripheral state of the vehicle, weights to be set to first yaw information of the vehicle based on an angular velocity of the vehicle, second yaw information of the vehicle based on a difference in movement distance between left and right wheels of the vehicle, and third yaw information of the vehicle based on a steering angle and a vehicle speed of the vehicle;
• to acquire the first yaw information, the second yaw information, and the third yaw information;
• to generate combined yaw information obtained by combining the first yaw information, the second yaw information, and the third yaw information to which the determined weights have been set;
• to estimate an estimated position of the vehicle using positioning information of the vehicle, the vehicle speed of the vehicle, and the combined yaw information;
• and
• to control movement of the vehicle on a basis of the estimated position of the vehicle estimated.