JP2019027965A - Correction device, method for correction, and program - Google Patents

Abstract

To provide a correction device that can correct information on a positioned location even when a mobile body is moving.SOLUTION: A first calculation unit calculates a first distance between a mobile body and a road dividing object, which linearly exists along the direction in which the mobile body travels. A first acquisition unit acquires positioned location information of the mobile body. A second acquisition unit acquires positional information of the road dividing object stored in advance. A correction amount calculation unit calculates a correction amount of correcting the positioned location information of the mobile body on the basis of the positioned location information, the positional information of the road dividing object, and the first distance.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a correction device, a correction method, and a program.

  As a method of calculating the current position of the moving body, a method using information acquired from a sensor such as a gyroscope or a geomagnetic sensor (autonomous navigation), a method using a signal from a GPS (Global Positioning System) satellite, or GPS and A hybrid method combined with autonomous navigation is known. However, all of these current position calculation methods have a problem that a positioning error occurs.

  In order to cope with the above problem, Patent Document 1 discloses a vehicle position detection that detects the position of a vehicle using an image obtained by an imaging unit mounted on the vehicle (moving body) and a map. An apparatus is disclosed. This vehicle position detection device includes an element for detecting a plurality of line segments representing an outline of an object on a road in an image obtained by an imaging unit, an element for performing bird's-eye conversion on each detected line segment, and each line segment subjected to bird's-eye conversion. Is converted into a position in the world coordinate system according to the predicted position of the vehicle at the current time, and distance and angle differences are calculated between each converted line segment and each map line segment included in the map information And an element to perform. In this vehicle position detection device, a set of line segments and map line segments in which the calculated distance and angle difference are within a predetermined allowable range is obtained, and the line segments and map line segments included in the obtained set are obtained. The updated predicted position is used as the position of the vehicle at the current time so as to match.

Japanese Patent Laying-Open No. 2015-19497

  However, the above-described vehicle position detection device performs a predetermined process on the captured image and executes a predicted position calculation process. For this reason, although the predicted position at the past time can be specified, the predicted position at the current time of the traveling vehicle cannot be specified. Accordingly, there is a problem that the specified predicted position cannot be used for the purpose of correcting the positioning position information by another positioning means. Therefore, the problem to be solved by the present invention is exemplified by the above-described problem.

  Therefore, the present invention has been made in view of the above-mentioned problem as an example, and it is a main object of the present invention to provide a correction device that can correct positioning position information even while a moving object is moving. With a purpose.

  The invention according to claim 1 is a first calculation unit that calculates a first distance between a moving object and a road segment that exists linearly along the traveling direction of the moving object, and positioning of the moving object A first acquisition unit that acquires position information; a second acquisition unit that acquires pre-stored position information of the road section; the positioning position information; the position information of the road section; and the first distance. And a correction amount calculation unit that calculates a correction amount for correcting the positioning position information of the moving body.

  The invention according to claim 11 is a correction method in a correction apparatus including a first calculation unit, a first acquisition unit, a second acquisition unit, and a correction amount calculation unit, wherein the first calculation unit A first step of calculating a first distance between the moving body and a road segment existing linearly along the traveling direction of the moving body, and the first acquisition unit includes a positioning position of the moving body A second step of acquiring information; a third step of acquiring the position information of the road block stored in advance by the second acquiring unit; and the correction amount calculating unit of calculating the positioning position information, And a fourth step of calculating a correction amount for correcting the positioning position information of the moving body based on the position information of the road section and the first distance.

  The invention according to claim 12 is a program for causing a computer to execute a correction method in a correction apparatus including a first calculation unit, a first acquisition unit, a second acquisition unit, and a correction amount calculation unit. The first calculating unit calculates a first distance between the moving object and a road segment existing linearly along the traveling direction of the moving object, and the first acquiring unit. The second step of acquiring the positioning position information of the moving body, the third step of the second acquisition unit acquiring the position information of the road section stored in advance, and the correction amount calculation unit And a fourth step of calculating a correction amount for correcting the positioning position information of the mobile body based on the positioning position information, the position information of the road section, and the first distance. It is characterized by that.

It is an electrical block diagram which shows an example of the correction apparatus which concerns on embodiment of this invention. It is a processing flow which shows an example of the correction | amendment apparatus which concerns on embodiment of this invention. It is an electrical block diagram which shows an example of the correction apparatus which concerns on Example 1 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 1 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 1 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 1 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 1 of this invention. It is an electrical block diagram which shows an example of the correction apparatus which concerns on Example 2 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 2 of this invention. It is an electrical block diagram which shows an example of the correction apparatus which concerns on Example 3 of this invention. It is the figure which showed notionally the correction process in the correction apparatus which concerns on Example 3 of this invention. It is an electrical block diagram which shows an example of the correction apparatus which concerns on Example 4 of this invention.

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 and 2.
The present embodiment relates to a correction device that corrects positioning position information on the basis of road sections that exist linearly along the traveling direction of a moving body.
The details will be described below.

<Electrical configuration of correction device>
The electrical configuration of the correction apparatus 10 according to the present embodiment will be described with reference to FIG.
As shown in this figure, the correction apparatus 10 includes a first calculation unit 110, a first acquisition unit 120, a second acquisition unit 130, a correction amount calculation unit 140, a second calculation unit 150, and a correction unit 160. And.

