JP2019056635A - Position detection device - Google Patents

Abstract

To provide a position detection device capable of improving the accuracy of vehicular azimuth calculation by autonomous navigation.SOLUTION: A position detection device 10 is a position detection device mounted on a vehicle including a map information storage device 6 for storing map information, a yaw rate sensor 5a, an imaging device 4a, and an image processing device 4b for recognizing a lane on which a vehicle currently travels from an image picked up by the imaging device includes: an autonomous navigation part 12 for calculating a first azimuth representing the azimuth of a vehicle on the basis of a detection result of the yaw rate sensor; a correction azimuth calculation part 13 for calculating a second azimuth representing the azimuth of the vehicle by using a lane azimuth calculated on the basis of a to-lane yaw angle being an angle of a yaw direction of a lane to a traveling direction of the vehicle calculated on the basis of an output or an image from the image processing device and the map information; and a control part 14 for correcting the first azimuth by using the second azimuth.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position detection device that detects the position of a vehicle by autonomous navigation.

  A position detection device that detects the current position of a vehicle is disclosed in, for example, Japanese Patent Application Laid-Open No. 2008-215917. The position detection device disclosed in Japanese Patent Application Laid-Open No. 2008-215917 is based on the detection result of the vehicle speed and the detection result of the angular velocity in the yaw direction of the vehicle, and the relative position of the vehicle to a predetermined reference point. Autonomous navigation (dead-reckoning navigation) that calculates the correct position is possible.

Japanese Patent Application Laid-Open No. 2008-215917

  As the period for performing autonomous navigation by the position detection device becomes longer, the error in detecting the vehicle speed and angular velocity by the sensor accumulates, and the accuracy of positioning by autonomous navigation deteriorates.

  The present invention solves the above-described problems, and an object thereof is to provide a position detection device that can improve the accuracy of vehicle azimuth calculation by autonomous navigation.

  A position detection device according to an aspect of the present invention captures a map information storage device that stores map information indicating a shape of a road, a yaw rate sensor that detects a yaw rate that is an angular velocity in a yaw direction of the vehicle, and an image of the traveling direction of the vehicle A position detecting device mounted on a vehicle, the image detecting device recognizing a lane in which the vehicle is traveling based on an image picked up by the image pickup device, the detection of the yaw rate sensor An autonomous navigation unit that calculates a first direction representing the direction of the vehicle based on the result, and an angle of the yaw direction of the lane with respect to the traveling direction of the vehicle, calculated based on the output from the image processing device or the image Correction for calculating a second azimuth representing the azimuth of the vehicle using a certain lane yaw angle and a lane azimuth that is a azimuth of the lane calculated based on the map information Comprising a position calculation unit, and a control unit which corrects the first orientation using the second orientation.

  ADVANTAGE OF THE INVENTION According to this invention, the position detection apparatus which can improve the precision of the azimuth | direction calculation of the vehicle by autonomous navigation can be provided.

It is a block diagram which shows the structure in connection with the position detection apparatus of a vehicle. It is a figure for demonstrating an anti-lane yaw angle. It is a flowchart of an autonomous navigation direction calculation process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the drawings used for the following description, the scale of each component is made different in order to make each component recognizable on the drawing. It is not limited only to the quantity of the component described in (1), the shape of the component, the ratio of the size of the component, and the relative positional relationship of each component.

  A position detection device 10 of this embodiment shown in FIG. 1 is a device that is mounted on a vehicle 1 and detects the current position of the vehicle 1. The current position of the vehicle 1 detected by the position detection device 10 includes at least latitude and longitude information.

  The detection result of the current position of the vehicle 1 by the position detection device 10 is input to the travel route calculation device 2 of the vehicle 1. The travel route calculation device 2 calculates the travel route of the vehicle 1 during manual operation or automatic operation.

  The form of the travel route calculation device 2 is not particularly limited. The travel route calculation device 2 may be a so-called navigation device that presents the route to the destination to the driver during manual driving, for example. Further, for example, the travel route calculation device 2 may be a part of an automatic driving system that calculates the travel route of the vehicle 1 during automatic driving.

