JP2022006811A - Information processor, information processing method and program - Google Patents

Abstract

To provide an information processor capable of calculating a difference between the orientation of a mobile body and the orientation of a sensor without a physical mark.SOLUTION: An information processor 10 includes: a path direction acquisition unit 11 for acquiring the direction of a path along which a mobile body moves; a sensor direction calculation unit 12 for calculating the orientation of a sensor 50 mounted on the mobile body based on sensor data acquired by the sensor 50; a first difference acquisition unit 14 for acquiring a first difference set as a difference between the orientation of the sensor 50 and the orientation of the mobile body;, a mobile body direction estimation unit 15 for estimating the orientation of the mobile body based on the calculated orientation of the sensor 50 and the first difference; a second difference calculation unit 16 for calculating a second difference between the acquired path direction and the estimated orientation of the mobile body; and a first difference correction unit 17 for correcting the first difference based on the calculated second difference. The sensor 50 is a sensor for estimating the orientation of the mobile body, and the mobile body moves along a set path.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an information processing apparatus, an information processing method and a program for calibrating a difference between the orientation of a moving body and the orientation of a sensor mounted on the moving body.

Sensors such as LiDAR (Light Detection And Ringing) are used for automatic driving or manual driving support by a moving body such as a vehicle. When such a sensor is mounted on a moving body, the orientation of the moving body (for example, the front direction) and the orientation of the sensor (for example, the front direction) may not match.

On the other hand, Patent Document 1 discloses a technique for estimating the installation posture of LiDAR and the installation posture of a vehicle body. In Patent Document 1, a mark parallel to the traveling direction of the vehicle body is installed, the mark is sensed by LiDAR, and the vehicle body travels in parallel with the mark to estimate the installation posture of the LiDAR and the installation posture of the vehicle body. be able to.

Further, Patent Document 2 discloses a technique for detecting the amount of deviation between the posture in which the sensor is installed and the posture of the vehicle body. In Patent Document 2, a mark is set in the traveling direction of the vehicle body, and an area with strong reception strength is set to be used as an object detection area, thereby detecting the amount of deviation between the sensor installation posture and the posture of the vehicle body. Can be done.

By using the technique disclosed in Patent Document 1 or 2, the difference between the orientation of the moving body and the orientation of the sensor can be calculated.

Japanese Unexamined Patent Publication No. 2020-32986 Japanese Patent No. 4905074

However, in Patent Documents 1 and 2, there is a problem that it is necessary to set a physical mark in order to calculate the difference between the orientation of the moving body and the orientation of the sensor.

Therefore, the present disclosure provides an information processing device or the like capable of calculating a difference between the orientation of a moving body and the orientation of a sensor without a physical marker.

The information processing apparatus according to the present disclosure calculates the direction of the sensor mounted on the moving body based on the sensor data acquired by the sensor and the path direction acquiring unit that acquires the direction of the path on which the moving body moves. The sensor orientation calculation unit, the first difference acquisition unit that acquires the first difference set as the difference between the sensor orientation and the orientation of the moving body, and the calculated sensor orientation and the first difference Calculated as a moving body orientation estimation unit that estimates the orientation of the moving object based on the method, and a second difference calculating unit that calculates a second difference between the acquired orientation of the path and the estimated orientation of the moving object. A first difference correction unit that corrects the first difference based on the second difference is provided, the sensor is a sensor for estimating the orientation of the moving body, and the moving body is set. It is a moving body that moves along the path.

It should be noted that these comprehensive or specific embodiments may be realized in a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And may be realized by any combination of recording media.

According to the information processing apparatus or the like according to one aspect of the present disclosure, it is possible to calculate the difference between the orientation of the moving body and the orientation of the sensor without a physical marker.

It is a block diagram which shows an example of the information processing apparatus which concerns on Embodiment 1. FIG. It is a figure for demonstrating the difference between the orientation of a moving body, and the orientation of a sensor. It is a flowchart which shows an example of the operation of the information processing apparatus which concerns on Embodiment 1. FIG. It is a figure which shows an example of the time change of the 2nd difference when the 1st difference is accurate and is not accurate. It is a flowchart which shows an example of the operation of the 1st difference correction part which concerns on Embodiment 1. FIG. It is a block diagram which shows an example of the information processing apparatus which concerns on Embodiment 2. FIG. It is a flowchart which shows an example of the operation of the information processing apparatus which concerns on Embodiment 2. It is a figure which shows the moving body which mounted a plurality of sensors. It is a figure for demonstrating the point cloud data of each of a plurality of sensors, and the point cloud data indicated by the map information.

A sensor such as LiDAR may be mounted on the moving body to estimate the orientation of the moving body, but the orientation of the moving body and the orientation of the sensor may not match. Therefore, a calibration value for calibrating the difference between the orientation of the moving body and the orientation of the sensor is set. For example, the moving body moves in the direction recognized as the front direction of the sensor based on the sensor data of the sensor minus the calibration value as the front direction of the moving body, but if the calibration value is not accurate, the moving body moves. It moves in a direction deviated from the front direction of the body. In automatic operation, since feedback control is performed, the moving body does not continue to move in a direction deviated from the front direction, but meandering or the like occurs.

On the other hand, in the above-mentioned conventional technique, the orientation of the moving body and the orientation of the sensor or the difference between them is calculated, but a physical mark is required.

