JP2017157087A - Occupied grid map generation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an occupied grid map generation device capable of suppressing a memory and a calculation amount required for generating an occupied grid map.SOLUTION: An occupied grid map generation device 1 for generating an occupied grid map holding an object presence probability for every grid comprises: an object detection unit 7 for detecting an object which is present in the surrounding of a self vehicle; a probability calculation unit 9 for using the detection result of the object detection unit, for calculating the presence probability on the grid; road end acquisition units 11, 23 and 25 for acquiring positions of a pair of road ends, on a road where the self vehicle is going to travel in the future; and a selection unit 13 for selecting an area which is overlapped to an area which is sandwiched by the pair of road ends, out of plural areas which are set to occupy a part of the occupied grid map. The probability calculation unit calculates the presence probability in only the area selected by the selection unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an occupied grid map creation apparatus.

  Conventionally, occupational grid maps have been used in the technical field of autonomous robots and the like. The occupation grid map is divided into a plurality of grids. Each lattice has a probability (hereinafter referred to as existence probability) that an object exists in the lattice (see Patent Document 1).

JP 2003-269937 A

  It is conceivable to use an occupancy grid map having the existence probability of an object existing around the vehicle for driving support of the vehicle. If the existence probability is always calculated for all the grids when creating the occupied grid map, the memory and the calculation amount required to create the occupied grid map become large.

  The present invention has been made in view of these problems, and an object of the present invention is to provide an occupied grid map creation device that can suppress the memory and the amount of calculation required to create an occupied grid map.

  The occupied grid map creating apparatus of the present invention is an occupied grid map creating apparatus that creates an occupied grid map having the existence probability of an object for each grid. An occupancy grid creating apparatus of the present invention includes an object detection unit that detects an object existing around a host vehicle, a probability calculation unit that calculates a presence probability in a grid using a detection result of the object detection unit, and the host vehicle A road edge acquisition unit that acquires the position of a pair of road edges on a road that will travel in the future and a plurality of areas that are set to occupy part of the occupied grid map overlap with an area sandwiched between the pair of road edges. A selection unit for selecting an area having a portion. The probability calculation unit calculates the existence probability only in the area selected by the selection unit.

The occupied grid map creation device of the present invention calculates the existence probability only in the selected area. Therefore, it is possible to suppress the memory and the amount of calculation necessary for creating the occupation grid map.
In addition, the occupied grid map creation device of the present invention selects an area where the host vehicle may travel in the future, and calculates the existence probability in the selected area. Therefore, the occupied grid map creating apparatus of the present invention can create an occupied grid map useful for the host vehicle.

1 is a block diagram illustrating a configuration of an occupied grid map creation device 1. FIG. 2 is a block diagram illustrating a functional configuration of an occupied grid map creation device 1. FIG. It is explanatory drawing showing the structure of the occupation grid map 41. FIG. It is explanatory drawing showing the structure of the occupation grid map 41. FIG. It is a flowchart showing the whole process which the occupation grid map production apparatus 1 performs. It is a diagram of a method for calculating the position R _t of the vehicle. And occupancy grid map 41 _t to create new, which is a diagram of the occupancy grid map 41 _t-1 previously created. It is a flowchart showing the road edge acquisition process which the occupation grid map production apparatus 1 performs. Vehicle 50 on a road 57, node points 51 is an explanatory diagram future travel road 52 represents a road edge 53, 55, and distance _d 1, _{d 2} of the relationship. It is explanatory drawing showing the example of the positional relationship of the area | region 61 and areas a1-a4. It is explanatory drawing showing the position Z of an object, and the straight lines 65 and 67. FIG. A position on the straight line 65 is a graph showing the relationship between the existence probability p _t. A position on the straight line 67 is a graph showing the relationship between the existence probability p _t.

Embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Occupied Grid Map Creation Device 1 The configuration of the occupied grid map creation device 1 will be described with reference to FIGS. The occupied grid map creation device 1 is a device mounted on a vehicle. Hereinafter, the vehicle on which the occupied grid map creation device 1 is mounted is referred to as the own vehicle.

  The occupied grid map creation apparatus 1 is configured around a known microcomputer having a CPU 3 and a semiconductor memory (hereinafter referred to as a memory 5) such as a RAM, a ROM, and a flash memory. Various functions of the occupation grid map creation device 1 are realized by the CPU 3 executing a program stored in a non-transitional physical recording medium. In this example, the memory 5 corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed. Note that the number of microcomputers constituting the occupied grid map creation apparatus 1 may be one or more.