  The 1st calculation part 110 calculates the 1st distance which is the distance between a moving body and the road division which exists linearly along the advancing direction of the moving body. Here, the moving body includes not only a vehicle but also a person who has a portable terminal or the like that can acquire current positioning position information. In addition, the road section is the roadway outer line attached to the roadway, the roadway center line, or the curbstones, guardrails, delineators, lighting lamps, utility poles or rubber poles provided at the roadway boundary line or the roadway end, and the roadway center. Including cat's eyes. In addition, road surface paint on the roadway, for example, a stop sign, a line indicating parking prohibition, a maximum speed display, a priority sign such as a route bus, a stop line, an arrow indicating the direction of travel, a crosswalk or An indication sign such as a sign indicating that there is a bicycle lane may be used as a road section.

The first acquisition unit 120 acquires the positioning position information of the moving body from, for example, a sensor such as a gyro sensor or a geomagnetic sensor, or a signal from a GPS satellite.
The 2nd acquisition part 130 acquires the positional information on the road division memorize | stored previously from a database, a data server, etc., for example.

The correction amount calculation unit 140 includes the positioning position information of the moving body acquired by the first acquisition unit 120, the position information of the road block acquired by the second acquisition unit 130, and the first calculation unit 110 calculated by the first calculation unit 110. Based on the one distance, a correction amount for correcting the positioning position information of the moving body is calculated.
In the present embodiment, the second calculation unit 150 is a difference between the positioning position information of the moving body acquired by the first acquisition unit 120 and the position information of the road block acquired by the second acquisition unit 130. A second distance is calculated. And the correction amount calculation part 140 can illustrate calculating the said correction amount based on 1st distance and 2nd distance.

  The correction unit 160 corrects the positioning position information of the moving body with the correction amount calculated by the correction amount calculation unit 140.

<Correction device processing>
Processing of the correction apparatus 10 according to the present embodiment will be described with reference to FIG.

  First, the 1st calculation part 110 calculates the 1st distance between a moving body and the road division which exists linearly along the advancing direction of the moving body (S110). After the calculation of the first distance, the first acquisition unit 120 acquires positioning position information of the moving body (S120). After acquiring the positioning position information of the moving body, the second acquisition unit 130 acquires the position information of the road segment stored in advance (S130).

  Then, the correction amount calculating unit 140 is calculated by the positioning position information of the moving body acquired by the first acquiring unit 120, the position information of the road block acquired by the second acquiring unit 130, and the first calculating unit 110. Based on the first distance, a correction amount for correcting the positioning position information of the moving body is calculated (S140). After the correction amount is calculated, the correction unit 160 corrects the positioning position information of the moving body with the calculated correction amount (S150).

  Note that, in the present embodiment, the configuration in which up to the correction processing is completed with a single device has been described as an example. This includes a form in which all processing is completed by the apparatus.

As described above, the correction device 10 according to the present embodiment calculates the correction amount for the positioning position information of the moving body based on the road segment existing linearly along the traveling direction of the moving body.
That is, the correction device 10 uses a road partition that exists in parallel to the traveling direction (moving direction) of the moving body. For this reason, even when the moving body is moving, it is not necessary to consider the relative position change between the moving body and the road section with the passage of time. Therefore, according to the correction device 10 of the present embodiment, it is possible to correct the positioning position information of the moving body even while the moving body is moving.

<Example>
Specific examples corresponding to the above-described embodiment will be described with reference to FIGS.

<Example 1>
Hereinafter, Example 1 is demonstrated using FIGS. 3-7.

<Electrical configuration of correction device>
The electrical configuration of the correction apparatus 11 according to the present embodiment will be described with reference to FIG.
As shown in this figure, the correction device 11 includes a first calculation unit 110, a first acquisition unit 120, a second acquisition unit 130, a correction amount calculation unit 140, a second calculation unit 150, and a correction unit 160. And an imaging unit 171 and a road block position determination unit 172.
In the present embodiment, the moving body is described as a vehicle (automobile), and the road section is described as a roadway outer line. Further, in the present embodiment, the correction device 11 is mounted on the vehicle.

The imaging unit 171 is, for example, attached to the center in the vehicle width direction at the upper end of the windshield glass of the vehicle, and the imaging direction of the imaging unit 171 is the forward direction of the vehicle (D1 in FIG. 4).
The imaging unit 171 captures an image ahead of the vehicle in the traveling direction, generates imaging data, and outputs the imaging data to the road partition position determination unit 172.
When the moving body is a person, for example, a camera mounted on the mobile terminal is held forward in the traveling direction, and an image ahead in the traveling direction is captured. Alternatively, when a person uses a glasses-type wearable terminal, for example, an image ahead of the traveling direction is captured by a camera provided on a rim of the glasses.

As an example, the road segment position determination unit 172 performs feature detection processing on the imaging data input from the imaging unit 171 and extracts a linear component and a line segment component.
The feature detection process is preferably a Hough transform process. For a plurality of extracted straight line components and line segment components, intersection points in all captured images of the extension lines are calculated, and an intersection point where the most straight line components intersect is defined as a vanishing point.
And the linear component through which the extension line passes a vanishing point is extracted as a vanishing point direction line segment. With respect to the extracted vanishing point direction line segment, the captured image is divided into a right half and a left half from the center, and each vanishing point direction line segment is divided in each region in the divided captured image. Detect the distribution state for.
The detected distribution state is scanned rightward or leftward from the center, and the density of the vanishing point direction line segment is evaluated. Based on this evaluation, for each of the right direction and the left direction, the vanishing point direction line segment in the most crowded area in the captured image is determined as the roadway outer line, and the determination result is sent to the first calculation unit 110. Output.

