Apparatus, method, and non-transitory computer-readable storage medium

An apparatus comprising:

• at least one processor;
• and
• a memory coupled to the at least one processor, the memory having instructions that, when executed by the processor, causes the at least one processor to function as:
• a first acquisition unit configured to acquire a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor and input information from a second sensor, the first sensor and the second sensor being fixed to the vehicle;
• a second acquisition unit configured to acquire a second position information about the vehicle, the second position information being estimated in accordance with the input information from the second sensor, the second sensor being less reliable than the first sensor;
• a selection unit configured to select a position information for controlling movement of the vehicle from the first position information and the second position information according to a same coordinate system;
• a difference acquisition unit configured to acquire difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to the same coordinate system;
• and
• an update unit configured to, when the position information selected by the selection unit is switched from the first position information to the second position information, the difference information acquired at the time of switching is continuously used as an offset to update the second position information until the first position information is reselected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information,
• an integration unit configured to integrate the first position information and the updated second position information by weighted averaging when the position information selected by the selection unit is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.

A method comprising:

• acquiring a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor fixed to the vehicle;
• acquiring a second position information about the vehicle, the second position information being estimated in accordance with input information from a second sensor fixed to the vehicle, the second sensor being less reliable than the first sensor;
• selecting a position information for controlling movement of the vehicle from the first position information and the second position information according to a same coordinate system;
• acquiring difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to the same coordinate system;
• and
• updating, when the selected position information is switched from the first position information to the second position information using the difference information acquired at the time of switching is continuously used as an offset to update the second position information, until the first position information is re-selected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information, integrating the first position information and the updated second position information by weighted averaging when the position information selected by the selecting is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.

A method comprising:

• acquiring a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor and input information from a second sensor, the first sensor and the second sensor being fixed to the vehicle;
• acquiring a second position information about the vehicle, the second position information being estimated in accordance with the input information from the second sensor, the second sensor being less reliable than the first sensor;
• selecting a position information for controlling movement of the vehicle from the first position information and the second position information according to a same coordinate system;
• acquiring difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to the same coordinate system;
• and
• updating, when the selected position information is switched from the first position information to the second position information, the difference information acquired at the time of switching is continuously used as an offset to update the second position information, until the first position information is re-selected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information,
• integrating the first position information and the updated second position information by weighted averaging when the position information selected by the selecting is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.

A vehicle configured to be controlled with respect to movement by an apparatus, wherein

• the apparatus includes
• at least one processor;
• and
• a memory coupled to the at least one processor, the memory having instructions that, when executed by the processor, causes the at least one processor to function as:
• a first acquisition unit configured to acquire a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor fixed to the vehicle,
• a second acquisition unit configured to acquire a second position information about the vehicle, the second position information being estimated in accordance with input information from a second sensor fixed to the vehicle, the second sensor being less reliable than the first sensor,
• a selection unit configured to select a position information for controlling movement of the vehicle from the first position information and the second position information according to a same coordinate system,
• a difference acquisition unit configured to acquire difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to a same coordinate system, and
• an update unit configured to, when the selected position information is switched from the first position information to the second position information, the difference information acquired at the time of switching is continuously used as an offset to update the second position information until the first position information is re-selected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information,
• an integration unit configured to integrate the first position information and the updated second position information by weighted averaging when the position information selected by the selection unit is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.

A non-transitory computer-readable storage medium storing therein a program for causing a computer to perform a method, the method comprising:

• acquiring a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor fixed to the vehicle;
• acquiring a second position information about the vehicle, the second position information being estimated in accordance with input information from a second sensor fixed to the vehicle, the second sensor being less reliable than the first sensor;
• selecting an element position information for controlling movement of the vehicle from the position information and the second position information according to a same coordinate system;
• acquiring difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to the same coordinate system;
• and
• updating, when the selected position information is switched from the first position information to the second position information, the difference information acquired at the time of switching is continuously used as an offset to update the second position information until the first position information is re-selected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information,
• integrating the first position information and the updated second position information by weighted averaging when the position information selected by the selecting is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.

A non-transitory computer-readable storage medium storing therein a program for causing a computer to perform a method, the method comprising:

• acquiring a first position information about a vehicle, the first position information being estimated in accordance with input information from a first sensor and input information from a second sensor, the first sensor and the second sensor being fixed to the vehicle;
• acquiring a second position information about the vehicle, the second position information being estimated in accordance with the input information from the second sensor, the second sensor being less reliable than the first sensor;
• selecting a position information for controlling movement of the vehicle from the first position information and the second position information according to a same coordinate system;
• acquiring difference information between the first position information and the second position information acquired simultaneously with the first position information, the difference information being according to the same coordinate system;
• and
• updating, when the selected position information is switched from the first position information to the second position information, the difference information acquired at the time of switching is continuously used as an offset, to update the second position information until the first position information is re-selected,
• wherein the first position information expected to be estimated by using the first sensor before switching is calculated by using the second position information estimated by using the second sensor after the switching and the difference information,
• integrating the first position information and the updated second position information by weighted averaging when the position information selected by the selecting is switched from the second position information to the first position information, wherein the weighted averaging is performed so that the weight assigned to the first position information gradually increases over time.