WO2018180103A1 - Dispositif d'enregistrement d'informations, procédé d'enregistrement d'informations, programme d'enregistrement d'informations et structure de données - Google Patents

Dispositif d'enregistrement d'informations, procédé d'enregistrement d'informations, programme d'enregistrement d'informations et structure de données Download PDF

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Publication number
WO2018180103A1
WO2018180103A1 PCT/JP2018/007026 JP2018007026W WO2018180103A1 WO 2018180103 A1 WO2018180103 A1 WO 2018180103A1 JP 2018007026 W JP2018007026 W JP 2018007026W WO 2018180103 A1 WO2018180103 A1 WO 2018180103A1
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Prior art keywords
ground
information
inclination
threshold
determining
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PCT/JP2018/007026
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English (en)
Japanese (ja)
Inventor
良司 野口
誠 松丸
雄悟 石川
宏 永田
竹村　到
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パイオニア株式会社
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present application belongs to the technical field of information recording apparatus, information recording method, information recording program and data structure. More specifically, the present invention belongs to a technical field of an information recording apparatus and information recording method for recording information related to a map, a program for the information recording apparatus, and a data structure after the recording.
  • One of the techniques necessary for realizing automatic driving is the detection of obstacles on the ground.
  • One of the techniques that can be used to detect such an obstacle is object detection using a LiDAR (Light Detection Detection and Ranging, Laser Imaging Detection and Ranging) system.
  • the inclination (gradient) of the portion of the ground is detected from data calculated from the reflected light from the ground, and if the inclination is gentle, the reflected light from the ground If the slope is steep, it is determined that the reflected light is from the obstacle.
  • Patent Document 1 As an example of a technique related to the background art, there is a technique described in Patent Document 1 below, for example.
  • a threshold for determining whether or not the obstacle is an obstacle by the above inclination is necessary.
  • the threshold value is too small, for example, even a slope is judged as an obstacle, and if the threshold value is too large, a small obstacle is judged as the ground.
  • an example of the problem is an information recording apparatus that can acquire a threshold for accurately detecting the inclination (gradient) of the ground, and An information recording method, a program for the information recording apparatus, and a data structure after the recording are provided.
  • the invention according to claim 1 is characterized in that the light receiving information obtained by receiving the reflected light from the ground of the light emitted from the moving body to the surroundings, and the ground A detection means for detecting a surface of the object and a slope of the ground based on the acquired light reception information, and a detection means for detecting the inclination of the ground based on the detected inclination.
  • Determination means for determining a threshold value for determining the type of inclination detected by the moving body, and recording control for recording threshold information indicating the determined threshold value on a recording medium in association with map information corresponding to the ground Means.
  • the invention according to claim 12 is an information recording executed in an information recording apparatus comprising an acquisition means, a determination means, a detection means, a determination means, and a recording control means.
  • an acquisition step of acquiring received light information obtained by receiving reflected light from the ground of the light emitted from the moving body by the acquisition unit, and an object on the ground is determined by the determination unit.
  • the detection step of detecting the inclination of the surface of the object and the inclination of the ground based on the acquired light reception information, and another moving body based on each detected inclination Determining the threshold for determining the type of inclination detected by the determining means, and threshold information indicating the determined threshold in association with the map information corresponding to the ground.
  • the invention according to claim 13 is a light receiving device obtained by receiving a reflected light from the ground of a light emitted from a moving body around the computer included in the information recording apparatus.
  • the threshold information is recorded in association with the map information by the information recording device according to any one of claims 1 to 11.
  • the threshold information and the threshold indicated by the threshold information is position information indicating a position on the ground map used for the type determination of the inclination, and the threshold information
  • the map information corresponding to the map including the position indicated by the position information and reading the threshold information and the position information for pairing
  • the map information corresponding to the map including the position indicated by the output position information is read together with the threshold information.
  • the invention according to claim 15 is characterized in that an acquisition means for acquiring received light information obtained by receiving reflected light from the ground of light emitted from the emission means to the surroundings, and the ground Based on the detected inclination, the detection means for detecting the inclination of the surface of the object and the inclination of the ground based on the acquired light reception information, and the detected inclination, Determining means for determining a threshold value for determining the type of inclination; and recording control means for recording threshold information indicating the determined threshold value on a recording medium in association with map information corresponding to the ground. .