The first calculation unit 110 includes the vehicle in the vehicle width direction (the direction orthogonal to the traveling direction (movement direction) of the vehicle) and the road outer line determined by the road partition position determination unit 172 in the captured image. The first distance is calculated using the imaging parameters of the imaging unit 171 as the first distance.
As a result, the center (C1) in the vehicle width direction of the vehicle in the X direction shown in FIG. 4 (the direction perpendicular to the direction in which the roadway outer line L1 exists and the traveling direction of the vehicle), the roadway outer line L1, The distance dx1 is calculated as the first distance.
In this embodiment, since the image pickup unit 171 is provided at the center in the vehicle width direction at the upper end of the windshield glass of the vehicle, the vehicle position reference is the center in the vehicle width direction. When 171 is provided at a position other than the center in the vehicle width direction at the upper end of the windshield glass of the vehicle, the position at which the imaging unit 171 is provided is a reference for the position of the vehicle.

  The 1st acquisition part 120 is electrically connected to sensors and GPS receivers which are not illustrated, such as a gyro sensor and a geomagnetic sensor. And the 1st acquisition part 120 acquires the positioning position information of a vehicle with the signal from said sensor, a GPS receiver, etc., and memorize | stores it in the memory | storage part which is not shown in figure. At this time, information on the traveling direction D1 of the vehicle is also stored in the storage unit.

  The 2nd acquisition part 130 acquires the positional information on the road division memorize | stored previously from a database, a data server, etc., for example.

The correction amount calculation unit 140 is electrically connected to the first calculation unit 110, the second calculation unit 150, and the like.
The correction amount calculation unit 140 uses the second calculation unit 150 to calculate the X position based on the positioning position information of the vehicle acquired by the first acquisition unit 120 and the position information of the roadway outer line acquired by the second acquisition unit 130. A distance dx2 (see FIG. 5) between the vehicle and the roadway outer line in the direction is calculated as the second distance.
Further, the correction amount calculation unit 140 calculates a difference between the distance dx1 and the distance dx2, and outputs this difference to the correction unit 160 as a correction amount x (see FIG. 5) in the X direction in the positioning position information of the vehicle. .

  Based on the input correction amount x, the correction unit 160 corrects the positioning position information in the X direction in the positioning position information of the vehicle as shown in FIG. 5 (C1 after correction in FIG. 5).

  Note that the length of the roadway outer line (L1) needs to be long enough to perform a series of correction processes. Therefore, in this embodiment, the correction amount calculation unit 140 calculates the correction amount when the length of the roadway outer line (L1) is longer than a reference length sufficient for performing the correction process. To do. In addition, the length of the roadway outer line (L1) sufficient to perform a series of correction processes varies depending on the traveling speed of the vehicle. Therefore, in the present embodiment, the reference length may be changed according to the traveling speed of the vehicle.

As described above, in the correction device 11 of the present embodiment, the roadway outer line (L1) that exists linearly along the traveling direction of the vehicle is identified from the captured image, and the roadway outer line obtained on the captured image is obtained. A distance dx1 (first distance) between (L1) and the vehicle is calculated.
Further, the correction device 11 calculates a distance dx2 (second distance) between the vehicle and the roadway outer line (L1) from the positioning position information of the vehicle and the position information of the roadway outer line (L1) stored in advance. ) Is calculated. Then, using the distances dx1 and dx2, a correction amount that is a difference between them is calculated, and the positioning position information of the vehicle is corrected.

Here, as described above, the roadway outer line is a road segment existing linearly along the traveling direction of the vehicle. For this reason, even when the vehicle is moving, it is not necessary to consider the relative position change between the vehicle and the roadway outer line with the passage of time.
That is, even if there is a time lag between the time of calculating the distance dx1 and the time of calculating the distance dx2 due to the movement of the vehicle, the distance dx1 can be used as it does not change. Therefore, even if the vehicle is moving, the positioning position information of the vehicle can be corrected. For example, the positioning position information of the vehicle can be corrected in real time.

  Further, in consideration of the traveling speed of the vehicle, the correction amount is calculated when the length of the roadway outer line is longer than the reference length. Therefore, the correction amount can be calculated without the correction amount calculation process failing in the middle.

  In the description of the present embodiment, correction related to the X direction in the positioning position information (C1) of the vehicle when the vehicle travels along the direction in which the roadway outer line (L1) exists is described with reference to FIG. As shown, even when the vehicle travels along the road outer line (L2) that exists in the direction intersecting the road outer line (L1), the position of the vehicle is determined using the correction device 11 according to the present embodiment. The position information (C2) can be corrected.

  For example, in the example shown in FIG. 6, the roadway outer line (L1) and the roadway outer line (L2) are orthogonal to each other. That is, when the vehicle travels along the roadway outer line (L2), the traveling direction (D2) of the vehicle is a direction perpendicular to the traveling direction (D1). Then, when the vehicle travels along the roadway outer line (L2), positioning in the Y direction (direction orthogonal to the X direction) in the positioning position information (C2) of the vehicle is performed by performing the same processing as described above. The position information can be corrected as shown in FIG.

  Specifically, as shown in FIG. 7, a distance dy1 (first distance) between the vehicle and the roadway outer line in the Y direction based on the captured image is calculated by the first calculation unit 110, and the vehicle in the Y direction is calculated. The second calculator 150 calculates a distance dy2 (second distance) between the positioning position information and the roadway outer line stored in advance. Then, the correction amount calculation unit 140 calculates the difference between the distance dy1 and the distance dy2, and outputs this difference to the correction unit 160 as the correction amount y in the Y direction in the positioning position information of the vehicle.

