WO2020031711A1 - Dispositif de commande de véhicule - Google Patents

Dispositif de commande de véhicule Download PDF

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Publication number
WO2020031711A1
WO2020031711A1 PCT/JP2019/029152 JP2019029152W WO2020031711A1 WO 2020031711 A1 WO2020031711 A1 WO 2020031711A1 JP 2019029152 W JP2019029152 W JP 2019029152W WO 2020031711 A1 WO2020031711 A1 WO 2020031711A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
temperature characteristic
sensor
temperature
characteristic parameter
Prior art date
Application number
PCT/JP2019/029152
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English (en)
Japanese (ja)
Inventor
昭弘 川端
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to JP2020536450A priority Critical patent/JP7064001B2/ja
Publication of WO2020031711A1 publication Critical patent/WO2020031711A1/fr

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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 invention relates to a vehicle control device.
  • route information to which a vehicle (own vehicle) should travel is generated with high accuracy including its traveling lane and the like, and the vehicle is automatically driven to a destination according to the route information (for example, Patent Document 1). reference).
  • route information for example, Patent Document 1.
  • highly accurate route information can be generated by receiving rough route information from a navigation system and performing data matching on the rough route information with high-precision map data.
  • the own vehicle position of the vehicle is estimated based on sensor information such as a gyro sensor, and the estimated own vehicle position is provided to the automatic driving ECU together with the route information to be used for automatic driving control.
  • a gyro sensor generally has an offset, and a certain amount of output voltage is output from the sensor even when the angular velocity is zero.
  • the amount of the offset is a unique value for each sensor, and its magnitude varies depending on the temperature.
  • the object of the present invention is to provide a vehicle control device capable of reducing the time and cost required for an inspection process.
  • a vehicle control device includes a GNSS receiver that acquires information on a position of a vehicle, a sensor that detects a speed, an angular velocity, and an acceleration of the vehicle, and stores unique information, The GNSS receiver and a host vehicle position estimating unit that estimates the position of the vehicle based on the output of the sensor, the host vehicle position estimating unit acquires the unique information from the sensor and obtains the unique information unique to the sensor.
  • a temperature characteristic learning unit that acquires a temperature characteristic parameter and learns a temperature characteristic based on the temperature characteristic parameter, and is configured to correct the position based on the learned temperature characteristic. .
  • FIG. 1 is a block diagram illustrating a configuration of a vehicle control device according to a first embodiment.
  • FIG. 4 is a schematic diagram illustrating an effect of the first embodiment. It is a schematic diagram explaining operation of a vehicle control device concerning a 2nd embodiment.
  • 9 is a flowchart illustrating an operation of the vehicle control device according to the second embodiment.
  • FIG. 9 is a block diagram illustrating a configuration of a vehicle control device according to a third embodiment. It is a schematic diagram explaining operation of a vehicle control device concerning a 3rd embodiment.
  • 13 is a flowchart illustrating an operation of the vehicle control device according to the fourth embodiment.
  • FIG. 1 is a block diagram illustrating the configuration of the vehicle control device according to the first embodiment.
  • This vehicle control device includes a high-precision map ECU 10, an automatic driving ECU 20 that performs various controls related to automatic driving, and a communication module 30.
  • the high-accuracy map ECU 10 is an arithmetic control unit that is mounted on a vehicle (not shown) to be automatically driven and functions as a route generation device that generates information on the route.
  • the high-precision map ECU 10 and the automatic driving ECU 20 can be connected to each other by, for example, Ethernet (registered trademark) which is a well-known communication standard.
  • the automatic driving ECU 20 and the communication module 30 can be connected to an external device (not shown) according to a communication standard such as CAN, LIN, MOST, and FlexRay, or a combination thereof.
  • a communication standard such as CAN, LIN, MOST, and FlexRay, or a combination thereof.
  • the communication standards listed are merely examples, and the present invention is not limited to these.
  • the automatic driving ECU 20 outputs IVI (In-Vehicle Infotainment) route information for automatic driving to the high-accuracy map ECU 10 and is generated by the high-accuracy map ECU 10 based on the IVI route information and the high-accuracy map data. It is a control unit that executes automatic driving control using more detailed route information.
