JP2020046413A - Data structure, storage device, terminal device, server device, control method, program, and storage medium - Google Patents

Abstract

To provide a data structure of transmission data suitable when transmitting measurement information measured by a measuring device attached to a mobile body, and a terminal device and a server device that transmit and receive the transmission data.SOLUTION: A data structure of upload information Iu includes a measurement value [x, y, z]indicating an object measured by a lidar 2 attached to a vehicle, and a coordinate conversion flag indicating whether the measurement value [x, y, z]is indicated by a lidar coordinate system based on the position of the lidar 2 (in other words, whether it is converted from the lidar coordinate system into the world coordinate system). Then, on the basis of the coordinate conversion flag, the upload information Iu is transmitted to a server device 6 that converts the coordinate system of the measurement value [x, y, z]into the world coordinate system.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a technique for utilizing information on a mounting position and a posture of a measuring device.

  2. Description of the Related Art Conventionally, a technology for estimating a position of a vehicle based on measurement data of a measurement device such as a radar or a camera has been known. For example, Patent Literature 1 discloses a technique for estimating a self-position by comparing an output of a measurement sensor with position information of a feature registered on a map in advance. Patent Document 2 discloses a vehicle position estimation technology using a Kalman filter.

JP 2013-257742 A JP 2017-72422 A

  The data obtained from the measuring device is a value in the coordinate system based on the measuring device, and is data depending on the attitude of the measuring device with respect to the vehicle, and so is converted into a value in the coordinate system based on the vehicle. There is a need. Therefore, when a deviation occurs in the position or posture of the measuring device, it is necessary to accurately detect the deviation and reflect the deviation in the data of the measuring device.

  The present invention has been made in order to solve the above-described problems, and has a data structure of transmission data suitable for transmitting measurement information measured by a measurement device attached to a moving object, and a data structure of the transmission data. A main object is to provide a terminal device and a server device that perform transmission and reception.

  The invention according to the claims, the measurement information including the position information of the object measured by the measurement device placed on the moving body, and whether the position information is indicated in a coordinate system based on the position of the measurement device And a coordinate system information indicating whether or not the position information is coordinated based on the coordinate system information.

  Further, according to the invention described in the claims, the measurement information including the position information of the object measured by the measurement device arranged on the moving body, and the position information, the coordinates different from a coordinate system based on the position of the measurement device A coordinate system information indicating whether or not the coordinate system has been converted, and a data structure of the transmission data transmitted to an information processing apparatus that performs coordinate conversion of the position information based on the coordinate system information. Structure.

  Further, the invention according to the claims is a terminal device, wherein an acquisition unit that acquires measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information is the measurement device. A generating unit that generates coordinate system information indicating whether or not indicated by a coordinate system based on the position of the position, the measurement information, and the coordinate system information, a transmission unit that transmits the information to the information processing apparatus, Have.

  Further, the invention according to the claims is a terminal device, wherein an acquisition unit that acquires measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information is the measurement device. A generating unit that generates coordinate system information indicating whether or not the coordinate system has been transformed from a coordinate system based on the position of the coordinate system to a different coordinate system; and a transmitting unit that transmits the measurement information and the coordinate system information to an information processing apparatus. And

  Further, the invention according to the claims is a server device, wherein the measurement information including the position information of the object measured by the measurement device attached to the moving body, and coordinate system information regarding the coordinate system of the position information, A receiving unit that receives from the terminal device; and a converting unit that performs coordinate conversion of the position information based on the coordinate system information.

  Further, the invention according to the claims is a control method executed by a terminal device, wherein: an acquisition step of acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body; and Is coordinate system information indicating whether or not indicated by a coordinate system based on the position of the measuring device, or the position information is converted from a coordinate system based on the position of the measuring device to a different coordinate system. And a transmission step of transmitting the measurement information and the coordinate system information to the information processing apparatus.

  The invention described in the claims is a control method executed by the server device, wherein the measurement information including the position information of the object measured by the measurement device attached to the moving object, and the coordinates related to the coordinate system of the position information. And a conversion step of performing coordinate conversion of the position information based on the coordinate system information.

  Further, the invention according to the claims is a program executed by a computer, an acquisition unit for acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information, Coordinate system information indicating whether or not indicated by a coordinate system based on the position of the measuring device, or whether the position information has been converted from a coordinate system based on the position of the measuring device to a different coordinate system And causing the computer to function as transmission means for transmitting the measurement information and the coordinate system information to the information processing apparatus.

  According to another aspect of the present invention, there is provided a program executed by a computer, comprising: measurement information including position information of an object measured by a measurement device attached to a moving object; and coordinate system information regarding a coordinate system of the position information. , From the terminal device, and the computer functioning as conversion means for performing coordinate conversion of the position information based on the coordinate system information.

It is a schematic structure figure of a map updating system. FIG. 2 is a block diagram illustrating a functional configuration of the vehicle-mounted device and the server device. FIG. 3 is a diagram illustrating a relationship between a vehicle coordinate system and a rider coordinate system represented by two-dimensional coordinates. FIG. 3 is a diagram illustrating a relationship between a vehicle coordinate system represented by three-dimensional coordinates and a rider coordinate system. FIG. 3 is a diagram illustrating a relationship between a vehicle coordinate system represented by two-dimensional coordinates and a world coordinate system. 4 shows a data structure of upload information. It is a flowchart of an upload process. It is a flowchart of a map update process.

  According to a preferred embodiment, the measurement information including the position information of the object measured by the measurement device arranged on the moving body and the position information are indicated in a coordinate system based on the position of the measurement device? And a coordinate system information indicating whether or not the position information is coordinated based on the coordinate system information. By using the transmission data having such a data structure, the information processing apparatus can accurately determine whether the coordinate conversion of the position information of the received measurement information is necessary.

  According to another preferred embodiment, the measurement information including the position information of the object measured by the measurement device arranged on the moving object, and the position information is different from a coordinate system based on the position of the measurement device. A coordinate system information indicating whether or not the coordinate system has been converted, and a data structure of the transmission data transmitted to an information processing apparatus that performs coordinate conversion of the position information based on the coordinate system information. Structure. By using the transmission data having such a data structure, the information processing apparatus can accurately determine whether the coordinate conversion of the position information of the received measurement information is necessary.

  In another aspect of the data structure, the data structure of the transmission data includes information on an attachment position and orientation of the measurement device to the moving object when the measurement device measures the object, and the measurement device And information on the position and orientation of the moving object at the time of measurement. Here, the “attachment position / posture to the moving body” refers to a position (attachment position) or / and a posture (attachment angle) at which the measurement device is attached to the moving body. By receiving the transmission data having this data structure, the information processing apparatus can suitably execute the coordinate conversion from the coordinate system based on the position of the measuring apparatus.

  In another preferred embodiment, the storage device stores data having any of the data structures described above. The storage device may, for example, accumulate such data and use it for map updating, or may transmit the data to a server device that performs map updating.