In the above example, the case where the traveling direction (D2) of the vehicle is a direction perpendicular to the traveling direction (D1) is described as an example. However, the traveling direction (D1) and the traveling direction (D2) of the vehicle are described. The position information of the vehicle during the movement in the traveling direction (D2) may be corrected by the correction device 11 when the angle between the two is within a predetermined angle range (for example, 85 ° to 95 °).
Here, the angle formed by the traveling direction (D1) and the traveling direction (D2) of the vehicle refers to θ shown in FIG.

As described above, when the vehicle travels in the traveling direction (D2) different from the traveling direction (D1) and the angle θ between the traveling direction (D1) and the traveling direction (D2) is within a predetermined angle range. The correction position information of the vehicle is corrected by the correction device 11. For this reason, correction in two directions can be performed on the positioning position information of the vehicle.
Thereby, even when the vehicle is traveling, the positioning position information of the vehicle can be corrected with high accuracy. For example, the positioning position information of the vehicle can be corrected with high accuracy in real time.

<Example 2>
Hereinafter, Example 2 will be described with reference to FIGS. 8 and 9.
In this embodiment, when a road segment is identified from the captured image and the identified road segment cannot be recognized for a predetermined section or more, a correction amount is calculated with reference to the alternative road segment, The positioning position information of the moving body is corrected.
The details will be specifically described below.

<Electrical configuration of correction device>
The electrical configuration of the correction device 12 according to the present embodiment will be described with reference to FIG.
As shown in this figure, the correction device 12 includes a first calculation unit 111, a first acquisition unit 120, a second acquisition unit 130, a correction amount calculation unit 140, a second calculation unit 150, and a correction unit 160. And an imaging unit 171 and a road block position determination unit 172.
In the present embodiment, as in the first embodiment, the moving body is described as a vehicle (automobile) and the road section is described as a roadway outer line, and the correction device 12 is mounted on the vehicle.

  For example, the imaging unit 171 is attached to the vehicle width direction center portion at the upper end of the windshield glass of the vehicle, and the imaging direction of the imaging unit 171 is set to the front in the traveling direction of the vehicle (D1, D2 in FIG. 9). . The imaging unit 171 captures an image ahead of the vehicle in the traveling direction, generates imaging data, and outputs the imaging data to the road partition position determination unit 172.

As an example, the road segment position determination unit 172 performs feature detection processing on the imaging data input from the imaging unit 171 and extracts a linear component and a line segment component.
For a plurality of extracted straight line components and line segment components, intersection points in all captured images of the extension lines are calculated, and an intersection point where the most straight line components intersect is defined as a vanishing point.
And the linear component through which the extension line passes a vanishing point is extracted as a vanishing point direction line segment. For the extracted vanishing point direction line segment, the captured image is divided into the right half and the left half from the center, and each vanishing point direction line segment is divided in each region in the divided captured image. Detect distribution state.
The detected distribution state is scanned rightward or leftward from the center, and the density of the vanishing point direction line segment is evaluated. Based on this evaluation, the vanishing point direction line segment in the area within the captured image that is most dense in each of the right direction and the left direction is determined as the roadway outer line, and the determination result is output to the first calculation unit 111. .

  In addition, it is preferable that the process of the road division position determination part 172 also performs the determination of the alternative road outer lines (L11, L21) when determining the outer road lines (L1, L2) that are the original road sections. . Moreover, it is preferable to assume a some alternative road division so that it can respond to any road conditions, without being limited to one road division.

The first calculation unit 111 determines a road partition for calculating the first distance.
Then, in the first calculation unit 111, when this road block cannot be recognized for a predetermined section or more from the captured image, another road block is set as a road block for calculating the first distance.

As an example, as shown in FIG. 9, the first calculation unit 111 initially calculates the first distance by determining the road outer lines L1 and L2 as road sections, as in the first embodiment. . At this time, if the roadway outer lines L1 and L2 cannot be recognized by the parked vehicles SC1 and SC2 for a predetermined section or more on the captured image, for example, the roadway outer lines L11 and L2 are replaced with the original roadway outer lines L1 and L2. , L21 is determined as a road block, and the first distance is calculated for a predetermined section that cannot be recognized on the captured image.
In the above description, the first distance is calculated by the alternative road section only in the predetermined section. However, the calculation of the first distance by the alternative road section continues even if the calculation exceeds the predetermined section. If possible, the calculation of the first distance by the alternative road section may be continued as it is.

  As a specific example of the calculation process, the first calculation unit 111 includes a vehicle and a road partition position determination unit 172 in the vehicle width direction (a direction orthogonal to the traveling direction (movement direction) of the vehicle) in the captured image. The first distance is calculated using the imaging parameters of the imaging unit 171 and the like, with the distance between the determined roadway outer line (L11, L21) as the first distance (dx1, dy1).

  The 1st acquisition part 120 is electrically connected to sensors and GPS receivers which are not illustrated, such as a gyro sensor and a geomagnetic sensor. And the 1st acquisition part 120 acquires the positioning position information of a vehicle with the signal from said sensor, a GPS receiver, etc., and memorize | stores it in the memory | storage part which is not shown in figure. At this time, information on the traveling direction D1 of the vehicle is also stored in the storage unit.

  The 2nd acquisition part 130 acquires the positional information on the road division memorize | stored previously from a database, a data server, etc., for example.

Similarly to the first embodiment, the correction amount calculation unit 140 uses the second calculation unit 150 to acquire the vehicle positioning position information acquired by the first acquisition unit 120 and the roadway outer line acquired by the second acquisition unit 130 ( The second distance is calculated based on the position information of L11, L21).
Specifically, although not shown, the second calculation unit 150 calculates the distance dx2 between the vehicle and the roadway outer line (L11) in the X direction and the vehicle and the roadway outer line (L21) in the Y direction. The distance dy2 is calculated as the second distance.
Further, the correction amount calculation unit 140 calculates a difference between the distance dx1 and the distance dx2, and outputs this difference to the correction unit 160 as a correction amount x in the X direction in the positioning position information of the vehicle. Similarly, a correction amount y in the Y direction is calculated and output to the correction unit 160.