  • the invention described in claim 16 is an information recording executed in an information recording apparatus comprising an acquisition means, a determination means, a detection means, a determination means, and a recording control means.
  • the invention according to claim 17 is directed to a computer included in the information recording apparatus, wherein light reception information obtained by receiving reflected light from the ground of light emitted from the emission means to the surroundings.
  • the invention according to claim 18 is obtained by receiving reflected light from the ground of the light emitted from the first emitting means or an object on the ground in a predetermined region.
  • the object irradiated with the light emitted from the second emitting means different from the first emitting means is the ground based on the inclination state or the object.
  • Determining means for determining a first threshold value for determining whether the object is the ground or the object based on the reflectivity thereof, and the determined second threshold value Threshold information indicating the first threshold and the second threshold And a recording control means for recording on a recording medium in association with the predetermined area in over data.
  • the invention according to claim 19 is characterized in that the irradiation target existing in a predetermined region is the ground based on the reflected light from the irradiation target of the light emitted from the emitting means.
  • a first threshold value indicating an inclination state for identifying whether the object is an object is recorded in association with the predetermined area on the map.
  • the invention according to claim 20 is the data structure of the map data according to claim 19, based on the reflected light by the irradiation elephant of the light emitted from the emitting means, A second threshold value indicating a reflectance for identifying whether the irradiation target existing in the predetermined area is the ground or an object is recorded in association with the predetermined area on the map. .
  • FIG. 1 is a block diagram showing a schematic configuration of an information recording apparatus according to an embodiment. It is a block diagram which shows schematic structure of the map data recording system which concerns on 1st Example. It is a figure which shows the structure of the map data based on 1st Example, (a) is a figure which shows the 1st example of the said structure, (b) is a figure which shows the 2nd example of the said structure, (c () Is a diagram showing a third example of the structure, (d) is a diagram showing a fourth example of the structure, and (e) is a diagram showing a fifth example of the structure. It is a flowchart which shows the map data recording process etc.
  • (a) is a flowchart which shows the said map data recording process
  • (b) is a flowchart which shows the whole ground determination process which concerns on 1st Example.
  • (C) is a flowchart showing details of the ground determination process. It is a flowchart which shows the ground determination process which concerns on 2nd Example. It is a flowchart which shows the map data recording process etc. which concern on 3rd Example
  • (a) is a flowchart which shows the said map data recording process
  • (b) is a flowchart which shows the ground determination process which concerns on 3rd Example. .
  • FIG. 1 is a block diagram illustrating a schematic configuration of the information recording apparatus according to the embodiment.
  • the information recording apparatus S includes an acquisition unit 1, a detection unit 2, a determination unit 3, a recording control unit 4 connected to a recording medium R, a determination unit 5, It is configured with.
  • the acquisition unit 1 acquires the light reception information obtained by receiving the reflected light from the ground of the light emitted from the moving body to the surroundings.
  • the determination means 5 determines an object on the ground.
  • the detection means 2 detects the inclination of the surface of the object on the ground and the inclination of the ground based on the light reception information acquired by the acquisition means 1.
  • the determining means 3 determines a threshold value for determining the type of the inclination detected by the other moving body based on each inclination detected by the detecting means 2.
  • the recording control means 4 records the threshold information indicating the threshold determined by the determining means 3 on the recording medium R in association with the map information corresponding to the ground.
  • the information recording apparatus S based on the light reception information obtained by receiving the reflected light from the ground, the inclination of the surface of the object on the ground and the ground Detecting the inclination of Then, based on each detected inclination, a threshold value for determining the type of inclination is determined, and threshold information indicating the determined threshold value is recorded on a recording medium in association with map information corresponding to the ground. . Therefore, since threshold information indicating the threshold generated based on the reflected light of the actually emitted light is recorded in association with the map information, the threshold for accurately determining the type of inclination is associated with the map information. Can be recorded.
  • each Example demonstrated below is an Example at the time of applying to the recording of the threshold value etc. which are used for the obstacle detection using the LiDAR system mounted in the vehicle.
  • FIG. 2 is a block diagram showing a schematic configuration of the map data recording system according to the first embodiment
  • FIG. 3 is a diagram showing a structure of map data according to the first embodiment
  • FIG. 4 is a diagram showing the first embodiment.