  In the present embodiment, as an example, the vehicle 1 includes an automatic driving system 3. The vehicle 1 also includes an external environment recognition device 4 that outputs information used in the automatic driving system 3, a state quantity detection device 5, a map information storage device 6, and a position detection device 10. The automatic driving system 3, the external environment recognition device 4, the state quantity detection device 5, the map information recognition device 6 and the position detection device 10 perform data communication with each other via the communication network 7 or a dedicated communication line.

  The external environment recognition device 4 recognizes the lane of the road on which the vehicle 1 is traveling based on the imaging device 4a that images the front of the vehicle 1 in the traveling direction, and the image captured by the imaging device 4a. And an image processing device 4b that detects a relative position and posture of the vehicle 1. The imaging device 4a may be a stereo camera.

  Specifically, as shown in FIG. 2, the image processing device 4 b is configured to detect the vehicle 1 with respect to the longitudinal axis of the vehicle 1 in a coordinate system on a plane parallel to the road surface where the origin O is fixed at a predetermined position of the vehicle 1. The lane yaw angle θ1 that is the angle in the yaw direction of the lane 100 that is traveling is detected.

  FIG. 2 shows an XY coordinate system, which is an orthogonal coordinate system on the road surface parallel to the road surface, with a predetermined position of the vehicle 1 as the origin O, and the X axis is parallel to the vehicle width direction of the vehicle 1. Yes, the Y-axis is parallel to the front-rear direction (traveling direction) of the vehicle 1. The image processing device 4b detects an angle on a plane parallel to the road surface between the Y axis and the lane axis R that is an axis parallel to the extending direction of the lane 100 as an anti-lane yaw angle θ1.

  Here, the extending direction of the lane 100 is a longitudinal direction of the lane 100, and the lane axis R is a line passing through the center point of the lane 100 in the width direction, for example. The angle on a plane parallel to the road surface is an angle in the yaw direction of the vehicle 1. In other words, the lane yaw angle θ1 is an angle difference between the traveling direction of the vehicle 1 and the yaw direction with respect to the direction in which the lane 100 extends.

  In the present embodiment, as an example, the anti-lane yaw angle θ1 is 0 when the Y axis and the lane axis R are parallel, and the clockwise direction when viewed from above is positive. That is, as shown in FIG. 2, when the traveling direction of the vehicle 1 is shifted to the left with respect to the lane axis R, the lane yaw angle θ1 is a positive value. It becomes.

  The method for detecting the lane axis R based on the image captured by the image capturing device 4a by the image processing device 4b is not particularly limited. In the present embodiment, the image processing device 4b recognizes a linear or dashed road marking indicating the boundary of the lane 100 in which the vehicle 1 is traveling from the image, and determines the lane axis R from the recognition result of the road marking. Is detected. The road marking recognized by the image processing device 4b may be one of the left and right sides of the vehicle 1 or both.

  Note that the image processing device 4b may detect the anti-lane yaw angle θ1 from a comparison of a plurality of images captured at predetermined time intervals by the imaging device 4a. In this case, the image processing device 4b determines whether the moving distance in the traveling direction of the vehicle 1 during the predetermined period and the moving distance in the vehicle width direction with respect to the road marking of the vehicle 1 during the predetermined period. A lane yaw angle θ1 is calculated.

  The state quantity detection device 5 detects a state quantity indicating the running state of the vehicle 1. The state quantity detection device 5 includes a yaw rate sensor 5a that detects an angular velocity of the vehicle 1 in the yaw direction, and a vehicle speed sensor 5b that detects a vehicle speed. Although not shown, the state quantity detection device 5 includes an acceleration sensor that detects the longitudinal acceleration of the vehicle 1, a steering angle sensor that detects the steering angle of the vehicle 1, and the like.

