Patent Document ID: 20160140718
Application ID: 14924298
Patent Status: 0

Claim One:
1. A vehicle position estimation device, comprising: an information acquisition unit that acquires surrounding information including three dimensional information of respective surrounding positions of a subject vehicle, and that acquires positional information of the subject vehicle; a road surface information extraction unit that generates a road surface image in which the surrounding information acquired by the information acquisition unit is projected onto a road surface along which the subject vehicle is travelling; an environment image generation unit that generates 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 road surface image generated by the road surface information extraction unit; a stored image acquisition unit that, based on the positional information of the subject vehicle acquired by the information acquisition unit, acquires 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; an image matching unit that matches the environment image generated by the environment image generation unit with the stored image acquired by the stored image acquisition unit; and an estimation unit that estimates an amount of displacement in the positional information of the subject vehicle based on a matching result obtained by the image matching unit.