JP2023024750A - Information processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processor capable of effectively utilizing initial data.

SOLUTION: By generating displacement amount information on the basis of an actually measured sensor value stored in a storage part 2 and a new correction value, the displacement amount information can be generated based on the actually measured sensor value obtained in the past, and the most recent correction value. The most recent correction value is updated and highly precise displacement amount information can be generated. Consequently, in comparison with a method for generating displacement amount information on the basis of the actually measured sensor value in the past and the correction value at that time, highly precise displacement amount information can be generated. Therefore, the actually measured sensor value in the past as initial data can be utilized effectively.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to an information processing device.

Conventionally, a method of updating map data based on the travel locus of a vehicle (moving body) has been proposed (see, for example, Patent Document 1). In the map data update method described in Patent Document 1, the travel locus for which map matching was not possible is updated in the map database as a new road. At this time, the travel locus is calculated by dead reckoning using a speed sensor, a gyro sensor, or the like.

JP 2011-145159 A

When calculating the travel locus by dead reckoning as described in Patent Document 1, the sensor outputs the gyro voltage, the vehicle speed pulse, etc. as measured values, and a predetermined coefficient (correction value) is applied to the measured values. By multiplying, the amount of displacement such as the amount of azimuth displacement or the amount of movement is calculated. However, since there are individual differences in sensors, the amount of displacement may contain an error if the correction value is not optimized.

Therefore, a method of improving the accuracy of the calculated displacement amount by updating the correction value based on the end point of the running trajectory generated by dead reckoning and the latitude and longitude information obtained by self-position estimation is conceivable. . However, although the reliability of the obtained displacement increases if the correction value is updated repeatedly, the displacement obtained before updating may contain errors, making it difficult to effectively use the data obtained in the initial stage of measurement. . Further, in general, the more the correction value is updated, the smaller the error becomes.

Accordingly, an object of the present invention is to provide an information processing apparatus capable of effectively using initial data.

In order to solve the above-described problems and achieve the object, an information processing apparatus according to claim 1 of the present invention is an information processing apparatus for acquiring information from a moving body provided with a sensor for measuring a displacement amount. a storage unit that stores the sensor actual measurement values of the sensor; an acquisition unit that acquires correction values for correcting the sensor actual measurement values; and a generation unit that generates displacement amount information of the moving body based on the value and the new correction value.

1 is a block diagram showing an outline of an information processing apparatus according to an embodiment of the present invention; FIG. It is a top view which shows a mode that a driving|running|working locus is produced|generated by the said information processing apparatus.

Embodiments of the present invention will be described below. An information processing apparatus according to an embodiment of the present invention is an information processing apparatus that acquires information from a moving body provided with a sensor for measuring displacement,
A storage unit that stores sensor actual measurement values of a sensor, an acquisition unit that acquires a correction value for correcting the sensor actual measurement value, and a sensor actual measurement value and a new correction when a new correction value is acquired from a moving object. a generation unit that generates displacement amount information of the moving object based on the value.

When a new correction value is acquired, by generating displacement amount information based on the sensor actual measurement value stored in the storage unit and the new correction value, the sensor actual measurement value obtained in the past and the latest correction value are generated. and the displacement amount information can be generated based on the correction value of . The latest correction values are updated and can generate highly accurate displacement amount information. Therefore, compared with the method of generating the displacement amount information based on the past sensor actual measurement value and the past correction value, highly accurate displacement amount information can be generated. Therefore, it is possible to effectively use the past actual sensor values, which are the initial data.

The sensor actual measurement value may include at least one of the velocity pulse number of the moving body, the gyro voltage, and the acceleration sensor voltage.

It is preferable that the information processing apparatus further includes a locus generation unit that generates locus information of the moving object based on the displacement amount information. As a result, the displacement amount information obtained from the past sensor actual measurement values can be effectively used for generating the travel locus information.

On the other hand, an information processing system according to the present embodiment is an information processing system that acquires information from a moving object provided with a sensor for measuring a displacement amount, in which a storage unit that stores sensor actual measurement values of the sensor, An acquisition unit that acquires a correction value for correcting the actual sensor measurement value, and when a new correction value is acquired from the moving object, generates displacement amount information of the moving object based on the actual sensor measurement value and the new correction value. and a generator.

Further, an information processing method according to the present embodiment is an information processing method for acquiring information from a moving object provided with a sensor for measuring a displacement amount, and includes a storage step of storing sensor actual measurement values of the sensor; An acquisition step of acquiring a correction value for correcting a value, and a generating step of generating displacement amount information of the moving body based on the sensor actual measurement value and the new correction value when a new correction value is acquired from the moving body. and including.

