JPWO2020175439A5 - - Google Patents
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- JPWO2020175439A5 JPWO2020175439A5 JP2021502247A JP2021502247A JPWO2020175439A5 JP WO2020175439 A5 JPWO2020175439 A5 JP WO2020175439A5 JP 2021502247 A JP2021502247 A JP 2021502247A JP 2021502247 A JP2021502247 A JP 2021502247A JP WO2020175439 A5 JPWO2020175439 A5 JP WO2020175439A5
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- position estimation
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- 239000003550 marker Substances 0.000 claims 55
- 238000000034 method Methods 0.000 claims 25
- 238000001514 detection method Methods 0.000 claims 12
- 238000006073 displacement reaction Methods 0.000 claims 6
- 238000005259 measurement Methods 0.000 claims 3
Claims (12)
３次元地図では、走行路に敷設された各マーカに対して、少なくとも、マーカである旨を表す属性情報、固有情報、３次元地図における位置を表す位置情報、がひも付けられて各マーカの位置が特定され、
前記マーカを検出するマーカ検出処理と、
前記マーカの固有情報を提供するためにマーカに対応して設けられた情報提供部から固有情報を読み取る固有情報読取処理と、
前記マーカに対する自車両の相対位置を推定する相対位置推定処理と、
前記マーカ検出処理により検出されたマーカの固有情報、及び該マーカに対する相対位置のデータ、を含むマーカ基準データを生成する処理と、
前記マーカ基準データに含まれる固有情報を利用して対応するマーカを特定し、特定されたマーカに対する自車両の相対位置に基づいて３次元地図における自車両の絶対位置を推定する絶対位置推定処理と、を含む位置推定方法。It is a position estimation method for estimating the absolute position of the own vehicle on a three-dimensional map showing the driving environment.
In the 3D map, at least the attribute information indicating that the marker is used, the unique information, and the position information indicating the position on the 3D map are linked to each marker laid on the travel path, and the position of each marker is linked. Has been identified,
Marker detection processing to detect the marker and
Unique information reading process that reads unique information from the information providing unit provided corresponding to the marker in order to provide the unique information of the marker.
Relative position estimation processing that estimates the relative position of the own vehicle with respect to the marker, and
A process of generating marker reference data including marker unique information detected by the marker detection process and data of a position relative to the marker.
Absolute position estimation processing that identifies the corresponding marker using the unique information included in the marker reference data and estimates the absolute position of the own vehicle on the three-dimensional map based on the relative position of the own vehicle with respect to the specified marker. Position estimation method including ,.
前記自車両の運動を推定する処理と、を含み、
前記相対位置推定処理は、前記マーカ検出処理により前記マーカが検出された場合に実行される第１の相対位置推定処理であるか、前記マーカ検出処理により前記マーカが検出された後、新たなマーカが検出されるまでの間に実行される第２の相対位置推定処理であるか、に応じて処理の内容が相違し、
前記第１の相対位置推定処理は、前記マーカが検出された際に計測された横ずれ量に基づいて自車両の相対位置を推定する処理であり、
前記第２の相対位置推定処理は、いずれかのマーカが検出された際に計測された横ずれ量、及び当該いずれかのマーカを検出した後の自車両の運動の推定結果に基づき、当該いずれかのマーカに対する自車両の相対位置を推定する処理である位置推定方法。The process of measuring the amount of lateral displacement of the own vehicle in the vehicle width direction with respect to the marker detected by the marker detection process according to claim 1.
Including the process of estimating the motion of the own vehicle,
The relative position estimation process is a first relative position estimation process executed when the marker is detected by the marker detection process, or a new marker after the marker is detected by the marker detection process. The content of the process differs depending on whether it is the second relative position estimation process that is executed until is detected.
The first relative position estimation process is a process of estimating the relative position of the own vehicle based on the amount of lateral displacement measured when the marker is detected.
The second relative position estimation process is based on the amount of lateral displacement measured when any of the markers is detected and the estimation result of the motion of the own vehicle after the detection of any of the markers. A position estimation method that is a process of estimating the relative position of the own vehicle with respect to the marker of.
該相対方位に基づいて３次元地図における自車両の絶対方位を推定する絶対方位推定処理と、を含む位置推定方法。In claim 1 or 2, the relative direction estimation process for estimating the relative direction of the own vehicle based on the direction connecting at least two of the markers, and the relative direction estimation process.
A position estimation method including an absolute orientation estimation process for estimating the absolute orientation of the own vehicle in a three-dimensional map based on the relative orientation.