  The correction unit 160 corrects the positioning position information in the X direction or the Y direction in the positioning position information of the vehicle based on the input correction amounts x and y.

  In the present embodiment, as in the first embodiment, the correction is performed when the length of the roadway outer line (L11, L21) is longer than the reference length sufficient for the correction process. The amount calculation unit 140 calculates the correction amount. In the present embodiment, as in the first embodiment, the reference length may be changed according to the traveling speed of the vehicle.

As described above, in the correction device 12 of the present embodiment, the roadway outer line that exists linearly along the traveling direction of the vehicle is specified from the captured image.
If the specified road outer line cannot be recognized for a predetermined section or more from the captured image, the correction amount is calculated for the predetermined section with reference to an alternative road section, and the vehicle positioning position Correct the information.
For this reason, even when the roadway outside line specified from the captured image cannot be recognized for a predetermined section or more, the correction to the positioning position information of the vehicle can be continued.
Further, even when the vehicle is moving, the positioning position information of the vehicle can be corrected. For example, the positioning position information of the vehicle can be corrected in real time.

  In the present embodiment, the parked vehicle is exemplified as a factor that the roadway outside line cannot be recognized for a predetermined section or more on the captured image. However, the present invention is not limited to this, but is not limited to this. It may be a factor due to road surface installations or the like.

  Furthermore, in the present embodiment, the use of an alternative road block has been described for a predetermined section in which the originally used road block cannot be recognized on the captured image. However, the alternative road block is imaged regardless of the predetermined section. Until the predetermined section which cannot be recognized is detected on the image, the alternative road section may be used for correction processing.

<Example 3>
Hereinafter, Example 3 will be described with reference to FIGS. 10 and 11.
In this embodiment, when a road segment cannot be recognized for a predetermined section or more, the predetermined section is interpolated and the correction amount is calculated using the interpolated road section. ing.
The details will be specifically described below.

<Electrical configuration of correction device>
The electrical configuration of the correction device 13 according to the present embodiment will be described with reference to FIG.
As shown in this figure, the correction device 13 includes a first calculation unit 112, a first acquisition unit 120, a second acquisition unit 130, a correction amount calculation unit 140, a second calculation unit 150, and a correction unit 160. And an imaging unit 171 and a road block position determination unit 172. The first calculation unit 112 includes an interpolation unit 113.
In the present embodiment, as in the first and second embodiments, the moving body is assumed to be a vehicle (automobile) and the road section is assumed to be a roadway outer line, and the correction device 13 is mounted on the vehicle.

  The imaging unit 171 is attached to, for example, the vehicle width direction central portion at the upper end of the windshield glass of the vehicle, and the imaging direction of the imaging unit 171 is set to the front of the vehicle in the traveling direction (D1, D2 in FIG. 11). . The imaging unit 171 captures an image ahead of the vehicle in the traveling direction, generates imaging data, and outputs the imaging data to the road partition position determination unit 172.

As an example, the road segment position determination unit 172 performs feature detection processing on the imaging data input from the imaging unit 171 and extracts a linear component and a line segment component.
For a plurality of extracted straight line components and line segment components, intersection points in all captured images of the extension lines are calculated, and an intersection point where the most straight line components intersect is defined as a vanishing point.
And the linear component through which the extension line passes a vanishing point is extracted as a vanishing point direction line segment. For the extracted vanishing point direction line segment, the captured image is divided into the right half and the left half from the center, and each vanishing point direction line segment is divided in each region in the divided captured image. Detect distribution state.
The detected distribution state is scanned rightward or leftward from the center, and the density of the vanishing point direction line segment is evaluated. Based on this evaluation, the vanishing point direction line segment in the area in the captured image that is most dense in each of the right direction and the left direction is determined as the roadway outer line, and the determination result is output to the first calculation unit 112. .

The first calculation unit 112 includes the vehicle and the roadway outer line determined by the road partition position determination unit 172 in the vehicle width direction (a direction orthogonal to the traveling direction (movement direction) of the vehicle) in the captured image. The distance between (L1, L2) is set as the first distance (dx1, dy1), and the first distance is calculated using the imaging parameters of the imaging unit 171 and the like.
In addition, when a road segment cannot be recognized for a predetermined section or more from the image captured by the imaging unit 171, the interpolation unit 113 in the first calculation unit 112 performs linear interpolation processing on the predetermined section on the image. The first calculation unit 112 calculates the first distance (dx1, dy1) using the road segment subjected to the linear interpolation processing by the interpolation unit 113.

  Accordingly, as shown in FIG. 11, when the first distance (dx1, dy1) is calculated using the roadway outside line L1, the roadway outside line L1 is captured by the parked vehicles SC1, SC2 over a predetermined section on the captured image. When it cannot be recognized, the interpolation unit 113 performs a linear interpolation process (overwrite and shaded part in FIG. 11) on a predetermined section that cannot be recognized on the captured image, and the first calculation unit 112 calculates the first distance (dx1, dy1). .

  The 1st acquisition part 120 is electrically connected to sensors and GPS receivers which are not illustrated, such as a gyro sensor and a geomagnetic sensor. And the 1st acquisition part 120 acquires the positioning position information of a vehicle with the signal from said sensor, a GPS receiver, etc., and memorize | stores it in the memory | storage part which is not shown in figure. At this time, information on the traveling direction D1 of the vehicle is also stored in the storage unit.