According to the information processing system and the information processing method of the present embodiment, similarly to the information processing apparatus described above, when a new correction value is acquired, the sensor actual measurement value stored in the storage unit and the new correction value are combined. By generating displacement amount information based on , it is possible to effectively use the past sensor actual measurement values, which are the initial data.

Examples of the present invention will be specifically described below. An information processing apparatus (information processing system) 1 of the present embodiment is an external server that acquires information from a vehicle 10 as a moving object, as shown in FIG. , and a communication unit 4 . The vehicle 10 includes a position estimating unit 11 , a sensor 12 , a vehicle-side storage unit 13 , a vehicle-side control unit 14 and a communication unit 15 . The vehicle 10 may be a general vehicle or a measurement vehicle intended to generate map data. For example, each vehicle 10 is assigned an identification number, and the information processing apparatus 1 stores and processes information on each vehicle individually.

The storage unit 2 is composed of, for example, a hard disk or non-volatile memory, stores map data, and reads and writes the map data under the control of the control unit 3 . In addition, as will be described later, the storage unit 2 stores a sensor actual measurement value of the sensor 12 and a correction value for correcting the sensor actual measurement value.

The server-side control unit 3 is composed of a CPU (Central Processing Unit) having memories such as RAM (Random Access Memory) and ROM (Read Only Memory), for example. Then, the information acquired from the vehicle 10 is stored in the storage unit 2, and predetermined processing is performed.

The communication unit 4 includes a circuit, an antenna, and the like for communicating with networks such as the Internet and public lines, and communicates with the vehicle 10 to transmit and receive information.

The position estimator 11 estimates the current position (absolute position) of the vehicle 10. For example, the position estimator 11 receives radio waves transmitted from a plurality of GPS (Global Positioning System) satellites.
Any receiver may be used. The position estimation unit 11 acquires latitude and longitude information as the current position of the vehicle 10 .

The sensor 12 is for measuring the amount of displacement of the vehicle 10, and includes, for example, a vehicle speed pulse acquisition unit for acquiring the vehicle speed pulse of the vehicle 10, a gyro sensor for measuring the amount of azimuth displacement of the vehicle 10, and an acceleration sensor for acquiring the acceleration of the vehicle 10 . In addition, the sensor 12 outputs, for example, the number of vehicle speed pulses, the gyro voltage, and the acceleration sensor voltage as sensor actual measurement values.

The vehicle-side storage unit 13 is configured by, for example, a hard disk or non-volatile memory, and stores map data.

The vehicle-side control unit 14 is configured by a CPU (Central Processing Unit) having memories such as RAM (Random Access Memory) and ROM (Read Only Memory).

The communication unit 15 includes a circuit, an antenna, and the like for communicating with networks such as the Internet and public lines, and communicates with the information processing apparatus 1 to transmit and receive information. Note that the communication unit 15 may only transmit information to the information processing apparatus 1 .

Details of a method for processing and storing information by the server-side control unit 3 in the information processing apparatus 1 as described above will be described. In the vehicle 10 , the vehicle-side control unit 14 performs map matching based on the absolute position (latitude/longitude information) estimated by the position estimation unit 11 and the existing route information stored in the vehicle-side storage unit 13 . The server-side control unit 3 of the information processing device 1 acquires the map matching result from the vehicle 10 .

The travel locus indicated by the map matching result obtained from the vehicle 10 may not be a smooth curved line, for example, in an area where the vehicle 10 turns left or right. In the example shown in FIG. 2, the travel locus (solid line) based on the map matching result when the vehicle 10 turns right has discontinuous portions. Therefore, the server-side control unit 3 uses the measurement result of the sensor 12 to correct the left and right turn regions of the travel locus. The server-side control unit 3 acquires the sensor actual measurement value from the sensor 12 and calculates the displacement amount by multiplying the sensor actual measurement value by the correction value. That is, the number of vehicle speed pulses is multiplied by the amount of movement per pulse as a correction value to calculate the amount of movement as the amount of displacement, and the amount of change in the gyro voltage is multiplied by a predetermined coefficient as the correction value. , the azimuth displacement amount is calculated as the displacement amount, and the acceleration is calculated as the displacement amount by multiplying the change amount of the acceleration sensor voltage by a predetermined coefficient as a correction value.

A new trajectory can be generated by, for example, accumulating the amount of displacement starting from the right/left turn start position of the travel trajectory indicated by the map matching result. That is, the portion of the travel locus based on map matching that does not form a smooth curve can be replaced with the travel locus based on the amount of displacement.

Although the correction value for calculating the displacement amount is a value corresponding to the sensor 12, there is an error in the obtained displacement amount because the sensor 12 has individual differences. When the displacement amount is integrated as described above, an error is accumulated. For example, as shown in FIG. 2, the end point (right turn completion position) P2 of the travel locus (double-dot chain line) obtained by integrating the amount of displacement from the right turn start position as the starting point P1 may deviate from the lane after the right turn. .

