JP2021189062A - Information integrating device - Google Patents

Abstract

To provide technology that suppresses errors of integrated information that is objected by integrating information pieces obtained from a plurality of sensors.SOLUTION: A reference extraction unit 523 extracts the positions of stopped objects existing in an area of interest and represented by global coordinates. A data correction unit 521 repeatedly acquires sensor information represented by global coordinates and target information represented by local coordinates from a plurality of field sensors. Further, the data correction unit 521 compares an instantaneous value calculated from the sensor information and target information and represented by global coordinates with a reference value, thereby detecting the magnitude of an error that the sensor information has and correcting the instantaneous value in accordance with detection results so that the error becomes smaller.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a technique for integrating information obtained from a plurality of sensors.

The detection information of a plurality of types of sensors including the sensor mounted on a moving body such as a vehicle is intelligently combined to improve the performance and realize the function of the system. In such a system, it is necessary to convert the information acquired from the sensors from the local coordinates used by each sensor to the global coordinates commonly used by the system before integrating the information. In this case, if the position and orientation of the moving body are not accurately known, a large error will occur in the position information of the target.

Patent Document 1 describes a technique for correcting the position information of a target detected by the sensor by using the position information of the sensor detected by the global positioning satellite system (hereinafter referred to as GNSS).

Special Table 2017-513020

However, as a result of detailed examination by the inventor, the following problems have been found in the prior art described in Patent Document 1. That is, there is a problem that the correction accuracy deteriorates when the accuracy of GNSS deteriorates due to the influence of the shielding of the urban area, bad weather, and the like.

Further, the GNSS information has a problem that the responsiveness to a sudden change in the state of the moving body, for example, a change in the traveling direction due to slipping, is low.
One aspect of the present disclosure is to provide a technique for suppressing an error in the integrated information obtained by integrating the information obtained from a plurality of sensors.

One aspect of the present disclosure is an information integration device, which is an information acquisition unit (521: S130), a reference extraction unit (523), an error calculation unit (521: S140), and a correction unit (521: S150 to S170). ) And an integrated processing unit (522).

The information acquisition unit is configured to repeatedly acquire sensor information and target information from a plurality of field sensors. The sensor information is information including the position and orientation of the field sensor represented by global coordinates. The target information is information that is detected by the field sensor and includes the position of the target expressed in local coordinates with respect to the field sensor. The reference extraction unit exists in a preset target area and is configured to extract the position of a stop object represented by global coordinates as a reference value. The error calculation unit compares the instantaneous value with the reference value for each field sensor, using the position of the target calculated from the sensor information obtained from the field sensor and the target information and expressed in global coordinates as the instantaneous value. , It is configured to calculate the magnitude of the error that the sensor information has. The correction unit is configured to correct the instantaneous value so that the error becomes small according to the calculation result of the error calculation unit. The integrated processing unit is configured to generate integrated information that integrates information obtained from a plurality of field sensors by using the instantaneous value corrected by the correction unit.

According to such a configuration, the magnitude of the error included in the sensor information is calculated by comparing the instantaneous value based on the information acquired from the field sensor with the reference value indicating the position of the stationary object, and the magnitude of the error is calculated. Correct the instantaneous value so that the error becomes small. Therefore, it is possible to efficiently suppress an error caused by the position and orientation of the field sensor and, by extension, the movement of the moving body on which the field sensor is mounted. Further, by using the instantaneous value corrected in this way, the accuracy of the integrated information generated by integrating with the instantaneous value of another sensor can be improved.

It is a block diagram which shows the structure of a traffic control system. It is a block diagram which shows the structure of an in-vehicle terminal. It is a block diagram which shows the structure of an infrastructure sensor. It is a block diagram which shows the structure of a mobile terminal. It is a block diagram which shows the configuration of a server. It is a flowchart of the data correction process executed by a server. It is explanatory drawing about the error ε and the correlation value γ used in the data correction processing. It is a flowchart of the standard extraction process executed by a server. It is explanatory drawing of the error caused by slipping of a vehicle. It is explanatory drawing which shows the difference of the effect between the case where the average is used for the correction of the instantaneous value, and the case where the correlation is used.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. composition]
The traffic control system 1 shown in FIG. 1 integrates observation information acquired from a plurality of sensors existing in a traffic environment to estimate a target position, motion, etc., and notifies each terminal in the traffic environment of the estimation result. This will improve the accuracy of automatic driving and driving support.