  As shown in FIG. 2, the occupation grid map creation device 1 is configured as a function realized by the CPU 3 executing a program, as shown in FIG. 2, an object detection unit 7, a probability calculation unit 9, a road edge acquisition unit 11, A creation unit 12, a selection unit 13, a discard unit 15, a movement amount calculation unit 17, a range setting unit 19, and an output unit 21 are provided. The road edge acquisition unit 11 includes a host vehicle position acquisition unit 23 and a mapping unit 25.

  As shown in FIG. 1, in addition to the occupied grid map creation device 1, the subject vehicle has a radar device 29, a vehicle behavior sensor 31, a subject vehicle position sensor 33, a storage device 35, a driving support device 39, Is provided.

  The radar device 29 detects an object present around the host vehicle. The radar device 29 calculates the distance from the own vehicle to the detected object. Further, the radar device 29 specifies the direction of the detected object with reference to the own vehicle. Examples of the radar device 29 include a laser radar. Examples of the object detected by the radar device 29 include other vehicles, pedestrians, and fixed objects. Examples of fixed objects include guardrails, curbstones, fences, median strips, buildings, and various obstacles.

  The vehicle behavior sensor 31 detects the vehicle speed and yaw rate of the host vehicle. The own vehicle position sensor 33 includes a GPS. The own vehicle position sensor 33 acquires the position information of the own vehicle using GPS. The position information of the own vehicle acquired by the own vehicle position sensor 33 is position information in a coordinate system based on the earth (hereinafter referred to as an absolute coordinate system). The absolute coordinate system is a coordinate system that specifies the position of an object by latitude and longitude, for example.

The storage device 35 is a known storage device such as a hard disk drive. The storage device 35 stores map information 37. The map information 37 includes position information of node points 51 described later, information on distances d ₁ and d ₂ , and the like.

  The driving support device 39 performs driving support for the host vehicle using the occupied grid map 41 created by the occupied grid map creating device 1. The occupation grid map 41 will be described later. Examples of the driving assistance include a process of assisting the host vehicle to travel in the lane using the position of the guardrail appearing on the occupied grid map 41. In addition, as another driving support, for example, in order to avoid contact with an obstacle appearing in the occupied grid map 41, a process of steering the host vehicle, decelerating, or the like can be given.

2. Configuration of Occupied Grid Map 41 The configuration of the occupied grid map 41 created by the occupied grid map creation device 1 will be described with reference to FIGS. As shown in FIG. 3, the occupation grid map 41 has a square shape. The occupied grid map 41 is divided into a plurality of grids 43. Each lattice 43 has a square shape. Each lattice 43 has an existence probability p. The existence probability p is a probability that an object exists in the lattice 43. The value of the existence probability p is a value in the range of 0 to 1. The greater the value of the existence probability p, the higher the probability that an object exists in the corresponding lattice 43.

  The occupied grid map 41 is a map of a range having a certain positional relationship with the position R of the host vehicle. More specifically, the occupation grid map 41 is a map of a range having a certain shape and width centered on the position R of the host vehicle. Therefore, the positional relationship between any grid 43 in the occupied grid map 41 and the position R of the host vehicle is always constant regardless of the position of the host vehicle in the absolute coordinate system.

  The horizontal direction in FIG. 3 is the X direction, and the vertical direction is the Y direction. A coordinate system that specifies the position R of the host vehicle as the origin and specifies the position by coordinates in the X direction and the Y direction is hereinafter referred to as a host vehicle fixed coordinate system. The position of an arbitrary grid 43 in the occupied grid map 41 in the own vehicle fixed coordinate system is always constant.

  As shown in FIG. 4, the occupation grid map 41 has four areas a1 to a4. The area a1 is a square area having points A, B, C, and D as vertices. The area a2 is a square area having points E, F, G, and H as vertices. The area a3 is a square area having points I, J, K, and L as vertices. The area a4 is a square area having points M, N, O, and P as vertices.

  Each of the areas a1 to a4 is a square area smaller than the occupied grid map 41. Each of the areas a1 to a4 occupies a part of the occupied grid map 41. Each of the areas a1 to a4 is larger than the lattice 43, and includes a plurality of lattices 43 therein. The positions of the areas a1 to a4 are slightly shifted from each other. Each of the areas a1 to a4 has a portion overlapping with an adjacent area. Arbitrary lattices 43 in the occupied lattice map 41 are included in one or two of the areas a1 to a4. The positions of the areas a1 to a4 in the own vehicle fixed coordinate system are always constant.

