US Patent 11143511 On-vehicle processing device

Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information. A position estimation unit estimates a correlation between the parking lot coordinate system and the local coordinate system on the basis of the parking lot point group and the local peripheral information, and estimates the position of the vehicle in the parking lot coordinate system from the position of the vehicle in the local coordinate system and the correlation.