The traffic control system 1 includes an in-vehicle terminal 2, an infrastructure sensor 3, a mobile terminal 4, and a server 5. The server 5 corresponds to an information integration device.
[1-1. In-vehicle terminal]
As shown in FIG. 2, the in-vehicle terminal 2 is mounted on the vehicle. The in-vehicle terminal 2 includes an in-vehicle communication device 21, an out-of-vehicle communication device 22, and a processing unit 23. The in-vehicle communication device 21 acquires various information via the in-vehicle network of the vehicle (hereinafter referred to as own vehicle) on which the in-vehicle terminal 2 is mounted. The out-of-vehicle communication device 22 executes communication with the server 5 by wireless communication. The processing unit 23 is composed of a microcomputer including a CPU and a memory such as a ROM and a RAM, and executes processing for realizing various functions.

The in-vehicle terminal 2 includes an information collecting unit 231 and an integrated information providing unit 232 as a functional block representing a function realized by a process executed by the processing unit 23.
The information collecting unit 231 repeatedly collects target information, sensor information, and vehicle state information via the in-vehicle communication device 21, and transmits the target information, sensor information, and vehicle state information to the server 5 via the out-of-vehicle communication device 22.

The target information is observation information related to the target detected by the peripheral monitoring sensor group 100 mounted on the vehicle. Peripheral monitoring sensor group 100 may include a millimeter wave radar 101, a lidar 102, an ultrasonic sensor 103, a camera 104, and the like. Hereinafter, these configurations belonging to the peripheral monitoring sensor group 100 are also simply referred to as sensors 101 to 104. The target information includes different information depending on the sensors 101 to 104 that are information generation sources, but in each case, at least the position of the detected target is included. In addition to the position of the target, the target information may include the distance to the target, the moving speed and direction of the target, the size of the target, the type of the target, and the like. The position of the target, the distance to the target, the moving speed of the target, and the moving direction are represented by using relative values with respect to the in-vehicle terminal 2, that is, local coordinates.

The sensor information includes performance information regarding the performance of the individual sensors 101 to 104, and mounting information indicating the mounting state for the own vehicle. The mounting information includes the height from the road surface, the mounting angle with respect to the straight direction and the horizontal direction of the vehicle. Performance information includes sensor type, detection distance range, and detection angle range. The detection distance range is a range of distances at which the target can be detected with an allowable accuracy. The detection angle range is a range of angles at which the target can be detected with an allowable accuracy. Here, the center direction of the detection area determined by the detection distance range and the detection angle range is the sensor front direction, and the mounting angle represents the direction in the sensor front direction. Further, the detection angle range is expressed with the front direction of the sensor as a reference (that is, 0 °).

The vehicle state information includes at least the position and the traveling direction of the vehicle detected by the position sensor 110 mounted on the vehicle. The position sensor 110 includes at least various sensors for realizing autonomous navigation that estimates its own position using only the information acquired from the sensor mounted on the vehicle. The position sensor 110 may include a device for obtaining information using GNSS. The detection result of the position sensor 110 is represented using global coordinates. That is, by combining the vehicle state information and the mounting information included in the sensor information, it is possible to specify the sensor position in the global coordinates and the orientation in the front direction of the sensor.

The integrated information providing unit 232 receives integrated information about targets and the like existing around the own vehicle from the server 5 via the external communication device 22, and automatically receives the received integrated information via the in-vehicle communication device 21. It is provided to each ECU that executes vehicle control related to driving and driving support.

[1-2. Infrastructure sensor]
The infrastructure sensor 3 is installed in a traffic infrastructure such as a road sign and a traffic light, as well as in a building on the side of the road. As shown in FIG. 3, the infrastructure sensor 3 includes a sensor main body 31, a communication device 32, and a processing unit 33.

The sensor body 31 includes, for example, a camera 311 and a radar 312. The sensor main body 31 is configured so that the orientation of the camera 311 and the radar 312 in the front direction of the sensor (that is, the posture of the sensor main body 31) can be changed by an instruction from the processing unit 33. Hereinafter, the camera 311 and the radar 312 are also simply referred to as sensors 311, 312.

