To provide a local-substance position recognition device and method for recognizing the position of a local substance, in accordance with the accuracy of recognition of a reference position for recognizing the position of the local substance.
An outside-world information acquisition means 6 acquires outside world information G, and an own-vehicle position information acquisition means 5 acquires information S on the position of its own vehicle representing a current position of the own vehicle. Based on the information S on the own vehicle position, a local-substance information acquisition means 2 acquires information on the local substance including information F, M on features and measurement points determined beforehand according to the kinds of local substances. Based on the information on the local substances, a recognition means 7 performs recognition processing for the features and a measurement point of an object local substance contained in the outside world information G. Based on the recognition result for the measurement point, a positional-relationship operation means 8 calculates the positional relationship between the object local subject and the own vehicle. For each object local substance, a degree-of-confidence determination means 16 determines the degree of confidence J which represents the certainty of the recognition result by the recognition means 7, and is defined as a quantitative value common individually for each of all kinds of local substances, in accordance with the recognition result for the features and the measurement point.
KANBA MOTOKI
| JP2006208223A | 2006-08-10 |
Kunihiko Higashi
Ichiro Miyake
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