Therefore, the information processing apparatus according to one aspect of the present disclosure includes a path orientation acquisition unit that acquires the orientation of the path on which the moving body moves, and sensor data that acquires the orientation of the sensor mounted on the moving body by the sensor. A sensor orientation calculation unit calculated based on the above, a first difference acquisition unit for acquiring a first difference set as a difference between the orientation of the sensor and the orientation of the moving body, and the calculated orientation of the sensor and the said. Second difference calculation for calculating the second difference between the moving body orientation estimation unit that estimates the orientation of the moving body based on the first difference and the acquired orientation of the moving body and the estimated orientation of the moving body. The sensor includes a unit and a first difference correction unit that corrects the first difference based on the calculated second difference. The sensor is a sensor for estimating the orientation of the moving body, and the movement is described. A body is a moving body that moves along a set path.

For example, if the first difference set as the difference between the orientation of the sensor and the orientation of the moving object (for example, the calibration value stored in the memory) is not accurate, the movement estimated based on the sensor data and the first difference. The orientation of the body is deviated from the actual orientation of the moving body, and the moving body is controlled so as to deviate from the set path. On the other hand, when a moving body such as an autonomous driving vehicle is set to move along a set route, feedback control is performed even if the control is performed so as to deviate from the set route. Therefore, it may meander, but it can move along the set route. At this time, the estimated orientation of the moving body has a certain deviation from the actual difference of the first difference with respect to the direction of the path. Therefore, the first difference can be corrected to an accurate value by correcting the first difference from the bias (second difference), and the difference between the orientation of the moving body and the orientation of the sensor can be accurately calibrated. Can be done. In this way, the difference between the orientation of the moving body and the orientation of the sensor can be calculated without a physical marker. For example, it is possible to calibrate the orientation of the moving body and the orientation of the sensor in various environments including not only a special environment where a mark can be installed such as a factory but also an environment where a mark cannot be installed.

Further, the first difference correction unit may correct the first difference so that the second difference becomes smaller.

In this way, the first difference is corrected so that the second difference becomes smaller, that is, the first difference is corrected so that the direction of the estimated moving body does not deviate from the direction of the path. The first difference can be corrected to an accurate value, and the difference between the orientation of the moving body and the orientation of the sensor can be accurately calibrated.

Further, the first difference correction unit may determine whether or not the second difference is equal to or greater than the threshold value, and if the second difference is equal to or greater than the threshold value, may correct the first difference.

According to this, when the second difference is equal to or more than the threshold value, that is, when the estimated orientation of the moving body deviates greatly from the orientation of the path, the first difference can be corrected. In other words, the first difference can be corrected to an accurate value by correcting the first difference until the second difference becomes less than the threshold value.

Further, even if a movement limiting unit for limiting the movement of the moving body is provided, it is determined whether or not the correction amount of the first difference is equal to or more than the threshold value, and if the correction amount of the first difference is equal to or more than the threshold value. good. For example, the movement limitation of the moving body may include a speed limitation or a stop.

If the movement of the moving body is controlled when the correction amount of the first difference is equal to or greater than the threshold value, the moving direction of the moving body changes significantly, which may cause a safety problem. Therefore, when the correction amount of the first difference is equal to or greater than the threshold value, the movement of the moving body is restricted (for example, the speed of the moving body is limited or the moving body is stopped) to maintain safety. can.

Further, a straight section specifying unit for specifying a straight section from the route is provided, and the route orientation acquisition unit acquires the direction of the route when the moving body moves in the straight section, and is oriented toward the sensor. The calculation unit may calculate the orientation of the sensor when the moving body moves in the straight line section.

In a straight section, the moving body tends to move along the path, so when the moving body moves in the straight section, the correct path direction can be obtained by acquiring the direction of the path, and the moving body is straight. An accurate sensor orientation can be calculated by calculating the sensor orientation when moving between sections, and the first difference can be corrected to a more accurate value.

Further, when the first difference or the correction amount of the first difference is equal to or larger than the threshold value, an error notification unit for notifying an error may be provided.

According to this, it is possible to notify the occupant, the manager, the observer, or the like of the moving body that the first difference or the correction amount of the first difference is equal to or more than the threshold value.

The information processing method according to one aspect of the present disclosure is an information processing method executed by a computer, in which the direction of a path on which a moving body moves is acquired, and the direction of a sensor mounted on the moving body is determined by the sensor. The first difference calculated based on the acquired sensor data and set as the difference between the orientation of the sensor and the orientation of the moving body is acquired, and based on the calculated orientation of the sensor and the first difference. The direction of the moving body is estimated, the second difference between the acquired direction of the path and the estimated direction of the moving body is calculated, and the first difference is calculated based on the calculated second difference. The sensor includes a correction process, and the sensor is a sensor for estimating the orientation of the moving body, and the moving body is a moving body that moves along a set path.

According to this, it is possible to provide an information processing method capable of calculating a difference between the orientation of a moving body and the orientation of a sensor without a physical marker.

The information processing apparatus according to one aspect of the present disclosure includes a steering direction acquisition unit that acquires a steering direction with respect to a front direction of a moving body that moves in the direction of a path, and the moving body based on the acquired steering direction. The sensor includes a first difference correction unit that corrects a first difference set as a difference between the orientation of the sensor mounted on the mobile body and the orientation of the moving body, and the sensor is a sensor for estimating the orientation of the moving body. The moving body is a moving body that moves along a set path.