  • FIG. 5 is a flowchart showing a ground determination process according to the second embodiment
  • FIG. 6 is a flowchart showing a map data recording process according to the third embodiment. is there.
  • the map data recording system SS includes a map server device SV that can exchange data via a network NW such as the Internet, and a ground determination device C mounted on the vehicle. And is constituted by.
  • the map server device SV includes a processing area determining unit 11, a map database 12, a graph / gradient calculating unit 13, an object recognizing unit 14, a discriminator 15, and an in-processing area gradient threshold determining unit 16.
  • the processing area gradient threshold value determination unit 16 is connected to the map database 17.
  • the map database 17 may be provided separately from the map server device SV, or may be provided in the map server device SV.
  • the processing area determining unit 11, the graph / gradient calculating unit 13, the object recognizing unit 14, and the in-processing area gradient threshold determining unit 16 are implemented by a hardware logic circuit including a CPU (not shown) provided in the map server device SV. It may be realized, or may be realized in software by the CPU or the like reading and executing a program corresponding to map data recording processing according to a first embodiment described later.
  • the ground determination device C includes a graph / gradient calculation unit 21 connected to the network NW and the LiDAR sensor 20, a processing area determination unit 22, a map database 23, and an in-processing area gradient threshold comparison unit 24.
  • the graph / gradient calculation unit 21, the processing area determination unit 22, and the in-processing area gradient threshold comparison unit 24 may be realized by a hardware logic circuit including a CPU (not shown) provided in the ground determination device C.
  • the program may be realized in software by causing the CPU or the like to read and execute a program corresponding to a ground determination process according to a first embodiment described later.
  • the processing area determination unit 11 corresponds to an example of the acquisition unit 1 according to the embodiment
  • the graph / gradient calculation unit 13 corresponds to an example of the detection unit 2 according to the embodiment
  • the object recognition unit 14 The processing area gradient threshold value determination unit 16 corresponds to an example of the determination unit 3 and the example of the recording control unit 4 according to the embodiment.
  • the map database 12 of the map server device SV records map data for matching with data from the LiDAR sensor 10. Then, the processing area determination unit 11 of the map server device SV reads out the map data for matching from the map database 12 and sets a predetermined area on the map on which the gradient data according to the embodiment is generated. Determined by This area determination may be made manually.
  • the graph / gradient calculation unit 13 has four neighboring points of interest (for example, four directions centered on the point of interest (for example, up, down, left, and right directions))
  • the graphs connecting the neighborhoods of the graphs are created, and the gradient of the edge of each graph is calculated at all points of interest. Details of the calculation method in the graph / gradient calculation unit 13 are described in, for example, the paper “On ⁇ the Segmentation of 3D LIDAR Point Clouds” ICRA, 2011, The University of Sydney, B. Douillard et al. SEGMENTATION ALGORITHMS, C Segmentation for Sparse Data, and 2) Mesh Based on Segmentation.
  • the above-described gradient calculation method is simply referred to as “gradient calculation method according to the embodiment”.
  • the object recognition unit 14 detects whether the target from which the data is obtained is the ground or an obstacle using the classifier 15 or manually.
  • the processing area gradient threshold value determination unit 16 determines a threshold value for determining the type of inclination in the area determined by the processing area determination unit 11 (that is, a threshold value for detecting an obstacle in the area), and The determined threshold value is recorded in the map database 17 in association with the map data corresponding to the area.
  • the graph / gradient calculation unit 21 of the ground determination device C calculates the gradient at each point of interest based on the data from the LiDAR sensor 20, for example, by the gradient calculation method according to the above embodiment.
  • the map database 23 records map data for matching with data from the LiDAR sensor 20.
  • the processing area determination unit 22 reads the map data for matching from the map database 23, and determines an area on the map that is a target for detecting the inclination (gradient) according to the embodiment by a preset method. .
  • the processing area gradient threshold value comparison unit 24 acquires the threshold value recorded in the map database 17 of the map server device SV via the network NW as necessary, and the threshold value and the data from the LiDAR sensor 20. To detect the inclination (gradient) of the area to be processed.