  In still another preferred embodiment, the terminal device is an obtaining unit that obtains measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information indicates a position of the measurement device. The information processing apparatus includes a generation unit that generates coordinate system information indicating whether or not the coordinate system is indicated by a reference coordinate system, and a transmission unit that transmits the measurement information and the coordinate system information to an information processing device. According to this aspect, the terminal device can cause the information processing device to appropriately recognize whether or not the coordinate conversion of the position information of the transmitted measurement information is necessary.

  In still another preferred embodiment, the terminal device is an obtaining unit that obtains measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information indicates a position of the measurement device. A generating unit that generates coordinate system information indicating whether or not the coordinate system has been converted from the reference coordinate system to a different coordinate system; and the transmitting unit that transmits the measurement information and the coordinate system information to the information processing device. Have. The terminal device can also make the information processing device accurately recognize whether or not the coordinate conversion of the position information of the transmitted measurement information is necessary.

  In still another preferred embodiment, the server device transmits, from the terminal device, measurement information including position information of the object measured by the measurement device attached to the moving object, and coordinate system information regarding the coordinate system of the position information. There is provided a receiving unit for receiving, and a converting unit for performing coordinate conversion of the position information based on the coordinate system information. According to this aspect, the server device can appropriately execute the coordinate conversion of the position information of the received measurement information.

  In still another preferred embodiment, a control method executed by a terminal device, wherein an acquisition step of acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body, and Coordinate system information indicating whether or not indicated by a coordinate system based on the position of the measuring device, or the position information is converted from a coordinate system based on the position of the measuring device to a different coordinate system. And a transmission step of transmitting the measurement information and the coordinate system information to an information processing device. By executing this control method, the terminal device can cause the information processing device to accurately recognize whether the coordinate conversion of the position information of the transmitted measurement information is necessary.

  In still another preferred embodiment, a control method executed by a server device, the measurement method including position information of an object measured by a measurement device attached to a moving body, and a coordinate system related to a coordinate system of the position information And a conversion step of performing coordinate conversion of the position information based on the coordinate system information. By executing this control method, the server device can appropriately execute the coordinate conversion of the position information of the received measurement information.

  In still another preferred embodiment, a computer-executable program for acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body, and the position information, Coordinate system information indicating whether or not indicated by a coordinate system based on the position of the measuring device, or whether the position information has been converted from a coordinate system based on the position of the measuring device to a different coordinate system And causing the computer to function as transmission means for transmitting the measurement information and the coordinate system information to the information processing apparatus. By executing this program, the computer can cause the information processing apparatus to accurately recognize whether the coordinate conversion of the position information of the transmitted measurement information is necessary.

  In yet another preferred embodiment, a computer-executable program, measurement information including position information of an object measured by a measurement device attached to a moving object, and coordinate system information regarding a coordinate system of the position information. , From the terminal device, and the computer functioning as conversion means for performing coordinate conversion of the position information based on the coordinate system information. By executing this program, the computer can suitably execute the coordinate conversion of the position information of the received measurement information. Preferably, these programs are stored on a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Configuration of map update system]
FIG. 1 is a schematic configuration diagram of the map updating system according to the present embodiment. The map updating system shown in FIG. 1 includes an in-vehicle device 1 that moves with each vehicle as a moving body, and a server device 6 that communicates with each in-vehicle device 1 via a network. Then, the map updating system updates the distribution map DB 22 that is a distribution map held by the server device 6 based on the information transmitted from each vehicle-mounted device 1. Hereinafter, the “map” includes data used for an ADAS (Advanced Driver Assistance System) and automatic driving, in addition to the data referred to by the conventional on-board device for route guidance. Although FIG. 1 shows only one vehicle, the in-vehicle devices 1 of a plurality of vehicles actually communicate with the server device 6.

  The in-vehicle device 1 is electrically connected to a sensor group such as a lidar (Light Detection and Ranging or Laser Illuminated Detection And Ranging) 2, a gyro sensor 3, an acceleration sensor 4, and a GPS receiver 5. Based on the output, detection of a predetermined object, estimation of the position and attitude of the vehicle on which the on-vehicle device 1 is mounted (also simply referred to as “own vehicle position”), and the like are performed. Then, the on-vehicle device 1 performs automatic driving control of the vehicle based on the estimation result of the own vehicle position so as to travel along the set route to the destination. The in-vehicle device 1 stores a map database (DB: DataBase) 10 in which road data and information on landmarks, lane markings, and the like serving as landmarks provided near the road are registered. The in-vehicle device 1 estimates the position of the vehicle based on the map DB 10 by comparing the output with the rider 2 or the like. Further, the on-vehicle device 1 transmits upload information “Iu” including information on the detected object to the server device 6. Further, the vehicle-mounted device 1 receives a download “Id” for updating the map DB 10 from the server device 6. The in-vehicle device 1 is an example of a terminal device.

  The lidar 2 emits a pulse laser in a predetermined angle range in the horizontal direction and the vertical direction, thereby discretely measuring a distance to an object existing in the external world, and a three-dimensional point indicating the position of the object. Generate group information. In this case, the lidar 2 includes an irradiation unit that irradiates laser light while changing the irradiation direction, a light receiving unit that receives reflected light (scattered light) of the irradiated laser light, and scan data based on a light reception signal output by the light receiving unit. And an output unit that outputs The scan data is generated based on the irradiation direction corresponding to the laser light received by the light receiving unit and the distance to the object in the irradiation direction of the laser light specified based on the above-described light reception signal, and transmitted to the in-vehicle device 1. Supplied. The rider 2 is an example of a “measuring device”.

  The server device 6 receives and stores the upload information Iu from each vehicle-mounted device 1. The server device 6 updates the distribution map DB 22 based on the collected upload information Iu, for example. Further, the server device 6 transmits the download information Id including the update information of the distribution map DB 22 to each in-vehicle device 1. The server device 6 is an example of an information processing device and an example.

[Configuration of onboard equipment]
FIG. 2A is a block diagram illustrating a functional configuration of the vehicle-mounted device 1. The in-vehicle device 1 mainly includes an interface 11, a storage unit 12, a communication unit 13, an input unit 14, a control unit 15, and an information output unit 16. These components are interconnected via a bus line.

  The interface 11 acquires output data from the sensor group 9 including the rider 2, the gyro sensor 3, the acceleration sensor 4, the GPS receiver 5, and the like, and supplies the output data to the control unit 15. Further, the interface 11 supplies a signal relating to the traveling control of the vehicle generated by the control unit 15 to an electronic control unit (ECU: Electronic Control Unit) of the vehicle.