For example, if the first difference set as the difference between the orientation of the sensor and the orientation of the moving object (for example, the calibration value stored in the memory) is not accurate, the moving object is controlled to deviate from the set path. Will be struck. On the other hand, when a moving body such as an autonomous driving vehicle is set to move along a set route, feedback control is performed even if the control is performed so as to deviate from the set route. The direction of steering is controlled, and although there is a risk of meandering, it is possible to move along a set path. At this time, the steering direction of the moving body has a certain deviation from the actual difference of the first difference with respect to the front direction of the moving body. Therefore, by correcting the first difference from the deviation of the steering direction, the first difference can be corrected to an accurate value, and the difference between the direction of the moving body and the direction of the sensor can be accurately calibrated. .. In this way, the difference between the orientation of the moving body and the orientation of the sensor can be calculated without a physical marker. For example, it is possible to calibrate the orientation of the moving body and the orientation of the sensor in various environments including not only a special environment where a mark can be installed such as a factory but also an environment where a mark cannot be installed.

Further, the first difference correction unit may correct the first difference so that the steering direction becomes smaller.

In this way, by correcting the first difference so that the steering direction with respect to the front direction of the moving body becomes small, it is possible to accurately calibrate the difference between the direction of the moving body and the direction of the sensor.

Further, the first difference correction unit may determine whether or not the steering direction is equal to or greater than the threshold value, and if the steering direction is equal to or greater than the threshold value, may correct the first difference.

According to this, the first difference can be corrected when the steering direction of the moving body with respect to the front direction is equal to or greater than the threshold value, that is, when the steering direction of the moving body deviates significantly from the front direction of the moving body. In other words, the first difference can be corrected to an accurate value by correcting the first difference until the steering direction of the moving body with respect to the front direction becomes less than the threshold value.

Further, even if a movement limiting unit for limiting the movement of the moving body is provided, it is determined whether or not the correction amount of the first difference is equal to or more than the threshold value, and if the correction amount of the first difference is equal to or more than the threshold value. good. For example, the movement limitation of the moving body may include a speed limitation or a stop.

If the movement of the moving body is controlled when the correction amount of the first difference is equal to or greater than the threshold value, the moving direction of the moving body changes significantly, which may cause a safety problem. Therefore, when the correction amount of the first difference is equal to or greater than the threshold value, the movement of the moving body is restricted (for example, the speed of the moving body is limited or the moving body is stopped) to maintain safety. can.

Further, a straight section specifying unit for specifying a straight section from the path may be provided, and the steering direction acquisition unit may acquire the steering direction when the moving body moves in the straight section.

In a straight section, the moving body tends to move along the path. Therefore, when the moving body moves in the straight section, the steering direction of the moving body can be calculated to calculate the correct steering direction. 1 The difference can be corrected to a more accurate value.

Further, when the first difference or the correction amount of the first difference is equal to or larger than the threshold value, an error notification unit for notifying an error may be provided.

According to this, it is possible to notify the occupant, the manager, the observer, or the like of the moving body that the first difference or the correction amount of the first difference is equal to or more than the threshold value.

The information processing method according to one aspect of the present disclosure is an information processing method executed by a computer, which acquires a steering direction with respect to a front direction of a moving body moving in the direction of a path, and obtains the steering direction. The sensor includes a process of correcting a first difference set as a difference between the orientation of the sensor mounted on the moving body and the orientation of the moving body based on the above, and the sensor is used for estimating the orientation of the moving body. It is a sensor, and the moving body is a moving body that moves along a set path.

According to this, it is possible to provide an information processing method capable of calculating a difference between the orientation of a moving body and the orientation of a sensor without a physical marker.

The program according to one aspect of the present disclosure is a program for causing a computer to execute the above information processing method.

According to this, it is possible to provide a program that can calculate the difference between the orientation of the moving body and the orientation of the sensor without a physical marker.

Hereinafter, embodiments will be specifically described with reference to the drawings.

It should be noted that all of the embodiments described below show comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, the order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure.

(Embodiment 1)
Hereinafter, the information processing apparatus according to the first embodiment will be described.

FIG. 1 is a block diagram showing an example of the information processing apparatus 10 according to the first embodiment. In addition to the information processing apparatus 10, FIG. 1 shows a sensor 50, a memory 60, and a CAN (Control Area Area Network) 70.

The sensor 50 is a sensor mounted on a moving body and is a sensor for estimating the orientation of the moving body. The sensor 50 is a radar such as LiDAR. The moving body is, for example, a vehicle such as an automobile. Here, the moving body is, for example, an autonomous driving vehicle, and can move along a set route. When moving along the route, the moving body does not have to move so that the direction of the route and the direction of the moving body always match. For example, even if the direction of the moving body deviates from the direction of the path, if the moving body does not deviate from the path, the moving body is assumed to be moving along the path. The moving body may be an unmanned aerial vehicle or the like.

The memory 60 stores the first difference set as the difference between the orientation of the sensor 50 and the orientation of the moving body. The first difference is, for example, a calibration value.

The CAN 70 is a network mounted on a mobile body (for example, an automobile), and various ECUs (Electronic Control Units) mounted on the mobile body, a memory, and the like are connected to the CAN 70.

Here, the difference between the orientation of the moving body and the orientation of the sensor 50 will be described with reference to FIG.

FIG. 2 is a diagram for explaining the difference between the orientation of the moving body and the orientation of the sensor 50.

As shown in FIG. 2, the sensor 50 is mounted, for example, on the front side of the moving body. It is difficult to mount the sensor 50 on the moving body so that the orientation of the moving body (for example, the front direction) and the orientation of the sensor 50 (for example, the front direction) match, and as shown in FIG. The orientation of the sensor 50 may be misaligned (note that the misalignment between the orientation of the moving body and the orientation of the sensor 50 is exaggerated in FIG. 2 for the sake of explanation). Therefore, when the sensor 50 is mounted on a moving body or the like, a first difference, which is a calibration value for calibrating the difference between the orientation of the moving body and the orientation of the sensor 50, is obtained and stored in the memory 60. ..

