Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C7/00—Tracing profiles
  • G01C7/02—Tracing profiles of land surfaces
  • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
• • 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
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
• • 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
  • G01C21/30—Map- or contour-matching
• • 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
  • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
  • G01C21/3804—Creation or updating of map data
  • G01C21/3807—Creation or updating of map data characterised by the type of data
  • G01C21/3815—Road data
• • 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
  • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
  • G01C21/3804—Creation or updating of map data
  • G01C21/3833—Creation or updating of map data characterised by the source of data
  • G01C21/3848—Data obtained from both position sensors and additional sensors
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors

Definitions

• the present invention relates to a method and system for acquiring point cloud data that is original data of a three-dimensional map representing a road.
• driving assistance technologies include driving assistance technologies in which both sides of the vehicle play a part of vehicle control, such as brake control in an automatic braking function and steering control in a lane keeping function.
• advanced driving support technology that realizes automatic driving by making the vehicle's control perform almost all of the vehicle control such as steering control and speed control and bringing the dry/one-side operation load close to zero.
• MMS mobile mapping system
• This mapping system is a system that uses a laser scanner that measures the distance to the object using the reflection time of the laser light, and a camera that captures an image of the surroundings of the vehicle.
• a vehicle equipped with a mobile mubbing system can acquire a combination of 3D point cloud data and forward images while traveling on a road.
• Patent Document 1 Japanese Patent Laid-Open No. 20 18 _ 1 2 8 3 6 4
• the distance information can be combined with the front image with high accuracy, while the position and the axial direction of the laser scanner or the camera when the point cloud data and the like are acquired. If not accurately grasped, the accuracy of the 3D map based on the point cloud data may decrease.
• the present invention has been made in view of the above conventional problems, and provides a method and system for acquiring high-quality point cloud data that can be original data of a highly accurate tertiary map. Is what you are trying to do.
• One aspect of the present invention is a method of acquiring point cloud data, which is original data of a three-dimensional map representing a traveling environment of a vehicle, while moving,
• the positional information based on any of the markers or the marker reference information including the information based on the positional information is attached to the point cloud data obtained by the distance measuring process. It is a method of acquiring point cloud data for recording.
• One aspect of the present invention is a point cloud data acquisition system that acquires point cloud data, which is the original data of a three-dimensional map that represents the travel environment of a vehicle, while moving, and even features that compose the travel environment.
• a marker detection unit that detects a marker laid on the traveling path of the vehicle, and positional information based on one of the markers, or the positional information.
• a point cloud data acquisition system including: a data recording unit that records the point cloud data acquired by the distance measuring unit by attaching marker reference information including information based on the data.
• point cloud data associated with marker reference information including positional information based on a marker. Since the marker is laid on the road, the position is unlikely to change.
• the marker reference information By using the marker reference information, the position where the point cloud data was acquired can be specified with high accuracy. Then, based on the acquired point cloud data with high accuracy, it is possible to create a highly accurate 3D map.
• the point cloud data recorded in the present invention is associated with marker reference information and is useful when creating a highly accurate three-dimensional map.
• FIG. 1 An explanatory diagram showing a system configuration of a data collection vehicle in the first embodiment.
• FIG. 2 is a perspective view of the magnetic marker in the first embodiment.
• FIG. 3 is a front view of the 3 ⁇ 4 I 0 tag in the first embodiment.
• FIG. 4 A block diagram showing the electrical configuration of the data collection vehicle in the first embodiment.
• FIG. 5 Explanatory diagram illustrating the change in the magnetic measurement value in the traveling direction when passing through the magnetic marker in the first embodiment.
• FIG. 6 is an explanatory diagram illustrating a distribution curve of magnetic measurement values in the vehicle width direction by the magnetic sensors ⁇ 3 n arranged in the vehicle width direction in the first embodiment.
• FIG. 7 is a flowchart showing the flow of marker reference data generation processing in the first embodiment.
• FIG. 8 is a flowchart showing the flow of point cloud data generation processing in the first embodiment.
• FIG. 9 A flow chart showing the flow of data recording processing in the first embodiment.
• FIG. 10 A flowchart showing the flow of direction estimation processing in the second embodiment.
• FIG. 11 Explanatory diagram showing the relationship between the lateral deviation amount difference ⁇ when passing two magnetic markers and the azimuth deviation angle in Example 2.
