JP2023076673A - Information processing device, control method, program and storage medium - Google Patents

Abstract

To provide an information processing device which transfers transmission data suitable in the case of transmitting measurement information measured by a measuring instrument attached to a mobile object.SOLUTION: Data structure of upload information Iu comprises: a measurement value [xi, yi, zi]T showing an object measured by a rider 2 attached to a vehicle; and a rider position posture variation amount [ΔLx, ΔLy, ΔLz, ΔLφ, ΔLθ, ΔLψ]T as a variation amount of an attachment posture to a vehicle relative to a reference attachment posture of the rider 2 to the vehicle when the rider 2 measures the object. Then, the upload information Iu is transmitted to a server device 6 which converts a coordinate system of the measurement value [xi, yi, zi]T into a world coordinate system on the basis of the rider position posture variation amount [ΔLx,ΔLy, ΔLz, ΔLφ, ΔLθ, ΔLψ]T.SELECTED DRAWING: Figure 6

Description

The present invention relates to a technology that utilizes information about the mounting position and orientation of a measuring device.

2. Description of the Related Art Conventionally, there has been known a technique for estimating a position of a vehicle based on measurement data from measurement devices such as radar and cameras. For example, Patent Literature 1 discloses a technique of estimating a self-position by collating the output of a measurement sensor with the position information of a feature registered in advance on a map. Further, Patent Document 2 discloses a vehicle position estimation technique using a Kalman filter.

JP 2013-257742 A JP 2017-72422 A

The data obtained from the measuring device is the value of the coordinate system with the measuring device as the reference, and it depends on the attitude of the measuring device with respect to the vehicle. There is a need. Therefore, when the position or posture of the measuring device deviates, it is necessary to accurately detect the deviation and reflect it in the data of the measuring device.

The present invention has been made in order to solve the above-described problems. The main object is to provide a terminal device and a server device for giving and receiving.

The claimed invention is
an acquisition unit that acquires measurement information around the mobile object measured by a measuring device attached to the mobile object and information about position estimation accuracy of the mobile object when the measurement device measures the measurement information;
an updating unit that updates a map using the measurement information based on the information about the position estimation accuracy;
It is an information processing device having

In addition, the invention described in the claims,
A control method executed by an information processing device,
an acquisition step of acquiring measurement information around the moving object measured by a measuring device attached to the moving object, and information about position estimation accuracy of the moving object when the measuring device measures the measurement information;
an update step of updating a map using the measurement information based on the information about the position estimation accuracy;
is a control method having

In addition, the invention described in the claims,
A program executed by a computer,
an acquisition unit that acquires measurement information around the mobile object measured by a measuring device attached to the mobile object and information about position estimation accuracy of the mobile object when the measurement device measures the measurement information;
An updating unit that updates a map using the measurement information based on the information about the position estimation accuracy.

It is a program that causes the computer to function as

1 is a schematic configuration diagram of a map update system; FIG. It is a block diagram which shows the functional structure of a vehicle equipment and a server apparatus. FIG. 2 is a diagram showing the relationship between a vehicle coordinate system and a rider coordinate system represented by two-dimensional coordinates; FIG. 2 is a diagram showing the relationship between a vehicle coordinate system and a rider coordinate system represented by three-dimensional coordinates; FIG. 2 is a diagram showing the relationship between a vehicle coordinate system represented by two-dimensional coordinates and a world coordinate system; Shows the data structure of upload information. 6 is a flowchart of upload processing; It is a flow chart of map update processing.

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

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

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

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

In still another preferred embodiment, a terminal device comprises acquisition means for acquiring measurement information including position information of an object measured by a measurement device placed on a mobile body; It has a generation unit that generates coordinate system information indicating whether or not the reference coordinate system is used, and a transmission unit that transmits the measurement information and the coordinate system information to an information processing device. With this aspect, the terminal device can cause the information processing device to accurately recognize whether or not coordinate conversion of the transmitted measurement information is necessary.

In still another preferred embodiment, a terminal device comprises acquisition means for acquiring measurement information including position information of an object measured by a measurement device placed on a mobile body; a generating unit that generates coordinate system information indicating whether or not a reference coordinate system has been transformed into a different coordinate system; and a transmission unit that transmits the measurement information and the coordinate system information to an information processing device. have. Also in this aspect, the terminal device can cause the information processing device to accurately recognize whether or not coordinate conversion of the transmitted measurement information is required.

In still another preferred embodiment, the server device transmits measurement information including position information of an object measured by a measuring device attached to a mobile body, and coordinate system information relating to the coordinate system of the position information from the terminal device. It has receiving means for receiving, and conversion means for performing coordinate conversion of the position information based on the coordinate system information. According to this aspect, the server device can suitably perform coordinate conversion of the position information of the received measurement information.

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

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

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

In still another preferred embodiment, a computer-executable program comprises measurement information including position information of an object measured by a measuring device attached to a moving object, and coordinate system information relating to the coordinate system of the position information. from the terminal device, and transforming means for transforming the coordinates of the position information based on the coordinate system information. By executing this program, the computer can suitably perform coordinate conversion of the position information of the received measurement information. Preferably, these programs are stored on a storage medium.

Preferred embodiments of the present invention will be described below with reference to the drawings.

[Configuration of map update system]
FIG. 1 is a schematic configuration diagram of a map updating system according to this embodiment. The map updating system shown in FIG. 1 includes a vehicle-mounted device 1 that moves together with each vehicle, which is a mobile body, and a server device 6 that communicates with each vehicle-mounted device 1 via a network. Based on the information transmitted from each vehicle-mounted device 1, the map update system updates the distribution map DB 22, which is a map for distribution held by the server device 6. FIG. Hereinafter, the term “map” includes data used for ADAS (Advanced Driver Assistance System) and automatic driving, in addition to data referred to by conventional vehicle-mounted devices for route guidance. In addition, only one vehicle is shown in FIG.

