The disclosure relates to a method for determining correction values for a number of sensors of a traveling motor vehicle. The method being based on backward calculation. The disclosure further relates to a method for determining a position of a motor vehicle, using the correction values. The disclosure also relates to an associated electronic control device and to an associated non-volatile computer-readable storage medium.

A position where a user is located can be estimated easily and quickly. When a hold detection unit 122 detects that the user holds a mobile terminal 100 by hand to use the mobile terminal 100 that is held by at least one hand of the user when used by the user and has a camera 130 on the surface facing the ceiling when used by the user, the estimation unit 240 estimates a position where a ceiling is located as the position where the user is located by using an image of the ceiling captured by the camera 130.

A host vehicle position estimation device includes an observation position estimation unit configured to estimate an observation position of the vehicle based on a result of recognition of the target object performed, a prediction position calculation unit configured to calculate a prediction position of the vehicle from a result of estimation of the host vehicle position in the past based on a result of measurement performed by an internal sensor, a host vehicle position estimation unit configured to estimate the host vehicle position based on the observation position and the prediction position. The host vehicle position estimation unit is configured to give more weighting to the prediction position in the estimation of the host vehicle position such that the host vehicle position is estimated to be close to the prediction position if it is determined that a result of estimation of the host vehicle position is unsteady.

A host vehicle position estimation device includes an observation position estimation unit configured to estimate an observation position of the vehicle based on a result of recognition of the target object performed, a prediction position calculation unit configured to calculate a prediction position of the vehicle from a result of estimation of the host vehicle position in the past based on a result of measurement performed by an internal sensor, a host vehicle position estimation unit configured to estimate the host vehicle position based on the observation position and the prediction position. The host vehicle position estimation unit is configured to give more weighting to the prediction position in the estimation of the host vehicle position such that the host vehicle position is estimated to be close to the prediction position if it is determined that a result of estimation of the host vehicle position is unsteady.

A navigation system for a vehicle comprises onboard sensors including a vision sensor, and an onboard map database of terrain maps. An onboard processer, coupled to the sensors and map database, includes a position PDF filter, which performs a method comprising: receiving image data from the vision sensor corresponding to terrain images captured by the vision sensor of a given area; receiving map data from the map database corresponding to a terrain map of the area; generating a first PDF of image features in the image data; generating a second PDF of map features in the map data; generating a measurement vector PDF by a convolution of the first PDF and second PDF; estimating a position vector PDF using a non-linear filter that receives the measurement vector PDF; and generating statistics from the estimated position vector PDF that include real-time measurement errors of position and angular orientation of the vehicle.

An example operation includes one or more of determining a sensor on a transport is not functioning properly, determining a severity of the malfunction, responsive to the severity exceeding a threshold, lowering an autonomous level of the transport, and responsive to the severity continuing to exceed the threshold, limiting an operation of the transport based on an intended output of the malfunctioning sensor.

An example operation includes one or more of determining a sensor on a transport is not functioning properly, determining a severity of the malfunction, responsive to the severity exceeding a threshold, lowering an autonomous level of the transport, and responsive to the severity continuing to exceed the threshold, limiting an operation of the transport based on an intended output of the malfunctioning sensor.

A position calculating apparatus is provided with: an acquirer configured to obtain a position of a host vehicle; a detector configured to detect surrounding environment including structures around the host vehicle; a calculator configured to extract a map of surroundings of the host vehicle on the basis of the obtained position, configured to compare the extracted map with a surrounding image based on the detected surrounding environment, and configured to calculate a position and a direction of the host vehicle on the extracted map; a display device configured to superimpose and display the extracted map on the surrounding image on the basis of the calculated position and the calculated direction; and a corrector configured to correct the calculated position and the calculated direction with reference to a inputted correction instruction if the correction instruction is inputted through an input device.

A position calculating apparatus is provided with: an acquirer configured to obtain a position of a host vehicle; a detector configured to detect surrounding environment including structures around the host vehicle; a calculator configured to extract a map of surroundings of the host vehicle on the basis of the obtained position, configured to compare the extracted map with a surrounding image based on the detected surrounding environment, and configured to calculate a position and a direction of the host vehicle on the extracted map; a display device configured to superimpose and display the extracted map on the surrounding image on the basis of the calculated position and the calculated direction; and a corrector configured to correct the calculated position and the calculated direction with reference to a inputted correction instruction if the correction instruction is inputted through an input device.

The measurement device acquires positional information of a measurement object stored in a storage unit, and acquires point group information of points indicating a surrounding feature acquired by an external sensor. Then, the measurement device calculates the positional information indicating a predetermined position of the measurement object existing in a predetermined range based on the point group information existing in the predetermined range, and outputs its reliability.