WO2017109978A1 - 距離推定装置、距離推定方法及びプログラム - Google Patents
距離推定装置、距離推定方法及びプログラム Download PDFInfo
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- WO2017109978A1 WO2017109978A1 PCT/JP2015/086341 JP2015086341W WO2017109978A1 WO 2017109978 A1 WO2017109978 A1 WO 2017109978A1 JP 2015086341 W JP2015086341 W JP 2015086341W WO 2017109978 A1 WO2017109978 A1 WO 2017109978A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/571—Depth or shape recovery from multiple images from focus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Definitions
- the present invention relates to a technique for estimating a moving distance of a moving object.
- Patent Document 1 discloses a method of correcting a vehicle speed sensor mounted on a moving body by estimating a moving distance of the moving body in a predetermined period.
- the correction device detects the number of output pulses of the vehicle speed sensor from the recognition of the feature A by the image recognition means to the recognition of the feature B, and the feature A and the feature B from the map information. To obtain the distance D. Then, the correction device corrects an arithmetic expression for obtaining the travel distance or travel speed of the vehicle from the output pulse number based on the relationship between the output pulse number and the distance D.
- An object of this invention is to estimate the moving distance of a moving body using arbitrary features.
- Invention of Claim 1 is a distance estimation apparatus, Comprising: The 1st distance group and 2nd distance group which contain the distance from the mobile body in the 1st time and the 2nd time to at least 3 features, and said at least 3
- the invention according to claim 10 is a distance estimation method executed by the distance estimation device, and includes a first distance group including distances from the moving body to at least three features at the first time and the second time, and the first distance group.
- the invention according to claim 11 is a program executed by a distance estimation device including a computer, and includes a first distance group including distances from a moving object to at least three features at a first time and a second time, and An acquisition unit that acquires a second distance group and a third distance group including a distance between the at least three features, a distance to the at least three features, or a distance between the at least three features A calculating unit that calculates a moving distance of the moving object from the first time to the second time based on a distance from the moving object to the feature and a distance between the features for the two features to be The computer is caused to function.
- An example of the positional relationship between two features and a moving vehicle is shown.
- the calculation method of the moving distance of a vehicle is shown. It is a figure explaining average pulse width.
- a method for projecting a three-dimensional position of a feature onto a horizontal plane of a vehicle will be described.
- Another method for projecting a three-dimensional position of a feature onto a horizontal plane of a vehicle is shown.
- the distance estimation device includes a first distance group and a second distance group including distances from the moving body to at least three features at the first time and the second time, and the at least three grounds.
- An acquisition unit that acquires a third distance group including a distance between objects, and two features specified based on a distance to the at least three features or a distance between the at least three features;
- a calculating unit that calculates a moving distance of the moving body from the first time to the second time based on a distance from the moving body to the feature and a distance between the features.
- the distance estimation apparatus described above calculates the distance between the first distance group and the second distance group including the distance from the moving body to the at least three features at the first time and the second time, and the distance between the at least three features.
- a third distance group is acquired. And based on the distance from the moving object to the feature and the distance between the features for the two features specified based on the distance to the at least three features or the distance between the at least three features, The moving distance of the moving body from the first time to the second time is calculated. Thereby, the movement distance of a moving body is computable using the arbitrary features which can be measured from a moving body.
- the calculation unit identifies two features having a short distance from the moving body as the two features among the at least three features. In another aspect, the calculation unit excludes, from the two specified features, two features whose distance between the features is less than a predetermined distance.
- the calculation unit may calculate 1 of the vehicle speed pulse signal based on a moving distance from the first time to the second time and an average pulse width of the vehicle speed pulse signal. Calculate the travel distance per pulse. As a result, the vehicle speed pulse signal can be calibrated based on the calculated moving distance.
- the calculation unit calculates the movement distance when an angular velocity or a steering angle in a yaw direction of the moving body is less than a predetermined threshold. Thereby, the calculation accuracy of the movement distance can be improved.
- the calculation unit is based on a distance to the two features and an angle formed by a traveling direction of the moving object and the directions of the two features. Obtain the distance between the two features. In another preferred example, the calculation unit acquires a distance between the two features based on map information.
