WO2018180104A1

WO2018180104A1 - Determination device, determination method, program for determination, and data structure

Info

Publication number: WO2018180104A1
Application number: PCT/JP2018/007027
Authority: WO
Inventors: 良司野口; 誠松丸; 雄悟石川; 宏永田; 竹村　到
Original assignee: パイオニア株式会社
Priority date: 2017-03-31
Filing date: 2018-02-26
Publication date: 2018-10-04
Also published as: JP2022009231A; JP7174131B2; JPWO2018180104A1

Abstract

Provided is a determination device that makes it possible to accurately determine the inclination (slope) of a ground surface. In the present invention, light reception information is acquired through the reception of light that has been emitted from a vehicle onto the surroundings thereof and reflected from a ground surface, and the inclination of a light reflection point is detected on the basis of the light reception information. Further, threshold information indicating a threshold for identifying inclination types is acquired from a map database 17 having the threshold information recorded thereon in association with map information corresponding to the ground surface. Thereafter, whether the reflection point is the ground surface or an object on the ground surface is determined on the basis of a comparison of the inclination and the threshold indicated by the threshold information.

Description

Determination apparatus, determination method, determination program, and data structure

This application belongs to the technical field of determination apparatus, determination method, determination program, and data structure. More specifically, the present invention belongs to a technical field of a determination device and a determination method for performing determination related to a map, a program for the determination, and a data structure.

In recent years, research on so-called automatic driving in vehicles has been actively conducted. 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. In the detection of an obstacle on the ground using the LiDAR system, for example, 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.

In addition, as an example of a technique related to the background art, there is a technique described in Patent Document 1 below, for example.

JP 2014-95562 A

On the other hand, in the detection of an obstacle on the ground using the LiDAR system described above, a threshold for determining whether or not the obstacle is an obstacle by the above inclination is necessary. However, there are various situations of the inclination of the ground. It is difficult to uniquely determine each point on the ground each time. That is, if 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.

Therefore, the present application has been made in view of the above-described problems, and an example of the problem is a determination device and a determination method capable of accurately determining the inclination (gradient) of the ground, and the determination device. It is to provide a program and a data structure.

In order to solve the above-mentioned problem, the invention according to claim 1 is a first acquisition unit that acquires light reception information obtained by receiving reflected light from the ground of light emitted from a moving body to the surroundings; Detection means for detecting the inclination of the reflection point of the light based on the light reception information, and threshold information indicating a threshold for determining the type of the inclination are associated with the map information corresponding to the ground, and the threshold information is obtained. Whether the reflection point is the ground or an object on the ground based on a comparison between the threshold value indicated by the threshold information and the detected inclination based on the second acquisition means for acquiring from the recording medium being recorded. Determining means for determining.

In order to solve the above-described problem, the invention according to claim 14 is a determination method executed in a determination apparatus including a first acquisition unit, a detection unit, a second acquisition unit, and a determination unit. A first acquisition step of acquiring light reception information obtained by receiving reflected light of light emitted from the moving body to the surroundings, and an inclination of the reflection point of the light based on the light reception information; The second acquisition from the recording medium in which the threshold value information indicating the threshold value for discriminating the type of inclination and the detection step detected by the detection means is recorded in association with the map information corresponding to the ground. Based on the second acquisition step acquired by the means and a comparison between the threshold value indicated by the threshold value information and the detected inclination, it is determined whether the reflection point is the ground or an object on the ground. In Ri determines comprising a determining step.

In order to solve the above-described problem, the invention according to claim 15 is directed to a computer included in the determination device, wherein the light reception information obtained by receiving the reflected light from the ground of the light emitted from the moving body to the surroundings is received. First acquisition means for acquiring, detection means for detecting the inclination of the reflection point of the light based on the received light information, and threshold information indicating a threshold value for determining the type of the inclination as map information corresponding to the ground Based on the second acquisition means for acquiring the threshold information in association with the recording medium, and comparing the threshold indicated by the threshold information with the detected inclination, whether the reflection point is the ground , And functioning as a determination means for determining whether the object is on the ground.