  The map information storage device 6 stores map information indicating the shape of the road on which the vehicle 1 is traveling. The map information storage device 6 may be configured to store map information in a predetermined country or region prepared in advance, or one of the map information stored in a server existing outside the vehicle 1. The unit may be received via road-to-vehicle communication, a mobile communication network, or the like according to a route on which the vehicle 1 is to travel, and temporarily stored.

  The map information includes information representing the lane direction θ2 that is the direction of the lane 100 of the road on which the vehicle is traveling. The direction of the lane 100 is an angle around the vertical axis of the lane axis R. In the present embodiment, the case where the extending direction of the lane 100 is true north is set to 0, and the clockwise direction when viewed from vertically above is set as a positive direction.

  Note that the map information does not need to include the lane direction θ2 directly as an independent value, but may include information for deriving the lane direction θ2. For example, the lane direction θ2 can be calculated from the coordinates (latitude and longitude) of the center point in the width direction of two lanes 100 separated by a predetermined distance. Accordingly, the map information only needs to include the coordinates of the center point in the width direction of the lane 100.

  The travel route calculation device 2 includes a current position of the vehicle 1 detected by the position detection device 10, a road shape detected by the external environment recognition device 4, a state amount of the vehicle 1 detected by the state amount detection device 5, and a map information storage device. Based on the stored map information, a travel route that is a target for traveling the vehicle 1 during automatic driving is calculated. And the automatic driving system 3 performs the automatic driving | operation which controls the steering apparatus with which the vehicle 1 is equipped so that the vehicle 1 drive | works along a driving | running route. Since automatic driving by the automatic driving system 3 using information such as the current position is a well-known technique, detailed description thereof is omitted.

  Next, details of the configuration of the position detection device 10 will be described. The position detection device 10 includes a satellite navigation unit 11 and an autonomous navigation unit 12. Further, the position detection apparatus 10 includes a control unit 14 that is a computer that executes a predetermined program.

  The satellite navigation unit 11 generally performs positioning using a satellite positioning system called GPS, GNSS, etc., and detects the current position of the vehicle 1. The satellite navigation unit 11 may use information received by road-to-vehicle communication or the like for detection of the current position.

  The autonomous navigation unit 12 detects the relative current position of the vehicle 1 with respect to a predetermined point based on the detection results of a plurality of sensors provided on the vehicle 1. That is, the autonomous navigation unit 12 performs so-called autonomous navigation in which positioning is performed without using a signal received from the outside such as a satellite positioning system or road-to-vehicle communication.

  In the present embodiment, the autonomous navigation unit 12 detects the moving speed and the first azimuth θv of the vehicle 1 based on the detection results of the state quantity detection device 5 and the external environment recognition device 4 included in the vehicle. In the present embodiment, the first direction θv of the vehicle 1 is an angle with respect to the true north of an axis parallel to the front-rear direction of the vehicle 1 on a plane parallel to the road surface. The first azimuth θv is 0 when the vehicle 1 is facing true north, and the clockwise direction when viewed from vertically above is positive.

  The autonomous navigation unit 12 calculates the moving speed of the vehicle 1 based on the detection result of the vehicle speed sensor 5b included in the state quantity detection device 5. The autonomous navigation unit 12 determines the first azimuth θv based on the value of the reference azimuth θ0, which is the azimuth of the vehicle 1 at a predetermined time, and the integral value of the yaw rate from the predetermined time detected by the yaw rate sensor 5a. calculate.

  In addition, the autonomous navigation unit 12 includes a corrected azimuth calculating unit 13 that calculates the azimuth of the vehicle 1 by a method different from the first azimuth θv. The direction of the vehicle 1 calculated by the traveling direction calculation unit 13 is hereinafter referred to as a second direction θc.

  The corrected azimuth calculating unit 13 calculates the second azimuth θc based on the lane yaw angle θ1 and the lane azimuth θ2. The anti-lane yaw angle θ1 is a value calculated by the image processing device 4b based on the image picked up by the image pickup device 4a as described above, and the vehicle 1 travels with respect to the longitudinal axis (traveling direction) of the vehicle 1. This is the angle of the lane 100 in the yaw direction. The lane direction θ2 is a value derived from the map information stored in the map information storage device 6 as described above, and is the direction of the lane 100 in which the vehicle 1 is traveling.