The communication device 32 executes communication with the server 5 via a wired communication network or a wireless communication network.
The processing unit 33 is composed of a microcomputer including a CPU and a memory such as a ROM and a RAM, and executes processing for realizing various functions. The infrastructure sensor 3 includes an information collecting unit 331 and a posture control unit 332 as functional blocks representing functions realized by the processing executed by the processing unit 33.

The information collecting unit 331 repeatedly collects the target target information from the sensor main body 31, and transmits the collected target target information together with the sensor information and the attitude information to the server 5 via the communication device 32.
The target information and the sensor information are basically the same as the target information and the sensor information collected by the information collecting unit 231 of the in-vehicle terminal 2. However, the mounting information included in the sensor information includes the orientation in the front direction of the sensor (hereinafter referred to as the reference front direction) when the sensor is in the preset reference posture. The posture information includes the posture of the sensor main body 31 determined by the posture control unit 332, that is, the direction in the front direction of the sensor with respect to the reference front direction. That is, by combining the mounting information included in the sensor information and the attitude information, it is possible to specify the sensor position in the global coordinates and the orientation in the front direction of the sensor.

If the infrastructure sensor 3 is configured so that the posture of the sensor main body 31 cannot be changed, the posture control unit 332 and the posture information may be omitted.
Here, the case where the infrastructure sensor 3 generates the target information and provides it to the server 5 has been described, but instead of the target information, the raw data obtained from the sensor main body 31 is provided to the server 5. You may. In this case, the server 5 needs a function to generate target information from the raw data acquired from the infrastructure sensor 3.

[1-3. Mobile terminal]
The mobile terminal 4 is a terminal carried by a pedestrian or the like. As shown in FIG. 4, the mobile terminal 4 includes a status monitoring sensor group 41, a position sensor 42, a communication device 43, and a processing unit 44.

The situation monitoring sensor group 41 may include, for example, a vibration sensor 411, an acceleration sensor 412, and the like. The situation monitoring sensor group 41 detects the state of the terminal holder holding the mobile terminal 4 via vibration or acceleration applied to the mobile terminal 4. Hereinafter, the vibration sensor 411 and the acceleration sensor 412 are also simply referred to as sensors 411 and 412.

The position sensor 42 uses GNSS to generate position information indicating the position and moving direction of the mobile terminal 4, and thus the terminal holder. In the case of the mobile terminal 4, the position information indicating the position of the sensor represents the position information of a pedestrian or the like carrying the mobile terminal 4, that is, a target.

The communication device 43 executes communication with the server 5 by wireless communication.
The processing unit 44 is composed of a microcomputer including a CPU and a memory such as a ROM and a RAM, and executes processing for realizing various functions.

The mobile terminal 4 includes an information collecting unit 441 and a notification executing unit 442 as functional blocks representing functions realized by processing executed by the processing unit 44.
The information collecting unit 441 generates state information in which the state of the terminal holder is estimated from the detection result of the situation monitoring sensor group 41. The information collecting unit 441 transmits the generated state information to the server 5 via the communication device 43 together with the sensor information regarding the status monitoring sensor group 41 and the position information detected by the position sensor 42. However, the sensor information includes at least performance information.

The notification execution unit 442 receives integrated information about targets and the like existing around the terminal holder from the server 5 via the communication device 43, and sends the terminal holder as necessary according to the contents of the received integrated information. Is notified. The content of the notification may include the existence of a target approaching the terminal holder, the existence of a danger in the traveling direction of the terminal holder, and the like. The notification method may include voice notification and vibration notification.

In the following, the sensors 101 to 104 belonging to the peripheral monitoring sensor group 100, the sensors 311, 312 belonging to the sensor main body 31, and the sensors 411 and 412 belonging to the situation monitoring sensor group 41 are collectively referred to as a field sensor S, and are referred to as individual fields. Identify the sensor with Si. i is a positive integer. In FIG. 1, any of the sensors 101 to 104 belonging to the peripheral monitoring sensor group 100 mounted on the vehicle is referred to as S1 and S2, and any of the sensors 311, 312 belonging to the sensor main body 31 of the infrastructure sensor 3 is referred to as S3. .. Further, the detection areas of the field sensors S1 to S3 are represented by A1 to A3.