• FIG. 12 A view illustrating a situation in which a vehicle travels along a straight road in the second embodiment. ⁇ 0 2020/175438 4 ⁇ (: 171? 2020 /007360
• FIG. 13 is an explanatory view illustrating a situation in which a vehicle is skewed on a straight road in the second embodiment.
• FIG. 14 is an explanatory diagram illustrating a situation in which a vehicle travels along a curved road in the second embodiment.
• FIG. 15 is an explanatory view illustrating a situation in which a vehicle is skewed on a curved road in the second embodiment.
• FIG. 16 Explanatory diagram showing the relationship between the difference ⁇ 0 1 of lateral displacement and the azimuth deviation angle for two magnetic markers in Example 3.
• This example relates to the mobile mapping system 1 that acquires the point cloud data that is the original data of the 3D map while moving. This content will be described with reference to FIGS. 1 to 9.
• This mobile mapping system 1 is intended for roads with markers installed (an example of a road).
• a magnetic marker 10 which is a magnetic source is used as an example of the marker.
• a mobile mapping system 1 which is an example of a point cloud data acquisition system (Fig.
• the mobile mubbing system 1 records the point cloud data with the marker reference information including positional information based on any one of the magnetic markers 10 as a reference.
• the magnetic marker 10 of the present example will be described. As shown in Figs. 1 and 2, the magnetic marker 10 is a marker laid on the road surface 1 13 of the road (running road) 11.
• the magnetic markers 10 are arranged, for example, at intervals of 10 along the center of the lane divided by the left and right lane marks.
• Magnetic marker 10 has a diameter , which has a column shape with a height of 28 and is laid in a state of being housed in a hole provided in the road surface 113.
• an RFID (Radio Frequency IDent ifi cat i on) tag 15 which is a wireless tag for outputting information wirelessly, is attached to the upward end face.
• the RFID tag 15 which is an example of an information providing unit operates by external power supply by radio and transmits a tag D (identification information) which is an example of unique information of the magnetic marker 10.
• the magnet used by the magnetic marker 10 of this example is a magnet in which magnetic particles of iron oxide are dispersed in a polymer material. This magnet has low conductivity, and eddy currents, etc. are unlikely to occur during wireless power feeding. Therefore, the RF F D tag 15 attached to the magnetic marker 10 can efficiently receive the wirelessly transmitted power.
• the RF D tag 15 which is an example of the information providing unit is, for example, a C chip 15 7 Is an electronic component mounted.
• On the surface of the tag sheet 150 printed patterns of the loop coil 151 and the antenna 153 are provided.
• the loop coil 1 51 is a power receiving coil in which an exciting current is generated by electromagnetic induction from the outside.
• the antenna 153 is a transmission antenna for wirelessly transmitting position data and the like.
• the data collection vehicle 5 (Fig. 1) constitutes a mobile mapping system 1 which records point cloud data while traveling on the road 11 by the operation of the worker.
• the data collection vehicle 5 is equipped with a control unit 13, a point cloud data generation unit 3, a sensor unit 2 which is an example of a marker detection unit, and an evening reader 34 which is an example of an information reading unit.
• the sensor unit 2 includes a sensor array 21 and a M U.
• the sensor unit 2 is an integrated unit.
• the sensor unit 2 has, for example, a rod shape that is long in the vehicle width direction.
• This sensor unit 2 is mounted, for example, inside the front bumper so as to face the road surface 11S.
• the mounting height of the sensor unit 2 based on the road surface 1 1 S is 200 mm.
• the sensor array 21 is composed of 15 magnets arranged in a straight line along the vehicle width direction.
• the air sensor C n (n is an integer from 1 to 15) and the detection processing circuit 2 1 2 including a CPU (not shown) are provided (see FIG. 4 ).
• 15 magnetic sensors C n are arranged at equal intervals of 10 cm.
• the magnetic sensor C n is a sensor that detects magnetism by using a known MI effect (Magnet Impedance Effect) that the impedance of a magnetic sensitive body such as an amorphous wire sensitively changes according to an external magnetic field.
• MI effect Magnetic Impedance Effect
• magnetic sensitive elements such as amorphous wires are arranged along the two orthogonal axes.
• the magnetic sensor C n can detect the magnetic field acting in the directions of the two orthogonal axes.