  • the threshold for determining the type of inclination is recorded for each area as a map. That is, for example, as illustrated in FIG. 3A, for each of the areas A1 to A3 obtained by equally dividing the road on which the vehicle CC travels in the traveling direction, the threshold value is recorded in association with each of the areas A1 to A3. Has been. At this time, for example, the threshold value may be recorded for each of the areas B1 to B4 having different lengths in the traveling direction as shown in FIG. 3B, or along the curve as shown in FIG.
  • the threshold value may be recorded for each of the divided areas C1 to C3, or for each of the areas D1 to D8 divided corresponding to the intersection CR indicated by a broken line in FIG. It may be recorded. Furthermore, as illustrated in FIG. 3E, the threshold value may be recorded for each of the areas E1 to E6 that are freely divided with respect to the road R.
  • map data recording processing according to the first embodiment will be described with reference to FIG.
  • the map data recording process according to the first embodiment is started, for example, at the timing when the power switch of the map server device SV is turned on.
  • the processing area determination unit 11 selects, for example, any one of the areas A1 illustrated in FIG. 3 (step S2).
  • step S1 when the area to be processed is determined (step S1: YES or step S2), the graph / gradient calculation unit 13 uses the gradient calculation method according to the above embodiment based on the data from the LiDAR sensor 10. Then, the slope (the slope) based on the data for the determined area is calculated for each data (step S3). Next, the object recognizing unit 14 detects whether the target from which the data is obtained is the ground or an obstacle by a method using the discriminator 15 or visual observation (step S4). Then, the processing area gradient threshold value determination unit 16 determines the type of gradient in the determined area based on the gradient calculated from the data about the object in which whether the ground or the obstacle is detected in step S4.
  • the above threshold A of It is determined so that the maximum value of the gradient of the object that is the ground ⁇ the threshold A ⁇ the minimum value of the gradient of the object that is the obstacle (step S5).
  • the threshold A after this determination is recorded in the map database 17 in association with the area.
  • step S6 determines whether or not to determine the threshold value for the next area.
  • step S6 determines whether or not to determine the threshold value for the next area.
  • the ground determination process according to the first embodiment is started, for example, when the power switch of the ground determination device C is turned on.
  • the threshold value data is not acquired in the determination in step S10 (step S10: NO)
  • the map server 17 of the map server device SV is accessed to acquire the necessary threshold value data (step S11).
  • necessary threshold data is acquired (step S10: YES or step S11)
  • the ground determination process according to the first embodiment is then executed (step S12).
  • step S13 determines whether or not to end the ground determination processing according to the first embodiment.
  • step S13: YES determines whether or not the vehicle on which the ground determination device C is mounted has reached the destination.
  • the in-process area gradient threshold value comparison unit 24 associates the threshold value with respect to one of the attention points (attention points on the ground) (i). It is determined whether or not (step S120). When the threshold value is not associated with the current attention point (i) in the determination in step S120 (step S120: NO), the in-processing area gradient threshold value comparison unit 24 performs the ground determination process for the next attention point (i + 1). It is determined whether or not to perform (step S121).
  • step S121 When the ground determination process is performed for the next attention point (i + 1) in the determination of step S121 (step S121: YES), the in-process area gradient threshold value comparison unit 24 returns to step S120 to determine the next attention point (i + 1). Repeat the ground determination process. On the other hand, in the determination in step S120, if there is no point of interest to be subjected to the ground determination process next (step S121: NO), the in-processing area gradient threshold value comparison unit 24 proceeds to step S13. On the other hand, when the threshold value is associated with the current attention point (i) in the determination in step S120 (step S120: YES), the in-processing area gradient threshold value comparison unit 24 determines that the inclination of the attention point (i) is greater than the threshold value.
  • step S122 It is determined whether or not the inclination is smaller (step S122), and when the inclination of the attention point (i) is smaller than the threshold value (step S122: YES), the in-processing area gradient threshold value comparison unit 24 determines that the attention point (i) is the ground surface. It is determined that there is (step S123), and the process proceeds to step S121.
  • step S122: NO when the inclination of the point of interest (i) is equal to or greater than the threshold value in the determination in step S122 (step S122: NO), the in-processing area gradient threshold value comparison unit 24 determines that there is an obstacle at the point of interest (i). (Step S124), the process proceeds to Step S121.