[1-4. server]
The server 5 acquires information from a plurality of field sensors Si existing in a traffic environment and integrates the acquired information to realize highly accurate and robust detection as compared with the detection of a single sensor. The integrated information which is the detection result is provided to the in-vehicle terminal 2 and the mobile terminal 4.

As shown in FIG. 5, the server 5 includes a communication device 51, a processing unit 52, and a storage unit 53.
The communication device 51 executes communication with the vehicle-mounted terminal 2, the infrastructure sensor 3, and the mobile terminal 4.
The processing unit 52 is composed of a microcomputer including a CPU and a memory such as a ROM and a RAM, and executes processing for realizing various functions.

The server 5 includes a data correction unit 521, an information integration unit 522, and a reference extraction unit 523 as functional blocks representing functions realized by the processing executed by the processing unit 52.
The data correction unit 521 reduces the error included in the instantaneous value of the position of the target (hereinafter referred to as the instantaneous value) in the global coordinates specified from the sensor information and the target information acquired via the communication device 51. Correct to. The details of the processing in the data correction unit 521 will be described later.

The information integration unit 522 generates integrated information using the instantaneous value information corrected by the data correction unit 521 for each of the targets detected in the target area to be processed by the server 5. The integrated information is target information generated by integrating information acquired from a plurality of field sensors Si. Further, the information integration unit 522 provides integrated information to the in-vehicle terminal 2 and the mobile terminal 4 existing in the target area via the communication device 51.

The reference extraction unit 523 extracts the reference information used in the processing by the data correction unit 521 from the integrated information generated by the information integration unit 522. Hereinafter, the position of the target indicated by the reference information is referred to as a reference value. Details of the processing in the reference extraction unit 523 will be described later.

The storage unit 53 stores at least map data of the target area, time-series data of the integrated information generated by the information integration unit 522, and conversion information used when the data correction unit 521 corrects the position of the instantaneous value. Will be done.

[2. process]
[2-1. Data correction processing]
Next, the data correction process executed by the server 5 to realize the function as the data correction unit 521 will be described with reference to the flowchart of FIG. This process is repeatedly executed at regular intervals.

In S110, the server 5 estimates the position where the target represented by the reference information is detected in the current processing cycle based on the predetermined reference information extracted from the storage unit 53 by the reference extraction unit 523. The estimated position is used as a reference value. The reference information is target information about a target that is likely to be a stationary object that has been detected up to the previous processing cycle.

In the subsequent S120, the server 5 processes S130 to S180, which will be described later, among the field sensors S that are the sources of the information acquired via the communication device 51 between the previous processing cycle and the current processing cycle. Select any one that has not been implemented as the target sensor. It should be noted that it is not always necessary to select all the field sensors S, and for example, only the field sensors S mounted on an autonomously moving moving body such as a vehicle may be selected.

In the following S130, the server 5 generates an instantaneous value indicating the position of the target in the global coordinates indicated by the target information detected by the target sensor based on the information acquired from the target sensor.
In the following S140, the server 5 extracts the instantaneous value associated with the reference value acquired in S110 (hereinafter referred to as the corresponding instantaneous value) from the instantaneous values generated in S130, and the extracted corresponding instantaneous value and the reference. The error ε and the correlation value γ are calculated using the value. As the corresponding instantaneous value, for example, the instantaneous value closest to the reference value is adopted.

As shown in FIG. 7, the error ε is a value obtained by calculating and averaging the distance between the reference value and the corresponding instantaneous value for all the reference values. The correlation value γ uses a vector representing the direction from the instantaneous value to the reference value and the distance to the reference value as an error vector, and the higher the correlation between the error vectors calculated for each of the reference values, that is, the error. The more common the tendency of size and orientation, that is, the regularity, the larger the value.

In the following S150, the server 5 determines whether or not the error ε is larger than the threshold value TH1. The threshold value TH1 is set to be equal to or lower than the upper limit of the error allowed for the instantaneous value. If the server 5 determines that ε> TH1, the process shifts to S160 because the instantaneous value needs to be corrected, and if it determines that ε ≦ TH1, the instantaneous value correction is unnecessary. As a result, the process shifts to S190.