  The storage unit 12 stores a program executed by the control unit 15 and information necessary for the control unit 15 to execute a predetermined process. In the present embodiment, the storage unit 12 has a map DB 10 and rider installation information IL. The map DB 10 is a database including, for example, road data, facility data, feature data around the road, obstacle data, and the like. The road data includes road / lane network data for route search, road shape data, traffic regulation data, and the like. The feature data includes information (for example, position information and type information) such as a signboard such as a road sign, a road marking such as a stop line, a road division line such as a white line, and a structure along a road. In addition, the feature data may include highly accurate point group information (for example, voxel data obtained by approximating a three-dimensional map by a normal distribution for each voxel) for use in estimating the position of the vehicle. The obstacle data includes position information and type information on road works, parked / stopped vehicles, falling objects on the road, and the like. In addition, the map DB 10 may store various data necessary for position estimation.

  The rider installation information IL is information on the relative posture and position of the rider 2 with respect to the vehicle at a certain reference time (for example, when there is no posture shift such as immediately after the alignment adjustment of the rider 2). In the present embodiment, the attitude of the rider 2 and the like is represented by a roll angle, a pitch angle, and a yaw angle (that is, an Euler angle). The rider installation information IL may be updated based on the estimation result when the later-described posture estimation process of the rider 2 is executed.

  The communication unit 13 transmits the upload information Iu to the server device 6 and receives the download information Id from the server device 6 based on the control of the control unit 15. The input unit 14 is a button for a user to operate, a touch panel, a remote controller, a voice input device, and the like, and receives an input for designating a destination for a route search, an input for designating ON and OFF of automatic driving, and the like. . The information output unit 16 is, for example, a display, a speaker, or the like that outputs under the control of the control unit 15.

  The control unit 15 includes a CPU that executes a program, and controls the entire vehicle-mounted device 1. In the present embodiment, the control unit 15 includes a vehicle position estimating unit 17, a driving support control unit 18, a rider position and posture estimating unit 19, an upload control unit 20, and a map updating unit 21. The control unit 15 functions as a computer that executes a program.

  The own vehicle position estimating unit 17 estimates the own vehicle position based on the output signal of the sensor group 9 supplied from the interface 11 and the map DB 10. The host vehicle position estimating unit 17 may estimate the host vehicle position by applying an arbitrary host vehicle position estimating method. For example, the own vehicle position estimating unit 17 uses the measurement result of the specific feature by the rider 2 and the position information of the measurement target feature recorded in the feature data of the map DB 10 as the own vehicle position estimation. Position estimation (so-called landmark position estimation), position estimation by NDT (Normal Distributions Transform) scan matching using voxel data, or position by a global positioning satellite system (GNSS: Global Navigation Satellite System) using a GPS receiver 5 or the like. Estimate etc.

  Further, the own-vehicle position estimating unit 17 generates information on the estimated accuracy of the estimated own-vehicle position (also referred to as “estimated own-vehicle position accuracy”) in the own-vehicle position estimation process. For example, when the own vehicle position estimating unit 17 performs the own vehicle position estimation using the Kalman filter disclosed in Patent Document 2 or the like, the own vehicle position estimating unit 17 estimates the square root of the diagonal element of the covariance matrix corresponding to the error distribution of the estimated position. Recognize as vehicle position accuracy. In another example, when performing position estimation by NDT scan matching using voxel data, the own vehicle position estimating unit 17 estimates the own vehicle position based on an evaluation function indicating the degree of coincidence between the measurement point group of the lidar and the voxel data. Set the accuracy. In still another example, the own vehicle position estimating unit 17 obtains a DOP (Dilution Of Precision) obtained from the GPS receiver 5 as the estimated own vehicle position accuracy when the position is estimated by the GNSS. Further, when the position estimation by the GNSS is performed, the own vehicle position estimating unit 17 uses the values of the standard deviation of the latitude, longitude, and altitude acquired from the GPS receiver 5 within a predetermined time as the estimated own vehicle position accuracy. May be acquired.

  The driving support control unit 18 performs control related to driving support of the vehicle including automatic driving control based on the estimation result of the vehicle position. At this time, when using the output data of the rider 2, the driving support control unit 18 converts the measurement data output by the rider 2 into the rider 2 based on the attitude and position of the rider 2 recorded in the rider installation information IL. From the coordinate system based on the vehicle to the coordinate system based on the vehicle. As a result, the driving support control unit 18 accurately grasps the relative position of the obstacle or the like measured by the rider 2 with respect to the vehicle, and controls the vehicle or issues a warning.

  The rider position / posture estimating section 19 estimates the current position (ie, also referred to as “position / posture”) of the rider 2 with respect to the vehicle (that is, at the time of processing reference) and is recorded in the rider installation information IL. The amount of change with respect to the position and orientation (also referred to as “a change in rider position and orientation”) is calculated. The method of estimating the position and orientation of the rider 2 with respect to the vehicle may be any method. For example, when one or a plurality of sensors (for example, a displacement sensor or an acceleration sensor) for detecting the position and orientation of the rider 2 are provided in the rider 2, the rider position and orientation estimation unit 19 outputs the output of the sensor. Based on this, the position and orientation of the rider 2 are detected, and the difference from the position and orientation of the rider 2 recorded in the rider installation information IL is calculated as the amount of change in the rider position and orientation. In another example, when there are three or more riders 2, the rider position / posture estimating unit 19 compares the measurement results of these riders to identify the rider in which the position / posture shift occurs. Then, the shift amount of the position and orientation of the rider (that is, the change amount of the rider position and orientation) is calculated. In still another example, the rider position / posture estimating unit 19 includes a lane marking such as a white line along the traveling road, a road sign having a plane perpendicular to the traveling direction of the traveling path, and a vertical May be measured by the rider 2, and the amount of change in rider position and orientation may be detected based on the measurement result.

  Further, when estimating the position and orientation of the rider 2, the rider position and orientation estimation unit 19 calculates the estimated position and orientation accuracy (also referred to as “rider position and orientation estimation accuracy”). For example, the rider position / posture estimating unit 19 stores a table or the like in which the value of the rider position / posture accuracy is associated with each executable position / posture estimation method of the rider 2, and refers to the table to perform the estimation. The position and orientation estimation accuracy of the rider with respect to the position and orientation of the rider 2 is determined. In another example, the rider position / posture estimating unit 19 refers to a predetermined table or the like based on sensor type information or performance information used in estimating the position / posture of the rider 2 to obtain the rider position / posture estimation accuracy. May be determined.

  When a predetermined object is detected based on the output of the rider 2, the upload control unit 20 generates upload information Iu including information about the detected object (also referred to as “object information”) and transmits the upload information Iu to the server. Transmit to the device 6. The above-described object information includes at least the position information of the object (in the present embodiment, information of the measurement value by the rider 2), and further includes the attribute information of the object such as the identification information of the object and the shape and size of the object. May be included. Further, in the present embodiment, the upload control unit 20 includes, in addition to the object information, information on the position and orientation of the rider 2 used for detection (also referred to as “rider position and orientation information”) and the own vehicle position estimating unit 17. Information on the estimated vehicle position (also referred to as “vehicle position and orientation information”) and flag information (“coordinate conversion”) indicating whether or not the measurement value included in the object information is converted to an absolute coordinate system (world coordinate system) ) Is included in the upload information Iu. The data structure of the upload information Iu will be described in detail in the section “Data structure of upload information”.