The in-vehicle device 1 is electrically connected to a group of sensors such as a lidar (Light Detection and Ranging or Laser Illuminated Detection and Ranging) 2, a gyro sensor 3, an acceleration sensor 4, and a GPS receiver 5. Based on the output, detection of a predetermined object, estimation of the position and orientation of the vehicle in which the vehicle-mounted device 1 is mounted (also referred to simply as "vehicle position"), and the like are performed. Based on the result of estimating the position of the vehicle, the vehicle-mounted device 1 performs automatic operation control of the vehicle so that the vehicle travels along the set route to the destination. The in-vehicle device 1 stores a map database (DB: DataBase) 10 in which road data and information related to landmarks provided near roads, lane markings, and the like are registered. Based on the map DB 10, the vehicle-mounted device 1 compares the outputs of the rider 2 and the like to estimate the position of the vehicle. The vehicle-mounted device 1 also transmits upload information “Iu” including information about the detected object to the server device 6 . The vehicle-mounted device 1 also receives a download “Id” for updating the map DB 10 from the server device 6 . The in-vehicle device 1 is an example of a terminal device.

The lidar 2 discretely measures the distance to an object existing in the outside world by emitting a pulsed laser over a predetermined angular range in the horizontal and vertical directions, and generates a three-dimensional point indicating the position of the object. Generate group information. In this case, the lidar 2 includes an irradiation unit that irradiates laser light while changing the direction of irradiation, a light receiving unit that receives reflected light (scattered light) of the irradiated laser light, and scan data based on light receiving signals output by the light receiving unit. and an output unit for outputting The scan data is generated based on the irradiation direction corresponding to the laser beam received by the light receiving unit and the distance to the object in the irradiation direction of the laser beam specified based on the above-mentioned light receiving signal, and is sent to the vehicle-mounted device 1. supplied. The rider 2 is an example of a "measurement device".

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

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

The interface 11 acquires output data from the sensor group 9 including the lidar 2 , the gyro sensor 3 , the acceleration sensor 4 , the GPS receiver 5 and the like, and supplies the output data to the control unit 15 . In addition, the interface 11 supplies a signal related to vehicle travel control generated by the control unit 15 to an electronic control unit (ECU) of the vehicle.

The storage unit 12 stores programs executed by the control unit 15 and information necessary for the control unit 15 to execute predetermined processing. In this embodiment, the storage unit 12 has a map DB 10 and rider installation information IL. The map DB 10 is a database containing, for example, road data, facility data, feature data around roads, obstacle data, and the like. The road data includes roadway/lane network data for route search, road shape data, traffic regulation data, and the like. The feature data includes information (for example, position information and type information) such as signboards such as road signs, road markings such as stop lines, road division lines such as white lines, and structures along the road. The feature data may also include highly accurate point group information of features (for example, voxel data obtained by approximating a three-dimensional map with a normal distribution for each voxel) for use in estimating the position of the vehicle. The obstacle data includes location information and type information regarding road construction, parked/stopped vehicles, fallen objects on the road, and the like. In addition, the map DB 10 may store various data necessary for position estimation.

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

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

The control unit 15 includes a CPU that executes programs and the like, and controls the entire in-vehicle device 1 . In this embodiment, the control unit 15 has a vehicle position estimation unit 17 , a driving support control unit 18 , a rider position/orientation estimation unit 19 , an upload control unit 20 and a map update unit 21 . The control unit 15 functions as a computer that executes programs.

The vehicle position estimator 17 estimates the vehicle position based on the output signals from the sensor group 9 and the map DB 10 supplied from the interface 11 . The vehicle position estimation unit 17 may estimate the vehicle position by applying any vehicle position estimation method. For example, the vehicle position estimation unit 17 uses the result of measurement of a specific feature by the rider 2 and the position information of the feature to be measured recorded in the feature data of the map DB 10 to estimate the vehicle position. Position estimation (so-called landmark position estimation), position estimation by NDT (Normal Distributions Transform) scan matching using voxel data, or position by a global navigation satellite system (GNSS) using a GPS receiver 5 or the like Estimate, etc.

Furthermore, the vehicle position estimating unit 17 generates information regarding the estimation accuracy of the estimated vehicle position (also referred to as “estimated vehicle position accuracy”) in the vehicle position estimation process. For example, when the vehicle position estimation unit 17 estimates the vehicle position using the Kalman filter disclosed in Patent Document 2 or the like, the vehicle position estimation unit 17 estimates the square root of the diagonal elements of the covariance matrix corresponding to the error distribution of the estimated position. Recognized as vehicle position accuracy. In another example, when performing position estimation by NDT scan matching using voxel data, the vehicle position estimation unit 17 estimates the vehicle position based on an evaluation function that indicates the degree of matching between the measured points of the rider and the voxel data. Set precision. In yet another example, the vehicle position estimator 17 acquires DOP (Dilution Of Precision) obtained from the GPS receiver 5 as the estimated vehicle position accuracy when GNSS-based position estimation is performed. In addition, when the vehicle position estimation unit 17 performs position estimation by GNSS, the standard deviation of each of the latitude, longitude, and altitude acquired from the GPS receiver 5 within a predetermined time is used as the estimated vehicle position accuracy. may be obtained.