In order to solve the above-described problem, the invention according to claim 16 is characterized in that the threshold information acquired by the second acquisition means of the determination device according to any one of claims 1 to 13 is the threshold value information. A data structure of a recording medium recorded in association with map information, wherein the threshold value information and the threshold value indicated by the threshold value information indicate a position on the map of the ground used for the type determination of the inclination Position information that is paired with the threshold information and the map information corresponding to the map that includes the position indicated by the position information, and the threshold information and the position information that form the pair are The map information corresponding to the map including the position indicated by the read position information is read together with the threshold information by being read by the second acquisition unit. Configured to be read to.

In order to solve the above problem, the invention according to claim 17 is the light reception obtained by receiving the reflected light from the ground or the object on the ground of the light emitted from the emitting means to the predetermined area. A first acquisition means for acquiring information; a detection means for detecting an inclination and a reflectance of the light irradiation target based on the light reception information; and whether the light irradiation target in the predetermined area is the ground. Second acquisition for acquiring threshold information indicating a first threshold value for determining whether the object is on the ground based on the inclination state and a second threshold value for determining based on the reflectance The irradiation target is on the ground on the basis of means, a comparison between the first threshold value indicated by the threshold value information and the detected inclination state, and a comparison between the second threshold value and the detected reflectance. Or an object on the ground, Comprising a determining means.

It is a block diagram which shows the schematic structure of the determination apparatus which concerns on embodiment. It is a block diagram which shows schematic structure of the map data 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. which concern on 1st Example, (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. .

Next, an embodiment for carrying out the present application will be described with reference to FIG. FIG. 1 is a block diagram illustrating a schematic configuration of the determination apparatus according to the embodiment.

As shown in FIG. 1, the determination device S according to the embodiment includes a first acquisition unit 1, a detection unit 2, a determination unit 3, and a second acquisition unit 4.

In this configuration, the first acquisition means 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.

And the detection means 2 detects the inclination of the reflection point of light based on the light reception information acquired by the 1st acquisition means.

On the other hand, the second acquisition means 4 acquires threshold information indicating a threshold for determining the type of inclination from a recording medium in which the threshold information is recorded in association with map information corresponding to the ground.

Thus, the determination unit 3 determines whether the light reflection point is the ground or an object on the ground based on the comparison between the threshold indicated by the threshold information and the inclination detected by the detection unit 2.

As described above, according to the operation of the determination device S according to the embodiment, the inclination of the reflection point is detected based on the light reception information obtained by receiving the reflected light from the ground, and the inclination corresponds to the ground. Whether the reflection point is the ground or an object is determined based on the comparison with the threshold value indicated by the threshold value information recorded in association with the map information. Therefore, since it is determined whether the reflection point is the ground or an object by comparison with the threshold value recorded for determining the type of inclination, the determination can be accurately performed without requiring complicated processing.

Next, specific examples corresponding to the above-described embodiment will be described with reference to FIGS. In addition, each Example demonstrated below is an Example at the time of applying to the threshold value used for the obstacle detection using the LiDAR system mounted in the vehicle.

2 is a block diagram showing a schematic configuration of the map data system according to the first embodiment, FIG. 3 is a diagram showing a structure of map data according to the first embodiment, and FIG. 4 is a diagram showing the first embodiment. FIG. 5 is a flowchart showing a ground determination process according to the second embodiment, and FIG. 6 is a flowchart showing a map data recording process according to the third embodiment. .

(I) First Example Next, a first example according to the embodiment will be described with reference to FIGS.

As shown in FIG. 2, the map data system SS according to the first embodiment includes a map server device SV that can exchange data via a network NW such as the Internet, and a ground determination device C that is mounted on a vehicle. , Is configured.

In addition, data from one or a plurality of LiDAR sensors 10 mounted on a map management vehicle or fixedly installed is input to the map server SV. 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.

On the other hand, 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. ing. At this time, 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. However, 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.

In the above-described configuration, the processing area gradient threshold value comparison unit 24 corresponds to an example of the “first acquisition unit 1”, an example of the “second acquisition unit”, and an example of the “determination unit 3” according to the embodiment. The graph / gradient calculation unit 21 corresponds to an example of the “detection unit 2” according to the embodiment. The map database 17 corresponds to an example of a “recording medium” according to the present application.

In the above configuration, 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.