- the calculation unit changes a time interval from the first time to the second time according to a traveling speed of the moving body.
- the calculation accuracy of the movement distance can be improved.
- the calculation unit shortens the time interval as the traveling speed of the moving body increases.
- the distance estimation method executed by the distance estimation device includes a first distance group including distances from the moving body to at least three features at the first time and the second time, and the first distance group.
- the movement distance of a moving body is computable using the arbitrary features which can be measured from a moving body.
- a program executed by a distance estimation device including a computer includes a first distance group including distances from a moving object to at least three features at a first time and a second time, and An acquisition unit that acquires a second distance group and a third distance group including a distance between the at least three features, a distance to the at least three features, or a distance between the at least three features A calculating unit that calculates a moving distance of the moving object from the first time to the second time based on a distance from the moving object to the feature and a distance between the features for the two features to be Make the computer function.
- the above program can be stored in a storage medium and used.
- the vehicle speed is detected using a vehicle speed sensor, and the traveling state is detected using an angular velocity sensor or a steering angle sensor, thereby measuring the movement state of the vehicle. Then, the current position is estimated by integrating these with information measured by the GPS or the external sensor. Therefore, in order to improve the self-position estimation accuracy, it is required to detect the vehicle speed with high accuracy.
- the vehicle speed sensor outputs a vehicle speed pulse signal at a time interval proportional to the output shaft of the transmission or the rotational speed of the wheels, for example. Then, as shown in the following formula (1), the distance coefficient alpha d can be calculated vehicle speed v by dividing a pulse width t p. This distance coefficient ⁇ d is the moving distance per pulse of the vehicle speed pulse signal.
- the moving distance per pulse varies depending on the vehicle type. Further, when the outer diameter of the tire changes due to a change in tire air pressure or tire replacement, the moving distance per pulse also changes. Furthermore, the moving distance per pulse varies depending on the traveling speed. Usually, the running resistance causes a difference between the wheel speed obtained from the vehicle speed pulse and the actual vehicle speed. Since the running resistance is higher during high speed running than during low speed running, the speed difference between the wheel speed and the vehicle body speed is also greater during high speed running than during low speed running. Therefore, the moving distance per pulse differs between high speed traveling and low speed traveling. As described above, in order to obtain the vehicle speed with high accuracy, the distance coefficient needs to be appropriately calibrated and updated.
- the GPS information itself which is a reference, may include a large error.
- the conditions should be strict, but the more strict the conditions, the less the number of times reference information is acquired, and the conflicting problem that the progress of calibration becomes slow. Comes out.
- the distance coefficient updating apparatus does not use GPS information as a reference, but based on the measurement of a feature by an external sensor, the moving distance of the vehicle Is used as a reference for calibration of the vehicle speed pulse signal.
- an external sensor a camera, LiDAR (Light Detection And Ranging), a millimeter wave radar, or the like can be used.
- FIG. 1 is a flowchart illustrating distance coefficient update processing according to the embodiment.
- the update device at time T 1, to measure the two features using external sensors.
- step P2 updating device, at time T 2, which has passed ⁇ T seconds from the time T 1, to measure the same two features as measured at time T 1.
- step P3 the update device acquires the relative distance between the two features.
- step P4 the update device was acquired at time T 1 and time T 2, and the distance to each feature from the vehicle center position at each time, using the relative distances between each feature, from time T 1 calculates a moving distance ⁇ D the vehicle up to the time T 2.
- step P5 the update device, an average pulse width t p of the vehicle speed pulse signal from the time T 1 of the time T 2, the elapsed time ⁇ T from the time T 1 to time T 2, determined in step P4
- the moving distance d p per pulse is calculated using the moving distance ⁇ D of the vehicle from time T 1 to time T 2 .
- step P6 the update device updates the distance coefficient ⁇ d using the movement distance d p per pulse obtained in steps P5 and P6.
- FIG. 2 shows an example of the positional relationship between two features and a moving vehicle.
- Vehicle during the period from the time T 1 time T 2, is to have moved as shown in FIG.