The driving support control unit 18 performs control related to driving support of the vehicle, including automatic driving control, based on the estimation result of the vehicle position. At this time, when the output data of the rider 2 is used, the driving support control unit 18 calculates the measurement data output by the rider 2 based on the attitude and position of the rider 2 recorded in the rider installation information IL. is converted from a coordinate system based on the vehicle to a coordinate system based on the vehicle. As a result, the driving support control unit 18 accurately grasps the relative position of obstacles and the like measured by the rider 2 with respect to the vehicle, and performs vehicle control and warning.

The rider position/orientation estimator 19 estimates the current position and/or orientation of the rider 2 relative to the vehicle (that is, at the time of the processing reference) (also referred to simply as “position/orientation”), which is recorded in the rider installation information IL. A change amount with respect to the position and orientation (also referred to as “rider position and orientation change amount”) is calculated. Any method may be used to estimate the position and orientation of the rider 2 with respect to the vehicle. For example, when the rider 2 is provided with one or a plurality of sensors (for example, a displacement sensor or an acceleration sensor) for detecting the position and orientation of the rider 2, the rider position and orientation estimation unit 19 detects the output of the sensor. Based on this, the position and orientation of the rider 2 are detected, and the difference from the position and orientation of the rider 2 recorded in the rider installation information IL is calculated as the amount of change in rider position and orientation. In another example, when there are three or more riders 2, the rider position/orientation estimating unit 19 identifies the rider whose position/orientation has deviated by comparing the measurement results of these riders. Also, the displacement amount of the rider's position and orientation (that is, the amount of change in the rider's position and orientation) is calculated. In still another example, the rider position/orientation estimating unit 19 may include a demarcation line such as a white line along the travel path, a road sign having a plane perpendicular to the traveling direction of the travel road, a plane perpendicular to the width direction of the travel road, and so on. may be measured by the rider 2, and the amount of change in the rider's position and orientation may be detected based on the measurement results.

In addition, when estimating the position and orientation of the rider 2, the rider position and orientation estimation unit 19 calculates the accuracy of the estimated position and orientation (also referred to as “rider position and orientation estimation accuracy”). For example, the rider position/posture estimation unit 19 stores a table or the like in which values of the rider position/posture accuracy are associated with each executable method of estimating the position/posture of the rider 2, and refers to the table to perform the estimation. Then, the accuracy of the rider position/posture estimation for the position/posture of the rider 2 obtained by the calculation is determined. In another example, the rider position/posture estimation unit 19 refers to a predetermined table or the like based on sensor type information or performance information used in estimating the position/posture of the rider 2 to determine the accuracy of the rider position/posture estimation. may be determined.

When a predetermined object is detected based on the output of the rider 2, the upload control unit 20 generates upload information Iu including information about the detected object (also referred to as "object information"), and sends the upload information Iu to the server. Send to device 6 . The above-mentioned object information includes at least object position information (in this embodiment, information on measured values by the rider 2), and object attribute information such as object identification information, object shape, and size. may be included. In this embodiment, in addition to the object information, the upload control unit 20 also includes information about the position and orientation of the rider 2 used for detection (also referred to as “rider position and orientation information”), Information on the estimated vehicle position (also called "vehicle position and orientation information") and flag information ("coordinate transformation flag”) and are included in the upload information Iu. The data structure of this upload information Iu will be described in detail in the section [Data Structure of Upload Information].

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

[Configuration of server device]
FIG. 2B is a block diagram showing the functional configuration of the server device 6. As shown in FIG. The server device 6 mainly includes a communication section 61 , a storage section 62 and a control section 65 . These elements are interconnected via bus lines.

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

The control unit 65 includes a CPU that executes programs and the like, and controls the entire server device 6 . In this embodiment, the control unit 65 updates the distribution map DB 22 based on object information and the like contained in the upload information DB 27, and updates the download information Id including the map update information generated by the update processing to each vehicle by the communication unit 61. It performs processing such as transmission to the machine 1. The control unit 65 functions as a computer that executes programs.

[Coordinate system conversion]
The three-dimensional coordinates indicated by each measurement point of the three-dimensional point cloud data acquired by the rider 2 are expressed in a coordinate system (also referred to as a “rider coordinate system”) based on the position and orientation of the rider 2 . Therefore, when the measurement values of the rider 2 are reflected on the map, the measurement values of the rider 2 are used on the map after being converted into a coordinate system based on the position and orientation of the vehicle (also referred to as a "vehicle coordinate system"). must be converted to the world coordinate system (absolute coordinate system).

Here, the measured values [x _L (i), y _L (i), z _L (i)] ^T in the rider coordinate system are the rider 2 positions and orientations [L _x0 , L _y0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T , the coordinate values [x _B (i), y _B (i), _zB (i)] ^T .

「Ｌ_ｘ０」、「Ｌ_ｙ０」、「Ｌ_ｚ０」は、それぞれ、車両座標系におけるライダ２の位置を示し、「Ｌ_φ０」、「Ｌ_θ０」、「Ｌ_ψ０」は、それぞれ、車両座標系に対するライダ２のロール角、ピッチ角、ヨー角を示す。なお、ライダ２の位置姿勢［Ｌ_ｘ０、Ｌ_ｙ０、Ｌ_ｚ０、Ｌ_φ０、Ｌ_θ０、Ｌ_ψ０］^Ｔは、例えばライダ設置情報ＩＬに予め記録されており、「基準取付位置姿勢」の一例である。また、ライダ座標系は、「計測装置の位置を基準とした座標系」の一例である。

“L _x0 ”, “L _y0 ”, and “L _z0 ” each indicate the position of the rider 2 in the vehicle coordinate system, and “L _φ0 ”, “L _θ0 ”, and “L _ψ0 ” each indicate the vehicle coordinate system The roll angle, pitch angle, and yaw angle of the rider 2 with respect to . Note that the position and orientation [L _x0 , L _y0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T of the rider 2 are recorded in advance in the rider installation information IL, for example, and are an example of the "reference mounting position and orientation". be. Also, the lidar coordinate system is an example of "a coordinate system based on the position of the measuring device".