In S160, the server 5 determines whether or not the correlation value γ is larger than the threshold value TH2. The threshold value TH2 is experimentally determined so that the error ε can be suppressed to the threshold value TH1 or less when the instantaneous value is corrected. When the server 5 determines that γ> TH2, the server 5 shifts the processing to S170 and determines that γ≤TH2, assuming that effective correction using the correlation between the error vectors is possible. In that case, it is assumed that effective correction is impossible, and the process is shifted to S180.

In S170, the server 5 corrects the position of each instantaneous value by utilizing the correlation between the error vectors, and advances the processing to S190. Specifically, for example, the position and orientation of the target sensor indicated by the sensor information are set as the variable X, and the transformation matrix A acting on the variable is calculated in order to correct the variable X. At this time, the instantaneous value f (AX, C) is calculated using the variable AX after the transformation matrix A is applied and the position C of the target represented by the local coordinates. f is a function used for calculating the instantaneous value. Further, an error (that is, a distance) E = | f (AX, C) -Y | between the instantaneous value f (AX, C) and the reference value Y is calculated for all the reference values, and the total value is The transformation matrix A that is the minimum is calculated. In other words, the transformation matrix A is calculated so that the value of the error function for calculating the total value of the error E is minimized. For the calculation of the transformation matrix A, for example, a known normal equation can be used. The instantaneous value f (AX, C) calculated by using the transformation matrix A calculated in this way is defined as the corrected instantaneous value.

That is, when the correlation value γ of the error vector is high, it can be considered that an error according to the same law is added to each instantaneous value, and the transformation matrix A representing the law is calculated. The parameter defining the transformation matrix A means the optimum correction amount for the variable X (that is, the position and orientation of the target sensor).

In S180, the server 5 discards the instantaneous value based on the information acquired from the target sensor and proceeds to the process in S190. Instead of discarding the instantaneous value, a flag indicating that the accuracy of the position is deteriorated may be added to the instantaneous value so that the handling of the instantaneous value is decided in the subsequent processing.

In S190, the server 5 determines whether or not all the field sensors S have been selected as the target sensors, and if there is an unselected field sensor S, the process is returned to S120, and all the field sensors S select. If it has already been completed, the process ends.

Note that S130 corresponds to the information acquisition unit, S140 corresponds to the error calculation unit and the correlation calculation unit, and S150 to S170 correspond to the correction unit.
[2-2. Criteria extraction process]
The reference extraction process executed by the server 5 in order to realize the function as the reference extraction unit 523 will be described with reference to the flowchart of FIG. This process is executed after the execution of the integrated process, which is a process for realizing the function as the information integration unit 522. In the integrated process, in addition to processing such as tracking, integrated information is generated by integrating the target information detected by a plurality of sensors. In addition to the position, moving speed, and moving direction of the target, the integrated information may be provided with information indicating the type of the target (for example, a vehicle, a person, a building, etc.). The integrated information generated by the integration process is sequentially stored in the storage unit 53.

In S210, the server 5 selects one of the targets (hereinafter, stopped objects) whose position is specified by the integration process and can be regarded as stopped as the target target. Here, when the absolute value of the moving speed is equal to or less than the predetermined value, it is considered to be stopped.

In the following S220, the server 5 sets an initial value of the static reliability L indicating the reliability that the target target is a stationary target. The initial value of the quiescent reliability L may be the same value for all targets, for example, a target frequently detected in the past processing cycle or a large number of consecutive detections by tracking. The static reliability L may be set to a higher value as the target is.

In the following S230, the server 5 calculates the degree of variation σ of the detected position based on the time-series data regarding the object target stored in the storage unit 53. It should be noted that not only the degree of variation in position σ but also the degree of variation in speed may be calculated.

In the following S240, the server 5 determines whether or not the variation degree σ calculated in S230 is smaller than the threshold value TH3. The threshold value TH3 is set, for example, to be equal to or lower than the upper limit of the measurement error of the field sensor S. If it is determined that σ <TH3, the server 5 shifts the process to S250, and if it determines that σ ≧ TH3, the server 5 shifts the process to S260.