- the update device detects the feature 1 and feature 2 at time T 1, the angle phi 1 the progression of the distance L 1 and the vehicle from the vehicle to feature one direction Hd and feature 1, and the vehicle obtaining the distance L 2, and the angle phi 2 in the traveling direction Hd and feature 2 of the vehicle to feature 2 from (step P1).
- the relative distance L between the feature 1 and the feature 2 can be calculated as follows by using L 1 , L 2 , ⁇ 1 , ⁇ 2 (step P3).
- the updating device detects the feature 1 and the feature 2 at the time T 2 as well as the time T 1 , the distance L ′ 1 from the vehicle to the feature 1, the traveling direction Hd ′ of the vehicle, and the feature.
- the angle ⁇ ′ 1 formed by 1 and the distance L ′ 2 from the vehicle to the feature 2 and the traveling direction Hd ′ of the vehicle and the angle ⁇ ′ 2 formed by the feature 2 are acquired (step P2).
- the relative distance between the features can be calculated using L ′ 1 , L ′ 2 , ⁇ ′ 1 , and ⁇ ′ 2 in the same manner as at time T 1 .
- L'the relative distance between the feature calculated by time T 2 is obtained by the following equation (step P3).
- the updating device uses either the relative distance L or L ′ between the features.
- the update device may calculate and use the average value L ave of the relative distances L and L ′ by the following formula.
- the relative distance L between the features (hereinafter also referred to as “feature distance L”) is obtained by calculation based on the result of the feature measurement by the external sensor.
- feature distance L the distance between features may be acquired from high-precision map data.
- the distance L between features changes depending on the measurement accuracy of the feature. That is, if the measurement accuracy is poor, the accuracy of the calculated distance L between features is also deteriorated, and the accuracy of the moving distance ⁇ D of the vehicle calculated later is also deteriorated.
- the distance L between the features can be obtained with high accuracy, so that the accuracy of the moving distance ⁇ D of the vehicle can be improved.
- the update device includes a distance L 1, L 2 obtained at time T 1, the distance L'1 obtained at time T 2, and L'2, by using the relative distance L between the features, time A travel distance ⁇ D of the vehicle from T 1 to time T 2 is calculated.
- FIG. 3 shows a method for calculating the movement distance ⁇ D.
- the angle ⁇ is obtained by the cosine theorem as follows.
- the angle ⁇ is obtained by the cosine theorem as follows.
- the movement distance ⁇ D is obtained as follows by the cosine theorem.
- the movement distance ⁇ D is calculated using the angles ⁇ and ⁇ on the feature 2 side in FIG. 3. Instead, the angles ⁇ ′ and ⁇ ′ on the feature 1 side are used.
- the movement distance ⁇ D may be calculated.
- you may calculate the average value of movement distance (DELTA) D each calculated by said method.
- Figure 4 is a diagram for explaining the average pulse width t p.
- Average pulse width t p is the pulse width measured between the time T 1 of the time T 2, leave buffers can be calculated by taking the average as the following equation (11).
- the average pulse width can also be obtained by sequential calculation using Equation (11).
- the average pulse width is obtained by sequential calculation, it is not necessary to buffer the measured pulse width, so that the amount of memory used in the apparatus can be reduced.
- FIG. 5 is a flowchart of processing for obtaining the average pulse width by sequential calculation.
- the update unit resets the coefficient k indicating the number of detected pulses to "0" (step S51), and acquires the current time T (step S52).
- the update unit determines whether the present time T reaches time T 2 (step S53).
- the update device by the equation (11), obtained by dividing the difference between the average pulse width t p and the current pulse width t k at the time by a factor k value (t k -t p) / k , that is, to update the current pulse width t k average pulse t p the variation of adding the average pulse width t p of the time average pulse width t p by, step S52 Return to.
- step S53 if the current time T reaches time T 2 (step S53: YES), the process ends.
- the update device updates the distance coefficient ⁇ d using the movement distance d p obtained in step P5. Specifically, the obtained moving distance d p is set as a new distance coefficient ⁇ d .
- the updated distance coefficient ⁇ d obtained in this way is used for calculation of the vehicle speed v by the equation (1).
- a vehicle coordinate system (XYZ coordinate system) is defined as shown in FIG.