Here, if there is a deviation in the position and orientation of the rider 2 and the amount of change is [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T , the current position and orientation of the rider 2 [ L _x , _Ly , L _z , L _φ , L _θ , L _ψ ] ^T is represented by the following equation (2).

この場合、ライダ座標系での計測値［ｘ_Ｌ（ｉ）、ｙ_Ｌ（ｉ）、ｚ_Ｌ（ｉ）］^Ｔは、現在のライダ２の位置姿勢［Ｌ_ｘ、Ｌ_ｙ、Ｌ_ｚ、Ｌ_φ、Ｌ_θ、Ｌ_ψ］を用いて、式（１）と同様の以下の式（３）により、車両座標系の座標値［ｘ_Ｂ（ｉ）、ｙ_Ｂ（ｉ）、ｚ_Ｂ（ｉ）］^Ｔに変換することができる。

In this case, the measured values [x _L (i), y _L (i), z _L (i)] ^T in the rider coordinate system are the current position and orientation of the rider 2 [L _x , _Ly , L _z , L _φ , L _θ , L _ψ ], the coordinate values [x _B (i), y _B (i), z _B (i )] can be converted to ^T.

次に、時刻「ｋ」における自車位置（姿勢を含む）の推定値（「推定自車位置」とも呼ぶ。）を［Ｂ＾_ｘ（ｋ）、Ｂ＾_ｙ（ｋ）、Ｂ＾_ｚ（ｋ）、Ｂ＾_φ（ｋ）、Ｂ＾_θ（ｋ）、Ｂ＾_ψ（ｋ）］^Ｔとすると、車両座標系の座標値［ｘ_Ｂ（ｉ）、ｙ_Ｂ（ｉ）、ｚ_Ｂ（ｉ）］^Ｔは、以下の式（４）に基づき、ワールド座標系の座標値［ｘ_Ｗ（ｉ）、ｙ_Ｗ（ｉ）、ｚ_Ｗ（ｉ）］^Ｔに変換される。

Next, the estimated vehicle position (including attitude) at time "k" (also referred to as "estimated vehicle position") is expressed as [B^ _x (k), B^ _y (k), B^ _z ( k), B^ _φ (k), B^ _θ (k), B^ _ψ (k)] ^T , coordinate values in the vehicle coordinate system [x _B (i), y _B (i), z _B ( i)] ^T is converted into coordinate values [x _W (i), y _W (i), z _W (i)] ^T in the world coordinate system based on the following equation (4).

従って、車載機１又はサーバ装置６は、ライダ座標系での計測値［ｘ_Ｌ（ｉ）、ｙ_Ｌ（ｉ）、ｚ_Ｌ（ｉ）］^Ｔを得た場合、まず、ライダ２の位置姿勢の情報に基づき、式（３）を用いて車両座標系の座標値［ｘ_Ｂ（ｉ）、ｙ_Ｂ（ｉ）、ｚ_Ｂ（ｉ）］^Ｔに変換する。そして、車載機１又はサーバ装置６は、推定自車位置の情報を用いて、式（４）に基づき車両座標系の座標値をワールド座標系の座標値［ｘ_Ｗ（ｉ）、ｙ_Ｗ（ｉ）、ｚ_Ｗ（ｉ）］^Ｔに変換する。これにより、地図と同一の座標系で表されたライダ２の計測値を好適に取得することができ、地図更新に好適に用いることができる。

Therefore, when the in-vehicle device 1 or the server device 6 obtains the measurement values [x _L (i), y _L (i), z _L (i)] ^T in the rider coordinate system, first, the position and orientation of the rider 2 is converted into coordinate values [x _B (i), y _B (i), z _B (i)] ^T in the vehicle coordinate system using equation (3). Then, the vehicle-mounted device 1 or the server device 6 converts the coordinate values of the vehicle coordinate system to the coordinate values of the world coordinate system [x _W (i), y _W ( i), z _W (i)] ^T. As a result, the measured values of the rider 2 expressed in the same coordinate system as that of the map can be preferably acquired, and can be preferably used for updating the map.

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

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

Here, when the yaw angle of the rider 2 with respect to the vehicle coordinate system is “L _ψ0 ” and the position of the rider 2 is [L _x0 , L _y0 ] ^T , the measurement point [x _B ( i), y _B (i)] ^T are converted to coordinates [x _L (i), y _L (i)] ^T in the lidar coordinate system by the following equation (5) using the rotation matrix “C _{L ψ0} ” be.

On the other hand, the inverse matrix (transposed matrix) of the rotation matrix may be used for conversion from the lidar coordinate system to the vehicle coordinate system. Therefore, the measurement point [x _L (i), y _L (i)] ^T at time i acquired in the rider coordinate system is obtained by the following equation (6), and the coordinates [x _B (i), y _B (i)] can be transformed into ^T.

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

In this case, the measurement point [x _B (i), y _B (i), z _B (i)] ^T at time i viewed from the vehicle coordinate system is the position and orientation of the rider 2 with respect to the vehicle coordinate system [L _x0 , L _{y0 ,} L _z0 , L _{φ0 , L θ0} , L _ψ0 ] ^T and direction cosine matrices “ C _L0 " and the following equation (7), the coordinates are converted into coordinates [x _L (i), y _L (i), z _L (i)] ^T in the lidar coordinate system.

