JP2018059742A - Self position estimating method, moving body travelling control method, self position estimating apparatus, and moving body travelling control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self position estimating method capable of accurately estimating a self position of a mobile body.SOLUTION: A self position estimating method registers a traveling locus with respect to a traveling road on a map in a storage device in advance, determines the traveling road on the map on which a mobile body is currently traveling, correcting the current position of the mobile body to approach in a direction to the traveling locus when the current position of the mobile body is not within a predetermined range with respect to a travelling locus corresponding to the traveling road on the map on which the mobile body is currently traveling and estimate a self position of the mobile body.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-position estimating method, a traveling control method for a moving object, a self-position estimating device, and a traveling control device for a moving object.

  A technique for accurately reproducing a route (running locus) on which a vehicle has traveled with a small amount of data is known (see Patent Document 1). In Patent Document 1, when following a travel locus, if the route does not exist partially, it is supplemented by hitting an intermediate point.

JP 2009-85722 A

  However, in Japanese Patent Laid-Open No. 2004-228867, when following the traveling locus, since the deviation of the relative position of the vehicle with respect to the route is not taken into consideration, if the deviation of the relative position occurs, the follow-up control is greatly disturbed. was there.

  The present invention has been made in view of the above problems, and its object is to provide a self-position estimation method, a mobile body travel control method, a self-position estimation device, and a mobile body that accurately estimate the self-position of the mobile body. It is providing the traveling control apparatus of.

  In the self-position estimation method according to one aspect of the present invention, a travel locus for a road on a map is registered in a storage device in advance, a road on the map on which the mobile object is currently traveling is determined, and a map that is currently traveling When the current position of the moving body is not within the predetermined range with respect to the traveling locus corresponding to the upper traveling path, the current position of the moving body is corrected in a direction to approach the traveling locus, and the self position of the moving body is estimated.

  According to one embodiment of the present invention, it is possible to accurately estimate the self-position of a moving object.

FIG. 1 is a block diagram illustrating an example of a configuration of a self-position estimating apparatus and a traveling control apparatus for a moving body according to the embodiment. FIG. 2 is a perspective view showing a state where the surrounding sensor group 1 is mounted on the vehicle V. FIG. FIG. 3 is a flowchart showing an example of a self-position estimation method and a travel control method using the self-position estimation apparatus and the mobile travel control apparatus of FIG.

  Embodiments will be described with reference to the drawings. In the description of the drawings, the same portions are denoted by the same reference numerals, and description thereof is omitted.

(First embodiment)
With reference to FIG. 1, the structure of the traveling control apparatus of the self-position estimation apparatus and moving body (for example, vehicle) which concerns on 1st Embodiment is demonstrated. The self-position estimation apparatus according to the present embodiment includes a surrounding sensor group 1, a processing device 3 (control unit), a storage device 4, and a vehicle sensor group 5. The travel control device according to the present embodiment includes a self-position estimation device and an actuator group 6. The self-position estimation apparatus according to the present embodiment is mounted on a vehicle V (see FIG. 2) and estimates the self-position of the vehicle V. The travel control device causes the vehicle V to travel along a registered travel locus based on the self-position estimated by the self-position estimation device.

  The ambient sensor group 1 includes, for example, a plurality of laser range finders (LRF) 101 and 102 and a plurality of cameras 201 and 202. Laser range finders (LRF) 101 and 102 detect the distance and direction to the target by receiving the reflected light of the irradiated laser light from the target. The cameras 201 and 202 capture the surroundings of the vehicle V and acquire digital images that can be processed. As described above, the ambient sensor group 1 includes a plurality of sensors that respectively detect the targets existing around the vehicle V. In addition, the ambient sensor group 1 may include sonar and radar. The targets existing around the vehicle V include targets, stop lines, pedestrian crossings, speed limits, etc. that indicate the boundaries of the white lines, curbs, median strips, guardrails, reflectors, etc. existing on the track around the vehicle V. In order to estimate the self-location on the map, such as road markings such as road markings, signs, traffic lights, utility poles, trees on the sidewalk, etc., all of the clues are included.

