| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To estimate an existence probability distribution of moving vehicle positions with controlled spread of error distribution applying a map-matching method even out of a road indicated by road information. <P>SOLUTION: An existence probability distribution estimating device comprises: a dead reckoning movement distribution calculation part 20 for calculating a movement distribution of own vehicle on the basis of a yaw rateθ<SB POS="POST">obs</SB>, vehicle velocity V<SB POS="POST">obs</SB>, and estimated measuring errorsσ<SB POS="POST">θ</SB>andσ<SB POS="POST">V</SB>of each sensor; a dead reckoning locus calculation part 22 for calculating a shape of running path of the own vehicle on the basis of time-series data aboutθ<SB POS="POST">obs</SB>and V<SB POS="POST">obs</SB>; an MM likelihood distribution calculation part 24 for, with respect to all grids of map information, obtaining an MM likelihood distribution after calculating MM likelihood on a road link or lower MM likelihood outside the road link than the MM likelihood; a first distribution calculation part 26 for calculating a first existence probability distribution by multiplying a second existence probability distribution in the preceding time step by a movement distribution; and a second distribution calculation part 28 for estimating the second existence probability distribution, which is calculated by multiplying the first existence probability distribution by the MM likelihood distribution, as a current existence probability distribution of own vehicle positions. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