The moving body moves in the direction obtained by subtracting the first difference from the direction recognized as the front direction of the sensor 50 based on the sensor data of the sensor 50 as the front direction of the moving body. However, the first difference may not be accurate, in which case the moving body will move in a direction deviated from the front direction of the moving body. In the automatic operation, since feedback control is performed, the moving body does not continue to move in a direction deviated from the front direction of the moving body, but meandering or the like occurs. Therefore, it is desired to correct the first difference to obtain an accurate value, that is, to accurately calibrate the difference between the orientation of the moving body and the orientation of the sensor 50. In particular, it is desired to calculate the difference between the orientation of the moving body and the orientation of the sensor without a physical marker as disclosed in the conventional literature.

The information processing device 10 is a device capable of calculating the difference between the orientation of the moving body and the orientation of the sensor 50 without a physical mark.

Returning to the description in FIG. 1, the information processing apparatus 10 includes a route orientation acquisition unit 11, a sensor orientation calculation unit 12, a linear section identification unit 13, a first difference acquisition unit 14, a moving body orientation estimation unit 15, and a second difference calculation. A unit 16, a first difference correction unit 17, a movement restriction unit 18, and an error notification unit 19 are provided.

The information processing device 10 is a computer including a processor, a memory, and the like. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and can store a program executed by the processor. Path orientation acquisition unit 11, sensor orientation calculation unit 12, straight line section identification unit 13, first difference acquisition unit 14, moving object orientation estimation unit 15, second difference calculation unit 16, first difference correction unit 17, movement restriction unit 18 The error notification unit 19 is realized by a processor or the like that executes a program stored in the memory.

For example, the information processing device 10 may be a server. Further, the components constituting the information processing apparatus 10 may be distributed and arranged on a plurality of servers.

Further, for example, the information processing device 10 may be a device mounted on a mobile body. In that case, the information processing device 10 may include the sensor 50.

Further, for example, the information processing apparatus 10 may include a memory 60. In that case, the memory 60 may be the same memory as the memory for storing the program. Further, in that case, the memory 60 may be connected to the bus in the information processing apparatus 10.

The route orientation acquisition unit 11 acquires the orientation of the route on which the moving body moves.

The sensor orientation calculation unit 12 calculates the orientation of the sensor 50 mounted on the moving body based on the sensor data acquired by the sensor 50.

The straight line section specifying unit 13 specifies a straight line section from the set route.

The first difference acquisition unit 14 acquires the first difference set as the difference between the orientation of the sensor 50 and the orientation of the moving body.

The moving body orientation estimation unit 15 estimates the orientation of the moving body based on the calculated orientation of the sensor 50 and the first difference.

The second difference calculation unit 16 calculates the second difference between the direction of the acquired route and the estimated direction of the moving body.

The first difference correction unit 17 corrects the first difference based on the calculated second difference.

The movement limiting unit 18 determines whether or not the correction amount of the first difference is equal to or greater than the threshold value, and if the correction amount of the first difference is equal to or greater than the threshold value, the movement of the moving body is restricted.

The error notification unit 19 notifies an error when the first difference or the correction amount of the first difference is equal to or larger than the threshold value.

Details of each functional component of the information processing apparatus 10 will be described with reference to FIG.

FIG. 3 is a flowchart showing an example of the operation of the information processing apparatus 10 according to the first embodiment. For example, in an automatic driving system or the like, it is assumed that the route on which the moving body moves is set on the software, and the moving body is set to move along the route.

First, the route orientation acquisition unit 11 acquires the orientation of the route on which the moving body moves (step S11). The route orientation acquisition unit 11 acquires the orientation of the route on which the moving body moves based on the map information or the like acquired from the server or the like via, for example, the CAN 70 or the like. For example, when the moving body moves in the straight line section specified by the straight line section specifying unit 13, the route direction acquisition unit 11 acquires the direction of the route. The straight line section specifying unit 13 may specify the straight line section based on, for example, the curvature of the moving path acquired from various ECUs or the like via the CAN 70 or the like, or the presence or absence of avoidance operation. Further, the straight line section specifying unit 13 may specify the straight line section from the map information or the like acquired from the server or the like via the CAN 70 or the like. In a straight section, the moving body tends to move along the path, so that the correct direction of the path can be obtained by acquiring the direction of the path when the moving body moves in the straight section.

Next, the sensor orientation calculation unit 12 calculates the orientation of the sensor 50 mounted on the moving body based on the sensor data acquired by the sensor 50 (step S12). The sensor orientation calculation unit 12 acquires sensor data (for example, point group data obtained by LiDAR) and map information from the sensor 50 and the server via the CAN 70 or the like, and together with the information around the moving body indicated by the sensor data. , The orientation of the sensor 50 can be calculated by comparing with the information around the moving body indicated by the map information. For example, when the moving body moves in the straight line section specified by the straight line section specifying unit 13, the sensor orientation calculation unit 12 calculates the direction of the sensor 50. An accurate orientation of the sensor 50 can be calculated by calculating the orientation of the sensor 50 when the moving body moves in a straight line section.

Next, the first difference acquisition unit 14 acquires the first difference set as the difference between the orientation of the sensor 50 and the orientation of the moving body from, for example, the memory 60 (step S13). For example, the first difference is set when the sensor 50 is mounted on the moving body and stored in the memory 60. Further, the first difference is corrected and updated as described later.