一方、ライダ座標系から車両座標系への変換は、方向余弦行列Ｃ_Ｌ０の逆行列（転置行列）を用いればよい。よって、ライダ座標系で取得した時刻ｉの計測点［ｘ_Ｌ（ｉ）、ｙ_Ｌ（ｉ）、ｚ_Ｌ（ｉ）］^Ｔは、以下の式（８）により車両座標系の座標［ｘ_Ｂ（ｉ）、ｙ_Ｂ（ｉ）、ｚ_Ｂ（ｉ）］^Ｔに変換することが可能である。

On the other hand, the inverse matrix (transposed matrix) of the direction cosine matrix _CL0 may be used for conversion from the rider coordinate system to the vehicle coordinate system. Therefore, the measurement point [x _L (i), y _L (i), z _L (i)] ^T at time i acquired in the lidar coordinate system is the coordinate [x _B (i), y _B (i), z _B (i)] ^T.

この式（８）は、式（１）と等価の式となる。

This formula (8) is equivalent to formula (1).

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

FIG. 5 is a diagram showing the relationship between the vehicle coordinate system represented by two-dimensional coordinates and the world coordinate system. Here, the world coordinate system has a coordinate axis " _XW " and a coordinate axis " _YW ".

If the estimated value of the yaw angle of the vehicle at time k with respect to the world coordinate system is B ^ _ψ (k), and the estimated position of the vehicle is B ^ _x (k), B ^ _y (k), then the world coordinate system Transformation of the point cloud data viewed from , to the vehicle coordinate system can be calculated by the following equation (9) using the rotation matrix " _CBψ (k)".

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

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

In this case, the coordinate value [x _W (i), y _W (i), z _W (i)] ^T at time i viewed from the world coordinate system is the estimated value of the vehicle position (including attitude) at time k. [B^ _x (k), B^ _y (k), B^ _z (k), B^ _φ (k), B^ _θ (k), B^ _ψ (k)] ^T , roll, pitch, Using the direction cosine matrix "C _{B (k)" represented by each rotation matrix "C Bφ} (k)", "C _{B θ} (k)", "C _{B ψ} (k)" corresponding to yaw, the following It is transformed into coordinates [ _xB (i), _yB (i), _zB (i)] ^T in the vehicle coordinate system by the equation (11).

On the other hand, the inverse matrix (transposed matrix) of the direction cosine matrix C _B (k) may be used for transformation from the vehicle coordinate system to the world coordinate system. Therefore, the measurement point [x _B (i), y _B (i), z _B (i)] ^T at time i acquired in the vehicle coordinate system is expressed by the following equation (12) as the coordinate [x _W (i), y _W (i), z _W (i)] ^T.

この式（１２）は、式（４）と等価の式となる。

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

[Upload information data structure]
FIG. 6 shows an example of the data structure of upload information Iu. In the example of FIG. 6 , the upload information Iu includes “time”, “rider number”, “measurement value”, “rider position/posture”, “rider position/posture change amount”, “rider position/posture estimation accuracy”, “coordinate transformation flag", "estimated vehicle position", and "estimated vehicle position accuracy". Note that the "measurement value" corresponds to the above-described object information, and the "rider position/posture", the "rider position/posture change amount", and the "rider position/posture estimation accuracy" correspond to the above-described rider position/posture information, and the "estimation "Vehicle position" and "estimated vehicle position accuracy" correspond to the above-described vehicle position and orientation information.

The in-vehicle device 1 designates the time when the rider 2 performs the measurement or the transmission time of the upload information Iu as "time". In addition, the vehicle-mounted device 1 designates a number for identifying each rider 2 when a plurality of riders 2 are mounted on the vehicle as a "rider number". In addition, the in-vehicle device 1 obtains N (N is an integer equal to or greater than 1) measurement values [x _i , y _i , z _i ] ^T indicated by the measurement point group of the object measured by the rider 2 as “measurement values”. specify. Note that the measured values [x _i , y _i , z _i ] ^T may be coordinate values in the lidar coordinate system or coordinate values in the world coordinate system.

In addition, the vehicle-mounted device 1 designates the position and orientation of the rider 2 in the vehicle coordinate system as "rider position and orientation". In _this case, _the “ _rider position and orientation” is the current position and ^orientation _of the rider ₂ [L _x , _{L y} , L _z , L _φ , L _θ , L _ψ ], and the position and orientation _of the rider 2 recorded in the rider installation information IL [L _x0 , L y0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T (that is, the position and orientation of the rider 2 when there is no deviation in the position and orientation of the rider 2). Even in the latter case, the server device 6 that has received the upload information Iu calculates the current position and orientation of the rider 2 [L _x , _Ly , L _z , L _φ , L _θ , L _ψ ].

In addition, the in-vehicle device 1 uses the rider position/attitude change amount [ΔL _x , ΔL y , ΔL z , ΔL x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T . In addition, the vehicle-mounted device 1 uses the estimated rider position/posture change amount or the estimation accuracy of the current _position /posture of the rider 2 as the "rider position/ _posture estimation _accuracy ". , σ _Lφ , σ _Lθ , σ _Lψ ″ ^T. The rider position/posture estimation accuracy “σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _Lψ ” ^T is calculated by the rider position/posture estimation unit 19 .