Next, based on the data from the LiDAR sensor 10, the graph / gradient calculation unit 13, for example, 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 gradients of the edges of the respective graphs are executed at all the points of interest. Details of the calculation method in the graph / gradient calculation unit 13 are described in, for example, the paper “On 論文 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. In the following description, the above-described gradient calculation method is simply referred to as “gradient calculation method according to the embodiment”. On the other hand, 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. As a result, the in-processing area gradient threshold value determination unit 16 determines a threshold value for determining the slope type of the ground in the area determined by the processing area determination unit 11 (that is, a threshold value for determining the inclination type in the area). The determined threshold value is recorded in the map database 17 in association with the map data corresponding to the area.

On the other hand, 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. On the other hand, the map database 23 records map data for matching with data from the LiDAR sensor 20. Then, 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. . Then, 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.

Next, the data structure of the map data according to the embodiment recorded in the map database 17 according to the embodiment will be described with reference to FIG.

As shown in FIG. 3, in the map database 17 according to the embodiment, 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.

Next, map data recording processing according to the first embodiment will be described with reference to FIG. As shown in FIG. 4A, 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. In the map data recording process according to the first embodiment, first, it is confirmed whether or not an area to be processed has been determined by the processing area determination unit 11 (step S1). When the area is not determined in the confirmation in step S1 (step S1: NO), the processing area determination unit 11 selects, for example, any one of the areas A1 illustrated in FIG. 3 (step S2). Next, 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. The threshold A after this determination is recorded in the map database 17 in association with the area.

Thereafter, it is determined whether or not to determine the threshold value for the next area (step S6). When the threshold value determination is to be continued (step S6: YES), the processing from step S1 onward is repeated. On the other hand, in the determination of step S6, when the process is terminated (step S6: NO), the process is terminated as it is.

Next, the ground determination process according to the first embodiment will be described with reference to FIG.

As shown in FIG. 4B, 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. In the ground determination process according to the first embodiment, it is first determined whether or not the necessary threshold data has been acquired from the map database 17 of the map server device SV (step S10). When 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). When 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). Thereafter, whether or not to end the ground determination processing according to the first embodiment is determined, for example, by determining whether or not the vehicle on which the ground determination device C is mounted has reached the destination (step) S13). When the ground determination process is terminated in the determination of step S13 (step S13: YES), the ground determination process is terminated as it is. It is.

Next, the ground determination process in step S12 will be described with reference to FIG. As shown in FIG. 4C, in the ground determination process in step S13, first, 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). 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, when there is no point of interest to be subjected to the ground determination process next in the determination in step S120 (step S121: NO), the in-process area gradient threshold value comparison unit 24 returns 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. 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. On the other hand, 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.

As described above, according to the ground determination processing according to the first embodiment, the inclination of the reflection point is detected based on the data obtained by receiving the reflected light from the ground, and the inclination and the ground are detected. Based on the comparison with the threshold value recorded in association with the corresponding map data, it is determined whether the reflection point is the ground or an object. Therefore, since it is determined whether the reflection point is the ground or an object by comparison with the threshold value recorded for determining the type of inclination, the determination can be accurately performed without requiring complicated processing.

Also, since the threshold value is a threshold value for each ground corresponding to an area divided in advance, it is possible to accurately determine whether or not the surface is a ground by using a fine threshold value for each area.

At this time, if the area for which the threshold value is determined is an area that is divided at regular intervals in the moving direction of the vehicle (see FIG. 3A), the threshold value is determined / recorded finely at regular intervals in the moving direction. Can do.

Further, if 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.

Further, when 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.

Furthermore, when thresholds for detecting the gradient of the ground in each traveling direction in the intersection CR where the vehicle enters are determined (see FIG. 3D), the ground in each traveling direction is determined. Can be accurately determined.

In addition, when a plurality of threshold values for the ground are determined according to changes in the inclination of the ground, it is possible to more appropriately determine whether or not the ground is concerned. Here, as an example in the case where a plurality of threshold values are determined according to the change in the inclination of the ground, for example, in an area where there is no change in the inclination of the ground, a single threshold value is determined for the area. In an area where the change in inclination 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 change in inclination in the area.