  When the communication unit 13 receives the download information Id from the server device 6, the map update unit 21 updates the map DB 10 using the download information Id.

[Configuration of server device]
FIG. 2B is a block diagram illustrating a functional configuration of the server device 6. The server device 6 mainly includes a communication unit 61, a storage unit 62, and a control unit 65. These components are interconnected via a bus line.

  The communication unit 61 receives the upload information Iu from the in-vehicle device 1 and transmits the download information Id to the in-vehicle device 1 based on the control of the control unit 65. The storage unit 62 stores a program executed by the control unit 65 and information necessary for the control unit 65 to execute a predetermined process. In the present embodiment, the storage unit 62 stores the distribution map DB 22 having the same data structure as the map DB 10 and the upload information DB 27 which is a database of the upload information Iu received from each vehicle-mounted device 1.

  The control unit 65 includes a CPU that executes a program, and controls the entire server device 6. In the present embodiment, the control unit 65 transmits the download information Id including the map update information generated by the process of updating the distribution map DB 22 based on the object information and the like included in the upload information DB 27 by the communication unit 61 to each vehicle. For example, processing for transmitting to the device 1 is performed. The control unit 65 functions as a computer that executes a program.

[Coordinate system conversion]
The three-dimensional coordinates indicated by each measurement point of the three-dimensional point group data acquired by the rider 2 are expressed in a coordinate system based on the position and orientation of the rider 2 (also referred to as a “lider coordinate system”). Therefore, when the measurement value of the rider 2 is reflected on the map, the measurement value of the rider 2 is adopted in the map after converting into a coordinate system based on the position and orientation of the vehicle (also referred to as a “vehicle coordinate system”). It is necessary to convert to the world coordinate system (absolute coordinate system).

The measurement values at the rider coordinate system _{[x L (i), y} L (i), z L (i)] T is the rider in the vehicle coordinate system when shifted to the position and orientation of the rider 2 has not occurred the second position and orientation _{[L x0, L y0, L} z0, L φ0, L θ0, L ψ0] below employing the ^T (1), the coordinate values of the vehicle coordinate system _{[x B (i), y} B _(i), is converted to z B ^{(i)] T.}

_{"L x0", "L y0", "L z0",} respectively, indicate the position of the rider 2 in the vehicle coordinate system, "L _.phi.0", "L _.theta.0", "L _.phi.0", respectively, the vehicle coordinate system Shows the roll angle, pitch angle, and yaw angle of the rider 2 with respect to. The position and orientation [L _x0 , L _y0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T of the rider 2 are recorded in advance in, for example, the rider installation information IL, and are examples of the “reference mounting position and orientation”. is there. The lidar coordinate system is an example of a “coordinate system based on the position of the measuring device”.

Here, if the position and orientation of the rider 2 is shifted and the amount of change is [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T , the current position and orientation of the rider 2 [ _{L x, L y, L z} , L φ, L θ, L ψ] T is expressed by the following equation (2).

In this case, the measured value in the rider coordinate system _{[x L (i), y} L (i), z L (i)] T , the position and orientation _{[L x} Current rider _{2, L y, L z,} L _phi, L _theta, using a L _[psi], according to equation (1) similar following equations (3), the coordinate values of the vehicle coordinate system _{[x B (i), y} B (i), z B (i )] Can be converted to ^T.

Next, the estimated value of the vehicle position (including the posture) at the time “k” (also referred to as “estimated vehicle position”) is represented by [B ＾ _x (k), B _y (k), B ＾ _z ( _{k), B ^ φ (k} ), B ^ θ (k), B ^ ψ ( When ^{k)] T,} the coordinate values of the vehicle coordinate system _{[x B (i), y} B (i), z B ( i)] ^T is converted into a coordinate value [x _W (i), y _W (i), z _W (i)] ^T in the world coordinate system based on the following equation (4).

Thus, the vehicle-mounted device 1 or the server device 6, the measured value in the rider coordinate system when obtaining the _{[x L (i), y} L (i), z L (i)] T, firstly, the rider 2 position and orientation based on the information, wherein the coordinate values of the vehicle coordinate system with (3) into _{[x B (i), y} B (i), z B (i)] T. Then, the in-vehicle device 1 or the server device 6 uses the information of the estimated own vehicle position to convert the coordinate values of the vehicle coordinate system into the coordinate values of the world coordinate system [x _W (i), y _W ( _i), is converted to z W ^{(i)] T.} As a result, the measured value of the rider 2 represented in the same coordinate system as the map can be suitably acquired, and can be suitably used for updating the map.

  Here, the conversion from the rider coordinate system to the vehicle coordinate system will be supplementarily described.

FIG. 3 is a diagram illustrating a relationship between a vehicle coordinate system and a rider coordinate system represented by two-dimensional coordinates. Here, the vehicle coordinate system has a coordinate axis “X _B ” along the traveling direction of the vehicle and a coordinate axis “Y _B ” along the side direction of the vehicle, with the center of the vehicle as the origin. Furthermore, the rider coordinate system has coordinate axes "Y _L" along the side direction of the coordinate axis "X _L" and rider 2 along the front direction of the rider 2 (see arrow A2).

Here, when the yaw angle of the rider 2 with respect to the vehicle coordinate system is “ _Lψ0 ” and the position of the rider 2 is [L _x0 , L _y0 ] ^T , the measurement point [x _B ( i), y _B (i)] ^T is transformed into coordinates [x _L (i), y _L (i)] ^{T in the} lidar coordinate system by the following equation (5) using the rotation matrix “ _CLψ0 ”. You.

On the other hand, the conversion from the rider coordinate system to the vehicle coordinate system may use an inverse matrix (transposed matrix) of the rotation matrix. Therefore, the measurement point of time i obtained in the rider coordinate system _{[x L (i), y} L (i)] T is the vehicle coordinate system of coordinates by the following equation _{(6) [x B (i} ), y B (I)] It is possible to convert to ^T.

  FIG. 4 is a diagram illustrating a relationship between the vehicle coordinate system and the rider coordinate system represented by three-dimensional coordinates.

In this case, the measurement points of time i as seen from the vehicle coordinate system _{[x B (i), y} B (i), z B (i)] T , the position and orientation of the rider 2 with respect to the vehicle coordinate system _[L x0, L _{y0, L z0, L φ0,} L θ0, L ψ0] and ^T, roll, pitch, each rotation matrix corresponding to the yaw _{"C Erufai0", "C Erushita0",} direction cosine matrix expressed by _{"C Erupusai0"} " According to the following equation (7) using “C _L0 ”, the coordinates are converted into the coordinates [x _L (i), y _L (i), z _L (i)] ^T of the lidar coordinate system.

