WO2018212168A1 - Vehicle information processing device - Google Patents

Vehicle information processing device Download PDF

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Publication number
WO2018212168A1
WO2018212168A1 PCT/JP2018/018726 JP2018018726W WO2018212168A1 WO 2018212168 A1 WO2018212168 A1 WO 2018212168A1 JP 2018018726 W JP2018018726 W JP 2018018726W WO 2018212168 A1 WO2018212168 A1 WO 2018212168A1
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Prior art keywords
vehicle
unit
learning
road
output value
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PCT/JP2018/018726
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French (fr)
Japanese (ja)
Inventor
隆太 津田
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いすゞ自動車株式会社
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Application filed by いすゞ自動車株式会社 filed Critical いすゞ自動車株式会社
Priority to CN201880032743.3A priority Critical patent/CN110637211B/en
Publication of WO2018212168A1 publication Critical patent/WO2018212168A1/en

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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Definitions

  • the present disclosure relates to an information processing apparatus, and more particularly, to an information processing apparatus for a vehicle used by being mounted on a vehicle.
  • Patent Document 1 discloses a technique that uses both navigation satellites and autonomous navigation.
  • hybrid navigation for example, when the intensity of radio waves received from a navigation satellite becomes weak, such as when the vehicle is traveling in a tunnel, the position of the vehicle is acquired by autonomous navigation.
  • a device responsible for autonomous navigation Such a device realizes autonomous navigation based on output values of an angle sensor, an acceleration sensor, or the like. These sensors may vary in output values depending on how they are attached to the vehicle and individual differences. For this reason, for example, a correction value for correcting the output value of the sensor is learned using position information obtained from a GPS (Global Positioning System) sensor as teacher data.
  • GPS Global Positioning System
  • the device responsible for autonomous navigation changes the output value of the sensor with reference to the changed value that is the learning result stored in the non-volatile storage unit or the volatile temporary storage unit.
  • the storage content of the temporary storage unit may be reset due to, for example, a momentary power interruption of the vehicle or the occurrence of a negative surge.
  • the size of a tire provided in the vehicle is changed, it is necessary to re-learn the change value of the sensor. In such a case, it becomes difficult for the vehicle to continue accurate autonomous navigation.
  • This disclosure provides a technique for dealing with a case where a learning result related to correction of an output value of an in-vehicle sensor is lost in a vehicle that performs autonomous navigation using the in-vehicle sensor.
  • a certain aspect of the present disclosure is an information processing apparatus for a vehicle to be mounted on a vehicle.
  • This device reads a learning result of a correction value for correcting an output value of an in-vehicle sensor from a nonvolatile storage device and stores it in a temporary storage unit, and a learning result stored in the temporary storage unit.
  • the vehicle travels in the map data.
  • a position calculation unit that calculates a position, and a navigation control unit that changes the presence or absence of continuation of autonomous navigation according to the type of road on which the vehicle is traveling when the learning result disappears from the temporary storage unit .
  • the navigation control unit stores the temporary storage from the non-volatile storage device into the learning result reading unit.
  • the learning result may be read again by the unit, and the autonomous navigation may be continued.
  • the vehicle information processing apparatus includes a satellite positioning unit that acquires position coordinates based on radio waves received from a navigation satellite, and a position coordinate calculated from an output value of the in-vehicle sensor is a position coordinate acquired by the satellite positioning unit. And a learning unit that learns a correction value for correcting the output value of the angle sensor, and the navigation control unit, when the learning result disappears from the temporary storage unit, When the road on which the vehicle is traveling is a road different from the road dedicated for automobiles, the autonomous navigation may be stopped and the learning unit may learn the correction value.
  • the navigation control unit is configured to perform the autonomous traveling based on whether or not the road on which the vehicle is traveling is an automobile-only road during a period from when learning by the learning unit is started until the learning is completed. It may be determined whether or not to continue.
  • the navigation control unit is (1) the learning result related to the angle sensor disappears from the temporary storage unit, (2) the road on which the vehicle is traveling is an automobile-only road, and (3) the learning unit When the learning of the correction value is incomplete and (4) the output value of the steering angle sensor for detecting the steering angle of the vehicle is available, the position is determined based on the output value of the steering angle sensor. You may make a calculation part calculate the driving
  • FIG. 1 is a schematic diagram for explaining the outline of the vehicle information processing apparatus according to the embodiment.
  • FIG. 2 is a diagram schematically illustrating a functional configuration of the vehicle information processing device according to the embodiment.
  • FIG. 3 is a flowchart for explaining the flow of processing executed by the vehicle information processing apparatus according to the embodiment.
  • FIG. 4 is a diagram schematically illustrating a functional configuration of the vehicle information processing device according to the first modification of the embodiment.
  • FIG. 5 is a diagram schematically showing an output value conversion graph showing the relationship between the output value of the angle sensor and the output value of the steering angle sensor.
  • FIG. 1 is a schematic diagram for explaining an overview of a vehicle information processing apparatus 1 according to an embodiment.
  • the vehicle information processing apparatus 1 is mounted on a vehicle V that is driven by a driver D.
  • the vehicle V includes an in-vehicle sensor 2 and a GPS receiving unit 3 in addition to the vehicle information processing apparatus 1.
  • the in-vehicle sensor 2 is an angle sensor
  • the in-vehicle sensor is not limited to the angle sensor, and any other sensor such as an acceleration sensor may be used as long as the sensor is used for autonomous navigation. There may be.
  • the angle sensor 2 is realized by a known gyro sensor, for example, and outputs the inclination of the vehicle V.
  • the vehicle V also includes an acceleration sensor.
  • the vehicular information processing apparatus 1 can realize so-called autonomous navigation in which the output value of the angle sensor 2 and the acceleration sensor is integrated to acquire a trajectory of the movement of the vehicle V from the starting position.
  • the GPS receiver 3 receives radio waves transmitted by each of the plurality of navigation satellites.
  • the vehicular information processing apparatus 1 can also realize so-called satellite navigation in which the current position of the vehicle V on which the vehicular information processing apparatus 1 is mounted is acquired by analyzing the radio waves received by the GPS receiver 3. it can.
  • the vehicle information processing apparatus 1 cannot execute satellite navigation.
  • autonomous navigation uses the output values of the sensors mounted on the vehicle V, the vehicle information processing apparatus 1 has an advantage that it can basically perform autonomous navigation at any time.
  • the vehicle information processing apparatus 1 executes learning for obtaining a correction value for correcting the output values of the angle sensor 2 and the acceleration sensor using, for example, a position acquired by satellite navigation as teacher data. Thereby, the vehicle information processing apparatus 1 realizes highly accurate autonomous navigation.
  • the learning process can be realized by using a known method such as optimization using a least square method or machine learning such as a neutral network.
  • the vehicle information processing apparatus 1 includes calculation resources such as a CPU (Central Processing Unit) and a memory, and the sensor output value is corrected using the calculation resources. Specifically, the vehicle information processing apparatus 1 stores the output value of the sensor and the learning result for correcting the output value in a temporary storage unit that can be read and written at high speed, and corrects the output value.
  • the volatile storage unit has a feature that it can be configured at a low price and a large capacity. Therefore, a volatile storage unit is often selected as a storage site for the latest learning result.
  • the temporary storage unit is a volatile memory, and the content may be lost due to a momentary power interruption of the vehicle V or a negative surge.
  • the vehicular information processing apparatus 1 can continue the autonomous navigation if it can be re-learned immediately. For example, it is considered that the vehicle V frequently accelerates and decelerates regardless of the type of road on which the vehicle V is traveling. Therefore, relearning is often relatively easy for learning regarding the output value of the acceleration sensor.
  • the frequency and amount of the vehicle V changing the direction of the vehicle body is smaller than when the vehicle V is traveling on another road. Few. This is because the automobile road is based on the premise that the vehicle V travels at a high speed, and the curvature of the curve is set to be small.
  • the vehicle V when the learning result of the correction value for correcting the output value of the angle sensor 2 disappears from the temporary storage unit, the vehicle V depends on the type of road on which the vehicle V is traveling. Change whether or not to continue autonomous navigation.
  • the vehicle information processing apparatus 1 reads the past learning result stored in the non-volatile storage device into the temporary storage unit again, and performs autonomous navigation. Continue.
  • the vehicle information processing apparatus 1 stops the autonomous navigation and learns a correction value for correcting the output value of the angle sensor. To do.
  • the information processing apparatus 1 for vehicles which concerns on embodiment can cope appropriately when the learning result regarding correction of the output value of the angle sensor 2 is lost.
  • the vehicle information processing apparatus 1 according to the embodiment will be described in more detail.
  • FIG. 2 is a diagram schematically illustrating a functional configuration of the vehicle information processing apparatus 1 according to the embodiment.
  • the vehicle information processing apparatus 1 includes an angle sensor 2, a GPS receiving unit 3, a storage unit 10, and a control unit 20.
  • the storage unit 10 includes a nonvolatile storage device 11 such as an HDD (Hard Disc Drive) or an SSD (Solid State Drive), and a temporary storage unit 12 such as a DRAM (Dynamic Random Access Memory).
  • the non-volatile storage device 11 functions as a storage unit for various data such as various programs for realizing the vehicle information processing apparatus 1 according to the embodiment and a learning result of a correction value for correcting the output value of the sensor. To do.
  • the temporary storage unit 12 functions as a work memory for the control unit 20.
  • the nonvolatile storage device 11 is a nonvolatile memory
  • the temporary storage unit 12 is a volatile memory.
  • the control unit 20 is a processor such as an ECU (Electronic Control Unit) of the vehicle V.
  • the control unit 20 executes a program stored in the non-volatile storage device 11 to thereby execute a learning result reading unit 21, a correction unit 22, a position calculation unit 23, a navigation control unit 24, a satellite positioning unit 25, and a learning unit. 26 functions.
  • the learning result reading unit 21 reads the learning result of the correction value for correcting the output values of the angle sensor 2 and the acceleration sensor from the nonvolatile storage device 11 and stores it in the temporary storage unit 12.
  • the correction unit 22 refers to the learning result stored in the temporary storage unit 12 and corrects the output values of the angle sensor 2 and the acceleration sensor.
  • the position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output values of the angle sensor 2 and the acceleration sensor corrected by the correction unit 22.
  • the navigation control unit 24 changes whether or not the autonomous navigation is continued by the position calculation unit 23 according to the type of road on which the vehicle V is traveling.
  • the navigation control unit 24 instructs the learning result reading unit 21.
  • the learning result is again read from the nonvolatile storage device 11 to the temporary storage unit 12, and the autonomous navigation is continued.
  • the navigation control unit 24 can determine the type of road on which the vehicle V is traveling by comparing the current position of the vehicle V with the map data read from the nonvolatile storage device 11. When the information such as ETC (Electronic ⁇ Toll Collection) can be used, the navigation control unit 24 determines whether the vehicle V passes through the entrance of the highway and does not pass through the exit. It may be determined whether or not the vehicle is traveling on a highway.
  • ETC Electronic ⁇ Toll Collection
  • the vehicle V travels on a road suitable for learning of the angle sensor 2 such as an urban area
  • a correction value for correcting the output value of the angle sensor is learned, and the learning result is updated.
  • the updated learning result is stored in the temporary storage unit 12, but is stored in the nonvolatile storage device 11 at a predetermined timing such as when the engine of the vehicle V is stopped.
  • the learning result stored in the nonvolatile storage device 11 may be different from the learning result stored in the temporary storage unit 12. More specifically, the learning result stored in the temporary storage unit 12 may reflect the latest learning than the learning result stored in the nonvolatile storage device 11.
  • the learning result that the navigation control unit 24 causes the learning result reading unit 21 to read the temporary storage unit 12 again may be a past learning result that is not the latest learning result.
  • the conditions are not suitable for the learning of the angle sensor 2. Therefore, when the learning result disappears from the temporary storage unit 12, the past learning result is used as a next best measure. Use. Thereby, the information processing apparatus 1 for vehicles can continue autonomous navigation.
  • the navigation control unit 24 stops the autonomous navigation and the learning unit 26 is made to learn correction values.
  • the satellite positioning unit 25 acquires the position coordinates of the vehicle V based on the radio wave received from the navigation satellite by the GPS receiving unit 3.
  • the learning unit 26 learns a correction value for correcting the output value of the angle sensor 2 so that the position coordinate calculated from the output value of the angle sensor 2 becomes the position coordinate acquired by the satellite positioning unit 25.
  • the learning unit 26 can finish the relearning in a short time compared to the case where the vehicle V is traveling on the automobile road. Therefore, when the road on which the vehicle V travels is not an automobile-only road, the navigation control unit 24 can restart the autonomous navigation in a short time by causing the learning unit 26 to relearn.
  • the learning unit 26 may learn the correction value.
  • the learning by the learning unit 26 may progress more slowly than the learning in the case where the road is not an automobile-only road, but the learning will still progress with time.
  • the road on which the vehicle V is traveling is an automobile-only road
  • the learning by the learning unit 26 proceeds to some extent, it may be possible to use a correction value during the learning even before the learning is completely completed. is there. This is because when the vehicle V is traveling on an automobile exclusive road, at least correction during traveling on the automobile exclusive road can be learned, and since the amount of correction is small, autonomous navigation is possible.
  • the navigation control unit 24 is based on whether or not the road on which the vehicle V is traveling is an automobile-only road from when learning by the learning unit 26 is started until the learning is completed. Determine whether to continue autonomous navigation.
  • FIG. 3 is a flowchart for explaining a flow of processing executed by the vehicle information processing apparatus 1 according to the embodiment.
  • the processing in this flowchart starts when the engine of the vehicle V is started, for example.
  • the learning result reading unit 21 reads the learning result of the correction value for correcting the output value of the sensor from the nonvolatile storage device 11 and stores it in the temporary storage unit 12 (S2).
  • the correction unit 22 refers to the learning result stored in the temporary storage unit 12 and corrects the output value of the angle sensor 2. (S6).
  • the position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output value of the angle sensor 2 corrected by the correction unit 22 (S8).
  • the navigation control unit 24 determines the type of road on which the vehicle V is traveling.
  • the navigation control unit 24 causes the learning result reading unit 21 to read the learning result from the nonvolatile storage device 11 to the temporary storage unit 12 again (S12). .
  • the correction unit 22 corrects the output value of the angle sensor 2 with reference to the learning result read again in the temporary storage unit 12 (S6).
  • the position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output value of the angle sensor 2 corrected by the correction unit 22 (S8).
  • the GPS receiving unit 3 receives GPS data from the navigation satellite (S14).
  • the satellite positioning unit 25 calculates a change in the position information of the vehicle V based on the GPS data of the vehicle V (S16).
  • the learning unit 26 learns a correction value for correcting the output value of the angle sensor (S18).
  • the navigation control unit 24 stores the past stored in the nonvolatile storage device 11.
  • the learning result reading unit 21 reads the learning result. Thereby, the vehicle V can continue autonomous navigation.
  • the navigation control unit 24 performs the autonomous navigation of the vehicle V.
  • the learning unit 26 learns a correction value related to the sensor output value. Thereby, the vehicle V can resume autonomous navigation in a relatively short time.
  • the vehicle information processing apparatus 1 even when the vehicle V unintentionally loses the learning result while traveling on an automobile-only road such as an expressway, it is autonomous with a certain degree of accuracy. You can navigate. Further, when the learning result disappears while the vehicle V is traveling in an urban area or the like, it is possible to prevent the vehicle V from being hindered by an error generated by using the autonomous navigation.
  • FIG. 4 is a diagram schematically illustrating a functional configuration of the vehicle information processing apparatus 1 according to the first modification of the embodiment.
  • the vehicle information processing apparatus 1 according to the first modification includes the steering angle sensor 4, and the position calculation unit 23 includes the steering angle sensor 4. The difference is that the output can be referenced.
  • the vehicle information processing apparatus 1 according to a first modification of the embodiment will be described, but portions common to the vehicle information processing apparatus 1 according to the embodiment will be appropriately omitted or simplified.
  • the navigation control unit 24 continues the autonomous navigation when the vehicle V satisfies the following four conditions. That is, (Condition 1) The learning result has disappeared from the temporary storage unit 12, (Condition 2) The road on which the vehicle V is traveling is an automobile-only road, (Condition 3) The correction value by the learning unit 26 Learning is incomplete, (Condition 4) The output value of the steering angle sensor 4 for detecting the steering angle of the steering of the vehicle V can be used, These are the four conditions.
  • the navigation control unit 24 causes the position calculation unit 23 to calculate the traveling position of the vehicle V based on the output value of the steering angle sensor 4 and continues the autonomous navigation.
  • the condition 4 will be described in more detail.
  • the vehicle V changes its direction when the driver D operates the steering wheel. Further, the greater the steering operation amount, the greater the change in the direction of the vehicle V. That is, it is considered that there is a correlation between the steering operation amount of the vehicle V (that is, the output value of the steering angle sensor 4) and the change in the direction of the vehicle V (that is, the output value of the angle sensor 2). Therefore, for example, if the nonvolatile storage device 11 stores in advance information indicating the correspondence between the output value of the steering angle sensor 4 and the output value of the angle sensor 2, the output value of the angle sensor 2 is used as the steering angle sensor 4. The output value can be substituted.
  • FIG. 5 is a diagram schematically showing an output value conversion graph showing the relationship between the output value of the angle sensor 2 and the output value of the steering angle sensor 4.
  • the output value conversion graph shown in FIG. 5 is stored in the nonvolatile storage device 11 and is referenced by the position calculation unit 23.
  • the output value conversion graph is measured before the shipment of the vehicle V by the manufacturer of the vehicle V, for example, and is stored in the nonvolatile storage device 11.
  • the position calculation unit 23 refers to the output value conversion graph, so that the steering angle sensor 4 The output value can be converted into the output value of the angle sensor 2.
  • the position calculation unit 23 can calculate the position information of the vehicle V by using the converted value. Thereby, even if the learning result has disappeared from the temporary storage unit 12, the road on which the vehicle V is traveling is an automobile-only road, and the learning of the correction value by the learning unit 26 is incomplete, the vehicle V Autonomous navigation can be continued.
  • the learning unit 26 mainly learns the correction amount of the output value of the angle sensor 2 using the position information calculated by the satellite positioning unit 25 as teacher data
  • the information used as the teacher data by the learning unit 26 may be information other than the GPS information.
  • the learning unit 26 uses the vehicle inclination estimated from the information as the teacher data of the angle sensor 2. The correction amount of the output value may be learned.

Abstract

In a vehicle information processing device for mounting in a vehicle, a learning result reading unit reads, from a non-volatile storage device, a learning result of a correction value for correcting an output value of a vehicle-mounted sensor, and stores the same in a temporary storage unit. A correcting unit corrects the output value of the vehicle-mounted sensor with reference to the learning result stored in the temporary storage unit. On the basis of map data read from the non-volatile storage device and the output value of the vehicle-mounted sensor, corrected by the correcting unit, a position calculating unit calculates a traveling position of the vehicle in the map data. If the learning result is lost from the temporary storage unit, a navigation control unit changes whether or not to continue autonomous navigation in accordance with the type of road on which the vehicle is traveling.

Description

車両用情報処理装置Information processing apparatus for vehicle
　本開示は、情報処理装置に関し、特に車両に搭載して用いられる車両用情報処理装置に関する。 The present disclosure relates to an information processing apparatus, and more particularly, to an information processing apparatus for a vehicle used by being mounted on a vehicle.
　近年、航法衛星からの信号をもとに車両の位置情報を取得して走行する衛星航法や、車両に搭載された種々のセンサの出力値に基づいて取得した車両の位置情報に基づいて走行する自律航法、及び両者を併用するハイブリッド航法が知られている。特許文献１には、航法衛星と自律航法との両者を併用する技術が開示されている。 In recent years, satellite navigation that travels by acquiring vehicle position information based on signals from navigation satellites or travels based on vehicle position information acquired based on output values of various sensors mounted on the vehicle. Autonomous navigation and hybrid navigation using both are known. Patent Document 1 discloses a technique that uses both navigation satellites and autonomous navigation.
日本国特開２００９－４１９３２号公報Japanese Unexamined Patent Application Publication No. 2009-41932
　ハイブリッド航法においては、例えば車両がトンネル内を走行中のように航法衛星から受信する電波強度が弱くなる場合、自律航法によって車両の位置を取得することになる。自律航法を実現するために、自律航法を担う装置が搭載される車両が存在する。このような装置は、角度センサや加速度センサ等の出力値に基づいて自律航法を実現する。これらのセンサは、車両への取り付け方や個体差によって出力値にばらつきが生じる場合がある。そのため、例えばＧＰＳ（Global Positioning System）センサから得られた位置情報等を教師データとして、センサの出力値を修正するための修正値を学習することが行われている。 In hybrid navigation, for example, when the intensity of radio waves received from a navigation satellite becomes weak, such as when the vehicle is traveling in a tunnel, the position of the vehicle is acquired by autonomous navigation. In order to realize autonomous navigation, there are vehicles equipped with a device responsible for autonomous navigation. Such a device realizes autonomous navigation based on output values of an angle sensor, an acceleration sensor, or the like. These sensors may vary in output values depending on how they are attached to the vehicle and individual differences. For this reason, for example, a correction value for correcting the output value of the sensor is learned using position information obtained from a GPS (Global Positioning System) sensor as teacher data.
　自律航法を担う装置は、不揮発性の記憶部や揮発性の一時記憶部に格納した学習結果である変更値を参照してセンサの出力値を変更する。ここで、変更値を学習する前の初期学習段階においては、当然ながら学習結果は存在しない。また、学習途中の場合には、不完全な学習結果しか存在しない。さらに、学習結果が揮発性の一時記憶部に格納される場合は、例えば車両の電源の瞬断や負サージ発生等が原因となり、一時記憶部の記憶内容がリセットされてしまう場合がある。加えて、例えば車両に備え付けるタイヤのサイズが変更された場合などは、センサの変更値を再学習する必要がある。このような場合、車両は、正確な自律航法の継続が困難となる。 The device responsible for autonomous navigation changes the output value of the sensor with reference to the changed value that is the learning result stored in the non-volatile storage unit or the volatile temporary storage unit. Here, of course, there is no learning result in the initial learning stage before learning the change value. In the middle of learning, only incomplete learning results exist. Furthermore, when the learning result is stored in the volatile temporary storage unit, the storage content of the temporary storage unit may be reset due to, for example, a momentary power interruption of the vehicle or the occurrence of a negative surge. In addition, for example, when the size of a tire provided in the vehicle is changed, it is necessary to re-learn the change value of the sensor. In such a case, it becomes difficult for the vehicle to continue accurate autonomous navigation.
　ところで、トラック等の大型の長距離輸送用車両は、高速道路等の自動車専用道路を走行する機会が多い。自動車専用道路は、道路の設計速度が勘案されている。このため、地形状況にもよるが市街地等にある一般道よりも道路の曲率や勾配が穏やかな傾向がある。たとえば、自動車専用道路を走行中は、角度センサの学習をする場合は、搭載している角度センサの出力値の振れ幅が小さく、出力値の学習に不向きである。一方、角度センサの学習値が正しくなくても道路の曲率が小さいためあまり問題にはならないという性質がある。 By the way, large-scale long-distance transportation vehicles such as trucks have many opportunities to travel on automobile roads such as expressways. The speed of road design is taken into account for exclusive roads. For this reason, the curvature and gradient of the road tend to be gentler than ordinary roads in urban areas, etc., depending on the topography. For example, when learning an angle sensor while traveling on an automobile-only road, the fluctuation range of the output value of the mounted angle sensor is small and is not suitable for learning the output value. On the other hand, even if the learning value of the angle sensor is not correct, the curvature of the road is small so that it does not cause a problem.
　一方、車両が自動車専用道路ではない道路を走行中であれば、角度センサを含む各種センサの出力値の学習がしやすい環境となりやすい。このように、各種センサの修正に関する学習結果を消失した場合、車両が走行している道路を含む車両の走行状況によって対応を変えることが求められている。 On the other hand, if the vehicle is traveling on a road that is not an automobile-only road, an environment in which it is easy to learn the output values of various sensors including an angle sensor is likely to occur. Thus, when the learning result regarding the correction of various sensors disappears, it is required to change the response depending on the traveling state of the vehicle including the road on which the vehicle is traveling.
　本開示は、車載センサを利用して自律航法を行う車両において、車載センサの出力値の修正に関する学習結果を消失した場合の対処技術を提供する。 This disclosure provides a technique for dealing with a case where a learning result related to correction of an output value of an in-vehicle sensor is lost in a vehicle that performs autonomous navigation using the in-vehicle sensor.
　本開示のある態様は、車両に搭載するための車両用情報処置装置である。この装置は、車載センサの出力値を修正するための修正値の学習結果を不揮発性記憶装置から読み出して一時記憶部に格納する学習結果読出部と、前記一時記憶部に記憶された学習結果を参照して車載センサの出力値を修正する修正部と、前記不揮発性記憶装置から読み出した地図データと前記修正部が修正した車載センサの出力値とに基づいて、前記地図データにおける前記車両の走行位置を算出する位置算出部と、前記学習結果が前記一時記憶部から消失した場合、前記車両が走行中の道路の種類に応じて自律航法の継続の有無を変更する航法制御部と、を備える。 A certain aspect of the present disclosure is an information processing apparatus for a vehicle to be mounted on a vehicle. This device reads a learning result of a correction value for correcting an output value of an in-vehicle sensor from a nonvolatile storage device and stores it in a temporary storage unit, and a learning result stored in the temporary storage unit. Based on the correction unit for correcting the output value of the in-vehicle sensor with reference to the map data read from the nonvolatile storage device and the output value of the in-vehicle sensor corrected by the correction unit, the vehicle travels in the map data. A position calculation unit that calculates a position, and a navigation control unit that changes the presence or absence of continuation of autonomous navigation according to the type of road on which the vehicle is traveling when the learning result disappears from the temporary storage unit .
　前記航法制御部は、前記学習結果が前記一時記憶部から消失した場合において、前記車両が走行中の道路が自動車専用道路のときは、前記学習結果読出部に前記不揮発性記憶装置から前記一時記憶部に前記学習結果を再度読み出させ、自律航法を継続してもよい。 When the learning result has disappeared from the temporary storage unit and the road on which the vehicle is traveling is an automobile-only road, the navigation control unit stores the temporary storage from the non-volatile storage device into the learning result reading unit. The learning result may be read again by the unit, and the autonomous navigation may be continued.
　前記車両用情報処理装置は、航法衛星から受信した電波に基づいて位置座標を取得する衛星測位部と、前記車載センサの出力値から算出した位置座標が、前記衛星測位部が取得した位置座標となるように、前記角度センサの出力値を修正するための修正値を学習する学習部とをさらに備えてもよく、前記航法制御部は、前記学習結果が前記一時記憶部から消失した場合において、前記車両が走行中の道路が自動車専用道路とは異なる道路のときは、自律航法を中止するとともに、前記学習部に前記修正値の学習をさせてもよい。 The vehicle information processing apparatus includes a satellite positioning unit that acquires position coordinates based on radio waves received from a navigation satellite, and a position coordinate calculated from an output value of the in-vehicle sensor is a position coordinate acquired by the satellite positioning unit. And a learning unit that learns a correction value for correcting the output value of the angle sensor, and the navigation control unit, when the learning result disappears from the temporary storage unit, When the road on which the vehicle is traveling is a road different from the road dedicated for automobiles, the autonomous navigation may be stopped and the learning unit may learn the correction value.
　前記航法制御部は、前記学習部による学習が開始されてから当該学習が完了するまでの間においては、前記車両が走行中の道路が自動車専用道路であるか否かに基づいて、前記自律走行を継続するか否かを決定してもよい。 The navigation control unit is configured to perform the autonomous traveling based on whether or not the road on which the vehicle is traveling is an automobile-only road during a period from when learning by the learning unit is started until the learning is completed. It may be determined whether or not to continue.
　前記航法制御部は、（１）角度センサに関する前記学習結果が前記一時記憶部から消失しており、（２）前記車両が走行中の道路が自動車専用道路であり、（３）前記学習部による前記修正値の学習が未完了であり、かつ（４）前記車両のステアリングの操舵角を検出する操舵角センサの出力値が利用可能なときは、前記操舵角センサの出力値に基づいて前記位置算出部に前記車両の走行位置を算出させ、自律航法を継続してもよい。 The navigation control unit is (1) the learning result related to the angle sensor disappears from the temporary storage unit, (2) the road on which the vehicle is traveling is an automobile-only road, and (3) the learning unit When the learning of the correction value is incomplete and (4) the output value of the steering angle sensor for detecting the steering angle of the vehicle is available, the position is determined based on the output value of the steering angle sensor. You may make a calculation part calculate the driving | running | working position of the said vehicle, and may continue autonomous navigation.
　本開示によれば、車載センサを利用して自律航法を行う車両において、車載センサの出力値の修正に関する学習結果を消失した場合の対処技術を提供することができる。 According to the present disclosure, it is possible to provide a coping technique when a learning result related to correction of an output value of an in-vehicle sensor is lost in a vehicle that performs autonomous navigation using the in-vehicle sensor.
図１は、実施の形態に係る車両用情報処理装置の概要を説明するための模式図である。FIG. 1 is a schematic diagram for explaining the outline of the vehicle information processing apparatus according to the embodiment. 図２は、実施の形態に係る車両用情報処理装置の機能構成を模式的に示す図である。FIG. 2 is a diagram schematically illustrating a functional configuration of the vehicle information processing device according to the embodiment. 図３は、実施の形態に係る車両用情報処理装置が実行する処理の流れを説明するためのフローチャートである。FIG. 3 is a flowchart for explaining the flow of processing executed by the vehicle information processing apparatus according to the embodiment. 図４は、実施の形態の第１の変形例に係る車両用情報処理装置の機能構成を模式的に示す図である。FIG. 4 is a diagram schematically illustrating a functional configuration of the vehicle information processing device according to the first modification of the embodiment. 図５は、角度センサの出力値と操舵角センサの出力値との関係を示す出力値変換グラフを模式的に示す図である。FIG. 5 is a diagram schematically showing an output value conversion graph showing the relationship between the output value of the angle sensor and the output value of the steering angle sensor.
　＜実施の形態の概要＞
　図１を参照して、実施の形態の概要を述べる。
　図１は、実施の形態に係る車両用情報処理装置１の概要を説明するための模式図である。図１に示す例では、車両用情報処理装置１は運転者Ｄが運転する車両Ｖに搭載されている。車両Ｖは車両用情報処理装置１の他、車載センサ２及びＧＰＳ受信部３も備えている。以下、車載センサ２が角度センサの場合を例として「角度センサ２」と記載するが、車載センサは角度センサに限られず、自律航法に利用されるセンサであれば加速度センサ等の他のセンサであってもよい。 <Outline of the embodiment>
The outline of the embodiment will be described with reference to FIG.
FIG. 1 is a schematic diagram for explaining an overview of a vehicle information processing apparatus 1 according to an embodiment. In the example shown in FIG. 1, the vehicle information processing apparatus 1 is mounted on a vehicle V that is driven by a driver D. The vehicle V includes an in-vehicle sensor 2 and a GPS receiving unit 3 in addition to the vehicle information processing apparatus 1. Hereinafter, the case where the in-vehicle sensor 2 is an angle sensor will be described as an “angle sensor 2”, but the in-vehicle sensor is not limited to the angle sensor, and any other sensor such as an acceleration sensor may be used as long as the sensor is used for autonomous navigation. There may be.
　角度センサ２は例えば既知のジャイロセンサ等で実現され、車両Ｖの傾きを出力する。図１に図示してはいないが、車両Ｖは加速度センサも備えている。車両用情報処理装置１は、角度センサ２及び加速度センサの出力値を積分することにより、起点位置から車両Ｖが移動した軌跡を取得する、いわゆる自律航法を実現することができる。 The angle sensor 2 is realized by a known gyro sensor, for example, and outputs the inclination of the vehicle V. Although not shown in FIG. 1, the vehicle V also includes an acceleration sensor. The vehicular information processing apparatus 1 can realize so-called autonomous navigation in which the output value of the angle sensor 2 and the acceleration sensor is integrated to acquire a trajectory of the movement of the vehicle V from the starting position.
　ＧＰＳ受信部３は、複数の航法衛星それぞれが送信する電波を受信する。車両用情報処理装置１は、ＧＰＳ受信部３が受信した電波を解析することによって、車両用情報処理装置１を搭載している車両Ｖの現在位置を取得する、いわゆる衛星航法を実現することもできる。 The GPS receiver 3 receives radio waves transmitted by each of the plurality of navigation satellites. The vehicular information processing apparatus 1 can also realize so-called satellite navigation in which the current position of the vehicle V on which the vehicular information processing apparatus 1 is mounted is acquired by analyzing the radio waves received by the GPS receiver 3. it can.
　ここで、例えばトンネル内部等の航法衛星から電波を受信できない場所では、車両用情報処理装置１は衛星航法を実行することができない。一方、自律航法は車両Ｖに搭載されている各センサの出力値を利用するため、車両用情報処理装置１は基本的にいつでも自律航法を実行することができるという利点がある。 Here, for example, in a place where radio waves cannot be received from a navigation satellite such as inside a tunnel, the vehicle information processing apparatus 1 cannot execute satellite navigation. On the other hand, since autonomous navigation uses the output values of the sensors mounted on the vehicle V, the vehicle information processing apparatus 1 has an advantage that it can basically perform autonomous navigation at any time.
　しかしながら、角度センサ２や加速度センサの出力値は、それらの取り付け方や個体差によってばらつきが生じる場合がある。このため車両用情報処理装置１は、例えば衛星航法で取得した位置等を教師データとして、角度センサ２や加速度センサの出力値を修正するための修正値を求める学習を実行する。これにより、車両用情報処理装置１は精度の高い自律航法を実現している。なお学習処理は、最小二乗法を用いる最適化やニュートラルネットワーク等の機械学習等、既知の手法を用いることで実現できる。 However, the output values of the angle sensor 2 and the acceleration sensor may vary depending on how they are attached and individual differences. For this reason, the vehicle information processing apparatus 1 executes learning for obtaining a correction value for correcting the output values of the angle sensor 2 and the acceleration sensor using, for example, a position acquired by satellite navigation as teacher data. Thereby, the vehicle information processing apparatus 1 realizes highly accurate autonomous navigation. The learning process can be realized by using a known method such as optimization using a least square method or machine learning such as a neutral network.
　車両用情報処理装置１はＣＰＵ（Central Processing Unit）やメモリ等の計算リソースを備えており、この計算リソースを用いてセンサの出力値の修正を実行する。具体的には、車両用情報処理装置１は、センサの出力値やその出力値を修正するための学習結果を高速に読み書きが可能な一時記憶部に格納し、出力値を修正する。一般的に揮発性の記憶部のほうが低価格で大容量で構成できるという特徴があるため、最新の学習結果の格納部位として揮発性の記憶部が選択されることが多い。しかしながら、一時記憶部は揮発性メモリであり、車両Ｖの電源の瞬断や負サージ発生によって内容が消失してしまうこともある。 The vehicle information processing apparatus 1 includes calculation resources such as a CPU (Central Processing Unit) and a memory, and the sensor output value is corrected using the calculation resources. Specifically, the vehicle information processing apparatus 1 stores the output value of the sensor and the learning result for correcting the output value in a temporary storage unit that can be read and written at high speed, and corrects the output value. In general, the volatile storage unit has a feature that it can be configured at a low price and a large capacity. Therefore, a volatile storage unit is often selected as a storage site for the latest learning result. However, the temporary storage unit is a volatile memory, and the content may be lost due to a momentary power interruption of the vehicle V or a negative surge.
　センサの出力値を修正するための学習結果を消失した場合であっても、すぐに再学習をすることができれば、車両用情報処理装置１は自律航法を継続できる。例えば、車両Ｖがどのような種類の道路を走行している場合であっても、車両Ｖは頻繁に加減速をすると考えられる。したがって、加速度センサの出力値に関する学習については、再学習は比較的容易な場合が多い。 Even if the learning result for correcting the output value of the sensor is lost, the vehicular information processing apparatus 1 can continue the autonomous navigation if it can be re-learned immediately. For example, it is considered that the vehicle V frequently accelerates and decelerates regardless of the type of road on which the vehicle V is traveling. Therefore, relearning is often relatively easy for learning regarding the output value of the acceleration sensor.
　これに対し、車両Ｖが自動車専用道路を走行している場合は、車両Ｖがそれ以外の道路を走行している場合と比較して、車両Ｖは車体の向きを変更する頻度及びその量が少ない。自動車専用道路は車両Ｖが高速で走行することを前提としており、カーブにおける曲率が小さく設定されているからである。 On the other hand, when the vehicle V is traveling on an automobile-only road, the frequency and amount of the vehicle V changing the direction of the vehicle body is smaller than when the vehicle V is traveling on another road. Few. This is because the automobile road is based on the premise that the vehicle V travels at a high speed, and the curvature of the curve is set to be small.
　また、自動車専用道路はそうではない道路と比較すると交差点等が少なく、また車両Ｖの右左折の機会も少ない。このため、車両Ｖが自動車専用道路を走行している場合、角度センサの出力値の振れ幅が小さく、再学習が困難か、できたとしても時間を要する。 In addition, compared with roads that do not, automobile-only roads have fewer intersections, and there are fewer opportunities for vehicle V to turn left or right. For this reason, when the vehicle V is traveling on an automobile-only road, the fluctuation range of the output value of the angle sensor is small, and it is difficult to re-learn.
　一方で、車両Ｖが自動車専用道路を走行している場合は車両Ｖの車体の向きの変化は小さいため、一般道を走行する場合よりも角度センサ２の出力値を修正する必要性は小さいといえる。つまり、車両Ｖが自動車専用道路を走行している場合、角度センサの出力値の修正精度が低いとしても自律航法を継続しうる。 On the other hand, when the vehicle V is traveling on an automobile-only road, the change in the direction of the vehicle body of the vehicle V is small. Therefore, it is less necessary to correct the output value of the angle sensor 2 than when traveling on a general road. I can say that. That is, when the vehicle V is traveling on an automobile-only road, autonomous navigation can be continued even if the correction accuracy of the output value of the angle sensor is low.
　そこで実施の形態に係る車両用情報処理装置１は、角度センサ２の出力値を修正するための修正値の学習結果が一時記憶部から消失した場合、車両Ｖが走行中の道路の種類に応じて自律航法の継続の有無を変更する。 Therefore, in the vehicle information processing apparatus 1 according to the embodiment, when the learning result of the correction value for correcting the output value of the angle sensor 2 disappears from the temporary storage unit, the vehicle V depends on the type of road on which the vehicle V is traveling. Change whether or not to continue autonomous navigation.
　具体的には、車両用情報処理装置１は車両Ｖが走行中の道路が自動車専用道路のときは、不揮発性記憶装置に格納されている過去の学習結果を一時記憶部に再度読出し、自律航法を継続する。車両用情報処理装置１はまた、車両Ｖが、自動車専用道路とは異なる道路を走行中のときは、自律航法を中止するとともに、角度センサの出力値を修正するための修正値の学習を実行する。 Specifically, when the road on which the vehicle V is traveling is an automobile-only road, the vehicle information processing apparatus 1 reads the past learning result stored in the non-volatile storage device into the temporary storage unit again, and performs autonomous navigation. Continue. In addition, when the vehicle V is traveling on a road different from the automobile exclusive road, the vehicle information processing apparatus 1 stops the autonomous navigation and learns a correction value for correcting the output value of the angle sensor. To do.
　これにより、実施の形態に係る車両用情報処理装置１は、角度センサ２の出力値の修正に関する学習結果を消失した場合に適切に対処することができる。
　以下、実施の形態に係る車両用情報処理装置１についてより詳細に説明する。 Thereby, the information processing apparatus 1 for vehicles which concerns on embodiment can cope appropriately when the learning result regarding correction of the output value of the angle sensor 2 is lost.
Hereinafter, the vehicle information processing apparatus 1 according to the embodiment will be described in more detail.
　＜車両用情報処理装置１の機能構成＞
　図２は、実施の形態に係る車両用情報処理装置１の機能構成を模式的に示す図である。車両用情報処理装置１は、角度センサ２、ＧＰＳ受信部３、記憶部１０、及び制御部２０を備える。 <Functional configuration of vehicle information processing apparatus 1>
FIG. 2 is a diagram schematically illustrating a functional configuration of the vehicle information processing apparatus 1 according to the embodiment. The vehicle information processing apparatus 1 includes an angle sensor 2, a GPS receiving unit 3, a storage unit 10, and a control unit 20.
　記憶部１０はＨＤＤ（Hard Disc Drive）やＳＳＤ（Solid State Drive）等の不揮発性記憶装置１１、及びＤＲＡＭ（Dynamic Random Access Memory）等の一時記憶部１２を含む。不揮発性記憶装置１１は、実施の形態に係る車両用情報処理装置１を実現するための各種プログラムや、センサの出力値を修正するための修正値の学習結果等の各種データの格納部として機能する。一時記憶部１２は、制御部２０の作業メモリとして機能する。不揮発性記憶装置１１は不揮発性のメモリであり、一時記憶部１２は揮発性のメモリである。 The storage unit 10 includes a nonvolatile storage device 11 such as an HDD (Hard Disc Drive) or an SSD (Solid State Drive), and a temporary storage unit 12 such as a DRAM (Dynamic Random Access Memory). The non-volatile storage device 11 functions as a storage unit for various data such as various programs for realizing the vehicle information processing apparatus 1 according to the embodiment and a learning result of a correction value for correcting the output value of the sensor. To do. The temporary storage unit 12 functions as a work memory for the control unit 20. The nonvolatile storage device 11 is a nonvolatile memory, and the temporary storage unit 12 is a volatile memory.
　制御部２０は、車両ＶのＥＣＵ（Electronic Control Unit）等のプロセッサである。制御部２０は、不揮発性記憶装置１１に格納されているプログラムを実行することにより、学習結果読出部２１、修正部２２、位置算出部２３、航法制御部２４、衛星測位部２５、及び学習部２６として機能する。 The control unit 20 is a processor such as an ECU (Electronic Control Unit) of the vehicle V. The control unit 20 executes a program stored in the non-volatile storage device 11 to thereby execute a learning result reading unit 21, a correction unit 22, a position calculation unit 23, a navigation control unit 24, a satellite positioning unit 25, and a learning unit. 26 functions.
　学習結果読出部２１は、角度センサ２及び加速度センサの出力値を修正するための修正値の学習結果を不揮発性記憶装置１１から読み出して一時記憶部１２に格納する。修正部２２は、一時記憶部１２に記憶された学習結果を参照して角度センサ２及び加速度センサの出力値を修正する。 The learning result reading unit 21 reads the learning result of the correction value for correcting the output values of the angle sensor 2 and the acceleration sensor from the nonvolatile storage device 11 and stores it in the temporary storage unit 12. The correction unit 22 refers to the learning result stored in the temporary storage unit 12 and corrects the output values of the angle sensor 2 and the acceleration sensor.
　位置算出部２３は、不揮発性記憶装置１１から読み出した地図データと修正部２２が修正した角度センサ２及び加速度センサの出力値とに基づいて、地図データにおける車両Ｖの走行位置を算出する。航法制御部２４は、学習結果が一時記憶部１２から消失した場合、車両Ｖが走行中の道路の種類に応じて位置算出部２３による自律航法の継続の有無を変更する。 The position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output values of the angle sensor 2 and the acceleration sensor corrected by the correction unit 22. When the learning result disappears from the temporary storage unit 12, the navigation control unit 24 changes whether or not the autonomous navigation is continued by the position calculation unit 23 according to the type of road on which the vehicle V is traveling.
　より具体的には、航法制御部２４は、学習結果が一時記憶部１２から消失した場合において、車両Ｖが走行中の道路が高速道路等の自動車専用道路のときは、学習結果読出部２１に不揮発性記憶装置１１から一時記憶部１２に学習結果を再度読み出させ、自律航法を継続する。 More specifically, when the learning result disappears from the temporary storage unit 12 and the road on which the vehicle V is traveling is an automobile-only road such as an expressway, the navigation control unit 24 instructs the learning result reading unit 21. The learning result is again read from the nonvolatile storage device 11 to the temporary storage unit 12, and the autonomous navigation is continued.
　なお、航法制御部２４は、車両Ｖが走行中の道路の種類を、車両Ｖの現在位置と不揮発性記憶装置１１から読み出した地図データとを照合することにより決定できる。航法制御部２４はまた、ＥＴＣ（Electronic Toll Collection）等の情報を利用できる場合には、車両Ｖが高速道路の入り口を通過しかつ出口を通過していないか否かを判定することで車両Ｖが高速道路を走行中か否かを判定してもよい。 The navigation control unit 24 can determine the type of road on which the vehicle V is traveling by comparing the current position of the vehicle V with the map data read from the nonvolatile storage device 11. When the information such as ETC (Electronic 通過 Toll Collection) can be used, the navigation control unit 24 determines whether the vehicle V passes through the entrance of the highway and does not pass through the exit. It may be determined whether or not the vehicle is traveling on a highway.
　ここで、車両Ｖが市街地等の角度センサ２の学習に適した道路を走行した場合、角度センサの出力値を修正する修正値が学習され、その学習結果が更新される。更新された学習結果は一時記憶部１２に格納されるが、車両Ｖのエンジンが停止されるとき等の所定のタイミングにおいて、不揮発性記憶装置１１に格納される。 Here, when the vehicle V travels on a road suitable for learning of the angle sensor 2 such as an urban area, a correction value for correcting the output value of the angle sensor is learned, and the learning result is updated. The updated learning result is stored in the temporary storage unit 12, but is stored in the nonvolatile storage device 11 at a predetermined timing such as when the engine of the vehicle V is stopped.
　したがって、不揮発性記憶装置１１に格納されている学習結果と、一時記憶部１２に格納されている学習結果とは異なる場合がある。具体的には、一時記憶部１２に格納されている学習結果の方が、不揮発性記憶装置１１に格納されている学習結果よりも、最新の学習が反映されている場合がある。 Therefore, the learning result stored in the nonvolatile storage device 11 may be different from the learning result stored in the temporary storage unit 12. More specifically, the learning result stored in the temporary storage unit 12 may reflect the latest learning than the learning result stored in the nonvolatile storage device 11.
　したがって、航法制御部２４が学習結果読出部２１に一時記憶部１２に再度読み出させた学習結果は、最新の学習結果ではない過去の学習結果であることも起こりうる。車両Ｖが自動車専用道路を走行している場合には角度センサ２の学習に適した条件ではないため、学習結果が一時記憶部１２から消失したときは、いわば次善策として、過去の学習結果を利用する。これにより、車両用情報処理装置１は自律航法を継続することができる。 Therefore, the learning result that the navigation control unit 24 causes the learning result reading unit 21 to read the temporary storage unit 12 again may be a past learning result that is not the latest learning result. When the vehicle V is traveling on an automobile-only road, the conditions are not suitable for the learning of the angle sensor 2. Therefore, when the learning result disappears from the temporary storage unit 12, the past learning result is used as a next best measure. Use. Thereby, the information processing apparatus 1 for vehicles can continue autonomous navigation.
　これに対し、学習結果が一時記憶部１２から消失した場合において、車両Ｖが走行中の道路が自動車専用道路とは異なる道路のときは、航法制御部２４は自律航法を中止するとともに、学習部２６に修正値の学習をさせる。 On the other hand, when the learning result disappears from the temporary storage unit 12 and the road on which the vehicle V is traveling is a road different from the automobile-only road, the navigation control unit 24 stops the autonomous navigation and the learning unit 26 is made to learn correction values.
　この学習を実現するために、衛星測位部２５は、ＧＰＳ受信部３が航法衛星から受信した電波に基づいて、車両Ｖの位置座標を取得する。学習部２６は、角度センサ２の出力値から算出した位置座標が、衛星測位部２５が取得した位置座標となるように、角度センサ２の出力値を修正するための修正値を学習する。 In order to realize this learning, the satellite positioning unit 25 acquires the position coordinates of the vehicle V based on the radio wave received from the navigation satellite by the GPS receiving unit 3. The learning unit 26 learns a correction value for correcting the output value of the angle sensor 2 so that the position coordinate calculated from the output value of the angle sensor 2 becomes the position coordinate acquired by the satellite positioning unit 25.
　車両Ｖが走行する道路が自動車専用道路ではない場合には、車両Ｖがカーブや右左折をする機会が多く、角度センサ２の出力値のバリエーションも豊富となる。このため、学習部２６は、学習結果が一時記憶部１２から消失したとしても、車両Ｖが自動車専用道路を走行している場合と比較すると短時間で再学習を終えることができる。したがって、車両Ｖが走行する道路が自動車専用道路ではない場合には、航法制御部２４は学習部２６に再学習させることにより、短時間で自律航法を再開することができる。 When the road on which the vehicle V travels is not an automobile-only road, there are many opportunities for the vehicle V to make a curve or turn left and right, and variations in the output value of the angle sensor 2 are abundant. For this reason, even if the learning unit 26 disappears from the temporary storage unit 12, the learning unit 26 can finish the relearning in a short time compared to the case where the vehicle V is traveling on the automobile road. Therefore, when the road on which the vehicle V travels is not an automobile-only road, the navigation control unit 24 can restart the autonomous navigation in a short time by causing the learning unit 26 to relearn.
　また一方で、車両Ｖが走行中の道路が自動車専用道路である場合であっても、学習部２６に修正値の学習をさせてもよい。この場合、学習部２６による学習は自動車専用道路ではない場合における学習よりも進みが遅くなり得るが、それでも時間とともに学習は進むことになる。車両Ｖが走行中の道路が自動車専用道路である場合には、学習部２６による学習がある程度進めば、完全に終了する前であっても、学習途中の修正値を使用することができる場合がある。車両Ｖが自動車専用道を走行中の場合には少なくとも自動車専用道を走行中における修正については学習でき、またその修正量も小さいため自律航法できるからである。 On the other hand, even if the road on which the vehicle V is traveling is an automobile-only road, the learning unit 26 may learn the correction value. In this case, the learning by the learning unit 26 may progress more slowly than the learning in the case where the road is not an automobile-only road, but the learning will still progress with time. When the road on which the vehicle V is traveling is an automobile-only road, if the learning by the learning unit 26 proceeds to some extent, it may be possible to use a correction value during the learning even before the learning is completely completed. is there. This is because when the vehicle V is traveling on an automobile exclusive road, at least correction during traveling on the automobile exclusive road can be learned, and since the amount of correction is small, autonomous navigation is possible.
　このように、航法制御部２４は、学習部２６による学習が開始されてから当該学習が完了するまでの間においては、車両Ｖが走行中の道路が自動車専用道路であるか否かに基づいて、自律航法を継続するか否かを決定する。 Thus, the navigation control unit 24 is based on whether or not the road on which the vehicle V is traveling is an automobile-only road from when learning by the learning unit 26 is started until the learning is completed. Determine whether to continue autonomous navigation.
　＜車両用情報処理装置１が実行する情報処理の処理フロー＞
　図３は、実施の形態に係る車両用情報処理装置１が実行する処理の流れを説明するためのフローチャートである。本フローチャートにおける処理は、例えば車両Ｖのエンジンが始動したときに開始する。 <Processing Flow of Information Processing Performed by Vehicle Information Processing Device 1>
FIG. 3 is a flowchart for explaining a flow of processing executed by the vehicle information processing apparatus 1 according to the embodiment. The processing in this flowchart starts when the engine of the vehicle V is started, for example.
　学習結果読出部２１は、センサの出力値を修正するための修正値の学習結果を不揮発性記憶装置１１から読み出して一時記憶部１２に格納する（Ｓ２）。一時記憶部１２に格納された学習結果が消失していない場合（Ｓ４のＮｏ）、修正部２２は、一時記憶部１２に記憶された学習結果を参照して角度センサ２の出力値を修正する（Ｓ６）。位置算出部２３は、不揮発性記憶装置１１から読み出した地図データと修正部２２が修正した角度センサ２の出力値とに基づいて、地図データにおける車両Ｖの走行位置を算出する（Ｓ８）。 The learning result reading unit 21 reads the learning result of the correction value for correcting the output value of the sensor from the nonvolatile storage device 11 and stores it in the temporary storage unit 12 (S2). When the learning result stored in the temporary storage unit 12 has not disappeared (No in S4), the correction unit 22 refers to the learning result stored in the temporary storage unit 12 and corrects the output value of the angle sensor 2. (S6). The position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output value of the angle sensor 2 corrected by the correction unit 22 (S8).
　一時記憶部１２に格納された学習結果が消失している場合（Ｓ４のＹｅｓ）、航法制御部２４は、車両Ｖが走行中の道路の種類を判定する。車両Ｖが自動車専用道路を走行中の場合（Ｓ１０のＹｅｓ）、航法制御部２４は、学習結果読出部２１に不揮発性記憶装置１１から一時記憶部１２に学習結果を再度読み出させる（Ｓ１２）。 When the learning result stored in the temporary storage unit 12 has disappeared (Yes in S4), the navigation control unit 24 determines the type of road on which the vehicle V is traveling. When the vehicle V is traveling on an automobile-only road (Yes in S10), the navigation control unit 24 causes the learning result reading unit 21 to read the learning result from the nonvolatile storage device 11 to the temporary storage unit 12 again (S12). .
　修正部２２は、一時記憶部１２に再度読み出された学習結果を参照して角度センサ２の出力値を修正する（Ｓ６）。位置算出部２３は、不揮発性記憶装置１１から読み出した地図データと修正部２２が修正した角度センサ２の出力値とに基づいて、地図データにおける車両Ｖの走行位置を算出する（Ｓ８）。 The correction unit 22 corrects the output value of the angle sensor 2 with reference to the learning result read again in the temporary storage unit 12 (S6). The position calculation unit 23 calculates the travel position of the vehicle V in the map data based on the map data read from the nonvolatile storage device 11 and the output value of the angle sensor 2 corrected by the correction unit 22 (S8).
　車両Ｖが自動車専用道路とは異なる道路を走行中の場合（Ｓ１０のＮｏ）、ＧＰＳ受信部３は、航法衛星からＧＰＳデータを受信する（Ｓ１４）。衛星測位部２５は、車両ＶのＧＰＳデータに基づいて車両Ｖの位置情報の変化を算出する（Ｓ１６）。学習部２６は、角度センサの出力値を修正するための修正値を学習する（Ｓ１８）。 When the vehicle V is traveling on a road different from the automobile-only road (No in S10), the GPS receiving unit 3 receives GPS data from the navigation satellite (S14). The satellite positioning unit 25 calculates a change in the position information of the vehicle V based on the GPS data of the vehicle V (S16). The learning unit 26 learns a correction value for correcting the output value of the angle sensor (S18).
　＜実施の形態に係る車両用情報処理装置１が奏する効果＞
　以上説明したように、実施の形態に係る車両用情報処理装置１によれば、様々なセンサを利用して自律航法を行う車両において、各センサの出力値の修正に関する学習結果、例えば、角度センサ２を利用して自律航法を行う車両Ｖにおいて、角度センサ２の出力値の修正に関する学習結果を消失した場合の対処技術を提供することができる。 <Effects of vehicle information processing apparatus 1 according to the embodiment>
As described above, according to the vehicle information processing apparatus 1 according to the embodiment, in a vehicle that performs autonomous navigation using various sensors, a learning result regarding correction of an output value of each sensor, for example, an angle sensor. In the vehicle V that performs autonomous navigation using 2, it is possible to provide a coping technique when the learning result regarding the correction of the output value of the angle sensor 2 disappears.
　特に、車両Ｖが自動車専用道路を走行している場合は、角度センサ２の出力値に関する修正値の再学習が困難であるため、航法制御部２４は不揮発性記憶装置１１に格納されている過去の学習結果を学習結果読出部２１に読み出させる。これにより、車両Ｖは自律航法を継続することができる。 In particular, when the vehicle V is traveling on an automobile exclusive road, it is difficult to re-learn the correction value related to the output value of the angle sensor 2, and thus the navigation control unit 24 stores the past stored in the nonvolatile storage device 11. The learning result reading unit 21 reads the learning result. Thereby, the vehicle V can continue autonomous navigation.
　また、車両Ｖが自動車専用道路とは異なる道路を走行している場合は、角度センサ２の出力値に関する修正値の再学習が比較的容易であるため、航法制御部２４は車両Ｖの自律航法を停止するとともに、学習部２６にセンサ出力値に関する修正値を学習させる。これにより、車両Ｖは比較的短時間で自律航法を再開することができる。 Further, when the vehicle V is traveling on a road different from the automobile-only road, it is relatively easy to re-learn the correction value related to the output value of the angle sensor 2, so the navigation control unit 24 performs the autonomous navigation of the vehicle V. And the learning unit 26 learns a correction value related to the sensor output value. Thereby, the vehicle V can resume autonomous navigation in a relatively short time.
　このように実施の形態に係る車両用情報処理装置１によれば、車両Ｖが高速道路等の自動車専用道路を走行中に意図せず学習結果を消失した場合であっても、ある程度精度よく自律航法をすることができる。また、車両Ｖが市街地等を走行中において学習結果を消失した場合は、自律航法を使用することで発生する誤差によって車両Ｖの走行に支障が出ることを抑制することができる。 As described above, according to the vehicle information processing apparatus 1 according to the embodiment, even when the vehicle V unintentionally loses the learning result while traveling on an automobile-only road such as an expressway, it is autonomous with a certain degree of accuracy. You can navigate. Further, when the learning result disappears while the vehicle V is traveling in an urban area or the like, it is possible to prevent the vehicle V from being hindered by an error generated by using the autonomous navigation.
　以上、本開示を実施の形態を用いて説明したが、本開示の技術的範囲は上記実施の形態に記載の範囲には限定されない。上記実施の形態に、多様な変更又は改良を加えることが可能であることが当業者に明らかである。そのような変更又は改良を加えた形態も本開示の技術的範囲に含まれ得ることが、特許請求の範囲の記載から明らかである。以下そのような変形例を説明する。 As mentioned above, although this indication was explained using an embodiment, the technical scope of this indication is not limited to the range as described in the above-mentioned embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present disclosure. Such modifications will be described below.
　＜第１の変形例＞
　図４は、実施の形態の第１の変形例に係る車両用情報処理装置１の機能構成を模式的に示す図である。上述した実施の形態に係る車両用情報処理装置１と比較すると、第１の変形例に係る車両用情報処理装置１は操舵角センサ４を備えており、位置算出部２３が操舵角センサ４の出力を参照できる点で異なる。
　以下実施の形態の第１の変形例に係る車両用情報処理装置１について説明するが、実施の形態に係る車両用情報処理装置１と共通する部分については、適宜省略又は簡略化して説明する。 <First Modification>
FIG. 4 is a diagram schematically illustrating a functional configuration of the vehicle information processing apparatus 1 according to the first modification of the embodiment. Compared to the vehicle information processing apparatus 1 according to the above-described embodiment, the vehicle information processing apparatus 1 according to the first modification includes the steering angle sensor 4, and the position calculation unit 23 includes the steering angle sensor 4. The difference is that the output can be referenced.
Hereinafter, the vehicle information processing apparatus 1 according to a first modification of the embodiment will be described, but portions common to the vehicle information processing apparatus 1 according to the embodiment will be appropriately omitted or simplified.
　航法制御部２４は、車両Ｖが以下に示す４つの条件を満たすときは、自律航法を継続する。すなわち、（条件１）学習結果が一時記憶部１２から消失していること、（条件２）車両Ｖが走行中の道路が自動車専用道路であること、（条件３）学習部２６による修正値の学習が未完了であること、（条件４）車両Ｖのステアリングの操舵角を検出する操舵角センサ４の出力値が利用可能であること、
　の４つの条件である。 The navigation control unit 24 continues the autonomous navigation when the vehicle V satisfies the following four conditions. That is, (Condition 1) The learning result has disappeared from the temporary storage unit 12, (Condition 2) The road on which the vehicle V is traveling is an automobile-only road, (Condition 3) The correction value by the learning unit 26 Learning is incomplete, (Condition 4) The output value of the steering angle sensor 4 for detecting the steering angle of the steering of the vehicle V can be used,
These are the four conditions.
　この４つの条件を満たすとき、航法制御部２４は、操舵角センサ４の出力値に基づいて位置算出部２３に車両Ｖの走行位置を算出させ、自律航法を継続する。以下、条件４についてより詳細に説明する。 When these four conditions are satisfied, the navigation control unit 24 causes the position calculation unit 23 to calculate the traveling position of the vehicle V based on the output value of the steering angle sensor 4 and continues the autonomous navigation. Hereinafter, the condition 4 will be described in more detail.
　車両Ｖは、運転者Ｄがステアリングを操作することによってその向きを変える。また、ステアリングの操作量が大きいほど、車両Ｖの向きの変化も大きい。すなわち、車両Ｖのステアリングの操作量（すなわち操舵角センサ４の出力値）と、車両Ｖの向きの変化（すなわち角度センサ２の出力値）には相関があると考えられる。したがって、例えば不揮発性記憶装置１１が、操舵角センサ４の出力値と角度センサ２の出力値との対応関係を示す情報をあらかじめ格納しておけば、角度センサ２の出力値を操舵角センサ４の出力値で代替できる。 The vehicle V changes its direction when the driver D operates the steering wheel. Further, the greater the steering operation amount, the greater the change in the direction of the vehicle V. That is, it is considered that there is a correlation between the steering operation amount of the vehicle V (that is, the output value of the steering angle sensor 4) and the change in the direction of the vehicle V (that is, the output value of the angle sensor 2). Therefore, for example, if the nonvolatile storage device 11 stores in advance information indicating the correspondence between the output value of the steering angle sensor 4 and the output value of the angle sensor 2, the output value of the angle sensor 2 is used as the steering angle sensor 4. The output value can be substituted.
