| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem, regarding a traveling vehicle, that if it is difficult to determine, in advance, a threshold value for switching between various models as to errors due to the road surface condition, the temperature outside the vehicle, the ages of various components of the vehicle, the characteristics of a driver driving the vehicle, and the like, a fixed value set in advance may increase the modeling error, which, in turn, may negatively affect the calculation accuracy of the position of the own vehicle. SOLUTION: In a position estimation device for the own vehicle, in order to maintain estimation accuracy of the position of the own vehicle at a high level, a plurality of models are prepared in advance, a threshold value for switching between models to be used for positioning is calculated using a parameter estimated for the use when calculating the condition of the own vehicle, particularly the position thereof or a learned parameter, variables or coefficients, and thus a model to be used for positioning is determined based on the calculated threshold value. COPYRIGHT: (C)2011,JPO&INPIT |