  FIG. 2 is an example illustrating a state in which the surrounding sensor group 1 is mounted on the vehicle V. The LRFs 101 and 102 can be mounted, for example, near the front fenders on the left and right sides of the vehicle V, respectively. For example, the LRFs 101 and 102 scan the laser beam at a predetermined scanning angle (for example, 90 °) so that the locus of the laser beam to be irradiated forms a vertical plane with respect to the road surface as a rotation axis along the front-rear direction D of the vehicle V. Thereby, the LRFs 101 and 102 can detect a target such as a curb that exists in the left-right direction of the vehicle V. The LRFs 101 and 102 sequentially output the detected target shape to the processing device 3 as a detection result.

  The cameras 201 and 202 can be mounted on door mirrors on both the left and right sides of the vehicle V, for example. The cameras 201 and 202 capture an image with a solid-state image sensor such as a CCD or CMOS, for example. For example, the cameras 201 and 202 photograph a road surface on the side of the vehicle V. The cameras 201 and 202 sequentially output the captured images to the processing device 3.

  The storage device 4 stores a traveling path on which the vehicle V can travel as a combination of nodes and links connecting the nodes. Furthermore, the information which shows the traveling track 40 with respect to the above-mentioned traveling road and the map information 41 including the positional information of the target existing on or around the traveling road are stored. The “running track 40” is a track in which the vehicle V can actually travel, and is a concept different from a running road expressed by a combination of nodes and links.

  In the first embodiment, the “running locus 40” includes, for example, a locus on which the vehicle V (own vehicle) or another vehicle actually traveled in the past and a locus designed by the designer. In the storage device 4, a trajectory in which the vehicle V actually travels obtained from the movement amount of the vehicle V is stored as a travel trajectory 40. In addition, a trajectory actually traveled by another vehicle is received via a communication device (not shown) and stored in the storage device 4 as a travel trajectory 40. As described above, in the storage device 4, the traveling locus 40 on which the vehicle V can actually travel is registered in advance with respect to the traveling road on the map.

  The storage device 4 can be composed of a semiconductor memory, a magnetic disk, or the like. Targets (landmarks) recorded in the map information 41 are detected by the surrounding sensor group 1 in addition to road markings such as stop lines, pedestrian crossings, pedestrian crossing notices, lane markings, and structures such as curbs. Includes various possible facilities.

  The vehicle sensor group 5 includes a GPS receiver 51, an accelerator sensor 52, a steering sensor 53, a brake sensor 54, a vehicle speed sensor 55, an acceleration sensor 56, a wheel speed sensor 57, and other sensors such as a yaw rate sensor. Each of the sensors 51 to 57 is connected to the processing device 3 and sequentially outputs various detection results to the processing device 3. The processing device 3 can calculate the position of the vehicle V on the map using each detection result of the vehicle sensor group 5, and can calculate odometry indicating the amount of movement of the vehicle V per unit time. For example, the amount of movement of the vehicle V is measured by odometry based on the number of rotations of the tire, inertia measurement using a gyroscope and acceleration sensor, a method of receiving radio waves from a satellite such as a GNSS (Global Navigation Satellite System), and measurement by an external sensor. Various measures such as SLAM (Simultaneous Localization and Mapping) for estimating the movement amount from the change in value are conceivable, but any method may be used.

  The actuator group 6 includes a power steering actuator 61, a brake actuator 62, and an accelerator pedal actuator 63. The power steering actuator 61 is, for example, a power steering drive motor, and controls the steering amount of the vehicle V. The accelerator pedal actuator 63 adjusts the torque generated by the motor or engine that drives the vehicle by controlling the depression amount of the accelerator pedal. The brake actuator 62 adjusts the amount of depression of the brake pedal.