- the X axis indicates the traveling direction of the vehicle
- the Y axis indicates the direction perpendicular to the traveling direction of the vehicle in the horizontal plane of the vehicle
- the Z axis indicates the height direction of the vehicle.
- the orthogonal projection from the point P to the XY plane (the leg of the perpendicular line dropped from the point P to the XY plane) is set as a point P ′
- the length L xy of the line segment OP ′ and the line segment OP ′ The angle ⁇ xy formed with the X axis can be calculated as follows.
- the processing in step P1 ⁇ P4 may be used in the horizontal distance L xy and angle phi xy.
- horizontal distances L 1xy and L 2xy are obtained instead of the distances L 1 and L 2
- angles ⁇ 1xy and ⁇ 2xy are obtained instead of the angles ⁇ 1 and ⁇ 2 .
- the distance L'1 instead of the L'2, the horizontal distance L'1Xy, seeking L'2xy, angle the? '1, the angle instead of ⁇ '2 ⁇ '1xy, ⁇ ' Find 2xy .
- movement distance (DELTA) D is calculated
- the horizontal distance L xy and the angle ⁇ xy may be used instead of the distance L and the angle ⁇ to the feature in the three-dimensional space, as described above.
- FIG. 8 is a block diagram illustrating the configuration of the update device 1 according to the first embodiment.
- the updating device 1 obtains the distance L between features by calculation based on the measurement result of the two features by the external sensor.
- the update device 1 includes a gyro sensor 10, a vehicle speed sensor 11, an external sensor 12, a traveling direction acquisition unit 13, a vehicle speed pulse measurement unit 14, a feature measurement unit 15, and a distance between features.
- a calculation unit 16, a distance coefficient calibration unit 17, and a movement distance calculation unit 18 are provided.
- the traveling direction acquisition unit 13, the vehicle speed pulse measurement unit 14, the feature measurement unit 15, the feature distance calculation unit 16, the distance coefficient calibration unit 17, and the movement distance calculation unit 18 are prepared in advance by a computer such as a CPU. This can be realized by executing the programmed program.
- the traveling direction acquisition unit 13 acquires the traveling direction Hd of the vehicle based on the output of the gyro sensor 10 and supplies it to the feature measurement unit 15 and the distance coefficient calibration unit 17.
- Vehicle speed pulse measuring unit 14 a vehicle speed pulse outputted from the vehicle speed sensor 11 measures and supplies the distance coefficient calibration unit 17 calculates the like mean pulse width t p of the vehicle speed pulse signal.
- the external sensor 12 is, for example, a camera, LiDAR, millimeter wave radar, or the like, and the feature measuring unit 15 measures the distance to the feature based on the output of the external sensor 12. Specifically, the feature measurement unit 15 measures the distances L 1 and L 2 from the vehicle to the two features at time T 1 , and the traveling direction Hd of the vehicle supplied from the traveling direction acquisition unit 13. And the two directions of the features ⁇ 1 and ⁇ 2 are calculated and supplied to the distance calculation unit 16 and the movement distance calculation unit 18.
- feature measurement unit 15 at time T 2, the distance L'1 to two features from the vehicle, as well as measuring the L'2, the traveling direction of the vehicle supplied from the traveling direction acquisition unit 13 HD ' And the two directions of the features ⁇ ′ 1 and ⁇ ′ 2 are calculated and supplied to the feature distance calculation unit 16 and the movement distance calculation unit 18.
- the feature distance calculation unit 16 calculates the distance between features based on the distances L 1 and L 2 and the angles ⁇ 1 and ⁇ 2 of the two features measured by the feature measurement unit 15 according to the above equation (3).
- the distance L is calculated and supplied to the movement distance calculation unit 18.
- Moving distance calculation unit 18 the distance L 1, L 2 supplied from the feature measurement unit 15, L'1, L'2, and, based on the feature distance L of the feature distance calculation unit 16 has calculated
- the moving distance ⁇ D of the vehicle is calculated by the above-described equations (6) to (8) and supplied to the distance coefficient calibration unit 17.
- the moving distance d p per pulse (i.e. , A distance coefficient ⁇ d ) is calculated.
- the vehicle body speed may be calculated from the obtained movement distance per pulse.