The accuracy of estimating the absolute position (latitude and longitude) of the right/left turn end position in the travel locus indicated by the map matching result is relatively high. Therefore, it is possible to update the correction value so that the latitude and longitude of the end position based on map matching and the latitude and longitude of the end position based on the integration of the amount of displacement match. In the example shown in FIG. 2, the end point P3 based on map matching is located on the lane after the right turn. When the correction value is updated so that the end point P3 based on the map matching and the end point P2 based on the integration of the displacement amount match, and the displacement amount is calculated and integrated using the new correction value, the result is as shown by the dashed line. A new trajectory is obtained.

When acquiring information from the vehicle 10, the server-side control unit 3 causes the storage unit 2 to store the map matching result at that time and the sensor actual measurement value of the sensor 12 (storage step), and corrects as described above. Update value. That is, the server-side control unit 3 acquires the correction value (acquisition step) and functions as an acquisition unit. Since the actual sensor value is unique at each position on the travel route, the actual sensor value is stored separately for each position. On the other hand, since the correction value is unique to the sensor 12, it is updated and overwritten as the vehicle 10 travels.

By repeating the update of the correction value as described above, the error in the obtained change amount is reduced and the accuracy is improved. On the other hand, there is a large error in the amount of displacement based on the initial correction value, in which updating is not sufficiently repeated, and the sensor actual measurement value obtained at that time, and the accuracy of the travel locus based on this amount of displacement is low. Therefore, the server-side control unit 3 recalculates the displacement amount based on the latest correction value and the sensor actual measurement value obtained in the past (stored in the storage unit 2), and uses the recalculated displacement amount as Based on this, the running trajectory is generated again. That is, when a new correction value is acquired, the server-side control unit 3 generates displacement amount information of the vehicle 10 based on the sensor actual measurement value and the new correction value (generating step), and functions as a generation unit. . The server-side control unit 3 also functions as a trajectory generation unit by generating travel trajectory information of the vehicle 10 based on the displacement amount information.

As described above, the server-side control unit 3 of the information processing device 1 corrects the travel locus indicated by the map matching result by integrating the amount of displacement. Appropriate positions in the corrected travel locus may be stored in the storage unit 2 as feature points (nodes).

With the above configuration, by generating the displacement amount information based on the sensor actual measurement value stored in the storage unit 2 and the new correction value, the sensor actual measurement value obtained in the past and the latest correction value are combined. , can be used to generate displacement amount information. The latest correction values are updated and can generate highly accurate displacement amount information. Therefore, compared with the method of generating the displacement amount information based on the past sensor actual measurement value and the correction value at that time, highly accurate displacement amount information can be generated. Therefore, it is possible to effectively use the past actual sensor values, which are the initial data. In particular, when generating road information using vehicle trajectory information on a new road on which map matching cannot be performed, accurate trajectory information is required, which is useful.

It should be noted that the present invention is not limited to the above-described embodiments, but includes other configurations and the like that can achieve the object of the present invention, and the following modifications and the like are also included in the present invention.

For example, in the above embodiment, the sensor 12 is composed of a vehicle speed pulse acquisition unit, a gyro sensor, and an acceleration sensor, and outputs the vehicle speed pulse number, the gyro voltage, and the acceleration sensor voltage as actual sensor values. Any sensor may be used as long as it measures the amount of displacement of the moving body. For example, the sensor may include at least one of a vehicle speed pulse acquisition unit, a gyro sensor, and an acceleration sensor. At least one should be output.

Further, in the above-described embodiment, the travel locus information is generated based on the displacement amount information based on the sensor actual measurement value stored in the storage unit 2 and the new correction value. information may be generated.

In addition, although the best configuration, method, etc. for carrying out the present invention have been disclosed in the above description, the present invention is not limited thereto. That is, although the present invention has been particularly illustrated and described primarily with respect to particular embodiments, modifications may be made to such embodiments without departing from the spirit and scope of the invention. , materials, quantity, and other detailed configurations can be modified in various ways by those skilled in the art. Therefore, the descriptions that limit the shape, material, etc. disclosed above are exemplified to facilitate understanding of the present invention, and do not limit the present invention. The description by the name of the member that removes all or part of the limitation such as is included in the present invention.

1 information processing device 2 storage unit 3 server-side control unit (acquisition unit, generation unit)
10 vehicle (moving object)
12 sensors

Claims (1)

In an information processing device that acquires information from a moving body provided with a sensor for measuring displacement,
a storage unit in which sensor actual measurement values of the sensor are stored;
an acquisition unit that acquires a correction value for correcting the sensor actual measurement value;
a generation unit that generates displacement amount information of the moving body based on the sensor actual measurement value and the new correction value when a new correction value is acquired from the moving body. Information processing equipment.

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