  • the IVI route information is generated by a navigation system (not shown) mounted on the vehicle, and includes information on the latitude and longitude of a plurality of points along a route between the current position and the destination.
  • the high-accuracy map ECU 10 includes, for example, a gyro / acceleration sensor 11, a GNSS receiver 12, a wheel speed sensor 13, a map update unit 14, a high-accuracy map data storage unit 15, a vehicle position estimating unit 16, It includes a map information output unit 17 and a route information conversion unit 18.
  • the gyro / acceleration sensor 11, the GNSS receiver 12, and the wheel speed sensor 13 may be provided outside the high-accuracy map ECU 10.
  • the gyro / acceleration sensor 11 is a detector that measures the angular velocity and acceleration of the vehicle.
  • the gyro / acceleration sensor 11 includes therein a temperature sensor 11A and a characteristic parameter storage unit 11B for storing a temperature characteristic parameter.
  • the gyro / acceleration sensor 11 can output an output signal related to angular velocity, an output signal related to acceleration, and an output signal from the temperature sensor 11A.
  • the temperature characteristic parameter is, for example, a parameter relating to the offset of the gyro / acceleration sensor 11.
  • the offset has a temperature-dependent characteristic, and the parameter relating to the offset stored here also includes data indicating the relationship between the temperature and the offset value.
  • the temperature sensor 11A may be mounted inside the gyro / acceleration sensor 11, or may be mounted outside the gyro / acceleration sensor 11 as long as the operating temperature of the gyro / acceleration sensor 11 can be read. Is also good.
  • the GNSS receiver 12 is a receiver that acquires the absolute position coordinates of the vehicle from the GNSS system.
  • the wheel speed sensor 13 is a sensor that detects the rotation speed of the vehicle wheels and / or the speed of the vehicle.
  • the map update unit 14 receives high-precision map update data from the outside via the communication module 30 and updates the high-precision map data.
  • the high-accuracy map data storage unit 15 is a data holding unit that stores updated high-accuracy map data.
  • the own vehicle position estimating unit 16 estimates the current absolute position of the vehicle based on the absolute position coordinates of the vehicle acquired by the GNSS receiver 12, and also acquires the angular velocity and acceleration acquired by the gyro / acceleration sensor 11, and the wheels. Using the information on the vehicle speed acquired by the speed sensor 13, the relative position of the vehicle is estimated based on the absolute position coordinates. Then, the vehicle position estimating unit 16 executes a map matching process of correcting the calculated vehicle position using the high-precision map data stored in the high-precision map data storage unit 15, and calculates the corrected vehicle position. The information is output to the map information output unit 17 and the automatic driving ECU 20 together with the vehicle direction and the detection information of the sensor. The own vehicle position estimating unit 16 also receives, from the automatic driving ECU 20, vehicle information on the vehicle to be automatically driven and imaging information (camera recognition result) captured by a camera mounted on the vehicle, and estimates the relative position. Can also be used.
  • the vehicle position estimating unit 16 includes a position / azimuth estimating unit 161, a temperature characteristic learning unit 162, a traveling road specifying unit 163, and a lane determining unit 164 therein.
  • the position and orientation estimating unit 161 estimates the relative position and orientation of the vehicle based on the output of the gyro / acceleration sensor 11 based on the absolute position coordinates calculated based on the GNSS receiver 12.
  • the temperature characteristic learning unit 162 has a function of taking in the temperature characteristic parameters stored in the gyro / acceleration sensor 11 and learning the temperature characteristics. Based on the learned temperature characteristics, the position and orientation estimation unit 161 corrects the position of the vehicle.
  • the traveling road identification unit 163 determines whether the vehicle is based on the relative position and orientation data of the vehicle estimated by the position and orientation estimation unit 161, high-precision map data, and the recognition results of the camera, radar sonar, beacon, and the like mounted on the vehicle. It has the function of specifying the road on which it is traveling.
  • the lane determination unit 164 has a function of specifying which of a plurality of lanes on the specified road the vehicle is traveling.
  • the map information output unit 17 includes the high-accuracy map data read from the high-accuracy map data storage unit 15, the relative position of the vehicle estimated by the vehicle position estimation unit 16, and the details obtained by the route information conversion unit 18. According to the route information, high-precision map information for automatic driving is generated and output to the automatic driving ECU 20.
