METHOD FOR SELF-POSITION ESTIMATION AND SELF-POSITION ESTIMATION DEVICE Russian patent published in 2020 - IPC G01C21/30 G05D1/00 

FIELD: physics; transportation.

SUBSTANCE: invention relates to a method of estimating own position and a device for estimating own position. Method of self-position estimation includes detection of relative position of each target located near vehicle relative to vehicle, evaluation of vehicle movement interval, correcting the relative position based on the movement distance of the vehicle and accumulating the corrected relative position as the target position data, as well as detecting the road slope value for the vehicle movement, selecting, among the accumulated data on the target position, target position data for one or more targets on one or more sections having a slope value less than a threshold value, and comparing the selected target position data with the map information indicating the target position on the two-dimensional map to estimate the current position of the vehicle.

EFFECT: technical result is higher accuracy of evaluation of own position of vehicle on two-dimensional map due to allowance for difference between inclined distance and horizontal distance on section with slope.

7 cl, 10 dwg