Patent ID: 11927458
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. The map information correction apparatus according to claim 2, wherein
the feature point of the sensor information is a determined feature point, the feature point of the calculation sensor information is an estimated feature point having a lower priority than the determined feature point, and at least some of the feature points of the own mobile object are each a definite feature point having a higher priority than the determined feature point,
the feature point priority determination circuitry determines whether the own mobile object surrounding information feature point is the determined feature point, the estimated feature point, or the definite feature point, based on the priority table,
the feature pair priority determination circuitry determines that the own mobile object surrounding information feature point and the map information feature point are a determined feature pair when each of the own mobile object surrounding information feature point and the map information feature point is the determined feature point, that the feature pair is a definite feature pair having a higher priority than the determined feature pair when the feature pair includes the definite feature point, that the own mobile object surrounding information feature point and the map information feature point are a determined feature and estimated feature pair having a lower priority than the determined feature pair when one of the own mobile object surrounding information feature point and the map information feature point is the determined feature point and the other is the estimated feature point, and that the own mobile object surrounding information feature point and the map information feature point are an estimated feature pair having a lower priority than the determined feature and estimated feature pair when each of the own mobile object surrounding information feature point and the map information feature point is the estimated feature point,
the used feature pair determination circuitry determines whether or not the number of the definite feature pairs satisfies a definite feature pair number threshold that is the preset use threshold, and
the error calculation circuitry calculates the error in the definite feature pair when the used feature pair determination circuitry determines that the number of the definite feature pairs satisfies the definite feature pair number threshold, and further calculates the error in the determined feature pair when the used feature pair determination circuitry determines that the number of the definite feature pairs does not satisfy the definite feature pair number threshold.