Next, the moving body orientation estimation unit 15 estimates the orientation of the moving body based on the calculated orientation of the sensor 50 and the first difference (step S14). The moving body orientation estimation unit 15 estimates the orientation of the moving body by subtracting the first difference from the calculated orientation of the sensor 50. Since the first difference may not be an accurate difference between the orientation of the sensor 50 and the orientation of the moving object, the estimated orientation of the moving object, in other words, the orientation of the moving object on the software, is , May be off the orientation of the actual moving object.

In addition, step S11 may be performed after step S12, step S13 or step S14.

Next, the second difference calculation unit 16 calculates the second difference between the direction of the acquired route and the estimated direction of the moving body (step S15). The second difference will be described with reference to FIG.

FIG. 4 is a diagram showing an example of the time change of the second difference when the first difference is accurate and when it is not accurate.

As described above, the moving body moves in the direction obtained by subtracting the first difference from the direction recognized as the front direction of the sensor 50 based on the sensor data of the sensor 50 as the front direction of the moving body. When the first difference is accurate, the estimated orientation of the moving object approaches the orientation of the actual moving object, in other words, the orientation of the path on which the actual moving object moves. Therefore, the second difference between the direction of the path and the direction of the estimated moving body is close to 0 as shown by the solid line in FIG.

On the other hand, when the first difference is not accurate, the estimated orientation of the moving body corresponds to the amount of deviation of the first difference from the actual difference with respect to the direction of the path on which the actual moving body moves. A certain bias occurs. Since the feedback control is performed, the second difference between the direction of the path and the direction of the estimated moving body does not continue to increase, but is biased as shown by the broken line shown in FIG.

Returning to the description in FIG. 3, next, the first difference correction unit 17 corrects the first difference based on the calculated second difference (step S16).

For example, the first difference correction unit 17 may correct the first difference so that the second difference (for example, the absolute value of the second difference) becomes small. The first difference is corrected by correcting the first difference so that the second difference (or the statistical value of the second difference) becomes smaller, that is, the direction of the estimated moving body does not deviate from the direction of the path. It can be corrected to an accurate value.

For example, the first difference correction unit 17 may determine whether or not the second difference is equal to or greater than the threshold value, and if the second difference is equal to or greater than the threshold value, may correct the first difference. The first difference can be corrected when the second difference is equal to or greater than the threshold value, that is, when the estimated orientation of the moving body deviates significantly from the orientation of the path. In other words, the first difference can be corrected to an accurate value by correcting the first difference until the second difference becomes less than the threshold value.

Here, a specific example of the operation of the first difference correction unit 17 will be described.

FIG. 5 is a flowchart showing an example of the operation of the first difference correction unit 17 according to the first embodiment.

First, the first difference correction unit 17 calculates the average of the second differences of N frames (step S21). The N frames are, for example, 20 to 30 frames. As shown in FIG. 4, when the first difference is accurate, the average of the second differences of N frames is close to 0, but when the first difference is not accurate, it is not near 0. It can be a positive or negative value.

Next, the first difference correction unit 17 determines whether or not the average of the second differences (for example, the absolute value of the average) of the N frames is equal to or greater than the threshold value (step S22). That is, the first difference correction unit 17 determines whether or not the average orientation of the moving body in the N frames deviates significantly from the orientation of the path.

When the average of the second differences of N frames is equal to or greater than the threshold value (Yes in step S22), the first difference correction unit 17 corrects the first difference (step S23). Specifically, the first difference correction unit 17 corrects the first difference so as to cancel the difference between the estimated orientation of the moving body and the orientation of the path.

It is not necessary to calculate the average after obtaining all the second differences of N frames, and the average may be calculated every time the second difference is obtained. Further, even before the lapse of the Nth frame, if the average is equal to or greater than the threshold value, the process of step S23 may be performed.

By repeating the processes from step S21 to step S23, the first difference is corrected to an accurate value, and the first difference correction unit 17 determines that the average of the second differences is less than the threshold value (step S22). No), the correction process of the first difference is completed.

The movement limiting unit 18 limits the movement of the moving body when the correction amount of the first difference is equal to or greater than the threshold value. For example, restrictions on the movement of moving objects include restrictions on speed or stopping. If the movement of the moving body is controlled when the correction amount of the first difference is equal to or greater than the threshold value, the moving direction of the moving body may change significantly, which may cause a safety problem. If it is above the threshold value, the movement of the moving body is restricted, so that safety can be maintained.

Further, the error notification unit 19 notifies an error when the first difference or the correction amount of the first difference is equal to or larger than the threshold value. For example, the error notification unit 19 outputs an alert to notify the occupant, the manager, the observer, or the like of the moving object of the error. As a result, it is possible to notify the occupant, the manager, the observer, or the like of the moving body that the first difference or the correction amount of the first difference is equal to or more than the threshold value.

As described above, the first difference can be corrected to an accurate value by correcting the first difference from the second difference, and the difference between the orientation of the moving body and the orientation of the sensor 50 can be accurately calibrated. be able to. In the present disclosure, the difference between the orientation of the moving body and the orientation of the sensor 50 can be calculated without a physical marker. For example, it is possible to calibrate the orientation of the moving body and the orientation of the sensor 50 in various environments including not only a special environment where a mark can be installed such as a factory but also an environment where a mark cannot be installed.

(Embodiment 2)
Hereinafter, the information processing apparatus according to the second embodiment will be described.