３次元地図では、走行路に敷設された各マーカに対して、少なくとも、マーカである旨を表す属性情報、固有情報、３次元地図における位置を表す位置情報、がひも付けられて各マーカの位置が特定され、
前記マーカを検出するマーカ検出部と、
前記マーカの固有情報を提供するためにマーカに対応して設けられた情報提供部と、
前記マーカの固有情報を読み取る固有情報読取部と、
前記マーカに対する相対位置を推定する相対位置推定部と、
前記マーカ検出部が検出したマーカの固有情報、及び該マーカに対する相対位置のデータ、を含むマーカ基準データを生成する構成と、
前記マーカ基準データに含まれる固有情報を利用して対応するマーカを特定し、特定されたマーカに対する相対位置に基づいて３次元地図における自車両の絶対位置を推定する絶対位置推定部と、を含む位置推定システム。It is a position estimation system that estimates the absolute position of the own vehicle on a three-dimensional map showing the driving environment.
In the 3D map, at least the attribute information indicating that the marker is used, the unique information, and the position information indicating the position on the 3D map are linked to each marker laid on the travel path, and the position of each marker is linked. Has been identified,
A marker detection unit that detects the marker and
An information providing unit provided corresponding to the marker for providing the unique information of the marker, and
A unique information reading unit that reads the unique information of the marker,
A relative position estimation unit that estimates the relative position with respect to the marker, and a relative position estimation unit.
A configuration for generating marker reference data including unique information of the marker detected by the marker detection unit and data of the position relative to the marker.
Includes an absolute position estimation unit that identifies the corresponding marker using the unique information included in the marker reference data and estimates the absolute position of the own vehicle on the three-dimensional map based on the relative position with respect to the specified marker. Position estimation system.
前記自車両の運動を推定する運動推定部と、を含み、
前記相対位置推定部は、前記マーカ検出部により前記マーカが検出された場合、当該マーカについて前記計測部が計測した横ずれ量に基づいて当該マーカに対する自車両の相対位置を推定する一方、
いずれかのマーカが検出された後、新たなマーカが検出されるまでの間は、当該いずれかのマーカについて前記計測部が計測した横ずれ量、及び当該いずれかのマーカが検出されてから前記運動推定部により推定された自車両の運動の推定結果に基づいて、当該いずれかのマーカに対する自車両の相対位置を推定するように構成されている位置推定システム。In claim 6, when a marker is detected by the marker detection unit, a measurement unit that measures the amount of lateral displacement of the own vehicle in the vehicle width direction with respect to the marker, and a measurement unit.
Including the motion estimation unit that estimates the motion of the own vehicle,
When the marker is detected by the marker detection unit, the relative position estimation unit estimates the relative position of the own vehicle with respect to the marker based on the amount of lateral displacement measured by the measurement unit for the marker.
From the detection of any marker to the detection of a new marker, the amount of lateral displacement measured by the measuring unit for the marker, and the motion after the marker is detected. A position estimation system configured to estimate the relative position of the own vehicle to any of the markers based on the estimation result of the movement of the own vehicle estimated by the estimation unit.
該相対方位に基づいて３次元地図における自車両の絶対方位を推定する絶対方位推定部と、を含む位置推定システム。In claim 6 or 7, a relative azimuth estimation unit that estimates the relative directional of the own vehicle based on the directional connecting at least two of the markers, and the relative azimuth estimation unit.
A position estimation system including an absolute orientation estimation unit that estimates the absolute orientation of the own vehicle in a three-dimensional map based on the relative orientation.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019034972 | 2019-02-27 | ||
| JP2019034972 | 2019-02-27 | ||
| PCT/JP2020/007364 WO2020175439A1 (en) | 2019-02-27 | 2020-02-25 | Location estimation method and location estimation system |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JPWO2020175439A1 JPWO2020175439A1 (en) | 2020-09-03 |
| JPWO2020175439A5 true JPWO2020175439A5 (en) | 2022-01-31 |
| JP7381939B2 JP7381939B2 (en) | 2023-11-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021502247A Active JP7381939B2 (en) | 2019-02-27 | 2020-02-25 | 3D structure estimation method and 3D structure estimation system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7381939B2 (en) |
| WO (1) | WO2020175439A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7373815B1 (en) | 2022-10-03 | 2023-11-06 | 株式会社Life | Location detection system and warehouse safety management system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4327062B2 (en) | 2004-10-25 | 2009-09-09 | 三菱電機株式会社 | Navigation device |
| JP5834933B2 (en) * | 2012-01-17 | 2015-12-24 | 日産自動車株式会社 | Vehicle position calculation device |
| JP6280409B2 (en) * | 2014-03-25 | 2018-02-14 | 株式会社日立製作所 | Self-vehicle position correction method, landmark data update method, in-vehicle device, server, and self-vehicle position data correction system |
| JP6946695B2 (en) * | 2017-03-30 | 2021-10-06 | 愛知製鋼株式会社 | Marker system |
| JP6989284B2 (en) | 2017-05-01 | 2022-01-05 | 株式会社Soken | Vehicle position estimation device and program |
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2020
- 2020-02-25 JP JP2021502247A patent/JP7381939B2/en active Active
- 2020-02-25 WO PCT/JP2020/007364 patent/WO2020175439A1/en active Application Filing
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