In S250, the server 5 increases the static reliability L of the target target and advances the process to S260. The amount of increase in the static reliability L may be a fixed value, or may be, for example, a variable value that becomes larger as the degree of variation V is smaller.

In S260, the server 5 determines whether or not the type of the target object is a building well known as a landmark, that is, whether or not it is a target that is sure to be a stationary object. If the server 5 determines that it is a landmark, it shifts the process to S270, and if it determines that it is not a landmark, it shifts the process to S280.

In S270, the server 5 increases the static reliability L of the target target and advances the process to S280. The amount of increase in the static reliability L may be a fixed value, or may be a variable value that is different depending on at least one of the type of landmark and the distance to the landmark, for example. good.

In S280, the server 5 determines whether or not the quiesce reliability L is larger than the threshold value TH4, and if it is determined that L> TH4, the process shifts to S290 and it is determined that L ≦ TH4. Shifts the process to S300. The threshold value TH4 is set experimentally so that an appropriate number of reference information is extracted.

In S290, the server 5 extracts the integrated information about the target target as the reference information, and proceeds to the process in S300.
In S300, the server 5 determines whether or not all the stopped objects whose position information has been calculated in the information integration process has been selected as the target target, and if there are unselected stopped objects, the process is set to S210. Return, and if all the stopped objects are selected, the process ends.

[3. effect]
According to the embodiment described in detail above, the following effects are obtained.
(3a) In the server 5, the instantaneous value based on the detection result of the field sensor S is compared with the reference value which is the position of the target having a high static reliability L, the error ε is larger than the threshold value TH1 and the correlation value γ is. When it is larger than TH2, the instantaneous value is corrected by using the correlation between the error vectors.

That is, the detected value of the field sensor S mounted on the moving body includes an error due to the movement of the moving body. For example, as shown in FIG. 9, when the vehicle slips and it is erroneously recognized that the vehicle is in the state shown by the dotted line even though it is actually in the state shown by the solid line, the position of the detected target is set to the global coordinates. A large error occurs when converting to. However, the error has an inherent correlation with the true value (that is, the reference value).

Therefore, by correcting the instantaneous value using the correlation, the error of the instantaneous value is accurately suppressed, and as a result, the accuracy of the integrated information generated by integrating with the instantaneous value of other sensors is improved. Can be made to.

For example, as shown in the upper part of FIG. 10, when an integrated value is generated using the average value of the reference value and the instantaneous value, half of the error of the instantaneous value remains as an error of the integrated value, and the error is The farther the distance, the larger the size. On the other hand, as shown in the lower part of FIG. 10, by performing correction using correlation, all instantaneous values can be brought closer to the true value to the same extent regardless of the distance, and the error of the integrated value can be obtained. Can be suppressed.

(3b) Since the server 5 compares the instantaneous value with the reference value for each processing cycle and calculates the correction amount each time, it is possible to quickly deal with an error that occurs instantaneously such as a vehicle slip. Moreover, it is possible to suppress the residual error over a plurality of processing cycles as compared with the case where the influence of the error is reduced by averaging the instantaneous values over time.

(3c) In the server 5, the reference value used for comparison with the instantaneous value is extracted from the integrated information in which the results of the plurality of field sensors S are integrated. Therefore, even if any of the field sensors S malfunctions, the influence of the malfunction can be suppressed to a small extent, and the performance of the system can be maintained robustly.

[4. Other embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

(4a) In the above-mentioned mobile phone, an example is shown in which the threshold value TH1 of the error ε used when correcting the instantaneous value and the threshold value TH2 of the correlation value γ are set based on the performance of the field sensor S and the like. Disclosure is not limited to this. For example, the threshold values TH1 and TH2 may be set so as to satisfy the performance required for the application that uses the target information. Specifically, in the navigation for vehicle route guidance, the processing load may be reduced by suppressing the frequency of correction of the instantaneous value by setting the threshold values TH1 and TH2 high. Further, the high-precision tracking system or the accident prevention system may set the threshold values TH1 and TH2 low so that the accuracy of the integrated information is maintained high.