3. Processes executed by the occupied grid map creating apparatus 1 The processes executed by the occupied grid map creating apparatus 1 will be described with reference to FIGS. This process is started when the power of the occupied grid map creating apparatus 1 is turned on. In step 1 of FIG. 5, the probability calculation unit 9 initializes the occupied grid map creation device 1. Initialization means that the value of the occupation probability p in all the lattices 43 is set to 0.5.

  In step 2, the current position of the host vehicle is acquired. The position of the host vehicle acquired in this step is a position in the absolute coordinate system. When the process of step 2 is performed for the first time after step 1, the host vehicle position acquisition unit 23 uses the host vehicle position sensor 33 to acquire the position of the host vehicle.

If the position of the host vehicle has been acquired in the past, the current position of the host vehicle is acquired as follows. Here, among the positions of the host vehicle acquired in the past, the newest one is set as the previous position R _t−1 . Also, let R _t be the current position of the vehicle.

  First, the movement amount calculation unit 17 calculates θ (t) using Equation (1).

θ (t) is the current traveling direction of the vehicle. θ (t−1) is the traveling direction of the host vehicle at the time when the previous position R _t−1 was acquired (hereinafter referred to as the previous frame time), and is a known value. ω is the current yaw rate of the vehicle. ct is the elapsed time from the previous frame time to the current time. The movement amount calculation unit 17 acquires ω using the vehicle behavior sensor 31.

  Next, the movement amount calculation unit 17 calculates ΔX and ΔY using θ (t) calculated as described above and the equations (2) and (3).

  ΔX is the amount of movement of the host vehicle in the X direction from the previous frame time to the current time. ΔY is the amount of movement of the host vehicle in the Y direction from the previous frame time to the current time. V is the vehicle speed of the host vehicle at the current time. The movement amount calculation unit 17 acquires ΔX, ΔY, and V using the vehicle behavior sensor 31.

Next, as illustrated in FIG. 6, the movement amount calculation unit 17 shifts R _t−1 by ΔX in the X direction and sets the position shifted by ΔY in the Y direction as R _t .
In step 3, the range setting unit 19 sets the range of the occupied grid map 41. The scope, centered on the position R _t of the vehicle obtained in the step 2, the range having a certain shape and size. FIG. 7 shows the range of the occupation grid map 41 _t set in this way. In FIG. 7, in order to distinguish the occupancy grid map 41 _t-1 which will be described later, the occupancy grid map newly set in the step 3, is set to 41 _t.

FIG. 7 shows the range of the occupied grid map 41 _t−1 created in the previous step 3. The range of the occupied grid map 41 _{t-1 is} a range having a certain shape and width centered on R _t-1 . The positions of the occupied grid map 41 _t and the occupied grid map 41 _t−1 in FIG. 7 are positions in the absolute coordinate system. In FIG. 7, the occupied grid map 41 _t is shifted by ΔX in the X direction and by ΔY in the Y direction compared to the occupied grid map 41 _t−1 .

Within the scope of occupied lattice map 41 _t, the parts common to those of occupied lattice map _{41 t-1,} and overlapping region 45. The overlap region 45 is a region where the lattice 43 belonging to the overlap region 45 has an existence probability p _t−1 described later. Also, within the scope of occupied lattice map 41 _t, the portion does not overlap the occupied grid map _{41 t-1,} and the new region 47. A portion that does not overlap with the occupied grid map 41 _{t in} the range of the occupied grid map 41 _t−1 is set as a past region 49. When the range of the occupied grid map 41 is set for the first time, the entire occupied grid map 41 becomes a new area 47, and the overlapping area 45 and the past area 49 do not exist.

In step 4, the road edge acquisition unit 11 acquires the positions of the pair of road edges 53 and 55 on the road on which the host vehicle will travel in the future. This process will be described with reference to FIGS.
In step 11 of FIG. 8, the host vehicle position acquisition unit 23 acquires the position of the host vehicle using the host vehicle position sensor 33. The position of the host vehicle is a position in the absolute coordinate system.

In step 12, the mapping unit 25 maps the position of the host vehicle acquired in step 11 on the map information 37.
In step 13, the mapping unit 25 specifies a road on which the host vehicle will travel in the future (hereinafter referred to as a future traveling road 52) using the result of mapping in step 12. As shown in FIG. 9, the future traveling road 52 is a portion of the road 57 on which the host vehicle 50 is currently traveling in front of the host vehicle 50 in the traveling direction θ (t) of the host vehicle 50. Means.

