Patent ID: 11912290
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B

Claim 3:
4. A self-position estimation system which executes self-position estimation that estimates a position and a posture of a mobile object on a map, the self-position estimation system comprising:
at least one processor configured to execute:
a position specifying process for specifying the position and the posture of the mobile object on the map when the mobile object is positioned at any of a plurality of check points;
a self-position estimation process for executing the self-position estimation using the position and the posture of the mobile object on the map specified in the position specifying process as initial values; and
an estimation accuracy verification process for verifying accuracy of the self-position estimation in the self-position estimation process, wherein:

a first check point and a second check point are any two check points that are different from each other from among the plurality of check points;
first check information is information on the position and the posture of the mobile object on the map specified in the position specifying process when the mobile object is positioned at the first check point;
second check information is information on the position and the posture of the mobile object on the map specified in the position specifying process when the mobile object is positioned at the second check point;
estimation accuracy verification information is information on a position and a posture of the mobile object on the map estimated in the self-position estimation process when the mobile object is moved to the second check point after the self-position estimation is started using the first check information as the initial value in the self-position estimation process when the mobile object is positioned at the first check point;
in the estimation accuracy verification process, the at least one processor is configured to calculate a deviation between the position and the posture of the mobile object on the map indicated by the estimation accuracy verification information and the position and the posture of the mobile object indicated by the second check information on the map, and to verify the accuracy of the self-position estimation based on the deviation; and
the self-position estimation system further comprising a position specifying device, the position specifying device is an external device configured to specify the position and the posture of the mobile object, the position specifying device is installed at each of the check points.