  • the surface of the object on the ground is detected. Inclination and ground inclination are detected. Then, based on each detected inclination, a threshold for determining the type of the inclination is determined, and the determined threshold is recorded in the map database 17 in association with map data corresponding to the ground. Therefore, since the threshold value generated based on the actual reflected light is recorded in association with the map data, the threshold value for accurately determining the inclination type can be recorded in association with the map data.
  • the maximum value of the gradient of the object that is the ground (that is, the maximum gradient of the ground) ⁇ the threshold A ⁇ the minimum value of the gradient of the object that is the obstacle (that is, the minimum gradient of the obstacle)
  • the threshold for determining the type of inclination can be appropriately determined based on the inclination of the ground and the inclination of the surface of the object on the ground.
  • threshold values are determined for each ground, and these are recorded in association with the map data for each ground (see FIG. 3).
  • the threshold value can be determined and recorded in detail.
  • the threshold value is determined / recorded finely at regular intervals in the moving direction. Can do.
  • the area for which the threshold is determined is an area divided at intervals corresponding to the change in the ground inclination in the moving direction of the vehicle, it corresponds to the change in the inclination of the ground in the moving direction (that is, the undulation of the ground).
  • the threshold value can be determined / recorded in detail.
  • the map server device SV executes the discrimination of the object on the ground based on the reflected light from the ground within the predetermined angle range by the LiDAR sensor 10, the gradient of the ground within the predetermined angle range is set.
  • a threshold for accurate detection can be recorded in association with the map data.
  • the plurality of threshold values can be appropriately determined / recorded for the ground.
  • determining a plurality of threshold values according to the change in the ground inclination for example, in an area where there is no ground inclination change, a single threshold value is determined for the area, and the ground inclination change is determined. In an area where is more than a certain value, there may be a case where a plurality of threshold values are determined for the area in accordance with the inclination change in the area.
  • determining a plurality of threshold values for the ground according to a predetermined speed limit when the vehicle moves it is possible to appropriately determine / record a plurality of threshold values for the ground.
  • determining a plurality of threshold values according to the speed limit for example, when the moving speed of the vehicle is fast, it is necessary to detect as small an obstacle as possible, and when the moving speed of the vehicle is slow, In consideration of the situation that the object detection setting condition can be relaxed, a threshold corresponding to the speed limit of the vehicle in the same area is determined. Further, as an example of the relationship between the speed limit and the threshold, when the speed limit is 80 km / h, the threshold is determined to be 0.7, and when the speed limit is 20 km / h, the threshold is determined to be 1.0. To do.
  • the moving speed of the management vehicle itself when the map management vehicle on which the LiDAR sensor 10 is mounted moves or the movement speed is set. Even when one or more threshold values for the ground are determined with reference, the plurality of threshold values can be appropriately determined / recorded for the ground.
  • the plurality of threshold values can be appropriately determined / recorded for the ground.
  • the same situation as when determining a plurality of thresholds according to the speed limit Considering the above, there may be a case where a plurality of threshold values are determined for the same area based on the moving speed of the management vehicle for the area.
  • the management vehicle is moved a plurality of times for one point, and a threshold value is determined for each movement. Further, the management vehicle is moved once for one point, one threshold is determined according to the moving speed of the one movement, and another threshold for the one point is determined according to the moving speed. It is conceivable that the other threshold value is determined manually or by a preset calculation method based on the determined one threshold value. Then, it is preferable that the relationship between the moving speed and the plurality of threshold values is tabulated and acquired by the ground determination device C according to the first embodiment and used for the inclination type determination.
  • the threshold is determined to be 0.7 when the moving speed of the management vehicle is 80 km / h, and the moving speed is In the case of 20 kilometers per hour, the threshold may be determined as 1.0.
  • the threshold value may be determined according to the moving speed of or referring to the moving speed.
  • the type of inclination is determined using the threshold value A as the value of the ground gradient.
  • the threshold value A is also used.
  • the type of inclination may be determined by further using a threshold value as a reflectance value from the ground (having a gradient) of the emitted light.
  • the threshold value as the reflectance value is referred to as “threshold value B”.
  • the threshold value B is set based on the data from the LiDAR sensor 10.