FIG. 6 is a block diagram showing an example of the information processing apparatus 20 according to the second embodiment. Note that FIG. 6 shows a sensor 50, a memory 60, and a CAN 70 in addition to the information processing apparatus 20. Since the sensor 50, the memory 60, and the CAN 70 are the same as those in the first embodiment, the description thereof will be omitted.

The information processing device 20 includes a steering direction acquisition unit 21, a first difference correction unit 22, a straight line section specifying unit 13, a movement limiting unit 18, and an error notification unit 19.

The information processing device 20 is a computer including a processor, a memory, and the like. The memory is a ROM, RAM, or the like, and can store a program executed by the processor. The steering direction acquisition unit 21, the first difference correction unit 22, the straight line section specifying unit 13, the movement limiting unit 18, and the error notification unit 19 are realized by a processor or the like that executes a program stored in the memory. Since the straight line section specifying unit 13, the movement limiting unit 18, and the error notification unit 19 are the same as those in the first embodiment, the description thereof will be omitted.

For example, the information processing device 20 may be a server. Further, the components constituting the information processing apparatus 20 may be distributed and arranged on a plurality of servers.

Further, for example, the information processing device 20 may be a device mounted on a mobile body. In that case, the information processing device 20 may include the sensor 50.

Further, for example, the information processing apparatus 20 may include a memory 60. In that case, the memory 60 may be the same memory as the memory for storing the program.

Further, as in the first embodiment, the moving body is a moving body that moves along the set route.

The steering direction acquisition unit 21 acquires the steering direction with respect to the front direction of the moving body moving in the direction of the path.

The first difference correction unit 22 corrects the first difference set as the difference between the direction of the sensor 50 mounted on the moving body and the direction of the moving body based on the acquired steering direction.

Details of each functional component of the information processing apparatus 20 will be described with reference to FIG. 7.

FIG. 7 is a flowchart showing an example of the operation of the information processing apparatus 20 according to the second embodiment. For example, in an automatic driving system or the like, it is assumed that the route on which the moving body moves is set on the software, and the moving body is set to move along the route.

First, the steering direction acquisition unit 21 acquires the steering direction with respect to the front direction of the moving body moving in the direction of the path (step S31). The steering direction acquisition unit 21 acquires the steering direction from various ECUs or the like via, for example, the CAN 70 or the like. When the moving body moves in the direction of the path, it means that the moving body moves straight in the path so that the direction of the path and the front direction of the moving body are parallel to each other. For example, the steering direction may be the tire angle, and the tire angle can be acquired from a sensor or the like that senses the tire angle. Further, for example, the steering direction may be the steering angle, and the steering angle can be acquired from a steering-related ECU or the like.

For example, when the moving body moves in the straight line section specified by the straight line section specifying unit 13, the steering direction acquisition unit 21 acquires the steering direction. Since the moving body tends to move along the path, the correct steering direction can be calculated by calculating the steering direction of the moving body when the moving body moves in a straight section.

If the first difference is not an accurate difference between the orientation of the sensor 50 and the orientation of the moving body, the moving body will move out of the direction of the path. Specifically, the moving body moves in the direction obtained by subtracting the first difference from the direction recognized as the front direction of the sensor 50 based on the sensor data of the sensor 50 as the front direction of the moving body (that is, the direction of the path). However, if the first difference is not accurate, it will move in a direction deviating from the direction of the route. On the other hand, in automatic driving, the steering direction is controlled from the front direction of the moving body to the direction of the path in order to move the moving body that has moved in the direction deviated from the direction of the path so as not to deviate from the path. It will be. That is, when the first difference is not accurate, the steering direction has a certain deviation in the front direction of the moving body in order to eliminate the deviation of the first difference in the moving direction according to the amount of deviation from the actual difference. On the other hand.

Next, the first difference correction unit 22 corrects the first difference set as the difference between the direction of the sensor 50 mounted on the moving body and the direction of the moving body based on the acquired steering direction (). Step S32).

For example, the first difference correction unit 22 may correct the first difference so that the steering direction of the moving body with respect to the front direction becomes smaller. The first difference is corrected so that the steering direction (or the statistical value of the steering direction) becomes smaller, in other words, the first difference is corrected so that the moving body does not move in a direction deviating from the direction of the path. By being corrected, the first difference can be corrected to an accurate value.

For example, the first difference correction unit 22 may determine whether or not the steering direction of the moving body with respect to the front direction is equal to or greater than the threshold value, and if the steering direction is equal to or greater than the threshold value, may correct the first difference. The first difference can be corrected when the steering direction of the moving body with respect to the front direction is equal to or greater than the threshold value, that is, when the steering direction of the moving body is significantly deviated from the front direction of the moving body. In other words, the first difference can be corrected to an accurate value by correcting the first difference until the steering direction of the moving body with respect to the front direction becomes less than the threshold value.

Note that the first difference correction unit 22 may correct the first difference based on the average of the steering directions corresponding to the N frames, as in the first difference correction unit 17 in the first embodiment. good.

As described above, the first difference can be corrected to an accurate value by correcting the first difference from the deviation of the steering direction, and the difference between the direction of the moving body and the direction of the sensor 50 can be accurately calibrated. It can be performed. In the present disclosure, the difference between the orientation of the moving body and the orientation of the sensor 50 can be calculated without a physical marker. For example, it is possible to calibrate the orientation of the moving body and the orientation of the sensor 50 in various environments including not only a special environment where a mark can be installed such as a factory but also an environment where a mark cannot be installed. Further, since the steering direction can be easily acquired via the CAN 70 or the like, the difference between the direction of the moving body and the direction of the sensor 50 can be calculated more easily.