On the other hand, the conversion from the lidar coordinate system to the vehicle coordinate system may use an inverse matrix (transposed matrix) of the direction cosine matrix _CL0 . Therefore, the measurement point of time i obtained in the rider coordinate system _{[x L (i), y} L (i), z L (i)] T is the vehicle coordinate system of coordinates by the following equation (8) _{[x B (i), y B (i} ), can be converted into z B ^{(i)] T.}

Equation (8) is an equation equivalent to equation (1).

  Next, a supplementary description of the conversion from the vehicle coordinate system to the world coordinate system will be given.

FIG. 5 is a diagram illustrating a relationship between the vehicle coordinate system and the world coordinate system represented by two-dimensional coordinates. Here, the world coordinate system has a coordinate axis “X _W ” and a coordinate axis “Y _W ”.

If the estimated value of the yaw angle of the vehicle at time k with respect to the world coordinate system is B ＾ _ψ (k) and the estimated position of the vehicle is B ＾ _x (k) and B ＾ _y (k), the world coordinate system _{Can be} converted to the vehicle coordinate system by the following equation (9) using the rotation matrix “C _Bψ (k)”.

On the other hand, the conversion from the rider coordinate system to the vehicle coordinate system may use an inverse matrix (transposed matrix) of the rotation matrix C B _行列 (k). Therefore, [x _B (i), y _B (i)] ^T can be converted to coordinates [x _W (i), y _W (i)] ^T in the world coordinate system by the following equation (10). It is.

  Next, the relationship between the vehicle coordinate system represented by three-dimensional coordinates and the world coordinate system will be described.

In this case, the coordinate value at time i as viewed from the world coordinate system _{[x W (i), y} W (i), z W (i)] T is the estimate of the vehicle position at time k (including the posture) _{[B ^ x (k),} B ^ y (k), B ^ z (k), B ^ φ (k), B ^ θ (k), B ^ ψ (k)] T and, roll, pitch, each rotation matrix corresponding to the yaw _{"C Bφ (k)", "C Bθ} (k)", _{"C Bψ} (k)" by the direction cosine matrix expressed _"C B (k)" and the following using the equation (11), the vehicle coordinate system of the coordinate is converted into _{[x B (i), y} B (i), z B (i)] T.

On the other hand, the transformation from the vehicle coordinate system to the world coordinate system may use an inverse matrix (transposed matrix) of the direction cosine matrix C _B (k). Therefore, the measurement point of time i obtained in the vehicle coordinate system _{[x B (i), y} B (i), z B (i)] T is the world coordinate system of coordinates by the following equation (12) _{[x W (i), y W (i} ), can be converted to z W ^{(i)] T.}

This equation (12) is equivalent to equation (4).

[Data structure of upload information]
FIG. 6 shows an example of the data structure of the upload information Iu. In the example of FIG. 6, the upload information Iu includes “time”, “lider number”, “measured value”, “lider position / posture”, “rider position / posture change amount”, “rider position / posture estimation accuracy”, “coordinate conversion”. Flag, "estimated vehicle position," and "accuracy of estimated vehicle position." The “measured value” corresponds to the above-described object information, and the “lider position / posture”, “a change amount of the rider position / posture”, and “rider position / posture estimation accuracy” correspond to the above-described rider position / posture information. The “own vehicle position” and “estimated own vehicle position accuracy” correspond to the above-described own vehicle position and orientation information.

The in-vehicle device 1 specifies, as “time”, the time at which the measurement was performed by the rider 2 or the transmission time of the upload information Iu. In addition, the in-vehicle device 1 specifies a number for identifying each rider 2 when a plurality of riders 2 are mounted on the vehicle, as the “lider number”. Further, the vehicle-mounted device 1, as "measured value", number of measured values (1 or more integer N) N indicated by the measurement point group of objects measured by rider _{2 [x i, y i,} z i] ^T- specify. Incidentally, the measured value _{[x i, y i, z} i] T may be a coordinate value of the lidar coordinate system may be a coordinate value in the world coordinate system.

The in-vehicle device 1 also designates the position and orientation of the rider 2 in the vehicle coordinate system as the “lider position and orientation”. In this case, "rider position and orientation" is lidar position posture variation _{[ΔL x, ΔL y, ΔL} z, ΔL φ, ΔL θ, ΔL ψ] current position and orientation of the rider 2 in consideration of ^T _[L x, L _{y, L z, L φ,} L θ, may be L _[psi], the position and orientation _{[L x0} lidar 2 recorded in the rider installation information _{IL, L y0, L z0,} L φ0, L θ0, L _{0 ] ^T (that is, the position and orientation of the rider 2 when there is no shift in the position and orientation of the rider 2). Even in the latter case, the server device 6 which has received the upload information Iu is the position and orientation [L x Current rider 2 based on equation (2) using the "rider position and orientation change amount" to be described _later, L _y , _Lz , _Lφ , _Lθ , _Lψ ] can be specified.

Further, the vehicle-mounted device 1 sets the rider position / posture change amount [ΔL _x , ΔL _y , ΔL _z , which is the change amount of the position / posture of the rider 2 calculated by the rider position / posture estimation unit 19, as “the rider position / posture change amount”. ΔL _φ, ΔL θ, to specify the ΔL _ψ] ^T. The in-vehicle device 1 also determines, as “rider position / posture estimation accuracy”, a rider position / posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz ” which is an estimated lidar position / posture change amount or an estimation accuracy for the current position / posture of the rider 2. , Σ _Lφ , σ _Lθ , σ _Lψ ” ^T. The rider position / posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _Lψ ” ^T is calculated by the rider position / posture estimation unit 19.

Further, the vehicle-mounted device 1, as "coordinate conversion flag", which measured value of rider 2 specified in "measured value" _{[x i, y i, z} i] is ^T is converted into the vehicle coordinate system or world coordinate system Specify information indicating whether or not. In the present embodiment, as an example, the vehicle-mounted device 1, when it is intended to measure values of rider _{2 [x i, y i,} z i] is ^T is converted into the world coordinate system, a coordinate conversion flag "2 set to "and the measurement value of the rider _{2 [x i, y i,} z i] is ^T in which has been converted into the vehicle coordinate system, sets the coordinate conversion flag to" 1 ", the rider 2 measured value when _{[x i, y i, z} i] is ^T is those that are not also converted into the world coordinate system to the vehicle coordinate system (i.e., remain rider coordinate system), the coordinate conversion flag "0" Shall be set to As described above, the coordinate conversion flag includes the coordinate system information indicating whether or not the measurement value of the rider 2 is indicated in the rider coordinate system, and a coordinate system different from the rider coordinate system (here, the vehicle coordinate system or the world coordinate system). ) Corresponds to coordinate system information indicating whether or not the conversion has been performed.