  The processing device 3 includes a surrounding recognition unit 31, a travel locus position estimation unit 32 (running road determination circuit, travel locus position estimation circuit), a map position estimation unit 33 (map position estimation circuit), and a self-position correction. Unit 34 and a travel control unit 35 (travel control circuit). The processing device 3 can be configured by, for example, a microcontroller that is an integrated circuit including a central processing unit (CPU), a memory, an input / output I / F, and the like. In this case, a plurality of information processing units (31 to 35) constituting the processing device 3 are realized by the CPU executing a computer program preinstalled in the microcontroller. Each part which comprises the processing apparatus 3 may be comprised from integral hardware, and may be comprised from separate hardware. The microcontroller may also be used as an electronic control unit (ECU) used for other control related to the vehicle V such as automatic driving control.

  The surrounding recognition unit 31 detects the relative position between the target and the vehicle V present around the vehicle V based on the detection result of the surrounding sensor group 1.

  The on-map position estimation unit 33 collates the relative position between the target and the vehicle V with the position of the target in the map information 41. In other words, the position data of the target in the map information 41 and the relative position data of the target detected by the surrounding recognition unit 31 are matched. The on-map position estimation unit 33 estimates the position of the vehicle V on the map by collating the position of the target (map matching). That is, the position and posture angle of a total of three degrees of freedom including the position in the east-west direction (X coordinate), the position in the north-south direction (Y coordinate), and the azimuth angle (yaw angle θ) of the vehicle V are estimated. Various algorithms have been devised for estimating the self-location, and the method is not limited in this embodiment. For example, based on the line information of the recognized target (white line, stop line, and road boundary) and the corresponding white line, stop line, and road line information of the map, these positions should be matched as much as possible. A method for minimizing the error can be considered.

  The traveling locus position estimation unit 32 estimates the self position on the traveling locus 40 stored in the storage device 4. For example, the on-trajectory position estimation unit 32 compares the GPS position information obtained from the signal received by the GPS receiver 51 with the travel path corresponding to the travel path on the currently traveling map. The travel locus position estimation unit 32 first determines the travel path on the map on which the vehicle V is currently traveling. When the current position of the vehicle V by GPS is not within a predetermined range with respect to the travel path corresponding to the determined travel path, the current position of the vehicle V is corrected so as to approach the travel path. And the point which dropped the perpendicular on the traveling locus is estimated as the starting point (self-position) on the traveling locus. For example, the “predetermined range” is set to be within 15 cm so that the position in the lane does not change significantly.

  For example, the on-trajectory position estimation unit 32 corrects the current position of the vehicle V by GPS in a direction perpendicular to the travel locus. Unlike the normal trajectory estimation, the self-position on the travel trajectory does not generate an azimuth (yaw angle θ) error in principle, and an error occurs only in the direction along the travel trajectory. Therefore, in order not to be affected by the error in the direction along the travel locus, the correction is performed only in the direction perpendicular to the travel locus. As a result, when there are few reference targets in a direction perpendicular to the travel locus on a straight road or the like and an error has occurred in a direction parallel to the travel locus, the influence of the error in the parallel direction is suppressed. Thus, the correction can be performed accurately.

  The travel path position estimation unit 32 moves the current position of the vehicle V closer to the travel path when the current position of the vehicle V by GPS is not within a predetermined range with respect to the travel path and the vehicle V is traveling straight. It may be corrected. Here, if the self-position on the travel locus is shifted in the direction along the travel locus (traveling direction) and the vehicle V is turning at an intersection or the like, the self-position of the vehicle V including the azimuth is A large error may occur. Therefore, in order to avoid an azimuth angle error, correction is performed only when traveling straight ahead. As a result, the current position of the vehicle V approaches the predetermined range with respect to the travel locus, so that it is possible to reduce the influence of the positional deviation in the traveling direction.

  The self-position correcting unit 34 is based on the premise that the vehicle V always moves on the travel locus, and from the self-position on the travel locus estimated by the travel locus on-position estimation unit 32, by the amount of movement of the vehicle V. The point advanced on the travel locus is calculated as the final self-position estimation result. Specifically, the self-position correcting unit 34 determines the vehicle V from the time at which the result is observed to the current time as the last adopted result (self-position on the travel locus) in the self-position detection processing cycle. Is calculated as the final position of the vehicle V.