Furthermore, even when a plurality of threshold values for the ground are determined according to a predetermined speed limit when the vehicle moves, it is possible to more appropriately determine whether or not the ground is the ground. Here, as an example in the case where a plurality of threshold values are determined 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 the moving speed of the vehicle is slow. In some cases, in consideration of the situation that the obstacle 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 value, the threshold value is determined to be 0.7 when the speed limit is 80 km / h, and the threshold value is determined to be 1.0 when the speed limit is 20 km / h. It is mentioned that.

Further, according to the moving speed of the management vehicle itself when the map management vehicle on which the LiDAR sensor 10 is mounted (the vehicle is simply referred to as “management vehicle” hereinafter) moves or the movement speed is set. Even when one or more threshold values for the ground are determined with reference, it is possible to more appropriately determine whether the ground is the ground. Here, as an example in which one or a plurality of threshold values are determined according to the moving speed or with reference to the moving speed, for example, when a plurality of threshold values are determined according to the speed limit In consideration of the same situation, there are cases where a plurality of threshold values are determined for the same area based on the moving speed of the management vehicle for the area. More specifically, it is conceivable that the management vehicle is moved a plurality of times for one point, and a threshold value is determined for each movement. In addition, the management vehicle is moved once for one point, one threshold is determined according to the moving speed of the one movement, and the other threshold for the one point is determined according to the moving speed. It is conceivable that the other threshold is determined manually or by a preset calculation method based on the determined one threshold. It is preferable that the relationship between the moving speed and the plurality of threshold values is tabulated, which is acquired by the ground determination device C according to the first embodiment and used for the type determination of the inclination. Furthermore, as an example of the relationship between the moving speed and the threshold, as in the case of the speed limit, 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 is determined to be 1.0. In addition, when determining one or more threshold values for the ground according to the moving speed or referring to the moving speed, in addition to the management vehicle, a vehicle in which the LiDAR sensor 20 and the ground determination device C are mounted. The threshold value may be determined according to the moving speed of or referring to the moving speed.

Furthermore, when detecting each inclination using the angle of the emission direction of the light emitted from the LiDAR sensor 10 with respect to the horizontal (that is, the inclination of the LiDAR sensor 10 in the vertical direction), in order to detect the gradient of the ground more accurately. Can be recorded in association with the map data.

In the first embodiment described above, the type of inclination is determined using the threshold value A as the value of the ground gradient. However, as a modified example of the first embodiment, the threshold value A is also used. In addition, 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. In the following description, the threshold value as the reflectance value is referred to as “threshold value B”.

More specifically, for the map data recording process, in addition to step S5 in FIG. 4A, 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. At this time, 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.

Here, since 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.

Next, as the ground determination processing for the threshold B, in addition to the relationship with the threshold A as the value of the ground gradient, 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. 4C is “NO”, and the reflectance at the point of interest (i) when the emitted light having the predetermined angle or the like is used is greater than or equal to the threshold value B. In this case, 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).

According to the modification of the first embodiment as described above, since 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.

(II) Second Example Next, a second example, which is another example according to the embodiment, will be described with reference to FIG. FIG. 5 is a flowchart showing the ground determination process according to the second embodiment.

In the second embodiment described below, 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.

That is, as the ground determination processing according to the second embodiment shown in FIG. 5, when the above threshold value is associated with the current attention point (i) in the determination at step S120 according to the first embodiment (step S120: YES). Next, the in-process area gradient threshold value comparison unit 24 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. . On the other hand, when the ground determination process corresponding to the vehicle speed is performed in the determination of step S130 (step S130: YES), the in-process area gradient threshold value comparison unit 24 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 obtained by multiplying the correction value α (step S131). If the inclination of the attention point (i) is smaller than the result of the multiplication (step S131: YES), the process proceeds to step S123, and attention is paid. 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. At this time, for example, the correction value α is set in advance as a value that decreases as the speed increases. Specifically, for example, α = 1 up to 20 km / h, α = 0.9 at 30 km / h, and α = 0.8 at 40 km / h.

As described above, according to the ground determination process according to the second embodiment, in addition to the effect of the ground determination process according to the first embodiment, the ground is determined according to the speed at which the vehicle moves. This determination can be made.

Further, when the correction value α corresponding to the moving speed of the vehicle is used, the determination can be performed accurately according to the moving speed of the vehicle.