The in-vehicle device 1 also uses the estimated vehicle position [B ＾ _x , B ＾ _y , B ＾ _z , B ＾ _φ , B ^ _θ, to specify the B ^ _ψ] ^T. _{Here, B ^ x, B ^ y} , B ^ z is the position of the _{vehicle, B ^ φ, B ^ θ} , B ^ ψ indicates the vehicle position. In addition, the in-vehicle device 1 uses, as the “estimated own vehicle position accuracy”, the estimated own vehicle position accuracy “σ _Bx , σ _By , σ” which is the accuracy of the own vehicle position estimated by the own vehicle position estimating unit 17 at the time of measuring the rider 2. _Bz, σ _Bφ, σ _Bθ, to specify the _σ Bψ ^"T.

  The upload information Iu may include any information other than the above-described items. For example, the upload information Iu may include feature identification information (feature ID) for identifying the feature to be measured.

[Upload processing]
Next, an upload process including generation and transmission of the upload information Iu will be described. FIG. 7 is a flowchart illustrating a procedure of an upload process performed by the vehicle-mounted device 1. The in-vehicle device 1 executes the process of the flowchart in FIG. 7 when a predetermined object is detected based on the output of the rider 2 or the like.

First, the rider position and orientation estimation unit 19 of the terminal 1, the rider position and orientation change amount _{[ΔL x, ΔL y, ΔL} z, ΔL φ, ΔL θ, ΔL ψ] for calculating the ^T (step S101). Further, the rider position / posture estimating unit 19 calculates the rider position / posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _{L ψ} ” ^T (step S102).

In addition, the vehicle position estimating unit 17 of the on-vehicle device 1 estimates the vehicle position based on the position information of the feature included in the map DB 10 and the measured value of the feature by the rider 2 (step S103). . The own vehicle position estimating method in step S103 may be an arbitrary position estimating method such as a landmark position estimating method or a position estimating method using NDT scan matching. Thus, the vehicle position estimating section 17 calculates the estimated vehicle position _{[B ^ x, B ^ y} , B ^ z, B ^ φ, B ^ θ, B ^ ψ] The ^T. In addition, the vehicle position estimating unit 17 may perform position estimation using the output of the GPS receiver 5 (so-called GNSS position estimation) instead of using the measurement values of the map DB 10 and the rider 2. Further, the host vehicle position estimating unit 17 calculates an _{estimated host} vehicle position accuracy “σ _Bx , σ _By , σ _Bz , σ _Bφ , σ _Bθ , σ _{B ψ} ” ^T which is an estimation accuracy of the position estimation in step S103 (step S103). Step S104).

  Then, the upload control unit 20 of the on-vehicle device 1 determines whether to convert the measured value of the rider 2 into the vehicle coordinate system (Step S105). In this case, for example, if the upload control unit 20 previously stores setting information on whether to convert the measured value of the rider 2 into the vehicle coordinate system, the upload control unit 20 performs the above-described determination based on the setting information. . The above setting information may be generated based on a user input.

When the upload control unit 20 determines that the measured value of the rider 2 should be converted into the vehicle coordinate system (Step S105; Yes), the change amount [ΔL _x , ΔL _y , ΔL of the rider position / posture calculated in Step S101. _{z, ΔL φ, ΔL θ,} ΔL ψ] current rider position and orientation in consideration of the ^{_{T [L x, L y,}} L z, L φ, L θ, based on the L _ψ] ^T, the vehicle coordinate by the formula (3) measured value of the system _{[x B, y B, z} B] for calculating the ^T (step S106).

  On the other hand, if the measured value of the rider 2 should not be converted to the vehicle coordinate system (Step S105; No), the upload control unit 20 sets the coordinate conversion flag to “0” (Step S110).

  Then, the upload control unit 20 determines whether the value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system is converted into the world coordinate system (step S107). In this case, for example, if the upload control unit 20 previously stores setting information on whether to convert a value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system into the world coordinate system, Based on the above, the above-described determination is performed. The above setting information may be generated based on a user input.

When the upload control unit 20 determines that the value obtained by converting the measured value of the rider 2 into the vehicle coordinate system should be converted into the world coordinate system (step S107; Yes), the upload control unit 20 sets the coordinate conversion flag to “2”. (Step S108). In this case, the upload control unit 20, the estimated vehicle position calculated in step _{S103 [B ^ x, B ^} y, B ^ z, B ^ φ, B ^ θ, B ^ ψ] Based on ^T, wherein (4), measured values in the world coordinate system to calculate the _{[x W (i), y} W (i), z W (i)] T ( step S111).

  On the other hand, if the value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system should not be converted into the world coordinate system (Step S107; No), the upload control unit 20 sets the coordinate conversion flag to “1” (Step S107). S109).

  After executing any of Step S109, Step S110, or Step S111, the upload control unit 20 sets the “time”, “rider number”, “measured value”, “rider position / posture”, “rider position / posture” shown in FIG. And generating upload information Iu including information corresponding to the items of “change amount”, “rider position / posture estimation accuracy”, “coordinate conversion flag”, “estimated own vehicle position”, and “estimated own vehicle position accuracy”. The information Iu is transmitted to the server device 6 (Step S112). Thereby, the vehicle-mounted device 1 can suitably transmit information necessary for the server device 6 to update the map to the server device 6 based on the measurement value of the rider 2. The “measured value” is a measured value of the rider 2 or a value obtained by converting the measured value of the rider 2 into a vehicle coordinate system.

[Map update processing]
Next, a map update process that is a process of generating update information of the map DB 10 and the distribution map DB 22 based on the received upload information Iu will be described. FIG. 8 is a flowchart of the map updating process executed by the server device 6. The server device 6 repeatedly executes the processing of the flowchart shown in FIG.

  First, the server device 6 collects the upload information Iu by receiving the upload information Iu transmitted from the vehicle-mounted device 1 of each vehicle (step S201). Then, the server device 6 stores the received upload information Iu in the upload information DB 27.

  Then, at a predetermined timing for updating the map, the server device 6 refers to each coordinate conversion flag of the upload information Iu recorded in the upload information DB 27, and the presence of the upload information Iu whose coordinate conversion flag is 0 or 1 exists. Is determined. Then, when there is upload information Iu whose coordinate conversion flag is 0, the server device 6 determines the upload from the rider position / posture, the rider position / posture change amount, and the estimated host vehicle position included in the upload information Iu. The measurement value of the rider 2 included in the information Iu is converted to a world coordinate system. On the other hand, when the upload information Iu whose coordinate conversion flag is 1 exists, the server device 6 calculates the measured value of the rider 2 included in the upload information Iu from the estimated own vehicle position included in the upload information Iu. The value converted into the vehicle coordinate system is converted into the world coordinate system (step S202). Thereby, even when the upload information Iu includes the measured value of the rider coordinate system or the measured value of the vehicle coordinate system, the server device 6 measures the rider 2 to the coordinate value of the world coordinate system adopted in the map. The value obtained by converting the value or the measurement value of the rider 2 into the vehicle coordinate system can be suitably converted.