In addition, the in-vehicle device 1 converts the measurement values [x _i , y _i , z _i ] ^T of the rider 2 specified in the “measurement value” into the vehicle coordinate system or the world coordinate system as the “coordinate conversion flag”. Specifies information indicating whether or not In the present embodiment, as an example, when the measured values [x _i , y _i , z _i ] ^T of the rider 2 are transformed into the world coordinate system, the vehicle-mounted device 1 sets the coordinate transformation flag to "2 ”, and if the measurement values [x _i , y _i , z _i ] ^T of the rider 2 have been transformed into the vehicle coordinate system, the coordinate transformation flag is set to “1”, and the If the measured values [x _i , y _i , z _i ] ^T have not been transformed into either the vehicle coordinate system or the world coordinate system (that is, remain in the rider coordinate system), the coordinate transformation flag is set to "0". shall be set to Thus, the coordinate conversion flag includes coordinate system information indicating whether or not the measured values of the rider 2 are indicated in the rider coordinate system, and a coordinate system different from the rider coordinate system (in this case, the vehicle coordinate system or the world coordinate system). ) corresponds to the coordinate system information indicating whether or not it has been converted to .

In addition, the vehicle-mounted device 1 uses the estimated vehicle position [B^ _x , B^ _y , B^ _z , B^ _φ , B^[ _theta] , B^[ _psi ]] ^T. Here, B^ _x , B^ _y , and B^ _z indicate the position of the vehicle, and B^ _φ , B^ _θ , and B^ _ψ indicate the attitude of the own vehicle. In addition, the on-vehicle device 1 uses the estimated vehicle position accuracy "σ _Bx , σ _By , σ _Bz , σ _Bφ , σ _Bθ , σ _Bψ ″ ^T.

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

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

First, the rider position/posture estimation unit 19 of the vehicle-mounted device 1 calculates the rider position/posture change amounts [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T (step S101). Further, the rider position/posture estimation unit 19 calculates the rider position/posture estimation accuracy “ _σLx , _σLy , _σLz , _σLφ , _σLθ , _σLψ ” ^T (step S102).

Further, the vehicle position estimation unit 17 of the in-vehicle device 1 estimates the vehicle position based on the position information of the feature included in the map DB 10 and the measured value of the feature by the rider 2 (step S103). . The vehicle position estimation method in step S103 may be any position estimation method such as landmark position estimation or position estimation by NDT scan matching. Accordingly, the vehicle position estimation unit 17 calculates the estimated vehicle position [B^ _x , B^ _y , B^ _z , B^ _φ , B^[ _theta ], B^[ _psi ]] ^T . Further, the vehicle position estimation unit 17 may perform position estimation using the output of the GPS receiver 5 (so-called GNSS position estimation) instead of using the map DB 10 and the measured values of the rider 2 . Furthermore, the vehicle position estimating unit 17 calculates the estimated vehicle position accuracy "σ _Bx , σ _By , σ _Bz , σ _Bφ , σ _Bθ , σ _Bψ " ^T , which is the estimation accuracy of the position estimation in step S103 ( step S104).

Then, the upload control unit 20 of the in-vehicle device 1 determines whether or not to convert the measured value of the rider 2 into the vehicle coordinate system (step S105). In this case, for example, if the upload control unit 20 stores in advance setting information regarding whether to convert the measurement values of the rider 2 into the vehicle coordinate system, the above determination is made based on the setting information. . The configuration information described above may be generated based on user input.

Then, when the upload control unit 20 determines that the measurement values of the rider 2 should be converted into the vehicle coordinate system (step S105; Yes), the rider position/orientation change amounts [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] Based on the current rider position/orientation [L _x , _Ly , L _z , L _φ , L _θ , L _ψ ] ^T in consideration of ^T , vehicle coordinates The system measurement values [x _B , y _B , z _B ] ^T are calculated (step S106).

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

Then, the upload control unit 20 determines whether or not to convert the value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system into the world coordinate system (step S107). In this case, for example, if the upload control unit 20 stores in advance setting information regarding whether or not to convert the value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system into the world coordinate system, the setting information Based on, the above determination is made. The configuration information described above may be generated based on user input.

When the upload control unit 20 determines that the value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system should be converted into the world coordinate system (step S107; Yes), it sets the coordinate conversion flag to "2". (Step S108). Then, in this case, the upload control unit 20, based on the estimated vehicle position [B^ _x , B^ _y , B^ _z , B^ _φ , B^ _θ , B^ _ψ ] ^T calculated in step S103, calculates the expression According to (4), the measured values [x _W (i), y _W (i), z _W (i)] ^T in the world coordinate system are calculated (step S111).

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

After executing any of step S109, step S110, or step S111, the upload control unit 20 performs the “time”, “rider number”, “measurement value”, “rider position/posture”, “rider position/posture” shown in FIG. Amount of change", "Rider position/orientation estimation accuracy", "Coordinate transformation flag", "Estimated vehicle position", and "Estimated vehicle position accuracy" are included in upload information Iu that includes information corresponding to each item, and the upload The information Iu is transmitted to the server device 6 (step S112). As a result, the vehicle-mounted device 1 can suitably transmit information necessary for the server device 6 to update the map based on the measured values of the rider 2 to the server device 6 . The "measurement value" is a measurement value of the rider 2 or a value obtained by converting the measurement value of the rider 2 into the vehicle coordinate system.