  Here, the self-position on the travel locus estimated by the travel locus position estimation unit 32 and the self-position on the map estimated by the map position estimation unit 33 each include an error as vehicle position information. . Although the self-position on the travel locus is not so accurate, it has an error feature that it does not deviate greatly. The self-location on the map is accurate but has the error feature that it can sometimes deviate significantly. If the self-position on the map is greatly deviated, it has a great influence on the traveling control in the automatic driving, so it is desirable not to adopt this as it is.

  Therefore, the processing device 3 compares the self-position on the map estimated by the on-map position estimation unit 33 with the self-position on the travel locus estimated by the travel locus on-position estimation unit 32. If the distance (deviation amount) between the self-position on the map and the self-position on the travel locus is equal to or less than a predetermined threshold, it is determined that the self-position on the map is not greatly displaced. In this case, the processing device 3 outputs the self-position on the map estimated by the on-map position estimation unit 33 as the final self-position of the vehicle V. On the other hand, when the distance is larger than the predetermined threshold, it is determined that the self-position on the map is largely deviated due to a matching failure. In this case, the processing device 3 outputs the self-position on the travel locus corrected by the self-position correcting unit 34 as the final self-position of the vehicle V.

  The traveling control unit 35 controls the actuator group 6 to cause the vehicle V to travel along the traveling locus 40 registered in the storage device 4 based on the final self-position of the vehicle V. Specifically, the traveling control unit 35 includes information (lane position, obstacle position) obtained by the surrounding recognition unit 31, the final position of the vehicle V calculated by the processing device 3, and a map. A travel locus 40 on which the vehicle V travels is calculated from the information 41. Then, the power steering actuator 61, the brake actuator 62, and the accelerator pedal actuator 63 are controlled to cause the vehicle V to travel along the calculated travel locus 40.

  With reference to FIG. 3, an example of a self-position estimation method and a travel control method using the self-position estimation apparatus and the travel control apparatus of FIG. 1 will be described. First, in step S <b> 101, the self-position estimation device measures the surroundings of the vehicle V using the surrounding sensor group 1. Then, the surrounding recognition unit 31 detects the relative position between the target and the vehicle V present around the vehicle V based on the detection result of the actuator group 6.

  Proceeding to step S <b> 102, the traveling locus position estimation unit 32 estimates the self position on the traveling locus 40 stored in the storage device 4. Specifically, the travel locus position estimation unit 32 first determines a travel path on a map on which the vehicle V is currently traveling. When the current position of the vehicle V by GPS is not within a predetermined range with respect to the travel path corresponding to the determined travel path, the current position of the vehicle V is corrected so as to approach the travel path. And the point which dropped the perpendicular on the traveling locus is estimated as the self position on the traveling locus. At this time, the current position of the vehicle V may be corrected in the direction perpendicular to the travel locus. Furthermore, the current position of the vehicle V may be corrected only when the vehicle V is traveling straight ahead.

  In step S103, the on-map position estimation unit 33 estimates the self-position of the vehicle V on the map by comparing the relative position between the target and the vehicle V with the position of the target in the map information 41. .

  Proceeding to step S104, the processing device 3 compares the self-position on the map estimated in step S103 with the self-position on the travel locus estimated in step S102. If the distance (deviation amount) between the self-position on the map and the self-position on the travel locus is equal to or less than a predetermined threshold (NO in step S104), it is determined that the self-position on the map is not greatly displaced. Then, the self position on the map estimated in step S103 is adopted as the final self position of the vehicle V.

  On the other hand, if the distance between the self-position on the map and the self-position on the travel locus is greater than a predetermined threshold (YES in step S104), it is determined that the self-position on the map is greatly deviated, and the process proceeds to step S105. .

  In step S105, the self-position correcting unit 34 corrects the self-position on the travel locus by advancing the travel locus by the amount of movement of the vehicle V from the self-position on the travel locus estimated in step S102. The processing device 3 employs the corrected self-position on the travel locus as the final self-position of the vehicle V.