  • the high-precision map information for automatic driving includes, for example, a vehicle position (own vehicle position), lane information, signboard and sign information, curve information, gradient information, and the like.
  • the route information converter 18 converts the IVI route information (first route information) obtained from the automatic driving ECU 20 and the link / node data included in the high-accuracy map data obtained from the high-accuracy map data storage 15. , And generates detailed route information (second route information), which is route information more accurate than the IVI route information, according to the result, and outputs it to the automatic driving ECU 20.
  • the route information conversion unit 18 further obtains information on the position of the vehicle from the vehicle position estimation unit 16 and reflects the information on the position of the vehicle in the detailed route information.
  • the effect of the first embodiment will be described with reference to FIG.
  • the manufacturing process of the conventional vehicle control device is shown in the upper part, and the manufacturing process of the first embodiment is shown in the lower part.
  • a gyro / acceleration sensor 11 is manufactured by a sensor vendor, and a screening process for checking whether or not the sensor has a certain temperature characteristic is executed. Discarded.
  • the gyro / acceleration sensor 11 is shipped to the ECU vendor.
  • the gyro / acceleration sensor 11 is mounted on the high-precision map ECU 10.
  • the high-accuracy map ECU 10 is put into a thermostat.
  • the temperature of the thermostat is controlled over the entire range of the usage environment temperature of the vehicle (for example, ⁇ 40 ° C. to 85 ° C.), and output signals of the gyro / acceleration sensor 11 at a plurality of temperatures are detected. Based on this detection result, the temperature characteristics of the gyro / acceleration sensor 11 are specified and written to the high-accuracy map ECU 10.
  • the temperature characteristic parameters are stored in advance in the characteristic parameter storage unit of the gyro / acceleration sensor 11 (at the stage of the sensor vendor's manufacturing process).
  • This temperature characteristic parameter is, for example, information relating to the offset of the sensor, and is a parameter indicating the relationship between the temperature and the offset value.
  • This temperature characteristic parameter is obtained as data over the entire range of the usage environment temperature of the vehicle.
  • the vehicle position estimating unit 16 in the high-accuracy map ECU 10 has a temperature characteristic learning unit 162. After manufacturing (assembly) of the high-precision map ECU 10, the temperature characteristic learning unit 162 reads a temperature characteristic parameter from the gyro / acceleration sensor 11, applies predetermined data conversion to the temperature characteristic parameter, and learns the temperature characteristic.
  • the temperature characteristics can be reflected by incorporating the temperature characteristics parameters of the gyro / acceleration sensor 11 into the high-accuracy map ECU 10, so that a long-term inspection using a constant-temperature bath is unnecessary. As a result, the time and cost required for the inspection process can be reduced.
  • the second embodiment has the same overall configuration and basic operation (FIGS. 1 and 2) as the first embodiment, but takes in the characteristic parameters of the gyro / acceleration sensor 11 and sets the temperature based on it. The procedure for learning the characteristics is different from that of the first embodiment.
  • the difference ⁇ V (Ti) between the temperature characteristic parameter C1 stored in the gyro / acceleration sensor 11 and the actual offset is determined, and based on the difference, It is determined whether the temperature characteristic parameter needs to be corrected. Based on the difference, the necessity of replacement of the gyro / acceleration sensor 11 is also determined. In this determination, the high-precision map ECU 10 (gyro / acceleration sensor 11) sets a plurality of temperatures in a simple constant temperature bath and acquires temperature characteristics at the plurality of temperatures. Although temperature setting is required, the number of set temperatures can be reduced as compared with the conventional case, so that the measurement time can be shortened and the cost can be reduced.
  • the number of the set temperatures may be a number sufficient for performing the correction, and may be, for example, 3 to 4 points. If it is determined that correction is necessary, the temperature characteristic parameter is corrected based on the difference ⁇ V (Ti) or another value calculated based on the difference ⁇ V (Ti), and according to the corrected parameter, Temperature characteristic learning section 162 learns temperature characteristics. If the difference ⁇ V (Ti) is larger than the predetermined value, it is determined that the gyro / acceleration sensor 11 is defective, and it is determined that the gyro / acceleration sensor 11 needs to be replaced.
  • the temperature characteristic is learned by the temperature characteristic learning unit 162 based on the corrected temperature characteristic parameter.
