AMBIENT ENVIRONMENT INFORMATION GENERATION METHOD AND AMBIENT ENVIRONMENT INFORMATION GENERATION DEVICE

摘要

To estimate a travel trajectory and the position of a road structure with high accuracy even when travel trajectory data contains an error.SOLUTION: An ambient environment information generation method of the present invention uses a travel trajectory model for inputting travel trajectory data obtained by odometry of the host vehicle, adjusting the travel trajectory data obtained by odometry with a predetermined model, and outputting the adjusted result as the trajectory data of the host vehicle, and a road structure model for inputting target data obtained by a sensor of the host vehicle, adjusting the target data obtained by the sensor with a predetermined model, and outputting the adjusted result as road structure data around the host vehicle. A calculation result outputted by one of the travel trajectory model and the road structure model is used as input to the other of the travel trajectory model and the road structure model.SELECTED DRAWING: Figure 10