  The 2nd acquisition part 130 acquires the positional information on the road division memorize | stored previously from a database, a data server, etc., for example.

Similarly to the first embodiment, the correction amount calculation unit 140 uses the second calculation unit 150 to obtain the vehicle positioning position information acquired by the first acquisition unit 120 and the roadway outer line acquired by the second acquisition unit 130. Based on the position information, the second distance is calculated. Specifically, although not shown in the drawings, the second calculator 150 calculates the distance dx2 between the vehicle and the roadway outer line (L1) in the X direction and the vehicle and the roadway outer line (L2) in the Y direction. The distance dy2 between is calculated as the second distance.
Further, the correction amount calculation unit 140 calculates a difference between the distance dx1 and the distance dx2, and outputs this difference to the correction unit 160 as a correction amount x in the X direction in the positioning position information of the vehicle. Similarly, a correction amount y in the Y direction is calculated and output to the correction unit 160.

  The correction unit 160 corrects the positioning position information in the X direction or the Y direction in the positioning position information of the vehicle based on the input correction amounts x and y.

As described above, in the correction device 13 according to the present embodiment, even when the roadway outside line that exists linearly along the traveling direction of the vehicle cannot be recognized for a predetermined section or more on the captured image, the interpolation unit 113 Linear interpolation processing is performed for a predetermined section.
Then, the first calculation unit 112 calculates the first distance using the road segment subjected to the linear interpolation process by the interpolation unit 113.
In addition, the second calculation unit 150 calculates the second distance using the road segment subjected to the linear interpolation process by the interpolation unit 113.
For this reason, even when the roadway outside line specified from the captured image cannot be recognized for a predetermined section or more, the correction to the positioning position information of the vehicle can be continued. Further, even when the vehicle is moving, the positioning position information of the vehicle can be corrected. For example, the positioning position information of the vehicle can be corrected in real time.

  In the present embodiment, on the captured image, the parked vehicle is exemplified as a factor that the roadway outside line cannot be recognized for a predetermined section or more. However, the present invention is not limited to this, but is not limited to this. It may be a factor due to road surface installations or the like.

<Example 4>
Hereinafter, Example 4 will be described with reference to FIG.
In the present embodiment, the traveling direction of the moving body is detected, the calculated correction amount is stored, and when the moving body is detected to be traveling along the road section, a deviation of a predetermined value or more is detected. When a correction amount having a value is detected, the positioning position information of the moving body is corrected with a correction amount less than a predetermined value based on the stored correction amount.
The details will be specifically described below.

<Electrical configuration of correction device>
The electrical configuration of the correction device 14 according to the present embodiment will be described with reference to FIG.
As shown in this figure, the correction device 14 includes a first calculation unit 110, a first acquisition unit 120, a second acquisition unit 130, a correction amount calculation unit 141, a second calculation unit 150, and a correction unit 160. And an imaging unit 171, a road block position determination unit 172, a detection unit 180, and a storage unit 190.
In the present embodiment, as in the first to third embodiments, the moving body is assumed to be a vehicle (automobile) and the road section is assumed to be a roadway outer line, and the correction device 14 is mounted on the vehicle.

  The imaging unit 171 is attached to, for example, the vehicle width direction center portion at the upper end portion of the windshield glass of the vehicle, and the imaging direction of the imaging unit 171 is set to the front in the traveling direction of the vehicle. The imaging unit 171 captures an image ahead of the vehicle in the traveling direction, generates imaging data, and outputs the imaging data to the road partition position determination unit 172.

As an example, the road segment position determination unit 172 performs feature detection processing on the imaging data input from the imaging unit 171 and extracts a linear component and a line segment component.
For a plurality of extracted straight line components and line segment components, intersection points in all captured images of the extension lines are calculated, and an intersection point where the most straight line components intersect is defined as a vanishing point.
And the linear component through which the extension line passes a vanishing point is extracted as a vanishing point direction line segment. For the extracted vanishing point direction line segment, the captured image is divided into the right half and the left half from the center, and each vanishing point direction line segment is divided in each region in the divided captured image. Detect distribution state.
The detected distribution state is scanned rightward or leftward from the center, and the density of the vanishing point direction line segment is evaluated. Based on this evaluation, the vanishing point direction line segment in the area in the captured image that is most dense in each of the right direction and the left direction is determined as the roadway outer line, and the determination result is output to the first calculation unit 110. .

  Similarly to the first embodiment, the first calculation unit 110 includes a vehicle and a road partition position determination unit 172 in the vehicle width direction (a direction orthogonal to the traveling direction (movement direction) of the vehicle) in the captured image. The distances dx1 and dy1 (not shown) between the roadway outer line determined by the above are used as the first distance, and the first distance is calculated using the imaging parameters of the imaging unit 171 and the like.

  The 1st acquisition part 120 is electrically connected to sensors and GPS receivers which are not illustrated, such as a gyro sensor and a geomagnetic sensor. And the 1st acquisition part 120 acquires the positioning position information of a vehicle with the signal from said sensor, a GPS receiver, etc., and memorize | stores it in the memory | storage part which is not shown in figure. At this time, information on the traveling direction D1 of the vehicle is also stored in the storage unit.

  The 2nd acquisition part 130 acquires the positional information on the road division memorize | stored previously from a database, a data server, etc., for example.