  The corrected azimuth calculating unit 13 calculates the second azimuth θc by adding the anti-lane yaw angle θ1 and the lane azimuth θ2. That is, θc = θ1 + θ2.

  The position detection device 10 calculates the azimuth of the vehicle 1 based on the positioning result by the satellite navigation unit 11 when the positioning error by the satellite navigation unit 11 is equal to or less than a predetermined value, and sends it to the travel route calculation device 2. Output. The azimuth of the vehicle 1 calculated based on the positioning result by the satellite navigation unit 11 is hereinafter referred to as satellite navigation azimuth θs. The satellite navigation azimuth θs is calculated based on the amount of change in latitude and longitude of the vehicle 1 during a predetermined period. That is, when the positioning error by the satellite navigation unit 11 is equal to or less than a predetermined value, the information on the azimuth of the vehicle 1 output from the position detection device 10 is the satellite navigation azimuth θs.

  And the position detection apparatus 10 calculates the azimuth | direction of the vehicle 1 based on the positioning result by the autonomous navigation part 12, when the error of the positioning by the satellite navigation part 11 exceeds a predetermined value. The direction of the vehicle 1 calculated based on the positioning result by the autonomous navigation unit 12 is hereinafter referred to as an autonomous navigation direction θdr.

  FIG. 3 is a flowchart of an autonomous navigation azimuth calculation process for calculating the autonomous navigation azimuth θdr by the position detection device 10. The autonomous navigation direction calculation process shown in FIG. 3 is repeatedly executed at a predetermined cycle.

  In the autonomous navigation azimuth calculation process, first, in step S110, the control unit of the position detection device 10 determines whether or not the lane 100 in which the vehicle 1 is traveling is linear. Whether or not the lane 100 is straight may be determined based on the map information stored in the map information storage device 11b or based on the image captured by the imaging device 4a. Also good.

  If it is determined in step S110 that the lane 100 in which the vehicle 1 is traveling is not linear, the control unit proceeds to step S200. That is, when the lane 100 in which the vehicle 1 is traveling is bent, the control unit proceeds to step S200.

  In step S200, the control unit sets the first direction θv as the autonomous navigation direction θdr and outputs it. As described above, the first azimuth θv is a value calculated based on the value of the reference azimuth θ0 that is the azimuth of the vehicle 1 at a predetermined time and the integral value of the yaw rate from the predetermined time.

  On the other hand, when it is determined in step S110 that the lane 100 in which the vehicle 1 is traveling is straight, the control unit proceeds to step S120.

  In step S120, the control unit determines whether the positioning error by the satellite navigation unit 11 is equal to or less than a predetermined threshold value. In step S120, when the positioning error by the satellite navigation unit 11 is equal to or less than the predetermined threshold, the control unit proceeds to step S130.

  In step S130, the control unit corrects the first azimuth θv using the satellite navigation azimuth θs. Specifically, in step S130, the control unit changes the value of the reference azimuth θ0 to the latest satellite navigation azimuth θs, and sets the integration time and integration value of the yaw rate to zero. By executing step S130, calculation of the first azimuth θv by the autonomous navigation unit 12 with the latest satellite navigation azimuth θs as the reference azimuth θ0 is newly started. And a control part transfers to step S200, makes 1st bearing (theta) v into autonomous navigation bearing (theta) dr, and outputs it.

  On the other hand, if the positioning error by the satellite navigation unit 11 exceeds the predetermined threshold in step S120, the control unit proceeds to step S150. In step s150, the control unit corrects the first direction θv using the second direction θc.

  Specifically, in step S150, the control unit sets the value of the reference azimuth θ0 as the latest second azimuth θc, and sets the integration time and integration value of the yaw rate as zero. Execution of step S150 newly starts the calculation of the first azimuth θv by the autonomous navigation unit 12 with the latest second azimuth θc as the reference azimuth θ0. And a control part transfers to step S200, makes 1st bearing (theta) v into autonomous navigation bearing (theta) dr, and outputs it.

