Patent Document ID: 10032278
Application ID: 14924298
Patent Status: 1

Claim One:
1. A vehicle position estimation device, comprising: a processor programmed to: acquire surrounding information including three dimensional information of respective surrounding positions of a subject vehicle, and acquire positional information of the subject vehicle; detect solid objects in surroundings of the subject vehicle based on the acquired surrounding information; as three dimensional information of the surroundings of the subject vehicle, generate a pseudo-image representing positions and heights of the solid objects on a road surface based on the detected solid objects; generate a road surface image in which the acquired surrounding information is projected onto the road surface along which the subject vehicle is travelling; generate an environment image in which the three dimensional information of the respective surrounding positions included in the surrounding information has been appended to positions corresponding to the surrounding positions in the generated road surface image, including appending the generated pseudo-image to the generated road surface image; based on the acquired positional information of the subject vehicle, acquire a stored image corresponding to the positional information of the subject vehicle from a database in which stored images, that are road surface images corresponding to respective items of positional information of a vehicle and that are road surface images to which three dimensional information has been appended to respective positions, are pre-stored; calculate a match the generated environment image with the acquired stored image; and estimate an amount of displacement in the positional information of the subject vehicle based on the calculated matching result.