  • the maximum reflectance of the object that is the ground ⁇ the threshold B ⁇ the minimum value of the reflectance of the object that is the obstacle is determined, and this is recorded in the map database 17 in association with the area.
  • the reflectance as the threshold value B varies depending on the wavelength of the emitted light from the LiDAR sensor 10. Therefore, the threshold value B is recorded in the map database 17 in association with the wavelength of the emitted light from the used LiDAR sensor 10.
  • the LiDAR sensor 10 and the LiDAR sensor 20 originally use emitted light of various wavelengths, it is necessary to determine and record a threshold value B as a reflectance for each of a plurality of types of wavelengths. For this reason, for example, the reflectance data is collected and recorded by changing the wavelength of the light emitted from the LiDAR sensor 10, or the reflectance data is collected by a plurality of LiDAR sensors 10 having different original specifications (wavelengths). Is preferably configured to collect. Furthermore, at the time of the collection, it is preferable to record the emission angle of the emitted light from the LiDAR 10 in association with the distance to the target. This is because the emission angle and distance affect the threshold value B, which is a reflectance value.
  • the relationship with the threshold B as the reflectance value is also taken into consideration. Determine whether the area is the ground or there are obstacles. More specifically, “YES” is determined in step S122 of FIG. 4C, and the reflectance of the point of interest (i) when using emitted light having a predetermined angle, distance, and wavelength is the threshold value B. If it is less than the threshold value, the in-processing-area gradient threshold value comparing unit 24 determines that the attention point (i) is the ground (see step S123 in FIG. 4C). On the other hand, the determination in step S122 of FIG.
  • the processing area gradient threshold value comparison unit 24 determines that there is an obstacle at the attention point (i) (see step S124 in FIG. 4C).
  • the threshold value B as the reflectance value is used in a superimposed manner in addition to the threshold value A as the gradient value, the inclination type is determined.
  • the possibility that the type determination is erroneously determined can be reduced.
  • FIG. 5 is a flowchart showing the ground determination process according to the second embodiment.
  • a ground determination process corresponding to the speed of the vehicle is performed as the ground determination process.
  • the other configuration and processing (including map data recording processing) according to the second embodiment are the same as the configuration and processing according to the first embodiment, and thus detailed description thereof is omitted.
  • step S120 determines whether or not to perform the ground determination process according to the speed of the vehicle (step S130). And when not performing the ground determination process according to the speed of a vehicle (step S130: NO), the process area gradient threshold value comparison part 24 performs the process after step S122 similar to the ground determination process which concerns on 1st Example. .
  • step S130 determines that the inclination of the point of interest (i) corresponds to the threshold value according to the speed. It is determined whether or not the value is smaller than the value multiplied by the correction value ⁇ (step S131). If the slope of the point of interest (i) is smaller than the result of the multiplication (step S131: YES), the process proceeds to step S123, where If the slope of the point (i) is equal to or greater than the result of the multiplication (step S131: NO), the process proceeds to step S124.
  • the ground is determined according to the speed at which the vehicle moves. This determination can be made.
  • FIG. 6 is a flowchart showing map data recording processing and the like according to the third embodiment.
  • a LiDAR sensor connected to the map server device The vertical inclination angle of the emitted light (that is, the pitch angle; the same applies hereinafter) ⁇ 1 according to the map data recording process and the pitch angle ⁇ 2 of the emitted light of the LiDAR sensor connected to the ground determination device The ground determination process is performed.
  • the same thing as the structure and process which concerns on 1st Example attaches
  • step S1 when the determination in step S1 according to the first embodiment or the area to be processed is determined in step S2 (step S1: YES or step S2), graph gradient calculation unit 13 then determines whether to perform a map data recording processing according to the pitch angle theta 1 (step S30).
  • the pitch angle ⁇ 1 in this case is detected by, for example, an acceleration sensor (not shown) provided in the LiDAR sensor 10.
  • the graph gradient calculation unit 13 a map data recording processing similar to step S3 and subsequent processing according to the first embodiment I do.
  • step S30 when performing the map data recording processing according to the pitch angle theta 1 is determined in step S30 (step S30: YES), the graph gradient calculation unit 13, for example, using a gradient calculation method or the like according to the embodiment
  • Is calculated for each piece of data as a correction slope based on the data from the LiDAR sensor 10 step S31.