• the magnetic sensor C n is incorporated in the sensor array 21 so that the magnetic components in the traveling direction and the vehicle width direction can be detected.
• the detection processing circuit 2 12 of the sensor array 21 is an arithmetic circuit that executes marker detection processing for detecting the magnetic marker 10 and the like.
• This detection processing circuit 2 1 2 uses a CPU (cent ra l process i ng un it) that executes various operations, memory elements such as ROM (read on ly memory) and RAM (random access memory), etc. Is configured.
• the detection processing circuit 2 12 acquires the sensor signal output by each magnetic sensor C n at a frequency of, for example, 3 kHz, and executes marker detection processing. For example, by performing magnetic measurement with the magnetic sensor C n at a frequency of 3 kHz, it is possible to generate and record point cloud data during traveling.
• the detection processing circuit 2 1 2 inputs the detection result of the marker detection processing to the control unit 1 3. In the marker detection process, in addition to detecting the magnetic marker 10, the amount of lateral deviation of the data collection vehicle 5 with respect to the magnetic marker 10 is measured.
• the detection processing circuit 2 1 2 determines, for example, the lateral deviation amount (relative position information) by specifying the position in the vehicle width direction of the peak value in the distribution of the magnetic measurement values of the magnetic sensors C n arranged in the vehicle width direction. Example) is measured.
• the MU 22 2 (Fig. 4) incorporated in the sensor unit 2 is an inertial navigation unit that executes a process of estimating the motion of the data collection vehicle 5 by inertial navigation.
• the IMU 22 is a 2-axis magnetic sensor 2 21 that is an electronic compass that measures azimuth, a 2-axis acceleration sensor 2 2 2 that measures acceleration, and a 2-axis gyro that measures angular velocity. ⁇ 0 2020/175 438 7 ⁇ (: 171? 2020 /007360
• [0026] 2 calculates the momentary displacement amount by the second-order integration of the acceleration, and at the same time, calculates the momentary direction of the data collecting vehicle 5 by using the direction change amount which is the integral of the angular velocity and the measurement direction. Calculate with high accuracy. And The relative position with respect to the reference position is calculated by accumulating the displacement amount along the direction of the data collection vehicle 5. I If the relative position estimated by 2 2 is used, the own vehicle position can be estimated even when the data collection vehicle 5 is located in the middle of the adjacent magnetic force 10.
• the tag reader 3 4 (Fig. 4) is attached to the magnetic marker 10 [3 ⁇ 4 ⁇ 0 tag 1
• the sensor unit 2 is located in the front part of the car body, while the tag reader 34 is located in the rear part of the car body (Fig. 1). By using such a positional relationship between the sensor unit 2 and the tag reader 34, it is possible to predict the timing at which the magnetic marker 10 detected by the sensor unit 2 approaches the tag reader 34.
• Tag reader 34 predicts its timing
• the point cloud data generation unit 3 is a unit including a distance measuring unit 31 for acquiring a range image and a camera 33 for capturing a front image.
• the distance measuring unit 31 is a light source that emits laser light, a light receiving unit that receives reflected light, a time measuring unit that measures the elapsed time (light reflection time) from light emission to light reception, and a distance calculation unit that calculates the distance from the reflection time. , Is equipped with. Further, the distance measuring unit 31 includes an optical mechanism unit that scans the emission direction of the laser light in the vertical direction and the horizontal direction. The optical mechanism part physically changes the emission direction of the laser light by rotating a polygon mirror (polyhedral mirror) that reflects the laser light and projects it forward, for example. The distance measuring unit 3 1 equipped with this optical mechanism unit is located at each point in the front two-dimensional distance measuring area. ⁇ 0 2020/175 438 8 ⁇ (: 171? 2020 /007360
• the central axis of the distance measuring unit 31 that is, the axis passing through the center of the distance image, coincides with the longitudinal direction of the data collection vehicle 5.
• the distance measuring unit 31 can specify the distance to each point of the feature that constitutes the traveling environment, such as a road shoulder, a guardrail, a sign, and a signal. Furthermore, the coordinate position in the range image represents the azimuth. In other words, the range image acquired by the point cloud data generation unit 3 is the point cloud data that represents the direction and distance to the feature that constitutes the traveling environment.
• the camera 33 is a unit for capturing a front image and acquiring two-dimensional image data.