Similarly to the first embodiment, the correction amount calculation unit 141 uses the second calculation unit 150 to obtain the vehicle positioning position information acquired by the first acquisition unit 120 and the roadway outer line acquired by the second acquisition unit 130. Based on the position information, the second distance is calculated.
Specifically, although not shown, the second calculation unit 150 calculates the distance dx2 between the vehicle and the roadway outer line in the X direction and the distance dy2 between the vehicle and the roadway outer line in the Y direction. Calculated as 2 distances.
The correction amount calculation unit 141 calculates a difference between the distance dx1 and the distance dx2, and outputs this difference to the correction unit 160 as a correction amount x in the X direction in the positioning position information of the vehicle. Similarly, a correction amount y in the Y direction is calculated and output to the correction unit 160.

The correction amount calculation unit 141 outputs a correction amount less than a predetermined value to the correction unit 160. Specifically, the correction amount calculation unit 141 sequentially monitors the detection results of the detection unit 180, which will be described later, and when it can be determined that the vehicle is traveling along the roadway outer line, the calculated correction amount is a predetermined value. It is determined whether or not the above deviation is present.
And when the correction amount has a deviation greater than or equal to a predetermined value, for example, instantaneous noise due to a large error in GPS information, misrecognition of a captured image, and the like, resulting in a large deviation in the calculation result, The correction amount calculation unit 141 determines.
Accordingly, the correction amount calculation unit 141 discards the calculation result, and outputs, for example, a value such as an average value of past correction amounts read from the storage unit 190 to the correction unit 160 as a correction amount.

  The correction unit 160 corrects the positioning position information of the vehicle based on the input correction amount.

The detection unit 180 detects the traveling direction of the vehicle. As an example, the detection unit 180 is a sensor such as a gyro sensor or a geomagnetic sensor, and in this embodiment, the detection unit 180 includes a vehicle and a roadway outer line that exists linearly along the traveling direction of the vehicle. Change in relative distance is detected.
Then, the detection unit 180 outputs the detected change in the relative distance between the vehicle and the roadway outer line to the correction amount calculation unit 141.

The storage unit 190 is electrically connected to the correction amount calculation unit 141 and stores the correction amounts calculated by the correction amount calculation unit 141 so far. The storage unit 190 writes and stores correction amount data in a desired area in accordance with a write request from the correction amount calculation unit 141.
Further, the storage unit 190 outputs correction amount data at a desired address to the correction amount calculation unit 141 in accordance with a read request from the correction amount calculation unit 141.

As described above, in the correction device 14, when the correction amount calculation unit 141 can determine from the monitor value of the detection result obtained from the detection unit 180 that the vehicle is traveling along the roadway outer line, It is determined whether or not the calculated correction amount has a deviation of a predetermined value or more.
When the correction amount has a deviation equal to or larger than a predetermined value, the correction amount calculation unit 141 discards the correction amount and corrects a likely correction amount based on the past correction amount read from the storage unit 190. Output to the unit 160.
Thereby, even when it becomes a sudden abnormal state, the positioning position information of a vehicle can be corrected stably. Further, even when the vehicle is moving, the positioning position information of the vehicle can be corrected. For example, the positioning position information of the vehicle can be corrected in real time.

  In the first to fourth embodiments, the second distance that is a difference between the positioning position information of the moving body acquired by the first acquisition unit 120 and the position information of the road block acquired by the second acquisition unit 130 is used. Based on the first distance calculated by the second calculator 150 and the first distance calculated by the first calculators 110 to 112 and the second distance calculated by the second calculator 150, the correction amount calculators 140 and 141 calculate the correction amount. However, the embodiment is not limited to this. For example, the position information of the road block based on the first distance calculated by the first calculation units 110 to 112 and the positioning position information of the moving body acquired by the first acquisition unit 120, and acquired by the second acquisition unit 130 The correction amount calculation units 140 and 141 may calculate the correction amount based on the difference from the position information of the road section that has been set.

  Further, in the first to fourth embodiments, the moving body is limited to the vehicle, but the person's positioning position information is corrected by the same process even in a person having a portable terminal or the like that can acquire the current positioning position information. can do.

Further, in the first to fourth embodiments, the configuration in which the correction amount calculation units 140 and 141 are provided in the correction devices 11 to 14 is illustrated. However, for example, the server is provided with the correction amount calculation units 140 and 141. Also good.
Specifically, the server includes first calculation units 110 to 112, a first acquisition unit 120, a second acquisition unit 130, and correction amount calculation units 140 and 141, from an imaging unit provided in the vehicle. And the vehicle positioning position information obtained from a sensor such as a gyro sensor or a geomagnetic sensor or a GPS receiver, calculate a correction amount, and output the calculated correction amount to the correction devices 10 to 14. You may do it. According to such a configuration, even if it takes time to transmit and receive large-capacity imaging data, if the calculation speed of the server is taken into consideration, the positioning position information of the vehicle is real-time in the same manner as the correction devices 11 to 14. Can also be corrected.
The server is the distance between the vehicle in the vehicle width direction in the captured image calculated by the first calculation units 110 to 112 and the roadway outer line determined by the road partition position determination unit 172. 1 distance and positioning position information of the vehicle obtained from sensors such as a gyro sensor and a geomagnetic sensor provided in the vehicle and a GPS receiver, and a server acquires the position information of the roadway outer line from the internal database. And the second distance is calculated from the obtained positioning position information of the vehicle and the extracted position information of the roadway outer line, and the server calculates a correction amount based on the first distance and the second distance. It is also possible to calculate and output the calculated correction amount to the correction devices 10 to 14. According to such a configuration, since large-capacity imaging data is not transmitted / received, it is expected that the positioning position information of the vehicle is corrected in real time rather than the correction devices 11 to 14.