  • the temperature characteristics are reflected by taking the temperature characteristic parameters of the gyro / acceleration sensor 11 into the high-accuracy map ECU 10. be able to.
  • the temperature characteristic parameter can be corrected and taken in.
  • a temperature setting means such as a simple thermostat is required, the temperature characteristic parameter of the gyro / acceleration sensor 11 can be corrected instead. Therefore, according to the second embodiment, similarly to the first embodiment, it is possible to reduce the time and cost required for the inspection process, and to more accurately adjust the temperature than the first embodiment. Correction based on the characteristic parameters can be performed.
  • the gyro / acceleration sensor 11 stores the temperature characteristic parameter in the characteristic parameter storage unit, and the temperature characteristic parameter is used for learning the temperature characteristic in the temperature characteristic learning unit 162 of the high accuracy map ECU 10.
  • the gyro / acceleration sensor 11 does not have the characteristic parameter storage unit 11B, but instead is information unique to the sensor. It has a unique information storage unit 11C for storing unique information (for example, a serial number (identification number)).
  • the gyro / acceleration sensor 11 stores a temperature characteristic parameter as unique information, whereas in the third embodiment, information (serial number) specifying the sensor is used. Etc.), and stores unique information associated with the temperature characteristic parameter.
  • the temperature characteristic parameters are supplied from the sensor vendor to the ECU vendor by the system shown in FIG.
  • the server installed on the ECU vendor side receives the serial number information from the transmission / reception unit 19 (FIG. 5) of the gyro / acceleration sensor 11 mounted on the high-precision map ECU 10 and transmits this information via the network NW to the sensor vendor. And sends a request for the temperature characteristic parameter obtained for the gyro / acceleration sensor 11 of the serial number.
  • the server on the sensor vendor side has, as a database, data on pairs of the serial number of the shipped gyro / acceleration sensor 11 and the temperature characteristic parameter of the sensor.
  • the server on the sensor vendor side refers to the database based on the serial number received from the server on the ECU vendor side, and transmits the value of the corresponding temperature characteristic parameter to the server on the ECU vendor side.
  • the server on the ECU vendor side inputs the received temperature characteristic parameters to the temperature characteristic learning unit 162 in the high-accuracy map ECU 10.
  • the temperature characteristic parameter of the gyro / acceleration sensor 11 can be obtained based on the unique information (such as a serial number) stored in the gyro / acceleration sensor 11.
  • the temperature characteristic parameter is highly confidential information, and is desirably strictly managed.
  • only the serial number is stored in the gyro / acceleration sensor 11, and the temperature characteristic parameter is not stored in the gyro / acceleration sensor 11, but instead is stored in the sensor vendor based on the serial number. Is provided from the server on the ECU side to the server on the ECU vendor side via the network. Therefore, according to the third embodiment, the same effect as that of the above-described embodiment can be obtained while securing the confidentiality of the temperature characteristic parameter.
  • the fourth embodiment has the same overall configuration and basic operation as the above-described embodiment, but differs from the above-described embodiment in the following points.
  • the temperature characteristic parameters stored in the gyro / acceleration sensor 11 or other locations are taken into the temperature characteristic learning unit 162, and the temperature characteristics are learned.
  • the learning of the temperature characteristic is performed not only after the manufacturing of the high-precision map ECU 10 but also periodically, irregularly, or by the user in response to the temporal change of the characteristic of the gyro / acceleration sensor 11. Executable according to the instruction.
  • the fourth embodiment correction of temperature characteristic parameters corresponding to aging
  • the temperature characteristic parameters are fetched from the gyro / acceleration sensor 11 into the temperature characteristic learning unit 162, and the temperature characteristic learning unit 162 learns the temperature characteristics.
  • the high-precision map ECU 10 is mounted on the vehicle to be used together with the automatic driving ECU 20 and the like. Thereafter, the procedure shown in FIG. 7 is executed periodically, irregularly, or in response to a user's command in response to a temporal change in the characteristics of the gyro / acceleration sensor 11.
  • the vehicle When correcting the temperature characteristic parameters after the high-precision map ECU 10 is mounted on the vehicle, first, it is determined whether the vehicle is in a stopped state or in an operating state where no acceleration is applied (for example, a straight-line running at a constant speed). Confirmed (S21).
  • the stopped state of the vehicle can be confirmed, for example, by detecting whether or not the shift lever of the vehicle is in a “P” (parking) state.
  • the stop of the vehicle can be confirmed based on the output of the wheel speed sensor 13, the recognition result of the camera mounted on the vehicle, and the output of other detection means.
  • an output signal Sg is received from the gyro / acceleration sensor 11 (S22), and a difference ⁇ V between the output signal Sg and the temperature characteristic parameter is obtained (S23). Then, the absolute value
  • the correction method may be the same as the correction of the temperature characteristic parameter after the high-precision map ECU 10 is mounted on the vehicle.
  • the correction of the temperature characteristic parameter is performed not only immediately after the assembling of the high-accuracy map ECU 10 but also periodically, irregularly, or in response to a change with time. It can be appropriately executed according to the instruction. For this reason, it is possible to take in more accurate temperature characteristic parameters corresponding to changes with time.
  • the present invention is not limited to the above embodiment, and includes various modifications.
  • the above embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the described configurations.
  • a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment.
  • the above-described configurations, functions, processing units, processing means, and the like may be partially or entirely realized by hardware, for example, by designing an integrated circuit.
  • the above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program that realizes each function.
  • Information such as a program, a table, and a file for realizing each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card or an SD card.
  • control lines and information lines are shown as necessary for the description, and do not necessarily indicate all control lines and information lines on a product. In fact, it can be considered that almost all components are connected to each other.
  • SYMBOLS 10 High precision map ECU, 20 ... Automatic driving ECU, 30 ... Communication module, 11 ... Gyro / acceleration sensor, 11A ... Temperature sensor, 11B ... Characteristic parameter storage part, 11C ... Unique information storage part, 12 ... GNSS receiver, 13 ... wheel speed sensor, 14 ... map update unit, 15 ... high-accuracy map data storage unit, 16 ... own vehicle position estimation unit, 17 ... map information output unit, 18 ... route information conversion unit, 161 ... position and orientation estimation unit, 162 ... Temperature characteristic learning unit, 163, travel road identification unit, 164, lane determination unit.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un dispositif de commande de véhicule qui permet de réduire le temps et le coût nécessaires pour un processus d'inspection. Ce dispositif de commande de véhicule comprend un récepteur GNSS qui acquiert des informations concernant la position d'un véhicule, des capteurs qui détectent la vitesse, la vitesse angulaire, et une accélération du véhicule et qui stockent chacune des informations uniques, et une unité d'estimation de position de véhicule qui estime la position du véhicule sur la base d'une sortie provenant du récepteur GNSS et des capteurs. L'unité d'estimation de position de véhicule est en outre pourvue d'une unité d'apprentissage de caractéristique de température qui acquiert les informations uniques à partir de chaque capteur pour acquérir un paramètre de caractéristique de température spécifique audit capteur et acquiert des caractéristiques de température sur la base des paramètres de caractéristique de température, et l'unité d'estimation de position de véhicule corrige la position mentionnée ci-dessus sur la base des caractéristiques de température acquises.
PCT/JP2019/029152 2018-08-07 2019-07-25 Dispositif de commande de véhicule WO2020031711A1 (fr)

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JP2018-148508 2018-08-07

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0536505U (ja) * 1991-10-14 1993-05-18 株式会社明電舎 無人搬送車の位置検出装置
JPH05187879A (ja) * 1992-01-16 1993-07-27 Pioneer Electron Corp ナビゲーション装置
JP2014106206A (ja) * 2012-11-29 2014-06-09 Tamagawa Seiki Co Ltd 慣性センサおよびその演算誤差軽減方法
JP2015152521A (ja) * 2014-02-18 2015-08-24 株式会社デンソー ジャイロセンサ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0536505U (ja) * 1991-10-14 1993-05-18 株式会社明電舎 無人搬送車の位置検出装置
JPH05187879A (ja) * 1992-01-16 1993-07-27 Pioneer Electron Corp ナビゲーション装置
JP2014106206A (ja) * 2012-11-29 2014-06-09 Tamagawa Seiki Co Ltd 慣性センサおよびその演算誤差軽減方法
JP2015152521A (ja) * 2014-02-18 2015-08-24 株式会社デンソー ジャイロセンサ

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