(Other embodiments)
The information processing apparatus according to one or more aspects of the present disclosure has been described above based on the embodiments, but the present disclosure is not limited to these embodiments. As long as it does not deviate from the gist of the present disclosure, one or a plurality of forms in which various modifications conceived by those skilled in the art are applied to each embodiment or constructed by combining components in different embodiments are also included in the present disclosure. It may be included within the scope of the embodiment.

For example, in the above embodiment, the information processing apparatus includes the straight line section specifying unit 13, the movement limiting unit 18, and the error notification unit 19, but the information processing device includes the straight line section specifying unit 13, the moving limiting unit 13. It is not necessary to include at least one component of 18 and the error notification unit 19.

For example, a plurality of sensors may be mounted on the moving body. Calibration when a plurality of sensors are mounted on a moving body will be described with reference to FIGS. 8 and 9.

FIG. 8 is a diagram showing a moving body on which a plurality of sensors are mounted.

FIG. 9 is a diagram for explaining the point cloud data of each of the plurality of sensors and the point cloud data indicated by the map information.

As shown in FIG. 8, for example, the sensor 50a is mounted on the ceiling of the moving body, the sensor 50b is mounted on the right side of the moving body, the sensor 50c is mounted on the left side of the moving body, and the sensor is mounted on the rear side of the moving body. It is assumed that 50d is installed. The sensors 50a, 50b, 50c and 50d are radars such as LiDAR. The sensor 50a senses the surroundings of the moving body, the sensor 50b senses the right side of the moving body, the sensor 50c senses the left side of the moving body, and the sensor 50d senses the rear side of the moving body.

FIG. 9 schematically shows the point cloud data acquired by each of the sensors 50a, 50b, 50c and 50d and the point cloud data indicated by the map information. The point cloud data 51a indicated by a white circle is the point cloud data acquired by the sensor 50a. The point cloud data 51b indicated by a circle with diagonal lines from the upper right to the lower left is the point cloud data acquired by the sensor 50b. The point cloud data 51c indicated by a circle with diagonal lines from the upper left to the lower right is the point cloud data acquired by the sensor 50c. The point cloud data 51d indicated by a circle with dots is the point cloud data acquired by the sensor 50d. The point cloud data 51e indicated by the black circle is the point cloud data indicated by the map information.

For example, the calibration of the difference between the orientation of the moving body and the orientation of the sensor described in the first or second embodiment may be performed for any one of the sensors 50a, 50b, 50c and 50d, and the other sensors may be calibrated. It does not have to be done for the sensor. The orientation of the sensors 50a, 50b, 50c and 50d is calculated by comparing the point cloud data 51e indicated by the map information with the point cloud data 51a, 51b, 51c and 51d acquired by the sensors 50a, 50b, 50c and 50d. This is because it is possible to calibrate the difference in orientation between each sensor. Specifically, for the sensor 50a, the exact first difference between the orientation of the moving body and the orientation of the sensor 50a is found to be 0.2 °, and the difference between the orientation of the sensor 50a and the orientation of the sensor 50b is 0.5 °. If the exact first difference between the orientation of the moving body and the orientation of the sensor 50b is not obtained as shown in the first or second embodiment, the first difference for the sensor 50a is used to be 0. It can be easily obtained as 0.7 °.

For example, in the above embodiment, an example in which sensor data, data of various ECUs, data of the first difference stored in the memory 60, and the like are transmitted and received via the CAN 70 has been described. The network used is not limited to CAN70. For example, it may be another wired or wireless network.

For example, in the present disclosure, the orientation of the moving body and the orientation of the sensor may be replaced with the posture of the moving body and the posture of the sensor.

It should be noted that the present disclosure can be realized not only as an information processing device but also as an information processing method including steps (processing) performed by each component constituting the information processing device.

For example, the information processing method is an information processing method executed by a computer, and as shown in FIG. 3, a sensor mounted on the moving body obtains the direction of the path on which the moving body moves (step S11). Is calculated based on the sensor data acquired by the sensor (step S12), and the first difference set as the difference between the orientation of the sensor and the orientation of the moving object is acquired (step S13) and calculated. The orientation of the moving object is estimated based on the orientation of the sensor and the first difference (step S14), and the second difference between the acquired path orientation and the estimated orientation of the moving object is calculated (step S15). The process of correcting the first difference based on the calculated second difference (step S16) is included, the sensor is a sensor for estimating the orientation of the moving body, and the moving body is along the set path. It is a moving body that moves.

Further, for example, the information processing method is an information processing method executed by a computer, and as shown in FIG. 7, the steering direction with respect to the front direction of the moving body moving in the direction of the path is acquired (step S31). ), The first difference set as the difference between the orientation of the sensor mounted on the moving body and the orientation of the moving body is corrected based on the acquired steering direction (step S32), and the sensor comprises. It is a sensor for estimating the orientation of a moving body, and the moving body is a moving body that moves along a set path.

For example, the present disclosure can be realized as a program for causing a processor to execute a step included in an information processing method. Further, the present disclosure can be realized as a non-temporary computer-readable recording medium such as a CD-ROM in which the program is recorded.

For example, when the present disclosure is realized by a program (software), each step is executed by executing the program using hardware resources such as a computer CPU, memory, and input / output circuit. .. That is, each step is executed by the CPU acquiring data from the memory or the input / output circuit or the like and performing an operation, or outputting the operation result to the memory or the input / output circuit or the like.