  In step S106, the traveling control unit 35 controls the actuator group 6 to drive the vehicle V along the traveling locus 40 registered in the storage device 4 based on the final self-position of the vehicle V. Control and steering control are performed.

  Note that the self-position estimation method according to the first embodiment can be applied when the lane information of the road on the map on which the vehicle V is currently traveling is acquired. Specifically, the vehicle V itself may determine the lane in which the vehicle V is traveling based on the detection result of the surrounding sensor group 1. Or you may acquire the lane information determined based on the image data acquired by the road camera which images the running road where the vehicle V is drive | working.

  In this case, the travel locus position estimation unit 32 can correct the current position of the vehicle V by GPS to a position in the lane in which the vehicle V is currently traveling.

  Further, even when the vehicle V performs lane keeping control by the lane departure prevention support system, the self-position estimation method according to the first embodiment can be applied in the same manner. Specifically, when the vehicle V is controlled so that the vehicle V travels in the lane, the traveling locus position estimation unit 32 uses the current position of the vehicle V by GPS, and the vehicle V currently travels. It can be corrected to a position in the existing lane.

  Even if the self-position on the map includes a large error that crosses the lane, the self-position on the map can be corrected so as to be within the lane. Therefore, even if the position on the map is not reliable, automatic driving can be continued by lane keeping control. Thus, by reflecting the traveling lane information and correcting the current position in the traveling lane, a large error across the lanes can be corrected.

  As described above, if the lane information can be acquired, the self-position can be corrected so as to be within the lane even if the lane keep control is not performed. Thereby, the lane keep control can be started even in a situation where the self-position estimation result is not reliable.

  As described above, according to the first embodiment, even if there is a deviation in the current position information on the map obtained by using the sensor, the error with respect to the registered traveling locus can be reduced. Can be estimated accurately.

  Even if there is a deviation in the current position information on the map, the error with respect to the registered traveling locus can be reduced, so that the vehicle V can be accurately moved along the registered traveling locus based on the corrected current position. It can be run.

(Second Embodiment)
In the first embodiment, the trajectory actually traveled by the vehicle V (own vehicle) or another vehicle has been described as an example of the travel trajectory 40. In the second embodiment, a road reference line will be described as another example of the travel locus 40. The “running road reference line” is a line on which the vehicle V can actually travel, and can be subjected to automatic travel control so that the vehicle V travels along the line. That is, instead of the actually traveled trajectory, an expected trajectory line (running line reference line) that is estimated to be actually travelable is stored in advance in the storage device 4 as the travel trajectory 40.

  For example, the runway reference line is a line that is included in the map information 41 and indicates the center in the width direction of each travel lane. The link which connects between the nodes of the map information 41 may be sufficient.

  When the current position of the vehicle V is not within the predetermined range with respect to the road reference line corresponding to the road on the map that is currently running, the travel locus position estimation unit 32 determines the current position of the vehicle V as the road reference line. The vehicle V is estimated to be close to the vehicle V, and the self-position of the vehicle V is estimated. Further, the travel locus position estimation unit 32 further corrects the current position of the vehicle V only when the travel locus corresponding to the currently traveling route and the route reference line on the map are within a predetermined deviation. May be. The configuration of the self-position estimating method, the procedure of the traveling control method for the moving body, the self-position estimating device, and the traveling control device for the moving body are the same as those in the first embodiment, and a description thereof will be omitted.

  Even if there is an error in the trajectory that the vehicle V actually traveled and it is not registered correctly, the current position can be corrected without being affected by the error by using the travel path reference line as the travel trajectory. Is possible. It is possible to eliminate noise and uncertainties included in the actually traveled trajectory, and self-position estimation with high robustness (robustness) can be performed.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the embodiment, the travel control device including the self-position estimation device that calculates the final self-position of the vehicle V has been described. However, the self-position estimation device and the travel control device are configured by different hardware (on-vehicle ECU). It may be. Furthermore, you may implement | achieve a self-position estimation apparatus using mobile terminals, such as a smart phone. Specifically, it is possible to connect the mobile terminal to the network (CAN) of the vehicle V to realize the functional blocks (31 to 34) in the processing device 3 of FIG.