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

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

Then, the server device 6 refers to the coordinate conversion flag of each piece of the upload information Iu recorded in the upload information DB 27 at a predetermined timing for updating the map, and determines whether there is upload information Iu whose coordinate conversion flag is 0 or 1. Determine the presence or absence of Then, if there is upload information Iu whose coordinate conversion flag is 0, the server device 6 uses the rider position/orientation, the rider position/orientation change amount, and the estimated vehicle position included in the upload information Iu to determine the upload information Iu. The measured value of the rider 2 included in the information Iu is transformed into the world coordinate system. On the other hand, if there is upload information Iu whose coordinate conversion flag is 1, the server device 6 calculates the measured value of the rider 2 included in the upload information Iu from the estimated vehicle position included in the upload information Iu. The values converted into the vehicle coordinate system are converted into the world coordinate system (step S202). As a result, even when the upload information Iu includes the measurement values of the rider coordinate system and the measurement values of the vehicle coordinate system, the server device 6 converts the measurement values of the rider 2 into the coordinate values of the world coordinate system adopted in the map. A value obtained by converting a value or a measured value of the rider 2 into a vehicle coordinate system can be suitably converted.

Next, the server device 6 sets any of the elements of the rider position/orientation change amount [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T to a predetermined threshold value (“first threshold value” It is also called.) It is determined whether or not there is a condition that satisfies the above. Furthermore, the server device 6 sets any of the elements of the rider position/orientation estimation accuracy “ _σLx , _σLy , _σLz , _σLφ , _σLθ , _σLψ ” ^T to a predetermined threshold value (also referred to as “second threshold value”). call). In addition to this, the server device 6 sets any of the elements of the estimated vehicle position accuracy "σ _Bx , σ _By , σ _Bz , σ _Bφ , σ _Bθ , σ _Bψ " ^T to a predetermined threshold value ("third (also referred to as "threshold"). The first to third thresholds are thresholds for determining whether or not the accuracy of the measured values of the rider 2 is high enough to be used for updating the map. The first to third thresholds may be set to different values for each element to be compared so that each element to be compared has an appropriate value. Here, the rider position and orientation estimation accuracy " _σLx , _σLy , _σLz , _σLφ , _σLθ , _σLψ " ^T and the estimated vehicle position accuracy " _σBx , _σBy , _σBz , _σBφ , σ Each element of _Bθ and σ _Bψ ″ ^T is, for example, a value such as a standard deviation, and the lower the value, the higher the accuracy.

Then, the server device 6 determines whether any of the elements of the rider position/posture variation amount is greater than or equal to the first threshold, or when any of the elements of the rider position/posture estimation accuracy exceeds the second threshold. or more, or if any of the elements of the estimated vehicle position accuracy is greater than or equal to the third threshold (step S203; Yes), it is included in the target upload information Iu It is determined that the accuracy of the measured value of rider 2 is low and not reliable enough to be used for updating the map. Therefore, in this case, the server device 6 does not use the measured values included in the target upload information Iu in the averaging process in step S206 described later, or sets the weighting value in the averaging process to 0 (step S205). As a result, the server device 6 can perform coordinate conversion based on the measured values of the rider 2 whose amount of change in the rider's position and orientation has increased due to an accident or the like, and the rider's position and orientation with low accuracy in estimating the rider's position and orientation. It is possible to suitably suppress the use of measured values of the rider 2 that have undergone coordinate transformation based on the estimated vehicle position with low estimated vehicle position accuracy in updating the map.

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

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

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

Here, the measured values of the object in the world coordinate system indicated by each piece of upload information Iu are [ _px , _py , _pz ] ^T , and the weighting values set in step S204 or S205 are [ _wx (k), Let w _y (k), w _z (k)] ^T . Then, when the server device 6 receives m pieces of upload information Iu at a plurality of times from a plurality of vehicles, the server device 6 performs the weighted averaging process indicated by the following equations (13) to (15) to reflect it in the distribution map DB 22. Compute the position [p ^{^} _x , p ^{^} _y , p ^{^} _z ] ^T of the object to be done.

このように、サーバ装置６は、重み付け平均処理により、配信地図ＤＢ２２に反映すべきオブジェクトの位置を好適に算出することができる。

Thus, the server device 6 can suitably calculate the position of the object to be reflected in the distribution map DB 22 by weighted average processing.

As described above, the data structure of the upload information Iu according to the present embodiment includes measurement values [x _i , y _i , z _i ] ^T indicating an object measured by the rider 2 attached to the vehicle, and Rider position/orientation change amount [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] and ^T. Then, this uploaded information Iu is based on the rider position/orientation change amounts [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T , and the measurement values [x _i , y _i , _zi ] ^T It is sent to the server device 6 which transforms the coordinate system into the world coordinate system.

Further, as described above, the data structure of the upload information Iu according to the present embodiment includes measurement values [x _i , y _i , z _i ] ^T indicating an object measured by the rider 2 attached to the vehicle, and Whether or not the measured values [x _i , y _i , z _i ] ^T are indicated in the lidar coordinate system based on the position of the rider 2 (in other words, whether the lidar coordinate system is transformed into the vehicle coordinate system or the world coordinate system). and a coordinate transformation flag indicating whether or not the transformation has been performed. Then, this upload information Iu is sent to the server device 6 which converts the coordinate system of the measured values [x _i , y _i , z _i ] ^T into the world coordinate system based on the coordinate conversion flag.

[Modification]
Modifications suitable for the embodiment will be described below. The following modifications may be combined and applied to the embodiment.

(Modification 1)
The configuration of the map updating system shown in FIG. 1 is an example, and the configuration of the map updating system to which the present invention is applicable is not limited to the configuration shown in FIG. For example, the map update system may execute the processing shown in FIG. In this case, the rider installation information IL, the map DB 10, and the like are stored, for example, in a storage unit within the vehicle, and the electronic control unit of the vehicle receives output data from the rider 2 and refers to the rider installation information IL and the map DB 10. Then, the processing shown in FIG. 7 and the like is executed.