In the above embodiment, each component included in the information processing apparatus may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Some or all of the functions of the information processing apparatus according to the above embodiment are typically realized as an LSI which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them. Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of circuit cells inside the LSI may be used.

Further, as long as it does not deviate from the gist of the present disclosure, various modifications made to the extent that a person skilled in the art can think of each embodiment of the present disclosure are also included in the present disclosure.

The present disclosure can be applied to an autonomous driving vehicle or the like equipped with a radar such as LiDAR.

10, 20 Information processing device 11 Path orientation acquisition unit 12 Sensor orientation calculation unit 13 Straight line section identification unit 14 First difference acquisition unit 15 Moving object orientation estimation unit 16 Second difference calculation unit 17, 22 First difference correction unit 18 Movement restriction Part 19 Error notification part 21 Steering orientation acquisition part 50, 50a, 50b, 50c, 50d Sensor 51a, 51b, 51c, 51d, 51e Point group data 60 Memory 70 CAN

Claims (18)

A route orientation acquisition unit that acquires the orientation of the route on which the moving object travels,
A sensor orientation calculation unit that calculates the orientation of the sensor mounted on the moving body based on the sensor data acquired by the sensor, and a sensor orientation calculation unit.
A first difference acquisition unit that acquires a first difference set as a difference between the orientation of the sensor and the orientation of the moving body, and
A moving body orientation estimation unit that estimates the orientation of the moving body based on the calculated orientation of the sensor and the first difference.
A second difference calculation unit that calculates a second difference between the acquired orientation of the route and the estimated orientation of the moving body, and
A first difference correction unit that corrects the first difference based on the calculated second difference is provided.
The sensor is a sensor for estimating the orientation of the moving body.
The moving body is an information processing device that is a moving body that moves along a set path. The information processing device according to claim 1, wherein the first difference correction unit corrects the first difference so that the second difference becomes smaller. The information processing apparatus according to claim 1 or 2, wherein the first difference correction unit determines whether or not the second difference is equal to or greater than a threshold value, and if the second difference is equal to or greater than the threshold value, corrects the first difference. .. Further, claims 1 to 3 include a movement limiting unit that determines whether or not the correction amount of the first difference is equal to or greater than the threshold value, and if the correction amount of the first difference is equal to or greater than the threshold value, restricts the movement of the moving body. The information processing apparatus according to any one of the above items. The information processing apparatus according to claim 4, wherein the movement limitation of the moving body includes a speed limitation or a stop. Further, a straight section specifying portion for specifying a straight section from the route is provided.
The route orientation acquisition unit acquires the orientation of the route when the moving body moves in the straight section.
The information processing device according to any one of claims 1 to 5, wherein the sensor orientation calculation unit calculates the orientation of the sensor when the moving body moves in the straight line section. The information processing apparatus according to any one of claims 1 to 6, further comprising an error notification unit for notifying an error when the first difference or the correction amount of the first difference is equal to or greater than a threshold value. Information processing method executed by a computer
Get the direction of the path that the moving object travels,
The orientation of the sensor mounted on the moving body is calculated based on the sensor data acquired by the sensor, and the orientation is calculated.
The first difference set as the difference between the direction of the sensor and the direction of the moving body is acquired, and the difference is obtained.
The orientation of the moving body is estimated based on the calculated orientation of the sensor and the first difference.
The second difference between the acquired orientation of the route and the estimated orientation of the moving body was calculated.
The first difference is corrected based on the calculated second difference.
The sensor is a sensor for estimating the orientation of the moving body.
The moving body is an information processing method that is a moving body that moves along a set path. A program for causing a computer to execute the information processing method according to claim 8. A steering direction acquisition unit that acquires the steering direction with respect to the front direction of a moving body that moves in the direction of the path, and a steering direction acquisition unit.
A first difference correction unit that corrects a first difference set as a difference between the direction of the sensor mounted on the moving body and the direction of the moving body based on the acquired steering direction is provided.
The sensor is a sensor for estimating the orientation of the moving body.
The moving body is an information processing device that is a moving body that moves along a set path. The information processing device according to claim 10, wherein the first difference correction unit corrects the first difference so that the steering direction becomes smaller. The information processing device according to claim 10 or 11, wherein the first difference correction unit determines whether or not the steering direction is equal to or greater than a threshold value, and if the steering direction is equal to or greater than the threshold value, corrects the first difference. .. Further, claims 10 to 12 include a movement limiting unit that determines whether or not the correction amount of the first difference is equal to or greater than the threshold value, and if the correction amount of the first difference is equal to or greater than the threshold value, restricts the movement of the moving body. The information processing apparatus according to any one of the above items. The information processing apparatus according to claim 13, wherein the movement limitation of the moving body includes a speed limitation or a stop. Further, a straight section specifying portion for specifying a straight section from the route is provided.
The information processing device according to any one of claims 10 to 14, wherein the steering direction acquisition unit acquires the steering direction when the moving body moves in the straight section. The information processing apparatus according to any one of claims 10 to 15, further comprising an error notification unit for notifying an error when the first difference or the correction amount of the first difference is equal to or greater than a threshold value. Information processing method executed by a computer
Acquires the steering direction with respect to the front direction of the moving body moving in the direction of the path.
Based on the acquired steering direction, the first difference set as the difference between the direction of the sensor mounted on the moving body and the direction of the moving body is corrected.
The sensor is a sensor for estimating the orientation of the moving body.
The moving body is an information processing method that is a moving body that moves along a set path. A program for causing a computer to execute the information processing method according to claim 17.

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