  The moving body is not limited to the vehicle V as a moving object moving on the land, but includes a ship, an aircraft, a spacecraft, and other moving objects.

  Each function shown in the above-described embodiments may be implemented by one or a plurality of processing circuits. The processing circuit includes a programmed processing device such as a processing device including an electrical circuit. Processing devices also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

1 Ambient sensor group (sensor)
3 Processing device (control unit)
4 Storage device 5 Vehicle sensor group (sensor)
32 Traveling locus position estimation unit (running path determination circuit, traveling locus position estimation circuit)
33 Map location estimation unit (Map location estimation circuit)
35 Travel controller (travel control circuit)
40 Traveling track V Vehicle (moving body)

Claims (9)

In the self-position estimation method using the control unit that estimates the self-position of the moving body based on the current position information on the map of the moving body obtained using a sensor mounted on the moving body,
Register in advance a running track for the road on the map in the storage device,
The control unit determines a road on the map on which the moving body is currently traveling,
The control unit corrects the current position in a direction closer to the travel locus when the current position of the moving body is not within a predetermined range with respect to the travel locus corresponding to the travel path on the map that is currently traveling. And the self-position estimation method characterized by estimating the self-position of the said mobile body.   The self-position estimation method according to claim 1, wherein the current position is corrected in a direction perpendicular to the travel locus.   3. The self-position estimation method according to claim 1, wherein when the moving body is traveling straight, the self-position of the moving body is estimated by correcting the current position in a direction closer to the travel locus. . The control unit obtains lane information of a road on a map on which the mobile object is currently traveling,
The self-position estimation method according to any one of claims 1 to 3, wherein the current position is corrected to a position in a lane where the moving body is currently traveling.   The current position is corrected to a position in a lane in which the mobile body is currently traveling when the mobile body is controlled so that the mobile body travels in a lane. 4. The self-position estimation method according to 4. The travel locus is a road reference line on which the moving body can actually travel,
When the current position of the moving body is not within a predetermined range with respect to the road reference line corresponding to the road on the map that is currently running, the current position is corrected in a direction closer to the road reference line. The self-position estimation method according to any one of claims 1 to 5, wherein the self-position of the moving body is estimated. In the travel control method for a moving body using a travel control device that pre-registers a travel locus for a road on a map and causes the mobile body to travel along the registered travel locus, the travel control device includes:
Determine the road on the map on which the mobile is currently traveling,
When the current position of the moving body is not within a predetermined range with respect to the travel locus corresponding to the travel path on the currently traveling map, the current position is corrected in a direction closer to the travel locus,
A traveling control method for a moving body, characterized in that the moving body travels along a registered travel locus based on the corrected current position. A sensor mounted on a mobile body for measuring current position information on the map of the mobile body, and based on the current position information on the map of the mobile body obtained from the sensor, the self-position of the mobile body is determined. In the self-position estimation device to estimate,
A storage device for registering a travel locus for a road on a map in advance;
When the traveling path on the map on which the moving body is currently traveling is determined, and the current position of the moving body is not within a predetermined range with respect to the traveling locus corresponding to the traveling path on the currently traveling map A controller that corrects the current position in a direction closer to a travel locus and estimates the self-position of the moving body;
A self-position estimation apparatus comprising: In a travel control device for a moving body that registers a travel locus for a road on a map in advance and causes the mobile body to travel along the registered travel locus,
A road determination circuit for determining a road on the map on which the mobile object is currently traveling;
If the current position of the moving body is not within a predetermined range with respect to the travel locus corresponding to the travel route on the map that is currently traveling, a position on the travel locus that corrects the current position in a direction closer to the travel locus An estimation circuit;
A travel control device for a mobile object, comprising: a travel control circuit that causes the mobile object to travel along a registered travel locus based on the corrected current position.

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