• the camera 33 is installed so that the optical axis (center axis) is aligned with the azimuth direction of the data collection vehicle 5 in the front-rear direction.
• the scanning range of the laser beam (range-finding unit 3 1) and the camera 3 are set so that the range-finding area of the range-finding unit 31 and the imaging area of the camera 33 match.
• the angle of view of 3 has been adjusted.
• the control unit 1 3 (Fig. 4) has a function of controlling the sensor unit 2, the tag reader 34, and the point cloud data generation unit 3 and also includes a data recording unit 1 3 0 for recording the point cloud data. It is a unit with the function of.
• the control unit 13 is equipped with an electronic board (not shown) on which memory elements such as ⁇ II, [3 ⁇ 4 ⁇ IV! and 8IV!, etc., which execute various operations, are mounted.
• a storage device such as a hard disk drive is connected to the control unit 13.
• a point cloud database (point cloud mouth) 1 3 3 is provided in the storage area of the storage device. The point cloud data is recorded at this point cloud mouth 1 3 3.
• the array array 2 1) repeatedly executes the marker detection process for detecting the magnetic marker 10.
• the magnetic sensor c n can measure the magnetic components in the traveling direction and the vehicle width direction of the data collection vehicle 5. For example, when this magnetic sensor ⁇ 3 n moves in the traveling direction and passes directly above the magnetic marker 10, the magnetic measurement value in the traveling direction is inverted between positive and negative before and after the magnetic marker 10 as shown in FIG. At the same time, it changes so as to cross zero at a position directly above the magnetic marker 10. Therefore, while the data collection vehicle 5 is traveling, when the magnetic flux in the traveling direction detected by any of the magnetic sensors ⁇ 3 n causes a zero-cross ⁇ whose polarity is reversed, the sensor unit 2 moves to the magnetic marker 1 It can be judged to be located directly above 0.
• the detection processing circuit 2 1 2 (Fig. 4) detects the magnetic marker 10 when the sensor unit 2 is positioned directly above the magnetic marker 10 and a zero cross ⁇ of the magnetic measurement value in the traveling direction occurs in this way. To judge.
• the magnetic measurement in the vehicle width direction is performed.
• the value changes such that the positive and negative values are inverted on both sides of the magnetic marker 10 and that the value crosses zero at a position directly above the magnetic marker 10.
• the magnetic sensor ⁇ n is detected depending on which side the magnetic marker 10 is located. The positive/negative of the magnetism in the vehicle width direction changes.
• the magnetic field is measured by using the zero cross ⁇ in which the positive/negative of the magnetism in the vehicle width direction is reversed.
• the position of the marker 10 in the vehicle width direction can be specified.
• the zero cross ⁇ is located in the middle (not necessarily in the center) of two adjacent magnetic sensors ⁇ , they are adjacent to each other with the zero cross ⁇ interposed.
• the middle position between the two magnetic sensors ⁇ n is the position in the vehicle width direction of the magnetic marker 10.
• the zero cross ⁇ matches the position of any of the magnetic sensors ⁇ , that is, the magnetic force in the vehicle width direction.
• the position directly below the magnetic sensor ⁇ is the position of the magnetic marker 10 in the vehicle width direction.
• the detection processing circuit 2 1 2 detects the deviation of the position of the magnetic marker 10 in the vehicle width direction from the central position of the sensor unit 2 (position of the magnetic sensor 0 8) in the data collection vehicle 5 It is measured as the lateral deviation amount of.
• the position of the zero cross ⁇ is the position corresponding to ⁇ 9.5, which is around the middle of ⁇ 9 and ⁇ 10. Since the distance between the magnetic sensors 0 9 and 0 10 is as described above, the lateral displacement of the data collection vehicle 5 with respect to the magnetic marker 10 is based on 0 8 which is located at the center of the sensor unit 2 in the vehicle width direction. (9 .5-8) Becomes
• the marker reference data is an example of marker reference information including relative position information, which is positional information based on any of the markers.
• the above-described marker detection process 1 is periodically executed under the control of the control unit 13. Generation of point cloud data while the data collection vehicle 5 is running as described above. ⁇ Control unit 1 3
• a 2 1 is controlled.
• the amount of lateral deviation (an example of relative position information) of the data collection vehicle 5 with respect to the detected magnetic force 10 is measured.
• the tag reader 3 4 executes the tag I mouth reading process 2.
• the control unit 13 is a marker reference including the tag mouth read by the tag mouth reading processing 2 which is an example of the unique information acquisition processing and the lateral deviation amount (relative position information) measured in the marker detection processing 1. Generate the data (3 1 0 2). The marker reference data generated in this way is written in a predetermined writing area and is overwritten at any time (3 10 3). ⁇ 0 2020/175438 1 1 ⁇ (: 171? 2020 /007360
• the control unit 13 is based on the position of the vehicle when the magnetic marker was detected last time.
• the relative position estimated by 2 2 is used to execute the process of estimating the relative position of the host vehicle based on the magnetic marker (3 1 1 2).
• control unit 13 determines the amount of lateral deviation measured when the previous magnetic marker was detected, and 2 Estimate the relative position of the vehicle to the previously detected magnetic marker based on the estimated relative position.
• the relative position of the own vehicle based on the previously detected magnetic marker is the vector in the vehicle width direction corresponding to the lateral deviation amount when the previous magnetic marker was detected, and the own vehicle when the previous magnetic marker was detected.
• the control unit 13 determines whether the relative position data (relative position information) estimated in step 3 1 1 2 and the immediately preceding tag mouth reading process?
• the marker reference data including the tag mouth read in 2 is generated (3 102).
• the generated marker reference data is written in a predetermined writing area, and is overwritten at any time (3 10 3). Note that the tag mouth read by the tag mouth reading process 2 is retained as it is until it is overwritten by the new tag I mouth reading process 2.
• the point cloud data generation unit 3 (Fig. 4) receives the point cloud data request signal (to be described later) from the control unit 13 (3 2 0 1 :Mimi 3), it controls the distance measuring unit 3 1. , Obtain a range image that is point cloud data (3 0 2). In addition, the point cloud data generation unit 3 controls the camera 3 3 to acquire a front captured image (3203). Then, the point cloud data generation unit 3 outputs the point cloud data (distance image) together with the captured image (3204).
• the control unit 13 sends a point cloud data request signal to the point cloud data generation unit 3 every time the movement distance of the data collection vehicle 5 reaches a predetermined amount (3301: Tomi 3). Output (3 302).
• this example is an example in which 100 is set as the predetermined amount. According to the judgment of step 331 above, for example
• Point cloud data of _ constant distance each time was Tsu can obtain.
• the control unit 13 When the control unit 13 acquires the point cloud data (333 0 3 ), it reads the above-mentioned force reference data (333 0 4 ).
• the marker detection process 1 for generating the force reference data is executed at a frequency of 3 1 ⁇ 1 to 12.
• the frequency of is sufficiently faster than the frequency of acquiring point cloud data. Therefore, the generation time of the marker reference data read in step 3340 above can be regarded as the same time as the generation time of the point cloud data acquired in step 3330.
• the control unit 13 executes a process of tying the marker reference data read in step 3304 to the point cloud data acquired in step 3303 (3305) . Then, the control unit 13 records the point cloud data with the marker reference data attached to the point cloud mouth 1 3 3 (3 3 0 6). Note that the marker reference data that is attached to the point cloud data must include at least the tag entrance (marker identification information) of the magnetic marker 10 detected most recently, and the data of the relative position with respect to the magnetic force 10. It is included.
• the mobile mapping system 1 configured as described above records marker reference data including relative position data based on the position of the magnetic marker 10 when recording the point cloud data representing the traveling environment. Attach to the point cloud data. According to this force reference data, the position of the data collection vehicle 5 when the point cloud data is acquired, that is, the acquisition point of the point cloud data can be specified with high accuracy.
• the point cloud data in which the acquisition points are specified with high accuracy is effective source data for creating a highly accurate 3D map.
• the marker reference data attached to the point cloud data includes the tag information which is the marker specifying information of the magnetic marker 10 as the reference. By using this tag and referring to the above marker, the absolute position of the reference magnetic force 10 can be obtained. Further, the marker reference data includes data on the relative position with respect to the reference magnetic marker 10. If the absolute position of the magnetic marker 10 is used as a reference, the point of acquisition of the point cloud data (absolute position) can be specified with high accuracy by using the relative position data in the force reference data. However, under the assumption that the data collection vehicle 5 is traveling along the lane, it can be treated that the center direction of the point cloud data coincides with the lane direction.
• the marker reference data including the tag entrance which is the unique information of the magnetic marker 10 is illustrated.
• marker reference data including the laid position of the magnetic marker 10 may be used.
• the laying position of the magnetic marker 10 is an example of the unique information of the magnetic marker 10.
• the control unit 13 of the data collection vehicle 5 can refer to the same Markaro as described above
• the laying position of the corresponding magnetic marker 10 can be acquired using the tag I port.
• the I 0 tag 15 that transmits the position data indicating the installation position of the magnetic marker 10 may be adopted.
• Data of the vehicle position (position of the data collecting vehicle 5) identified with the magnetic marker 10 as a reference may be adopted as marker reference data, and may be attached to the point cloud data.
• the vehicle position can be specified as a position shifted by a relative position such as a lateral shift amount with respect to the laid position of the magnetic marker 10.
• the vehicle position is processing information obtained by performing arithmetic processing on the data of the relative position with respect to the magnetic marker 10. This vehicle position information is an example of information based on positional information based on the magnetic marker 10.
• the distance measuring unit 3 1 using laser light is used as an example of the point cloud data. ⁇ 0 2020/175438 14 ⁇ (: 171? 2020 /007360
• the distance measuring unit 31 includes a distance measuring unit that uses radio waves such as millimeter waves and a distance measuring unit that measures distance using parallax due to stereo vision. Any of these distance measuring units may be adopted, or a plurality of them may be combined.
• the magnetic marker 10 is exemplified as the marker, but it can be replaced with various markers arranged on the road 11.
• it may be a marker printed on the road surface 113, or a marker such as a cat's eye.
• the advantage of the magnetic marker as the marker will be described.
• the use of magnetic markers is advantageous in terms of reading accuracy and reading certainty, for example, compared to markers printed on the road surface or markers such as cat's eye.
• markers such as cat's eyes are often provided on lane marks, which are lane markings.
• the cat's eye is located away from the vehicle in the vehicle width direction. It has
• a magnetic marker placed in the center of the lane, etc. since it is located directly under the vehicle, it is relatively easy to detect and it is relatively easy to ensure the measurement accuracy of the vehicle position relative to the magnetic marker. Is.
• the magnetic marker that generates magnetism outside can be detected on the vehicle side even if snow or dirt adheres to it.
• marker such as a cat's eye
• a magnetic marker is more advantageous than a radio wave marker that wirelessly outputs a radio wave.
• a radio wave marker that wirelessly outputs a radio wave.
• the action direction of magnetism along the lateral direction which corresponds to the vehicle width direction, is reversed on the left and right of the magnetic marker. Therefore, the positive/negative of the magnetic measurement value by the magnetic sensor differs depending on whether the magnetic sensor is on the left or right side of the magnetic marker. For example, by utilizing reversal of the magnetic action direction centered on the magnetic mer force, it is possible to detect the magnetic mer force with high positional accuracy.
• the radio wave marker can detect a relatively wide range where radio waves reach, but it is difficult to specify the position with high accuracy.
• This example is an example of the mobile mapping system 1 based on the mobile mapping system of the first embodiment, in which the information about the reference direction indicating the center direction of the point cloud data is added to the marker reference information. This content will be described with reference to FIG. 1 and FIGS.
• the reference direction of the point cloud data is estimated using the two magnetic markers 10.
• the central axis of the distance measuring unit 3 1 is used as an example of the reference direction indicating the center direction of the point cloud data. To do.
• the control unit (reference numeral 13 in FIG. 1) of this example has a function as an azimuth estimation unit that estimates the azimuth (front-back direction, direction, azimuth of the center axis of the vehicle body) of the data collection vehicle 5. ing.
• the control unit as an azimuth estimation unit estimates the azimuth deviation angle, which is the deviation of the azimuth (direction of the vehicle body) of the data collection vehicle 5 with respect to the lane direction, by using two adjacent magnetic markers 10. Estimating process).
• the azimuth of the data collection vehicle 5 is adjusted to match the central axis of the distance measuring unit 31 that acquires the point cloud data, and the relationship between the two is unknown. ing. Therefore, if the direction of the data collection vehicle 5 can be grasped, the reference direction of the point cloud data can be specified.