　図５は、角度センサ２の出力値と操舵角センサ４の出力値との関係を示す出力値変換グラフを模式的に示す図である。図５に示す出力値変換グラフは不揮発性記憶装置１１に格納され、位置算出部２３によって参照される。出力値変換グラフは、例えば車両Ｖの製造者によって、車両Ｖの出荷前に測定され不揮発性記憶装置１１に格納される。 FIG. 5 is a diagram schematically showing an output value conversion graph showing the relationship between the output value of the angle sensor 2 and the output value of the steering angle sensor 4. The output value conversion graph shown in FIG. 5 is stored in the nonvolatile storage device 11 and is referenced by the position calculation unit 23. The output value conversion graph is measured before the shipment of the vehicle V by the manufacturer of the vehicle V, for example, and is stored in the nonvolatile storage device 11.
　図５に示すように、操舵角センサ４の出力値と角度センサ２の出力値とは正の相関があるため、位置算出部２３は出力値変換グラフを参照することにより、操舵角センサ４の出力値を角度センサ２の出力値に変換することができる。位置算出部２３は変換後の値を用いることにより、車両Ｖの位置情報を算出することができる。これにより、学習結果が一時記憶部１２から消失しており、車両Ｖが走行中の道路が自動車専用道路であり、かつ学習部２６による修正値の学習が未完了であっても、車両Ｖは自律航法を継続することができる。 As shown in FIG. 5, since the output value of the steering angle sensor 4 and the output value of the angle sensor 2 have a positive correlation, the position calculation unit 23 refers to the output value conversion graph, so that the steering angle sensor 4 The output value can be converted into the output value of the angle sensor 2. The position calculation unit 23 can calculate the position information of the vehicle V by using the converted value. Thereby, even if the learning result has disappeared from the temporary storage unit 12, the road on which the vehicle V is traveling is an automobile-only road, and the learning of the correction value by the learning unit 26 is incomplete, the vehicle V Autonomous navigation can be continued.
　＜第２の変形例＞
　上記では、学習部２６は、衛星測位部２５が算出した位置情報を教師データとして、角度センサ２の出力値の修正量を学習する場合について主に説明した。ここで学習部２６が教師データとして用いる情報は、ＧＰＳ情報以外の他の情報であってもよい。例えば学習部２６は、不揮発性記憶装置１１に格納されている地図データに道路の曲率情報が紐づけられている場合には、その情報から予想される車両の傾きを教師データとして角度センサ２の出力値の修正量を学習してもよい。 <Second Modification>
In the above description, the case where the learning unit 26 mainly learns the correction amount of the output value of the angle sensor 2 using the position information calculated by the satellite positioning unit 25 as teacher data has been described. Here, the information used as the teacher data by the learning unit 26 may be information other than the GPS information. For example, when the road curvature information is associated with the map data stored in the nonvolatile storage device 11, the learning unit 26 uses the vehicle inclination estimated from the information as the teacher data of the angle sensor 2. The correction amount of the output value may be learned.
　本出願は、２０１７年５月１８日付で出願された日本国特許出願（特願2017-098582）に基づくものであり、その内容はここに参照として取り込まれる。 This application is based on a Japanese patent application (Japanese Patent Application No. 2017-098582) filed on May 18, 2017, the contents of which are incorporated herein by reference.
　本開示によれば、車載センサを利用して自律航法を行う車両において、車載センサの出力値の修正に関する学習結果を消失した場合の対処技術を提供することができる。 According to the present disclosure, it is possible to provide a coping technique when a learning result related to correction of an output value of an in-vehicle sensor is lost in a vehicle that performs autonomous navigation using the in-vehicle sensor.
　１・・・車両用情報処理装置
　２・・・角度センサ
　３・・・ＧＰＳ受信部
　４・・・操舵角センサ
　１０・・・記憶部
　１１・・・不揮発性記憶装置
　１２・・・一時記憶部
　２０・・・制御部
　２１・・・学習結果読出部
　２２・・・修正部
　２３・・・位置算出部
　２４・・・航法制御部
　２５・・・衛星測位部
　２６・・・学習部
　Ｖ・・・車両 DESCRIPTION OF SYMBOLS 1 ... Information processing apparatus for vehicles 2 ... Angle sensor 3 ... GPS receiving part 4 ... Steering angle sensor 10 ... Memory | storage part 11 ... Nonvolatile memory device 12 ... Temporary memory | storage part DESCRIPTION OF SYMBOLS 20 ... Control part 21 ... Learning result reading part 22 ... Correction part 23 ... Position calculation part 24 ... Navigation control part 25 ... Satellite positioning part 26 ... Learning part V ... ·vehicle

Claims (5)

  1. 　車両に搭載するための車両用情報処置装置であって、
    　車載センサの出力値を修正するための修正値の学習結果を不揮発性記憶装置から読み出して一時記憶部に格納する学習結果読出部と、
    　前記一時記憶部に記憶された学習結果を参照して車載センサの出力値を修正する修正部と、
    　前記不揮発性記憶装置から読み出した地図データと前記修正部が修正した車載センサの出力値とに基づいて、前記地図データにおける前記車両の走行位置を算出する位置算出部と、
    　前記学習結果が前記一時記憶部から消失した場合、前記車両が走行中の道路の種類に応じて自律航法の継続の有無を変更する航法制御部と、
    　を備える車両用情報処理装置。     An information processing apparatus for a vehicle for mounting on a vehicle,
    A learning result reading unit that reads a learning result of a correction value for correcting the output value of the in-vehicle sensor from the non-volatile storage device and stores it in the temporary storage unit;
    A correction unit that corrects the output value of the in-vehicle sensor with reference to the learning result stored in the temporary storage unit;
    A position calculation unit that calculates the travel position of the vehicle in the map data based on the map data read from the nonvolatile storage device and the output value of the in-vehicle sensor corrected by the correction unit;
    When the learning result disappears from the temporary storage unit, a navigation control unit that changes the presence or absence of continuation of autonomous navigation according to the type of road on which the vehicle is traveling,
    An information processing apparatus for a vehicle comprising:
  2. 　前記航法制御部は、前記学習結果が前記一時記憶部から消失した場合において、前記車両が走行中の道路が自動車専用道路のときは、前記学習結果読出部に前記不揮発性記憶装置から前記一時記憶部に前記学習結果を再度読み出させ、自律航法を継続する、
    　請求項１に記載の車両用情報処理装置。     When the learning result has disappeared from the temporary storage unit and the road on which the vehicle is traveling is an automobile-only road, the navigation control unit stores the temporary storage from the non-volatile storage device into the learning result reading unit. To read the learning result again, and continue autonomous navigation,
    The vehicle information processing apparatus according to claim 1.
  3. 　航法衛星から受信した電波に基づいて位置座標を取得する衛星測位部と、
    　前記車載センサの出力値から算出した位置座標が、前記衛星測位部が取得した位置座標となるように、前記車載センサの出力値を修正するための修正値を学習する学習部とをさらに備え、
    　前記航法制御部は、前記学習結果が前記一時記憶部から消失した場合において、前記車両が走行中の道路が自動車専用道路とは異なる道路のときは、自律航法を中止するとともに、前記学習部に前記修正値の学習をさせる、
    　請求項１又は２に記載の車両用情報処理装置。     A satellite positioning unit that acquires position coordinates based on radio waves received from navigation satellites;
    A learning unit that learns a correction value for correcting the output value of the in-vehicle sensor so that the position coordinate calculated from the output value of the in-vehicle sensor becomes the position coordinate acquired by the satellite positioning unit;
    The navigation control unit cancels autonomous navigation when the learning result disappears from the temporary storage unit and the road on which the vehicle is traveling is a road different from an automobile-only road, and the learning unit Learning the correction value;
    The vehicle information processing apparatus according to claim 1.
  4. 　前記航法制御部は、前記学習部による学習が開始されてから当該学習が完了するまでの間においては、前記車両が走行中の道路が自動車専用道路であるか否かに基づいて、前記自律航法を継続するか否かを決定する、
    　請求項３に記載の車両用情報処理装置。     The navigation control unit, based on whether the road on which the vehicle is running is an automobile-only road during the period from when learning by the learning unit is started until the learning is completed, Decide whether or not to continue,
    The vehicle information processing apparatus according to claim 3.
  5. 　前記航法制御部は、（１）角度センサに関する前記学習結果が前記一時記憶部から消失しており、（２）前記車両が走行中の道路が自動車専用道路であり、（３）前記学習部による前記修正値の学習が未完了であり、かつ（４）前記車両のステアリングの操舵角を検出する操舵角センサの出力値が利用可能なときは、前記操舵角センサの出力値に基づいて前記位置算出部に前記車両の走行位置を算出させ、自律航法を継続する、
    　請求項３又は４に記載の車両用情報処理装置。     The navigation control unit is (1) the learning result related to the angle sensor disappears from the temporary storage unit, (2) the road on which the vehicle is traveling is an automobile-only road, and (3) the learning unit When the learning of the correction value is incomplete and (4) the output value of the steering angle sensor for detecting the steering angle of the vehicle is available, the position is determined based on the output value of the steering angle sensor. Let the calculation unit calculate the travel position of the vehicle and continue autonomous navigation;
    The vehicle information processing apparatus according to claim 3 or 4.
PCT/JP2018/018726 2017-05-18 2018-05-15 Vehicle information processing device WO2018212168A1 (en)

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