  As described above, the position detection device 10 of the present embodiment calculates the on-lane yaw angle θ1 that is the angle in the yaw direction of the lane 100 with respect to the vehicle 1 calculated based on the image captured by the imaging device 4a. A second azimuth θc representing the azimuth of the vehicle 1 is calculated using the lane azimuth θ2 that is the azimuth of the lane 100 calculated based on the map information. The position detection device 10 corrects the first azimuth θv calculated based on the detection result of the yaw rate sensor 5a using the second azimuth θc when the autonomous navigation unit 12 calculates the autonomous navigation azimuth θdr. The first direction θv is set as the autonomous navigation direction θdr.

  In the position detection device 10 of this embodiment, the value of the autonomous navigation azimuth θdr (the value of the first azimuth) is corrected by using the result of recognizing the lane 100 by the imaging device 4a and the image processing device 4b. In other words, if the lane 100 can be recognized by the imaging device 4a and the image processing device 4b, the influence of the accumulated yaw rate detection error on the autonomous navigation direction θdr calculated by the autonomous navigation by the position detection device 10 of the present embodiment. Can be eliminated.

  Therefore, according to the position detection device 10 of the present embodiment, it is possible to improve the accuracy of vehicle orientation calculation by autonomous navigation.

  For example, when traveling in a curved lane, if there is a difference between the actual position (latitude and longitude) of the vehicle 1 and the positioning result, an error occurs in the calculation result of the second direction θc. There is a risk that. Therefore, the position detection device 10 of the present embodiment corrects the value of the autonomous navigation azimuth θdr when the vehicle 1 is traveling in a straight lane, so that the influence of the error in the positioning result is affected by the autonomous navigation azimuth θdr. It is prevented from reaching the correction.

  In the embodiment described above, the map information storage device 6, the yaw rate sensor 5 a, the vehicle speed sensor 5 b, the imaging device 4 a, and the image processing device 4 b are provided in the vehicle 1 and are described as being separate from the position detection device 10. However, some or all of these configurations may be integrated with the position detection device 10.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit or idea of the invention that can be read from the claims and the entire specification. A position detection device with such a change can also be used. Moreover, it is included in the technical scope of the present invention.

1 vehicle,
2 travel route calculation device,
3 automatic driving system,
4 External environment recognition device,
4a imaging device,
4b image processing device,
5 state quantity detection device,
5a Yaw rate sensor,
5b vehicle speed sensor,
6 Map information storage device,
7 Communication network,
10 position detection device,
11 Satellite Navigation Department,
12 Autonomous Navigation Department,
13 correction direction calculation unit,
14 control unit,
100 lanes.

Claims (3)

A map information storage device for storing map information indicating the shape of the road;
A yaw rate sensor that detects a yaw rate that is an angular velocity in the yaw direction of the vehicle;
An imaging device for imaging the traveling direction of the vehicle;
An image processing device for recognizing a lane in which the vehicle is traveling based on an image captured by the imaging device;
A position detection device mounted on a vehicle comprising:
An autonomous navigation unit that calculates a first direction representing the direction of the vehicle based on a detection result of the yaw rate sensor;
The lane yaw angle calculated based on the map information and the lane yaw angle calculated based on the output from the image processing device or the image and the yaw direction of the lane with respect to the traveling direction of the vehicle A corrected azimuth calculating unit that calculates a second azimuth representing the azimuth of the vehicle using a certain lane azimuth;
A controller that corrects the first orientation using the second orientation;
A position detection device comprising: The position detection device according to claim 1, wherein the control unit corrects the first azimuth by using the second azimuth when the lane in which the vehicle is traveling is linear. A satellite navigation unit that performs positioning of the vehicle using a satellite positioning system;
The control unit uses the second azimuth when the positioning error by the satellite navigation unit exceeds a predetermined threshold and the lane in which the vehicle is traveling is linear. The position detection apparatus according to claim 1, wherein the direction is corrected.

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