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

In this case, for example, the upload information Iu transmitted from the vehicle-mounted device 1 to the server device 6 includes the position and orientation of the rider 2 in the vehicle coordinate system [L _x0 , _Ly0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T information, output data of one or more sensors for detecting the position and orientation of the rider 2, and the like are included. When the server device 6 receives the upload information Iu, the server device 6 estimates the position and orientation of the rider 2 based on the sensor output data and the like included in the upload information Iu in the same manner as the rider position and orientation estimation unit 19. Calculation of rider position/orientation change amount [ΔL _x , ΔL _y , ΔL _z , ΔL _φ , ΔL _θ , ΔL _ψ ] ^T and rider position/orientation accuracy [σ _Lx , σ _Ly , σ _Lz , σ _Lφ , σ _Lθ , σ _Lψ ' Calculate ^T. Also in this aspect, the server device 6 can acquire information necessary for the map update process shown in FIG. 8 and suitably update the distribution map DB 22 .

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

For example, the upload information Iu may not include the coordinate conversion flag. In this case, for example, the measured values included in the upload information Iu are always represented by the lidar coordinate system, and the server device 6 that receives the uploaded information Iu, for all the received measured values of the uploaded information Iu, Performs coordinate transformation from the lidar coordinate system to the world coordinate system.

In another example, when the coordinate conversion flag is "2", that is, when the measured values of the upload information Iu are represented by the world coordinate system, the upload information Iu includes "rider position and orientation" and " "Estimated own vehicle position" and the like need not be included. Further, when the coordinate conversion flag is "1", that is, when the measured values of the upload information Iu are represented by the vehicle coordinate system, the upload information Iu does not include "rider position and orientation". It's good.

In yet another example, information such as the initial position and orientation [L _x0 , _Ly0 , L _z0 , L _φ0 , L _θ0 , L _ψ0 ] ^T of the rider 2 included in the rider installation information IL is stored in the server device 6 in advance. If so, the upload information Iu may not include the "rider position and orientation". Even in this case, the server device 6 preferably specifies the current position and orientation of the rider 2 based on the amount of change in the rider position and orientation included in the upload information Iu and the pre-stored initial position and orientation of the rider 2. and can be used for coordinate transformation of measured values.

(Modification 4)
Instead of performing the weighted averaging process in step S206 of FIG. 8, the server device 6 may perform averaging of all measured values with equal weights (that is, averaging without weighting values). In this case, the uploaded information Iu may not include information used only for determining weighting values such as the rider position/orientation estimation accuracy and the estimated vehicle position accuracy.

REFERENCE SIGNS LIST 1 vehicle-mounted device 2 rider 3 gyro sensor 4 acceleration sensor 5 GPS receiver 6 server device 10 map DB
22 Delivery map DB

Claims (12)

an acquisition unit that acquires measurement information around the mobile object measured by a measuring device attached to the mobile object and information about position estimation accuracy of the mobile object when the measurement device measures the measurement information;
an updating unit that updates a map using the measurement information based on the information about the position estimation accuracy;
Information processing device having The acquisition unit further acquires information indicating the accuracy of calculation of the mounting position and orientation of the measuring device on the moving object or the amount of change in the mounting position and orientation,
The update unit performs the map update based on information about the position estimation accuracy and information indicating the calculation accuracy.
The information processing device according to claim 1 . The acquisition unit further acquires information about the position and orientation of the moving body when the measurement device measures the object,
3. The information processing apparatus according to claim 1, wherein the acquisition unit updates the map based on the information regarding the position estimation accuracy and the information regarding the position and orientation. 4. The information processing apparatus according to claim 3, wherein the information about the position and orientation includes information indicating the position and orientation and information indicating calculation accuracy of the position and orientation. further comprising transforming means for transforming the coordinate system of the measurement information into an absolute coordinate system based on information about the amount of change in the mounting position and orientation of the measuring device on the moving body;
The information processing apparatus according to any one of claims 1 to 4, wherein said update unit updates said map using said measurement information converted into said absolute coordinate system. 6. The information processing apparatus according to claim 5, wherein said map update is performed based on a plurality of pieces of measurement information converted into said absolute coordinate system. 7. The information processing apparatus according to claim 6, wherein said update unit performs said map update by excluding measurement information whose amount of change is equal to or greater than a predetermined amount from among a plurality of pieces of measurement information converted into said absolute coordinate system. The update unit updates the map by excluding measurement information indicating that the accuracy of calculation of the mounting position/orientation or the amount of change is worse than a predetermined degree from among the plurality of pieces of measurement information converted into the absolute coordinate system. The information processing apparatus according to claim 6 or 7. The update unit updates the map by excluding, from among the plurality of pieces of measurement information converted into the absolute coordinate system, measurement information indicating that the position and orientation of the moving body are calculated with less accuracy than a predetermined level. The information processing device according to any one of 6 to 8. A control method executed by an information processing device,
an acquisition step of acquiring measurement information around the moving object measured by a measuring device attached to the moving object, and information about position estimation accuracy of the moving object when the measuring device measures the measurement information;
an update step of updating a map using the measurement information based on the information about the position estimation accuracy;
A control method with A program executed by a computer,
an acquisition unit that acquires measurement information around the mobile object measured by a measuring device attached to the mobile object and information about position estimation accuracy of the mobile object when the measurement device measures the measurement information;
A program that causes the computer to function as an updating unit that updates a map using the measurement information based on the information about the position estimation accuracy. A storage medium storing the program according to claim 11 .

Images