Furthermore, when the correction value α is smaller as the speed of movement of the vehicle is faster, a smaller object can be determined as the object as the vehicle moves at a higher speed, which can contribute to safer movement.

Note that the correction value α can be increased as the speed of movement of the vehicle is slower. In this case, when the vehicle moves at a low speed, determination accuracy corresponding to the low speed can be obtained.

(III) Third Example Next, a third example, which is still another example of the embodiment, will be described with reference to FIG. FIG. 6 is a flowchart showing map data recording processing and the like according to the third embodiment.

In the third embodiment described below, as a map data recording process in the map server device according to the third embodiment and a ground determination process in the ground determination device 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) θ ₁ according to the map data recording process and the pitch angle θ ₂ of the emitted light of the LiDAR sensor connected to the ground determination device The ground determination process is performed. In addition, about the structure and process which concern on 3rd Example, the same thing as the structure and process which concerns on 1st Example attaches | subjects the same member number or step number, and abbreviate | omits detailed description.

That is, in the ground data recording process according to the third embodiment shown in FIG. 6A, 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). Note that the pitch angle θ _{1 in} this case is detected by, for example, an acceleration sensor (not shown) provided in the LiDAR sensor 10. And if you do not map data recording processing according to the pitch angle theta ₁ (step S30: NO), 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. On the other hand, 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 The calculation when the parameter z at the slope calculated for each data from the LiDAR sensor 10 is divided by the cosine of the pitch angle θ ₁ (that is, the parameter z is multiplied by (1 / cos θ ₁ )). Is calculated for each piece of data as a correction slope based on the data from the LiDAR sensor 10 (step S31). Thereafter, step S4 and subsequent steps using the corrected inclination are executed.

On the other hand, as the ground determination processing according to the third embodiment shown in FIG. 6B, the above threshold value is associated with the current attention point (i) in the determination of step S120 according to the first embodiment (step S120). : YES), next, 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 θ ₂ (step S140). Note that the pitch angle θ _{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. And when not performing the ground determination process according to the said pitch angle (theta) ₂ , (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. On the other hand, when the ground determination process corresponding to the pitch angle θ ₂ is performed in the determination of step S140 (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 θ _2. (Specifically, for example, a value obtained by dividing the parameter z at the inclination of the attention point (i) by the cosine of the pitch angle θ ₂ (that is, a value obtained by multiplying the parameter z by (1 / cos θ 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 when the corrected inclination of the point of interest (i) is greater than or equal to the result of the threshold (step S141: NO), the step S 124.

As described above, according to 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 θ ₂ of the emitted light from the LiDAR sensor 20. Since it determines, the said determination can be performed correctly.

Note that 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.

DESCRIPTION OF SYMBOLS 1 1st acquisition means 2 Detection means 3 Judgment means 4 2nd acquisition means 10, 20 LiDAR sensor 17 Map database 24 Gradient site comparison part in processing area C Ground determination apparatus S Determination apparatus SV Map server apparatus SS Map data system