- FIG. 9 is a flowchart of the distance coefficient update process according to the first embodiment.
- the updating device 1 determines whether or not the vehicle is traveling straight ahead based on the traveling direction of the vehicle output by the traveling direction acquisition unit 13 (step S11). This is because the accuracy of the movement distance ⁇ D output by the movement distance calculation unit 18 decreases when the vehicle is not traveling straight ahead.
- the gyro sensor 10 can detect the angular velocity ⁇ in the yaw direction of the vehicle, it may be determined that the vehicle is traveling straight when
- the steering angle ⁇ of the vehicle it may be determined that the vehicle is traveling straight when
- step S11 If the vehicle is not traveling straight (step S11: NO), the process ends. On the other hand, when the vehicle is traveling straight (step S11: YES), the updating device 1 measures the two features 1 and 2 (step S12) and calculates the relative distance L (step S13).
- step S14 NO
- the updating device 1 calculates the movement distance ⁇ D as described above (step S17), and calculates the movement distance d p per pulse using the movement distance ⁇ D. (step S18), and updates the distance coefficient alpha d (step S19). Then, the process ends.
- FIG. 10 is a block diagram illustrating the configuration of the update device 1x according to the second embodiment.
- the update device 1x differs from the update device 1 of the first embodiment in that it includes a map database (DB) 19 that stores high-precision map data, but other components are the same as those of the update device 1 of the first embodiment. Therefore, explanation is omitted.
- DB map database
- the inter-feature distance acquisition unit 16 acquires the inter-feature distance L between the two features using the high-precision map data stored in the map DB 19. .
- FIG. 11 is a flowchart of distance coefficient update processing according to the second embodiment.
- the distance between features from the map DB in step S26 instead of step S13 of the first embodiment.
- the points for acquiring L are different, but the other points are basically the same as the distance coefficient updating process according to the first embodiment.
- steps S21 to 22, S23 to 25, and S27 to 29 in the distance coefficient updating process of the second embodiment are steps S11 to S12, S14 to 16, and S17 of the distance coefficient updating process of the first embodiment, respectively.
- S19 is a flowchart of distance coefficient update processing according to the second embodiment.
- the movement distance d p per pulse obtained in the above-described distance coefficient update process is an average value of the movement distance per pulse during the time interval ⁇ T from time T 1 to time T 2 . Therefore, the large variation of the pulse width of the time interval [Delta] T, the accuracy of the moving distance d p which is calculated is deteriorated. Therefore, it is desirable that the number of pulses during the time interval ⁇ T is as small as possible.
- the number of pulses per unit time varies depending on the running speed of the vehicle. For example, as shown in FIG. 12A, consider the number of pulses per second. In a vehicle type that outputs two pulses per tire rotation, the number of pulses per second is 3 pulses at 10 km / h, 17 pulses at 50 km / h, and 35 pulses at 100 km / h, and there is a large difference depending on the running speed.
- FIG. 12B shows the relationship between the traveling speed and the pulse width.
- ⁇ T 300 ms when the traveling speed is less than 20 km / h
- ⁇ T 200 ms when the speed is 20 km / h or more and less than 30 km / h.
- the number of pulses that can be measured during the time interval ⁇ T is about 1 pulse or 2 pulses, and the moving distance is high.
- d p can be calculated.
- combinations of the feature 1 and the feature 2, the feature 2 and the feature 3, and the feature 3 and the feature 1 can be selected as shown in FIG.
- the travel distance obtained by the combination of the feature 1 and the feature 2 is ⁇ D 12
- the travel distance obtained by the combination of the feature 2 and the feature 3 is ⁇ D 23
- the combination of the feature 3 and the feature 1 is Assuming that the obtained movement distance is ⁇ D 31 , a value obtained by averaging these can be used as the movement distance ⁇ D as follows.
- the accuracy of the movement distance ⁇ D can be statistically improved, and the accuracy of the movement distance per pulse is also improved.
- the update device only needs to obtain the movement distance ⁇ D using two features that are closer to the vehicle, that is, the feature 1 and the feature 3.
- the distance between the features is compared with the threshold value L th .
- L 12 ⁇ L th , L 23 > L th , and L 31 > L th are assumed.
- the feature 1 is closer to the vehicle than the feature 2 (L 1 ⁇ L 2 ).
- the movement distance ⁇ D may be obtained based on the combination of the feature 1 and the feature 3.
- the moving distance [Delta] D 31 obtained by the combination of feature 1 moving distance [Delta] D 12 obtained by the combination of the feature 2 and feature 1 and feature 3 The average value may be the movement distance ⁇ D.
- the predetermined distance is set as the threshold value L th in advance, but instead, an average value of three or more measured distances between features may be used as the threshold value L th .
- the distance L between the features is calculated from the measurement results of the two features.
- the distance L between the features is acquired using the map data. You may use it in combination. For example, in an area where high-precision map data exists, the distance L between features is obtained using high-precision map data, and in an area where high-precision map data does not exist, the distance between features is obtained from the measurement result of the features. Also good. Moreover, it is good also as using the distance L between the features obtained by the more accurate one according to the condition of a vehicle.
- the distance coefficient is basically updated when the vehicle is traveling straight ahead.
- the movement distance ⁇ D obtained in the process P4 is not an actual movement distance but an approximate value.
- the time interval ⁇ T is too large, the difference between the actual moving distance and the moving distance calculated in the process P4 becomes large. From this point of view, it is desirable to make the time interval ⁇ T from time T 1 to time T 2 as small as possible.
- Modification 3 If the external sensor is attached to a low position of the vehicle, it is considered that the occlusion increases by surrounding vehicles, and the frequency with which a suitable feature for updating the distance coefficient can be detected decreases. Therefore, it is preferable to install the external sensor so that the upper side can be measured above the height of the surrounding vehicle. Thereby, since the detection frequency of the feature increases and the number of updates of the distance coefficient increases, the accuracy of the distance coefficient can be improved.
- the present invention can be used for an apparatus mounted on a moving body.
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Abstract
Description
現在のカーナビゲーション装置などに搭載されている自己位置推定システムでは、車速センサを用いて車速を検出し、角速度センサあるいは操舵角センサを用いて進行方向を検出することで、車両の移動状況を計測し、これらをGPSや外界センサで計測した情報と統合することで現在位置を推定している。よって、自己位置推定精度を向上させるために、車速を高精度に検出することが求められている。
以上の観点より、本実施例に係る距離係数更新装置(以下、単に「更新装置」とも呼ぶ。)は、GPS情報をリファレンスとせずに、外界センサによる地物の計測に基づいて車両の移動距離を計算し、車速パルス信号のキャリブレーションのリファレンスとして使用する。外界センサとしては、カメラやLiDAR(Light Detection And Ranging)、ミリ波レーダーなどを用いることができる。
図2は、2つの地物と移動中の車両との位置関係の一例を示す。時刻T1から時刻T2の間に車両が図2に示すように移動したとする。まず、更新装置は、時刻T1において地物1及び地物2を検出し、車両から地物1までの距離L1及び車両の進行方向Hdと地物1のなす角度φ1、並びに、車両から地物2までの距離L2及び車両の進行方向Hdと地物2のなす角度φ2を取得する(工程P1)。このとき、地物1と地物2の相対距離Lは、L1、L2、φ1、φ2を用いて次のように計算できる(工程P3)。
次に、更新装置は、時刻T1で取得した距離L1、L2と、時刻T2で取得した距離L´1、L´2と、地物間の相対距離Lとを用いて、時刻T1から時刻T2までの車両の移動距離ΔDを算出する。図3は、移動距離ΔDの算出方法を示す。図3において、角度αは余弦定理により以下のように求められる。
次に、更新装置は、時刻T1から時刻T2までのΔT秒間における車両の移動距離ΔDと、車速パルス信号の平均パルス幅tpとを用いて、以下のように、1パルスあたりの移動距離dpを算出する。
次に、更新装置は、工程P5で得られた移動距離dpを用いて、距離係数αdを更新する。具体的には、得られた移動距離dpを新たな距離係数αdとする。なお、こうして得られた更新後の距離係数αdは、式(1)による車速vの算出などに使用される。
上記の説明では、車両から地物までの距離L1、L2、L´1、L´2を、3次元空間における距離、即ち、車両に搭載した外界センサから地物までの直線距離として求めているが、図6(A)示すように、地物が車両の水平面(道路面)から高い位置にある場合などは、地物の位置を車両の水平面に射影した場合の車両から地物までの距離(以下、「水平距離」とも呼ぶ。)を求めることにより精度を高めることができる。この手法について以下に説明する。
車載カメラなど、地物の3次元位置の計測が可能な外界センサを用いて地物の3次元位置座標のデータが取得できる場合、又は、地図データに地物の3次元位置座標のデータが含まれている場合に、図6(C)に示すように、車両座標系における地物の3次元位置Pが取得できたとする。なお、車両の水平面(車両座標系のXY平面)と道路平面とは平行であるものとする。
LiDARなど、地物までの距離と角度の計測が可能な外界センサを用いて、図7に示すように、車両座標系における地物までの距離Lと2個の偏角(距離Lの線分をXY平面に射影したLxyとX軸とがなす角φxy、及び、距離Lの線分とZ軸とがなす角φz)が取得できたとする。ここで、車両の水平面(車両座標系のXY平面)と道路平面とは平行であるものとする。
次に、上記の更新装置の第1実施例について説明する。図8は、第1実施例に係る更新装置1の構成を示すブロック図である。第1実施例では、更新装置1は、外界センサによる2つの地物の計測結果に基づいて、演算により地物間距離Lを求める。
次に、上記の更新装置の第2実施例について説明する。図10は、第2実施例に係る更新装置1xの構成を示すブロック図である。更新装置1xは、高精度地図データを記憶した地図データベース(DB)19を備える点で第1実施例の更新装置1と異なるが、それ以外の構成要素は第1実施例の更新装置1と同様であるので説明を省略する。
上記の距離係数更新処理において求められる1パルスあたりの移動距離dpは、時刻T1から時刻T2までの時間間隔ΔTの間の1パルスあたりの移動距離の平均値である。そのため、時間間隔ΔTの間のパルス幅の変動が大きいと、算出される移動距離dpの精度が悪化する。従って、時間間隔ΔTの間のパルス数はできるだけ少ないことが望ましい。
上記の距離係数更新処理では2つの地物を計測しているが、同時に3つ以上の地物を計測できた場合には、以下の方法により移動距離を算出することができる。
同時に3つ以上の地物を測定できた場合、移動距離ΔDを複数通り計算し、それらを平均した値を距離係数の更新に使用することができる。
同時に3つ以上の地物を計測できた場合、そのうちの信頼度の高い2つの地物の組み合わせに基づいて移動距離を求めることにより、高精度で移動距離を得ることができる。一般的に、外界センサによる計測は、距離が遠いほど精度が下がる。従って、同時に3つ以上の地物を計測できた場合、車両からの距離が近い方から2つの地物を選択し、それらに基づいて第1実施例又は第2実施例の方法により移動距離を求める。
通常、地物同士の位置が近すぎると計算精度が低下する。そこで、同時に3つ以上の地物を計測できた場合、予め決定した所定の閾値Lthよりも近い2つの地物の組み合わせを排除する。
(変形例1)
上記の第1実施例では2つの地物の計測結果から地物間距離Lを算出しており、第2実施例では地図データを用いて地物間距離Lを取得しているが、両者を組み合わせて使用してもよい。例えば、高精度地図データが存在するエリアにおいては高精度地図データを使用して地物間距離Lを求め、高精度地図データが存在しないエリアでは地物の計測結果から地物間距離を求めてもよい。また、車両の状況に応じて、いずれか精度の高い方で得られた地物間距離Lを用いることとしてもよい。
図9のステップS11及び図11のステップS21に示されるように、実施例の距離係数更新処理では、基本的に車両が直進走行しているときに距離係数の更新を行う。但し、現実には車両は直進走行しているように見えても、厳密には直進しておらず、微少なふらつきがある。よって、工程P4で求められる移動距離ΔDは、実際の移動距離ではなく近似値となる。このため、時間間隔ΔTが大きすぎると、実際の移動距離と工程P4で計算される移動距離との差が大きくなってしまう。この観点から、時刻T1から時刻T2までの時間間隔ΔTをできる限り小さくすることが望ましい。
外界センサを車両の低い位置に取り付けると、周囲の車両によりオクルージョンが増え、距離係数の更新に好適な地物を検出できる頻度が減ってしまうと考えられる。よって、外界センサを、周囲の車両の高さよりも上方を計測できるように設置することが好ましい。これにより、地物の検出頻度が増加し、距離係数の更新回数が増加するため、距離係数の精度を向上させることができる。
11 車速センサ
12 外界センサ
13 進行方向取得部
14 車速パルス計測部
15 地物計測部
16 地物間距離計算部
17 距離係数構成部
18 移動距離計算部
19 地図データベース
Claims (12)
- 第1時刻及び第2時刻における移動体から少なくとも3つの地物までの距離を含む第1距離群及び第2距離群並びに前記少なくとも3つの地物の間の距離を含む第3距離群を取得する取得部と、
前記少なくとも3つの地物までの距離又は前記少なくとも3つの地物の間の距離に基づき特定される2つの地物についての、前記移動体から地物までの距離及び地物間の距離に基づき前記第1時刻から前記第2時刻までの前記移動体の移動距離を算出する算出部と、
を備えることを特徴とする距離推定装置。 - 前記算出部は、前記少なくとも3つの地物のうち、前記移動体からの距離が短い2つの地物を前記2つの地物として特定することを特徴とする請求項1に記載の距離推定装置。
- 前記算出部は、前記地物の間の距離が所定距離未満である2つの地物を、前記特定される2つの地物から除外することを特徴とする請求項1又は2に記載の距離推定装置。
- 前記算出部は、前記第1時刻から前記第2時刻までの移動距離と、車速パルス信号の平均パルス幅とに基づいて、前記車速パルス信号の1パルスあたりの移動距離を算出することを特徴とする請求項1乃至3のいずれか一項に記載の距離推定装置。
- 前記算出部は、前記移動体のヨー方向の角速度又は操舵角が所定の閾値未満であるときに前記移動距離を算出することを特徴とする請求項1乃至4のいずれか一項に記載の距離推定装置。
- 前記算出部は、前記2つの地物までの距離、及び、前記移動体の進行方向と前記2つの地物それぞれの方向とがなす角に基づいて、前記2つの地物間の距離を取得することを特徴とする請求項1乃至5のいずれか一項に記載の距離推定装置。
- 前記算出部は、地図情報に基づいて、前記2つの地物間の距離を取得することを特徴とする請求項1乃至5のいずれか一項に記載の距離推定装置。
- 前記算出部は、前記移動体の走行速度に応じて、前記第1時刻から前記第2時刻までの時間間隔を変化させることを特徴とする請求項1乃至7のいずれか一項に記載の距離推定装置。
- 前記算出部は、前記移動体の走行速度が速いほど前記時間間隔を短くすることを特徴とする請求項7に記載の距離推定装置。
- 距離推定装置により実行される距離推定方法であって、
第1時刻及び第2時刻における移動体から少なくとも3つの地物までの距離を含む第1距離群及び第2距離群並びに前記少なくとも3つの地物の間の距離を含む第3距離群を取得する取得工程と、
前記少なくとも3つの地物までの距離又は前記少なくとも3つの地物の間の距離に基づき特定される2つの地物についての、前記移動体から地物までの距離及び地物間の距離に基づき前記第1時刻から前記第2時刻までの前記移動体の移動距離を算出する算出工程と、
を備えることを特徴とする距離推定方法。 - コンピュータを備える距離推定装置によって実行されるプログラムであって、
第1時刻及び第2時刻における移動体から少なくとも3つの地物までの距離を含む第1距離群及び第2距離群並びに前記少なくとも3つの地物の間の距離を含む第3距離群を取得する取得部、
前記少なくとも3つの地物までの距離又は前記少なくとも3つの地物の間の距離に基づき特定される2つの地物についての、前記移動体から地物までの距離及び地物間の距離に基づき前記第1時刻から前記第2時刻までの前記移動体の移動距離を算出する算出部、
として前記コンピュータを機能させることを特徴とするプログラム。 - 請求項10又は11に記載のプログラムを記憶した記憶媒体。
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