• the direction of the data collection vehicle 5 remains as it is in the point cloud data. It becomes the reference azimuth indicating the center direction. ⁇ 0 2020/175438 16 ⁇ (: 171-1? 2020/007360
• the control unit 13 executes the azimuth estimation process of FIG. 10 in order to estimate the azimuth of the data collection vehicle 5.
• This azimuth estimation processing consists of the step (3401) of calculating the difference between the lateral deviations of the two magnetic markers 10 and the direction of the line segment ! ⁇ /! that connects the positions of the two magnetic markers 10 (Fig. 11 Refer to 1.)), which is the deviation of the heading deviation which is the deviation of the traveling direction from (3).
• the two magnetic markers 10 are laid along the center of the lane. Therefore, the line segment direction 1 ⁇ /1 father that connects the positions of two adjacent magnetic markers 10 substantially coincides with the lane direction (road direction).
• step 3401 as shown in Fig. 11, when the data collection vehicle 5 passes through two adjacent magnetic markers 1 0, the amount of lateral displacement ⁇ 1 with respect to the first magnetic marker 10 is , Calculate the difference between the lateral shift amount ⁇ 2 with respect to the second magnetic marker 10 and In the figure, the positive and negative values of 0 1 and 0 2 are different, so the absolute value of 0 1 becomes a value that exceeds the absolute values of 0 1 and 0 2 depending on the difference. In addition, in FIG. 11, the illustration of the control unit 13 and the like is omitted.
• the azimuth deviation angle which is the angle formed by (the deviation of the angle in the turning direction), is calculated by the following formula that includes the lateral deviation difference difference ⁇ and the marker span 3.
• the central axis of the distance measuring unit 31 that acquires the point cloud data is the reference azimuth that represents the center of the point cloud data that the distance measuring unit 3 1 acquires.
• the central axis of the distance measuring unit 31 substantially coincides with the direction 0 ′′ of the data collection vehicle 5. Therefore, the direction of the data collection vehicle 5 with respect to the line segment direction IV!
• the azimuth deviation angle of 8 degrees, which represents the target deviation, corresponds to the azimuth deviation of the reference azimuth of the point cloud data for the above line segment direction IV! X corresponding to the lane direction.
• orientation deviation angle Ji is the azimuthal lag of the reference orientation of the point group data with respect to the lane direction (_ example of information representing the reference direction of the point group data)
• the included marker reference data is linked to the point cloud data. Based on the direction deviation angle, the direction of each point indicated by the point cloud data can be specified with high accuracy by using the lane direction IV! X as a reference. Point cloud data in which the orientation of each point is specified with high accuracy is extremely useful for creating a highly accurate three-dimensional map.
• the marker reference information of this example including the information indicating the reference azimuth of the point cloud data
• the relationship between the reference azimuth of the point cloud data and the line segment direction IV! X can be accurately specified. It is possible. If the relative relationship of the reference azimuth of the point cloud data to the line segment direction IV! become.
• the point cloud data attached with the marker reference data including the information of the reference direction of the point cloud data above even if the data collection vehicle 5 meanders during data collection, a highly accurate 3D map can be created. Is.
• control unit 1 3 It is also good to provide the data of the laying position (absolute position) of 10 and the Marchiro with the string on the collection vehicle 5.
• the control unit 1 3 It is also good to provide the data of the laying position (absolute position) of 10 and the Marchiro with the string on the collection vehicle 5.
• the central direction corresponding to the central axis of the distance measuring unit 31 is illustrated.
• the reference azimuth of the point cloud data only needs to be the reference azimuth, and the central direction is not an essential requirement.
• the matching of the vehicle direction and the reference direction of the point cloud data is not essential. It is also possible to provide a plurality of distance measuring units having different directions of the central axis.
• This example is an example of the mobile mapping system 1 that acquires the azimuth deviation angle using the sensor units 2 provided in front of and behind the data collection vehicle 5 based on the mobile mapping system of the second embodiment. This content will be explained with reference to FIG.
• the sensor unit 2 is arranged at intervals of 4. ⁇ 0 2020/175438 19 ⁇ (: 17 2020/007360
• the distance 4 between the front and rear sensor units 2 is the same as the distance 4
• the sensor unit may be additionally arranged in the center of the sensor unit 2 before and after the four intervals.
• Control unit data recording section, orientation estimation section

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• 2020
  • 2020-02-25 WO PCT/JP2020/007360 patent/WO2020175438A1/ja not_active Ceased
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