JP2019124589A5

JP2019124589A5 -

Info

Publication number: JP2019124589A5
Application number: JP2018005515A
Authority: JP
Filing date: 2018-01-17
Publication date: 2020-07-09
Anticipated expiration: 2038-01-17

Description

本開示の一形態によれば、移動装置（１０）において取得された前記移動装置の走行情報を用いて計算された、前記移動装置が走行する走路の特徴である走路特徴量を逐次取得する第１取得部（１１０）と；前記走路特徴量と走路の位置とが対応付けられた地図情報（２１０）を用いて、前記移動装置において測位された前記移動装置の自己位置に対応する前記走路特徴量を逐次取得する第２取得部（１２０）と；前記第２取得部により取得された前記走路特徴量から得られる第２走行軌跡（Ｆ２,ｆ２）を、前記第１取得部により取得された前記走路特徴量から得られる第１走行軌跡（Ｆ１,ｆ１）に近づけるための、前記第２走行軌跡のずらし量（α）を算出する算出部（１３０）と；前記ずらし量を用いて、前記移動装置において測位された前記自己位置を補正する補正部（１４０）と、を備える。 According to an aspect of the present disclosure , a track feature amount, which is a feature of a track on which the mobile device travels, calculated using the travel information of the mobile device acquired by the mobile device (10) is sequentially acquired. first obtaining section (110) and; using the map information and position of the runway feature quantity and run channel is associated (210), corresponding to the self-location of the mobile device that is positioning in the mobile device the A second acquisition unit (120) that sequentially acquires the track characteristic amount; and a second travel locus (F2, f2) obtained from the track characteristic value acquired by the second acquisition unit, by the first acquisition unit. A calculation unit (130) for calculating a shift amount (α) of the second traveling locus in order to approach the first traveling locus (F1, f1) obtained from the traveled road characteristic amount; A correction unit (140) for correcting the self-position measured by the mobile device .

Claims

A first acquisition unit (110) that sequentially acquires a runway feature amount that is a feature amount of a runway on which the mobile device travels, calculated using the travel information of the mobile device acquired by the mobile device (10);
Using the map information and position of the runway feature quantity and run channel is associated (210), the sequentially acquires the road feature quantity corresponding to the self-position of the positioning by said mobile device in the mobile device 2 acquisition unit (120),
The second travel locus (F2, f2) obtained from the runway feature amount acquired by the second acquisition unit is converted into the first travel locus (F1, F2) obtained from the runway feature amount acquired by the first acquisition unit. a calculation unit (130) for calculating the shift amount (α) of the second traveling locus for approaching f1);
A self-position correction device , comprising: a correction unit (140) that corrects the self-position measured by the mobile device using the shift amount.

The self-position correction device according to claim 1, wherein
The self-position correction device, wherein the track feature amount is a curvature or a gradient of the track.

The self-position correction device according to claim 1 or 2, wherein
The calculation unit calculates the shift amount that minimizes the integrated value of the difference between the runway feature amount on the first travel locus and the runway feature amount on the locus after the second travel locus is shifted. A self-position correction device that calculates the shift amount used by the.

The self-position correction device according to claim 3 ,
Wherein the correction unit includes, as the change in the difference in the case of changing the pre-Symbol offset amount is small, the amount for correcting the self-position is less than the shift amount of the difference is the smallest, the self position correcting device ..

The self-position correction device according to claim 3,
The self-position correction device, wherein the correction unit corrects the self-position measured by the mobile device using a value obtained by multiplying the shift amount by a coefficient of 1.0 or less with respect to the change amount of the integrated value.

The self-position correction device according to any one of claims 1 to 5,
The first traveling locus and the second traveling locus are functions indicating the relationship between the traveling distance and the traveling road characteristic amount,
The displacement amount corresponds to a traveling distance of the moving device in a traveling direction or a retreating direction.

Were calculated using the traveling information of the mobile device, the track feature quantity is a feature quantity of the runway where the mobile device is traveling, the successive approximation next acquisition to step (S10),
Using the map information and the position of the track features and runway is associated, and the step (S20) for sequentially acquiring the road feature quantity corresponding to the self-position of the positioning by said mobile device in the mobile device,
The second traveling locus for making the second traveling locus obtained from the traveling road characteristic amount acquired using the map information closer to the first traveling locus obtained from the traveling road characteristic amount calculated using the traveling information. calculating a shift amount of the running locus and (S30),
A step (S40) of correcting the self-position measured by the mobile device using the shift amount, and a self-position correction method.