| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate the position of a vehicle on the basis of plural pieces of asynchronous information.SOLUTION: A vehicle position estimation device 10 includes: an environment camera 12 for capturing images of an environment outside a vehicle and outputting image data; a current position detection unit 21 for detecting information (positional information) on the current position of the vehicle; a positional information correction unit 25 for correcting the positional information detected by the current position detection unit 21 on the basis of the image data output from the environment camera 12; a vehicle position detection unit 24 for applying image processing to the image data, and obtaining information on a position (a vehicle position) of the vehicle; and a positional information storage unit 22 for storing positional information sequentially output from the current position detection unit 21. The positional information correction unit 25 computes a movement shift between positional information corresponding to an image-data capture timing and the latest positional information on the basis of plural pieces of positional information stored in the positional information storage unit 22 and corrects the latest positional information on the basis of the movement shift and the information on the vehicle position detected by the vehicle position detection unit 24. |