  In step 14, the mapping unit 25 reads the position of the node point 51 on the future traveling road 52 from the map information 37. The node point 51 is a point set at a certain interval in the center of the lane 59 constituting the road 57. The node point 51 corresponds to a reference point existing on the road. The position of the node point 51 included in the map information 37 is a position in the absolute coordinate system.

In step 15, the mapping unit 25 converts the position of the node point 51 read in step 14 to a position in the own vehicle fixed coordinate system.
In step 2, the position of the host vehicle in the absolute coordinate system is acquired. The position of the host vehicle is the origin in the host vehicle fixed coordinate system. Therefore, the relationship between the position in the absolute coordinate system and the position in the own vehicle fixed coordinate system is uniquely determined and known. Therefore, as described above, the position of the node point 51 in the absolute coordinate system can be converted to the position of the node point 51 in the own vehicle fixed coordinate system.

In step 16, the mapping unit 25 reads the distances d ₁ and d ₂ on the future traveling road 52 from the map information 37. The distance d ₁ is a distance in the width direction of the road from the node point 51 to one road end 53 on the future traveling road 52. The distance d ₂ is a distance in the width direction of the road from the node point 51 to the other road end 55 in the future traveling road 52. The distances d ₁ and d ₂ correspond to the distance in the width direction of the road from the reference point to the road edge.

In step 17, using the position of the node point 51 in the fixed vehicle coordinate system acquired in step 14 and the distances d ₁ and d ₂ acquired in step 16, the host vehicle at the road ends 53 and 55 is used. Specify a position in a fixed coordinate system.

  Returning to FIG. 5, in step 5, the selection unit 13 selects an area as follows using the positions of the road edges 53 and 55 acquired in step 4 in the vehicle fixed coordinate system.

  First, the selection unit 13 superimposes the positions of the road edges 53 and 55 on the occupation grid map 41 as shown in FIG. Next, the selection unit 13 sets an area 61 sandwiched between the road ends 53 and 55. The boundary line 63 on the own vehicle 50 side in the region 61 is a straight line passing through the front end of the own vehicle 50 and parallel to the vehicle width direction.

  Next, the selection unit 13 determines whether each of the areas a <b> 1 to a <b> 4 has a portion overlapping with the area 61. The selection unit 13 selects an area having a portion overlapping with the region 61 among the areas a1 to a4. In the example illustrated in FIG. 10, the areas a <b> 1 to a <b> 3 have a portion that overlaps with the region 61, and the area a <b> 4 does not have a portion that overlaps with the region 61. Therefore, the selection unit 13 selects the areas a1 to a3 and does not select the area a4.

  In step 6, the object detection unit 7 uses the radar device 29 to detect an object existing around the host vehicle. Further, the object detection unit 7 uses the radar device 29 to acquire the distance from the own vehicle to the object and the direction of the object with reference to the own vehicle.

  In step 7, the probability calculation unit 9 calculates the existence probability p of the object in the lattice 43 belonging to the area selected in step 5 using the object detection result in step 6. The specific calculation method is as follows.

First, the existence probability p _t based on the detection result of the object at the current time in each of the grid 43, is calculated as follows. As shown in FIG. 11, the position R _t of the vehicle as a starting point, through the position Z of the object detected in step 6, assuming a straight line 65 extending to the outer edge of the occupancy grid map 41.

The existence probability _{p t} in the lattice 43 which is on the straight line 65 is set as shown in FIG. 12. The horizontal axis in FIG. 12 is a position on the straight line 65, which is the vertical axis existence probability p _t. As shown in FIG. 12, of the grid 43 located on the straight line 65, presence probability p _t in the lattice 43 that is between the position Z of the position R _t and the object of the vehicle is lower than 0.5. Existence probability _{p t} in the lattice 43 at the position Z is set higher than 0.5. Of the grids 43 through which the straight line 65 passes, the existence probability p _t in the grids 43 farther from the object position Z when viewed from the position R _{t of the} host vehicle is 0.5.

Further, as shown in FIG. 11, the position R _t of the vehicle as a starting point, without passing through the position Z of the object is assumed linear 67 leading to the outer edge of the occupancy grid map 41. The existence probability _{p t} in the lattice 43 which is on the straight line 67 is set as shown in FIG. 13. The horizontal axis in FIG. 13 is a position on the straight line 67, which is the vertical axis existence probability p _t. As shown in FIG. 13, the existence probability p _t in the lattice 43 on the straight line 67 is set lower than 0.5.