Next, the server device 6 determines that any one of the elements of the rider position / posture change amount [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T is a predetermined threshold (“first threshold”). It is determined whether any of the above exists. Further, the server device 6 determines that any one of the elements of the rider position / posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _Lψ ” ^T is a predetermined threshold (also referred to as “second threshold”). It is determined whether any of the above exist. In addition to this, the server device 6 determines that any one of the elements of the estimated vehicle position accuracy “σ _Bx , σ _By , σ _Bz , σ _Bφ , σ _Bθ , σ _{B ψ} ” ^T is a predetermined threshold (“third” It is determined whether or not there is a threshold value (step S203). The first to third thresholds are thresholds for determining whether or not the accuracy of the measurement value of the rider 2 is high enough to be used for updating the map. The first to third thresholds may be set to different values for each element to be compared so as to have an appropriate value for each element to be compared. Here, the rider position / posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _Lψ ” ^T and the estimated own vehicle position accuracy “σ _Bx , σ _By , σ _Bz , σ _Bφ , σ Each element of _Bθ , _σBψ ” ^T is, for example, a value such as a standard deviation, and a lower value indicates higher accuracy.

  Then, the server device 6 determines whether any one of the elements of the change amount of the rider position and orientation is equal to or larger than the first threshold value, or that any of the elements of the rider position and orientation estimation accuracy is equal to the second threshold value. If there is any of the above, or if any of the elements of the estimated vehicle position accuracy is equal to or greater than the third threshold (step S203; Yes), it is included in the target upload information Iu. It is determined that the accuracy of the measurement value of the lidar 2 is low and is not reliable enough to be used for updating the map. Therefore, in this case, the server device 6 does not use the measurement value included in the target upload information Iu in the averaging process in step S206 described below, or sets the weight value in the averaging process to 0 (step S205). Thereby, the server device 6 measures the rider 2 whose coordinate has been converted based on the measured value of the rider 2 whose rider position / posture change amount has increased due to an accident or the like, and the rider position / posture whose rider position / posture estimation accuracy is low. It is possible to preferably suppress the use of the values and the measured values of the rider 2 that have been subjected to the coordinate conversion based on the estimated own vehicle position having low estimated own vehicle position accuracy in map updating.

  On the other hand, the server device 6 determines that each of the elements of the rider position / posture change amount is smaller than the first threshold value, and that each of the elements of the rider position / posture estimation accuracy is smaller than the second threshold value, and that the estimated own vehicle position accuracy is smaller. If any of the elements is less than the third threshold value (step S203; No), it is determined that the accuracy of the measurement value of the rider 2 included in the target upload information Iu is high enough to be used for updating the map. . Therefore, in this case, the server device 6 sets a weighting value for the measurement value of the rider 2 included in the target upload information Iu according to the rider position / posture change amount, the rider position / posture estimation accuracy, and the estimated own vehicle position accuracy. (Step S204). In this case, for example, the server device 6 refers to an equation or a map for determining a weight value from each element of the rider position / posture change amount, the rider position / posture estimation accuracy, and the estimated own vehicle position accuracy, thereby obtaining the above-described information. Set the weight value. In this case, the server device 6 increases the weighting value as the rider position / posture change amount decreases, increases the weighting value as the rider position / posture estimation accuracy decreases, and increases the weighting value as the estimated vehicle position accuracy decreases. The above-mentioned weight value is determined so as to increase the weight value. Accordingly, the server device 6 can appropriately set an appropriate weighting value for each measurement value of the rider 2 used for updating the map, according to the accuracy of the measurement value.

  Next, the server device 6 generates integrated data by performing a weighted averaging process on each measured value using the weight value set in step S204 or step S205 (step S206). The integrated data corresponds to, for example, position information of a feature calculated by statistically processing each measured value. As described above, the server device 6 can generate highly accurate integrated data by using the weight value set according to the reliability (accuracy) of the measurement value. A specific example of step S206 will be described later. Then, the server device 6 updates the distribution map DB 22 using the integrated data generated in step S206 (step S207). After that, the server device 6 transmits the download information Id including the generated integrated data to each vehicle-mounted device 1.

  Here, a specific example of the process of step S206 will be described. Here, an example of calculating an absolute position (also referred to as an “estimated object position”) of an object (feature) registered in the distribution map DB 22 as integrated data will be described. In this case, for example, the server device 6 classifies the measured value of the rider 2 included in the upload information Iu for each object, and calculates an estimated object position for each object. In this case, the server device 6 may classify the measured values for each object based on the position information of each object registered in the distribution map DB 22, may perform the above-described classification based on a known clustering technique, The above classification may be performed based on the input. In addition, when the in-vehicle device 1 generates upload information Iu for each object measured by the rider 2, and includes the identification information of the measured object in the upload information Iu, the server device 6 performs, based on the identification information, The above classification may be performed.

Here, the measured value of the object in the world coordinate system indicated by each upload information Iu is [p _x , _py , p _z ] ^T, and the weight value set in step S204 or step S205 is [w _x (k), w _{y (k),} and w z ^{(k)] T.} When the server device 6 receives m pieces of upload information Iu at a plurality of times from a plurality of vehicles, the server device 6 reflects the upload information Iu on the distribution map DB 22 by the weighted average processing represented by the following equations (13) to (15). position of should do objects ^{_{[p ^ x, p ^ y}} , p ^ z] to calculate the ^T.

As described above, the server device 6 can appropriately calculate the position of the object to be reflected in the distribution map DB 22 by the weighted averaging process.

As described above, the data structure of the upload information Iu according to the present embodiment, the measurement values indicating the object rider 2 mounted on the vehicle is measured _{[x i, y i, z} i] and ^T, rider 2 when the measurement of the object, a rider position and orientation change amount which is the amount of change of the mounting position of the vehicle relative to the reference mounting position on the vehicle rider _{2 [ΔL x, ΔL y,} ΔL z, ΔL φ, ΔL θ, ΔL ψ And ^T. Then, the upload information Iu is the rider position and orientation change amount _{[ΔL x, ΔL y, ΔL} z, ΔL φ, ΔL θ, ΔL ψ] Based on ^T, the measured value _{[x i, y i, z} i] ^T- The coordinate system is transmitted to the server device 6 which converts the coordinate system into the world coordinate system.

Further, As described above, the data structure of the upload information Iu according to the present embodiment, the measurement values indicating the object rider 2 mounted on the vehicle is measured _{[x i, y i, z} i] and ^T, the measured value _{[x i, y i, z} i] T is, when whether (in other words indicated by rider coordinate system based on the position of the rider 2, converted from the rider coordinate system into the vehicle coordinate system or world coordinate system And a coordinate conversion flag indicating whether or not the conversion has been performed. Then, the upload information Iu, based on the coordinate conversion flag, the measurement value _{[x i, y i, z} i] is sent to the coordinate system of ^T to the server device 6 for converting the world coordinate system.