(4b) In the above embodiment, an example in which the transformation matrix A calculated by using the normal equation is used for the correction of the instantaneous value is shown, but the present disclosure is not limited to this. For example, a correction table in which the combination pattern of the error ε and the correlation value γ and the correction amount of the instantaneous value are associated with each other is created in advance, and the correction obtained from the correction table using the calculated error ε and the correlation value γ is used. The quantity may be used to correct the instantaneous value. In this case, the processing load required for correcting the instantaneous value can be significantly reduced.

(4c) In the above embodiment, the static reliability L is calculated based on the detection frequency of the target, the variation in the detected position, and the type of the target, and the reference value is extracted using the static reliability L. However, this disclosure is not limited to this. For example, the position (that is, the instantaneous value) of the target acquired from the field sensor S having high position detection accuracy may be used as it is as a reference value.

(4d) The processing unit 52 and methods thereof described in the present disclosure are dedicated provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized by a computer. Alternatively, the processing unit 52 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the processing unit 52 and its method described in the present disclosure are a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by. The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. The method for realizing the functions of each unit included in the processing unit 52 does not necessarily include software, and all the functions may be realized by using one or a plurality of hardware.

(4e) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

(4f) In addition to the information integration device realized as the server 5 described above, a system having the information integration device as a component, a program for operating a computer as the information integration device, a semiconductor memory recording this program, and the like. The present disclosure can also be realized in various forms such as a non-transitional substantive recording medium and an information correction method.

5 ... Server, 51 ... Communication device, 52 ... Processing unit, 53 ... Storage unit, 521 ... Data correction unit, 522 ... Information integration unit, 523 ... Reference extraction unit.

Claims (7)

From a plurality of field sensors, sensor information including the position and orientation of the field sensor represented by global coordinates, and the position of a target detected by the field sensor and represented by local coordinates with respect to the field sensor. An information acquisition unit (521: S130) configured to repeatedly acquire the target information including the target information, and
A reference extraction unit (523) that exists in a preset target area and is configured to extract the position of a stationary object represented by the global coordinates as a reference value.
For each field sensor, the instantaneous value and the reference value are compared with the position of the target calculated from the sensor information obtained from the field sensor and the target information and represented by the global coordinates as an instantaneous value. By doing so, an error calculation unit (521: S140) configured to calculate the magnitude of the error possessed by the sensor information, and
A correction unit (521: S150 to S170) configured to correct the instantaneous value so that the error becomes smaller according to the calculation result of the error calculation unit.
An integrated processing unit (522) configured to generate integrated information by integrating information obtained from the plurality of field sensors using the instantaneous value corrected by the correction unit.
Information integration device equipped with. The information integration device according to claim 1.
The reference extraction unit calculates a quiescent reliability indicating the reliability of being stationary for each of the integrated information generated by the integrated processing unit, and extracts the reference value using the quiescent reliability. Information integration device. The information integration device according to claim 2.
The reference extraction unit uses at least one of the variation in the detection frequency and the detection position of the target indicated by the integrated information in the past processing cycle, and the higher the detection frequency and the smaller the variation. , The information integration device that enhances the static reliability. The information integration device according to claim 2 or 3.
The integrated information generated by the integrated processing unit includes information indicating the type of the target.
The reference extraction unit is an information integration device that changes the static reliability depending on the type of the target. The information integration device according to any one of claims 1 to 4.
Further, a correlation calculation unit (521: S140) configured to calculate a correlation value having a regularity in the deviation of the instantaneous value with respect to the reference value is provided.
The correction unit is an information integration device that executes correction when both the error and the correlation value are larger than a preset threshold value. The information integration device according to claim 5.
The correction unit minimizes the total value of the errors calculated for each reference value by the error function representing the error between the instantaneous value and the reference value, which expresses the position and orientation of the field sensor as variables. An information integration device that calculates a transformation matrix that transforms the variables and corrects the instantaneous value using the transformation matrix. The information integration device according to claim 5.
A storage unit (53) for storing a correction table in which the combination of the error and the correlation value and the correction amount for the instantaneous value are associated with each other is further provided.
The correction unit is an information integration device that corrects the instantaneous value according to the correction amount acquired by using the correction table stored in the storage unit.

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