The straight lines 65 and 67 are set in all directions centered on the position R _t of the host vehicle, and the existence probabilities p _t in all the lattices 43 belonging to the area selected in Step 5 are calculated as described above. .

Among the lattices 43 for which the existence probability _pt has been calculated, for the lattices 43 belonging to the new region 47, the existence probability _pt becomes the final existence probability p as it is.
Of existence probability p _t grating 43 is calculated, the grid 43 belonging to the overlap region 45, in addition to the existence probability p _t, the previous existence probability p _t-1 be considered in the same position, the existence probability p calculate. The existence probability p is generally calculated from the relationship between the prior probability and the posterior probability defined by Bayes' theorem. As yet another method, for example, an average value of the existence probability _pt and the existence probability _pt-1 can be used.

Here, the same position means that the position in the absolute coordinate system is the same. The previous existence probability p _t−1 is the existence probability p calculated in the previous step 7.
However, when the existence probability p _t−1 is discarded as described later, the existence probability p _t becomes the final existence probability p as it is for the lattice 43 belonging to the overlapping region 45 as well.

In step 8, the creation unit 12 holds the existence probability p calculated in step 7 in the corresponding lattice 43. Further, the discard unit 15 discards the existence probability p _t−1 that the lattice 43 belonging to the area not selected in Step 5 previously holds. The occupation grid map 41 is created by the above processing.

In step 9, the output unit 21 outputs the occupied grid map 41 created in step 8 to the driving support device 39.
After step 9, proceed to step 2. The cycle from step 2 to step 9 is executed at a preset update cycle.

4). Effect of Occupied Lattice Map Creating Device 1 (1A) The occupied lattice map creating device 1 calculates the existence probability p limited to the area selected in Step 5 above. Therefore, it is possible to suppress the memory and the amount of calculation necessary for creating the occupation grid map 41.

  (1B) Of the areas a1 to a4, an area having a portion overlapping with the region 61 is an area where the host vehicle 50 may travel in the future. The occupied grid map creation device 1 selects an area having a portion overlapping with the region 61, and calculates the existence probability p in the selected area.

  That is, the occupied grid map creation device 1 creates an occupied grid map 41 including the existence probability p in an area where the host vehicle 50 may travel in the future. Therefore, the occupied grid map creation device 1 can create an occupied grid map 41 useful for the host vehicle 50.

(1C) The occupied grid map creation device 1 discards the existence probability p _t−1 in the area not selected in Step 5. As a result, it is possible to further suppress the memory and the amount of calculation required for creating the occupation grid map 41.

  (1D) The occupied grid map creation device 1 acquires position information of the host vehicle. Further, the occupied grid map creation device 1 acquires the positions of the road edges 53 and 55 by mapping the position information of the host vehicle on the map information 37. Thereby, the positions of the road ends 53 and 55 can be acquired easily and accurately.

(1E) The map information 37 includes position information of the node point 51 and distances d ₁ and d ₂ . The occupied grid map creation device 1 acquires the positions of the road edges 53 and 55 using the position information of the node points 51 and the distances d ₁ and d ₂ . As a result, the positions of the road edges 53 and 55 can be acquired more easily and accurately.

  (1F) The occupied grid map creating apparatus 1 creates an occupied grid map 41 having a certain positional relationship with the position of the host vehicle. Therefore, even if the host vehicle moves, the occupation grid map 41 always has the existence probability of an object existing around the host vehicle. As a result, the safety of the host vehicle is further improved.

  (1G) The occupied grid map creation device 1 creates an occupied grid map 41 at a preset update cycle. Therefore, even if the host vehicle moves, it is possible to newly create an occupied grid map 41 having a certain positional relationship with the position of the host vehicle after the movement.

(1H) occupied lattice mapping apparatus 1, the grating 43 belonging to the overlap region 45, in addition to the existence probability p _t, using the existence probability p _t-1, to calculate the final existence probability p. By that, even if the existence probability p _t is noisy, the influence of the noise on the final existence probability p can be suppressed.
<Other embodiments>
As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the above-mentioned embodiment, It can implement in various deformation | transformation.

  (1) The occupied grid map creation device 1 may detect an object using a configuration other than the radar device 29. For example, the occupation grid map creation device 1 may detect an object using a stereo camera, a rider, or the like.

  (2) The map information 37 may not be stored in the storage device 35. For example, the map information 37 may be stored in a center or the like outside the host vehicle. In that case, the occupied grid map creation device 1 can read the map information 37 from the center by communication as necessary.