[Modification]
Hereinafter, a modified example suitable for the embodiment will be described. The following modifications may be combined and applied to the embodiment.

(Modification 1)
The configuration of the map updating system shown in FIG. 1 is an example, and the configuration of the map updating system to which the present invention can be applied is not limited to the configuration shown in FIG. For example, in the map updating system, the electronic control unit of the vehicle may execute the processing illustrated in FIG. In this case, the rider installation information IL and the map DB 10 are stored in, for example, a storage unit in the vehicle, and the electronic control unit of the vehicle receives the output data of the rider 2 and refers to the rider installation information IL and the map DB 10. Then, the processing shown in FIG.

(Modification 2)
The calculation process of the rider position / posture change amount [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T executed by the rider position / posture estimation unit 19 of the on-vehicle device 1 is performed by the control unit of the server device 6. 65 may be performed instead.

In this case, for example, the upload information Iu transmitted by the on-vehicle device 1 to the server device 6 includes the position and orientation [L _x0 , L _y0 , L _y0 , _{L z0, L φ0, L θ0} , information L _.phi.0] ^T, and the like output data of one or more sensors for sensing the position and orientation of the rider 2. Then, when receiving the upload information Iu, the server device 6 estimates the position and orientation of the rider 2 based on the output data of the sensor and the like included in the upload information Iu in the same manner as the rider position and orientation estimation unit 19, Calculation of rider position / posture changes [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T and rider position / posture accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _{L ψ} Calculate ^T. Also in this mode, the server device 6 can appropriately acquire the information necessary for the map update processing shown in FIG. 8 and update the distribution map DB 22 appropriately.

(Modification 3)
The data structure of the upload information Iu shown in FIG. 6 is an example, and the data structure applicable to the present invention is not limited to this.

  For example, the upload information Iu may not include the coordinate conversion flag. In this case, for example, the measurement value included in the upload information Iu is always represented by the lidar coordinate system, and the server device 6 that has received the upload information Iu performs the following processing on all the measurement values of the received upload information Iu. Performs coordinate conversion processing from the lidar coordinate system to the world coordinate system.

  In another example, when the coordinate conversion flag is “2”, that is, when the measured value of the upload information Iu is represented by the world coordinate system, the upload information Iu includes “rider position / posture” and “ The “estimated vehicle position” and the like need not be included. When the coordinate conversion flag is “1”, that is, when the measured value of the upload information Iu is represented by the vehicle coordinate system, the upload information Iu does not include “rider position / posture” and the like. May be.

In yet another example, the rider installation information IL position and orientation of the initial rider 2 contained in _{[L x0, L y0, L} z0, L φ0, L θ0, L ψ0] information such as ^T in advance the server device 6 to the storage In this case, the upload information Iu does not have to include “rider position / posture”. Even in this case, the server device 6 preferably specifies the current position and orientation of the rider 2 based on the change amount of the rider position and orientation included in the upload information Iu and the initial position and orientation of the rider 2 stored in advance. However, it can be used for coordinate conversion of the measured value.

(Modification 4)
Instead of performing the weighted averaging process in step S206 of FIG. 8, the server device 6 may perform an averaging process (that is, averaging that does not depend on the weighted value) of all the measured values with equal weights. In this case, the upload information Iu may not include information used only for determining weighting values such as rider position / posture estimation accuracy and estimated own vehicle position accuracy.

DESCRIPTION OF SYMBOLS 1 Onboard equipment 2 Lidar 3 Gyro sensor 4 Acceleration sensor 5 GPS receiver 6 Server device 10 Map DB
22 distribution map DB

Claims (12)

Measurement information including the position information of the object measured by the measurement device arranged on the moving body,
The position information, coordinate system information indicating whether or not indicated in a coordinate system based on the position of the measuring device, a data structure of transmission data having,
A data structure of transmission data transmitted to an information processing device that performs coordinate conversion of the position information based on the coordinate system information. Measurement information including the position information of the object measured by the measurement device arranged on the moving body,
The position information, coordinate system information indicating whether or not it has been converted from a coordinate system based on the position of the measurement device to a different coordinate system, and the data structure of the transmission data having,
A data structure of transmission data transmitted to an information processing device that performs coordinate conversion of the position information based on the coordinate system information. Information on the mounting position and orientation of the measuring device to the moving body when the measuring device measures the object,
Information on the position and orientation of the moving body when the measuring device measures the object,
The data structure according to claim 1, further comprising:   A storage device for storing data having the data structure according to claim 1. Acquisition means for acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body,
A generation unit that generates coordinate system information indicating whether or not the position information is indicated in a coordinate system based on the position of the measurement device,
A transmission unit that transmits the measurement information and the coordinate system information to an information processing device,
A terminal device having: Acquisition means for acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body,
A generation unit that generates coordinate system information indicating whether the position information has been converted from a coordinate system based on the position of the measurement device to a different coordinate system,
A transmission unit that transmits the measurement information and the coordinate system information to an information processing device,
A terminal device having: Measurement information including the position information of the object measured by the measurement device attached to the moving object, and coordinate system information about the coordinate system of the position information, receiving means for receiving from the terminal device,
Conversion means for performing coordinate conversion of the position information based on the coordinate system information,
Server device having A control method executed by a terminal device,
An acquisition step of acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body,
Coordinate system information indicating whether the position information is indicated in a coordinate system based on the position of the measuring device, or coordinates different from the coordinate system based on the position of the measuring device. A generation step of generating coordinate system information indicating whether or not the coordinate system has been converted;
A transmission step of transmitting the measurement information and the coordinate system information to an information processing device,
A control method having: A control method executed by the server device,
Measurement information including the position information of the object measured by the measurement device attached to the moving object, and coordinate system information about the coordinate system of the position information, a receiving step of receiving from the terminal device,
A conversion step of performing coordinate conversion of the position information based on the coordinate system information;
A control method having: A program executed by a computer,
Acquisition means for acquiring measurement information including position information of an object measured by a measurement device arranged on a moving body,
Coordinate system information indicating whether the position information is indicated in a coordinate system based on the position of the measuring device, or coordinates different from the coordinate system based on the position of the measuring device. Generating means for generating coordinate system information indicating whether or not the coordinate system has been converted;
A program that causes the computer to function as a transmission unit that transmits the measurement information and the coordinate system information to an information processing device. A program executed by a computer,
Measurement information including the position information of the object measured by the measurement device attached to the moving object, and coordinate system information about the coordinate system of the position information, receiving means for receiving from the terminal device,
A program that causes the computer to function as a conversion unit that performs coordinate conversion of the position information based on the coordinate system information.   A storage medium storing the program according to claim 10.