  • step S4 and subsequent steps using the corrected inclination are executed.
  • the in-processing-area gradient threshold value comparison unit 24 determines whether or not to perform the ground determination processing according to the pitch angle ⁇ 2 (step S140).
  • the pitch angle ⁇ 2 in this case is detected by, for example, an acceleration sensor (not shown) provided in a vehicle on which the ground determination device C according to the third embodiment is mounted.
  • step S140: NO the process area gradient threshold value comparison part 24 is the process after step S122 similar to the ground determination process which concerns on 1st Example. I do.
  • step S140: YES the in-process area gradient threshold value comparison unit 24 determines the inclination of the point of interest (i) as the pitch angle ⁇ 2.
  • Step S141 a value obtained by dividing the parameter z at the inclination of the attention point (i) by the cosine of the pitch angle ⁇ 2 (that is, a value obtained by multiplying the parameter z by (1 / cos ⁇ 2 )) ) Is smaller than a threshold value associated with the point of interest (i) (step S141), and the corrected inclination of the point of interest (i) is smaller than the threshold value.
  • Step S141 YES
  • the process proceeds to Step S123, and if the corrected inclination of the point of interest (i) is equal to or greater than the threshold (Step S141: NO), Step S124 is performed.
  • the pitch data ⁇ 1 according to the emitted light of the LiDAR sensor 10 is varied. Since the correction is performed, the threshold value for accurately determining the type of inclination can be more accurately recorded in association with the map data.
  • the ground determination process according to the third embodiment in addition to the effect of the ground determination process according to the first embodiment, the ground is determined according to the pitch angle ⁇ 2 of the emitted light of the LiDAR sensor 20, The determination can be performed accurately.
  • programs corresponding to the flowcharts shown in FIGS. 4 and 5 are recorded on a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet, and these are stored in a general-purpose microcomputer. It is possible to cause the microcomputer or the like to function as the in-process area gradient threshold value determination unit 16 or the in-process area gradient threshold value comparison unit 24 according to each embodiment.

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Abstract

L'invention concerne un dispositif d'enregistrement d'informations qui permet d'acquérir un seuil pour détecter avec précision l'inclinaison (pente) d'une surface de sol. Dans la présente invention, des informations de réception de lumière sont acquises par l'intermédiaire de la réception de lumière qui a été émise par un véhicule sur son environnement et réfléchie par une surface de sol, un objet sur la surface de sol est identifié, et l'inclinaison de la surface de l'objet et l'inclinaison de la surface de sol sont détectées sur la base des informations de réception de lumière. Ensuite, sur la base des inclinaisons détectées, un seuil pour déterminer le type d'inclinaisons détectées par un autre corps mobile est déterminé, et le seuil est stocké de façon à être associé à des données cartographiques correspondant à la surface de sol.
PCT/JP2018/007026 2017-03-31 2018-02-26 Dispositif d'enregistrement d'informations, procédé d'enregistrement d'informations, programme d'enregistrement d'informations et structure de données WO2018180103A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003065740A (ja) * 2001-08-27 2003-03-05 Nissan Motor Co Ltd 前方路面勾配判定装置
JP2008186384A (ja) * 2007-01-31 2008-08-14 Toyota Motor Corp 車両の制御装置
JP2012192862A (ja) * 2011-03-17 2012-10-11 Toyota Motor Corp 車両制御装置
JP2014095562A (ja) * 2012-11-07 2014-05-22 Denso Corp 車載レーダ装置
JP2015127937A (ja) * 2013-11-29 2015-07-09 富士通株式会社 運転支援装置、方法、及びプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003065740A (ja) * 2001-08-27 2003-03-05 Nissan Motor Co Ltd 前方路面勾配判定装置
JP2008186384A (ja) * 2007-01-31 2008-08-14 Toyota Motor Corp 車両の制御装置
JP2012192862A (ja) * 2011-03-17 2012-10-11 Toyota Motor Corp 車両制御装置
JP2014095562A (ja) * 2012-11-07 2014-05-22 Denso Corp 車載レーダ装置
JP2015127937A (ja) * 2013-11-29 2015-07-09 富士通株式会社 運転支援装置、方法、及びプログラム

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