  (3) The number of areas may be other than four. For example, the number of areas can be 2, 3, 5,. The shape of the areas a1 to a4 may not be square. The shape of the areas a1 to a4 may be, for example, a rectangle, a circle, a triangle, a pentagon, a hexagon, or the like. The areas a1 to a4 do not have to overlap with adjacent areas. The number of lattices 43 included in one area can be set as appropriate. The number may be one or plural.

  (4) In step 2, even if the position of the host vehicle has been acquired in the past, the position of the host vehicle may be acquired using the host vehicle position sensor 33. Moreover, in the said step 2, when the position of the own vehicle has been acquired in the past, you may acquire the position of the own vehicle using another odometry model.

  (5) The information included in the map information 37 may be other information. For example, the map information 37 may include position information of the road ends 53 and 55 in the absolute coordinate system. In this case, the occupied grid map creating apparatus 1 can directly read the position information of the road edges 53 and 55 on the future traveling road 52 in the step 4.

(6) The method for calculating the existence probability p in step 7 may be another method. For example, regardless of whether there is a presence probability p _t-1, the existence probability p _t, may be directly the final existence probability p. Further, FIG. 12, by using a different model from the model shown in FIG. 13, may be calculated existence probability p _t.

  (7) The occupied grid map creation device 1 may not be mounted on the host vehicle. For example, the occupied grid map creation device 1 may be installed in a center or the like outside the host vehicle. In this case, the occupied grid map creating apparatus 1 acquires necessary information from the radar device 29, the vehicle behavior sensor 31, the own vehicle position sensor 33, and the like mounted on the own vehicle by communication, and creates an occupied grid map 41. And the occupation grid map production apparatus 1 can transmit the produced occupation grid map 41 to the own vehicle by communication.

  (8) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (9) In addition to the above-described occupied grid map creating apparatus 1, a system including the occupied grid map creating apparatus 1 as a constituent element, a program for causing a computer to function as the occupied grid map creating apparatus 1, and a semiconductor recording this program The present invention can also be realized in various forms such as a non-transition actual recording medium such as a memory, an occupied grid map creation method, an obstacle recognition method, and a driving support method.

DESCRIPTION OF SYMBOLS 1 ... Occupied grid map production apparatus, 7 ... Object detection unit, 9 ... Probability calculation unit, 11 ... Road edge acquisition unit, 13 ... Selection unit, 41 ... Occupied grid map, 43 ... Grid, 50 ... Own vehicle, 52 ... Future Traveling road, 53, 55 ... road edge, 57 ... road, a1-a4 ... area

Claims (7)

An occupancy grid map creation device that creates an occupancy grid map that holds the existence probability of an object for each grid,
An object detection unit for detecting an object present around the host vehicle;
A probability calculating unit for calculating the existence probability in the lattice using a detection result of the object detecting unit;
A road edge acquisition unit for acquiring the position of a pair of road edges on a road on which the host vehicle will travel in the future;
A selection unit that selects the area having a portion overlapping with an area sandwiched between the pair of road ends among a plurality of areas set to occupy a part of the occupation grid map;
With
The probability calculation unit is an occupancy grid map creation device that calculates the existence probability only in the area selected by the selection unit. An occupancy grid map creation device according to claim 1,
An occupancy grid map creation device further comprising a discard unit that discards the existence probability in the area not selected by the selection unit. An occupancy grid map creation device according to claim 1 or 2,
The road edge acquisition unit is
A host vehicle position acquisition unit for acquiring position information of the host vehicle;
A mapping unit that acquires the position of the pair of road ends by mapping the position information of the host vehicle acquired by the host vehicle position acquisition unit on map information that includes information for specifying the position of the road end;
Occupancy grid mapping device comprising: An occupancy grid map creation device according to claim 3,
The information for specifying the position of the road edge is an occupied grid map creation device which is information including position information of a reference point existing on the road and a distance in the width direction of the road from the reference point to the road edge . The occupied grid map creation device according to any one of claims 1 to 4,
The occupancy grid map creation device is a range in which the range of the occupancy grid map has a certain positional relationship with the position of the host vehicle. It is an occupation grid map creation device according to any one of claims 1 to 5,
An occupancy grid map creation device that creates the occupancy grid map at a preset update cycle. An occupancy grid map creation device according to claim 6,
In the probability calculation unit, in addition to the detection result of the object detection unit, in the lattice, the existence probability of the same position is retained in the occupied lattice map created in the past among the lattices. An occupancy grid map creation device that calculates the existence probability using the past existence probability.

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