  Moreover, in Example 1- Example 4, although the road division was limited to the roadway outer side line, what is necessary is just a road division which exists linearly along the advancing direction of a vehicle. For example, the road partition may be a curbstone, a guardrail, or the like provided at the road center line, the road boundary line, or the road edge. Even in these road sections, the vehicle positioning position information can be corrected by performing the same processing.

  Further, in the first to fourth embodiments, the road sections are discretely (intermittently) arranged like a delineator, a lighting lamp, a utility pole or rubber pole, a cat's eye provided in the center of the roadway, and the like. It may be a road section. Further, in the first to fourth embodiments, road surface paint in the roadway, for example, a stop sign or a line indicating parking prohibition, a maximum speed display, a rule sign such as a route bus priority display, or a stop line In addition, discretely arranged indicators such as arrows indicating the direction of travel, signs indicating that there is a pedestrian crossing or a bicycle lane, etc. may be used as road sections. If these road sections exist in a straight line along the traveling direction of the vehicle and the distance between them is longer than a reference length sufficient for performing correction processing, the road sections are arranged discretely. By performing necessary processing at the points of the road section, the positioning position information of the vehicle can be corrected.

  Note that the correction device of the present invention can be realized by recording the processing of the correction device on a recording medium readable by the computer system, causing the correction device to read and execute the program recorded on the recording medium. The computer system here includes an OS and hardware such as peripheral devices.

  Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW (World Wide Web) system is used. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

  Although the embodiments and examples of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to the embodiments or examples, and the scope of the present invention is not deviated. Design etc. are also included.

10-14; Correction device 110-112; 1st calculation part 113; Interpolation part 120; 1st acquisition part 130; 2nd acquisition part 140, 141; Correction amount calculation part 150; 2nd calculation part 160; Correction part 171; Imaging unit 172; road block position determination unit 180; detection unit 190; storage unit

Claims (12)

A first calculation unit for calculating a first distance between the moving object and a road segment existing linearly along the traveling direction of the moving object;
A first acquisition unit for acquiring positioning position information of the mobile body;
A second acquisition unit for acquiring position information of the road section stored in advance;
A correction amount calculation unit that calculates a correction amount for correcting the positioning position information of the mobile body based on the positioning position information, the position information of the road section, and the first distance;
A correction apparatus comprising:   The correction apparatus according to claim 1, further comprising: a correction unit that corrects the positioning position information of the moving body based on the correction amount calculated by the correction amount calculation unit.   3. The correction device according to claim 1, wherein the correction amount calculation unit calculates the correction amount when a length of the road block is greater than or equal to a reference length. 4. .   The correction apparatus according to claim 3, wherein the correction amount calculation unit changes the reference length according to a traveling speed of the moving body. A second calculation unit that calculates a second distance that is a difference between the positioning position information and the position information of the road section;
5. The correction apparatus according to claim 1, wherein the correction amount calculation unit calculates the correction amount based on the first distance and the second distance. 6.   The correction amount calculation unit calculates a first correction amount in a first traveling direction and a second correction amount in a second traveling direction different from the first traveling direction among the traveling directions. The correction device according to any one of claims 1 to 5.   The correction amount according to claim 6, wherein the correction amount calculation unit calculates the second correction amount when an angle formed by the second traveling direction with respect to the first traveling direction is within a predetermined angle range. apparatus. An imaging unit that images a plurality of road sections existing linearly along the traveling direction of the moving body,
When the road segment cannot be recognized for a predetermined section or more from the captured image, the first calculation unit is configured to detect the predetermined section, the moving object, and another image that exists in the straight line from the captured image. The correction device according to any one of claims 1 to 7, wherein the first distance between the road section and the road block is calculated. An imaging unit that images a road segment existing linearly along the traveling direction of the moving body;
An interpolation unit for linearly interpolating the predetermined section on the image when the road segment cannot be recognized from the captured image over a predetermined section;
With
The correction according to any one of claims 1 to 7, wherein the first calculation unit calculates the first distance by using the road segment interpolated by the interpolation unit. apparatus. A detection unit for detecting a traveling direction of the moving body;
A storage unit for storing the correction amount calculated by the correction amount calculation unit;
With
The correction amount calculation unit is configured to detect the correction amount having a deviation equal to or greater than a predetermined value when the moving body is moving along the road section from the detection result of the detection unit. 10. The correction apparatus according to claim 2, wherein the correction amount less than a predetermined value is output to the correction unit based on the correction amount stored in the storage unit. 11. A correction method in a correction apparatus including a first calculation unit, a first acquisition unit, a second acquisition unit, and a correction amount calculation unit,
A first step in which the first calculation unit calculates a first distance between the moving object and a road segment existing linearly along the traveling direction of the moving object;
A second step in which the first acquisition unit acquires positioning position information of the moving body;
A third step in which the second acquisition unit acquires pre-stored position information of the road block; and the correction amount calculation unit includes the positioning position information, the position information of the road block, and the first A fourth step of calculating a correction amount for correcting the positioning position information of the moving body based on one distance;
A correction method characterized by comprising: A program for causing a computer to execute a correction method in a correction apparatus including a first calculation unit, a first acquisition unit, a second acquisition unit, and a correction amount calculation unit,
A first step in which the first calculation unit calculates a first distance between the moving object and a road segment existing linearly along the traveling direction of the moving object;
A second step in which the first acquisition unit acquires positioning position information of the moving body;
A third step in which the second acquisition unit acquires position information of the road section stored in advance;
A fourth step in which the correction amount calculation unit calculates a correction amount for correcting the positioning position information of the mobile body based on the positioning position information, the position information of the road section, and the first distance; When,
A program that causes a computer to execute.

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