Patent ID: 11874117
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. The vehicle positioning device according to claim 1, wherein
the vehicle positioning device is connected to the first, second, third, and fourth sensors, and is connected to a terrestrial object information storage storing terrestrial object information and a road information storage storing road information,
the vehicle positioning device further comprises a road line shape calculator configured to calculate a road line shape used in calculation of the predicted observed value in the observed value prediction circuitry,
the third sensor calculates the data of the relative relationship by using terrestrial object detection results obtained through detection of the terrestrial object and the terrestrial object information stored in the terrestrial object information storage,
the observed value processing circuitry generates the actual observed value by integrating the satellite positioning data, the data of the relative relationship, and the road line shape data, and
the observed value prediction circuitry calculates the predicted observed value by using the inertial positioning results, the terrestrial object information stored in the terrestrial object information storage, and the road line shape calculated in the road line shape calculator.