Claims

First acquisition means for acquiring light reception information obtained by receiving reflected light from the ground of light emitted from the moving body to the surroundings;
Detecting means for detecting an inclination of a reflection point of the light based on the light reception information;
Second acquisition means for acquiring threshold information indicating a threshold for discriminating the type of inclination from a recording medium that records the threshold information in association with map information corresponding to the ground;
Determination means for determining whether the reflection point is the ground or an object on the ground based on a comparison between the threshold indicated by the threshold information and the detected inclination;
A determination apparatus comprising:
The determination apparatus according to claim 1,
Further comprising third acquisition means for acquiring speed information indicating the speed of movement of the mobile body;
When the detected inclination is equal to or greater than a value obtained by correcting the threshold indicated by the threshold information with a correction coefficient corresponding to the speed indicated by the acquired speed information, the reflection point is The determination apparatus characterized by determining that it is the said thing.
The determination apparatus according to claim 2,
The correction factor is smaller as the speed is faster,
The determination device determines that the reflection point is the object when the detected inclination is not less than a value obtained by multiplying the threshold by the correction coefficient.
In the determination apparatus according to claim 2 or claim 3,
The correction factor increases as the speed decreases,
The determination device determines that the reflection point is the object when the detected inclination is not less than a value obtained by multiplying the threshold by the correction coefficient.
In the determination apparatus as described in any one of Claims 1-4,
An angle detecting means for detecting an angle of the light emitting direction with respect to the horizontal;
The determination device detects the inclination of the reflection point based on the acquired light reception information and angle information indicating the detected angle.
In the determination apparatus as described in any one of Claims 1-5,
The said threshold value is the said threshold value for every said ground equivalent to the area | region divided | segmented previously, The determination apparatus characterized by the above-mentioned.
The determination apparatus according to claim 6, wherein
The determination device according to claim 1, wherein the region is a region divided at regular intervals in the moving direction of the moving body.
The determination apparatus according to claim 6, wherein
The determination device according to claim 1, wherein the region is a region divided at an interval corresponding to a change in the inclination of the ground in the moving direction of the moving body.
In the determination apparatus as described in any one of Claims 1-8,
The determination apparatus according to claim 1, wherein the threshold value is a threshold value for determining a type of inclination set in advance including a moving direction of the moving body.
In the determination apparatus according to any one of claims 1 to 9,
The moving body is a vehicle;
The determination apparatus according to claim 1, wherein the threshold value is the threshold value for determining the type of the inclination in each of the traveling directions at the intersection where the vehicle enters.
In the determination apparatus as described in any one of Claims 1-10,
The determination apparatus according to claim 1, wherein a plurality of the threshold values are recorded for the ground according to a degree of change in the inclination of the ground.
In the determination apparatus as described in any one of Claims 1-10,
The determination apparatus according to claim 1, wherein a plurality of the threshold values are recorded for the ground according to a speed limit set in advance when the moving body moves.
In the determination apparatus as described in any one of Claims 1-10,
The determination apparatus according to claim 1, wherein one or a plurality of the threshold values for the ground are recorded on the recording medium in accordance with a speed of the moving body.
In a determination method executed in a determination apparatus including a first acquisition unit, a detection unit, a second acquisition unit, and a determination unit,
A first acquisition step of acquiring light reception information obtained by receiving reflected light of light emitted from the moving body by the first acquisition unit;
A detection step of detecting the inclination of the reflection point of the light by the detection means based on the light reception information;
A second acquisition step of acquiring, by the second acquisition means, threshold information indicating a threshold for determining the type of inclination, from a recording medium that records the threshold information in association with map information corresponding to the ground; ,
A determination step of determining, by the determination means, whether the reflection point is the ground or an object on the ground based on a comparison between the threshold indicated by the threshold information and the detected inclination;
A determination method including
The computer included in the determination device
First acquisition means for acquiring received light information obtained by receiving reflected light from the ground of light emitted from the moving body around the moving body;
Detection means for detecting an inclination of the reflection point of the light based on the light reception information;
Second acquisition means for acquiring threshold information indicating a threshold for discriminating the type of inclination from a recording medium that records the threshold information in association with map information corresponding to the ground; and
Determination means for determining whether the reflection point is the ground or an object on the ground based on a comparison between the threshold indicated by the threshold information and the detected inclination;
Judgment program to function as
A data structure of a recording medium in which the threshold information acquired by the second acquisition unit of the determination device according to any one of claims 1 to 13 is recorded in association with the map information,
The threshold information;
The threshold value indicated by the threshold value information is position information indicating a position on the map of the ground used for the type determination of the inclination, and position information paired with the threshold value information;
The map information corresponding to the map including the position indicated by the position information;
Including
The map information corresponding to the map including the position indicated by the read position information is read together with the threshold information by reading the threshold information and the position information to be paired by the second acquisition unit. A data structure read by the determination device.
First acquisition means for acquiring light reception information obtained by receiving reflected light from the ground or an object on the ground of light emitted from the emission means to a predetermined region;
Based on the light reception information, the detecting means for detecting the inclination of the irradiation target of the light and the reflectance;
Based on the first threshold for determining whether the light irradiation target in the predetermined region is the ground or an object on the ground based on the inclination state, and the reflectance thereof Second acquisition means for acquiring threshold information indicating a second threshold for
Based on the comparison between the first threshold value indicated by the threshold information and the detected inclination state, and the comparison between the second threshold value and the detected reflectance, whether the irradiation target is the ground, Determining means for determining whether the object is on the ground;
A determination apparatus comprising: