| 摘要 |
PROBLEM TO BE SOLVED: To accurately correct the present location of a vehicle detected through satellite navigation and autonomous navigation regardless of the type of the running road of the vehicle. SOLUTION: On a plane map G(x, y) on which a road is divided into parts in the extended direction of the road and each divided part is approximated by a polygon, the present location G(x0, y0) of the vehicle is detected through satellite navigation, etc. The picture of the road in the front of the vehicle is photographed, the picture is converted into the picture of the top view of the vehicle and, at the same time, converted into a picture F(x, y) of the same scale as that of the map G(x, y), and the present location F(x0, y0) of the vehicle in the road picture F(x, y) is calculated. Then the picture element in the road picture F(x, y) corresponding to a road portion in the map G(x, y) is extracted by collating the map G(x, y) and picture F(x, y) with each other and the positional relation between the map G(x, y) and picture F(x, y) in which the luminance variance of the extracted picture element becomes the minimum is found. Thereafter, the present location G(x0, y0) of the vehicle on the then plane map G(x, y) is corrected to the present location F(x0, y0) of the vehicle in the road picture F(x, y). |
