WO2021075210A1 - センサ性能評価システム及び方法、並びに、自動運転システム - Google Patents
センサ性能評価システム及び方法、並びに、自動運転システム Download PDFInfo
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Definitions
- the present invention relates to a technique for evaluating the sensor performance of an external sensor mounted on a track transportation system traveling on a predetermined track, and an automatic driving technique using the technique.
- the external sensor is characterized in that the actual performance (particularly the detection distance and resolution) with respect to the specified performance can fluctuate depending on the surrounding environment (weather, brightness, surrounding structure).
- Patent Document 1 discloses a technique for evaluating the performance of an external sensor in real time.
- the value that the orbital transportation system should provide is punctuality and express delivery, and it is required to travel as fast as possible while considering the performance of the external sensor. For that purpose, it is necessary to accurately evaluate the accuracy guarantee performance of the external sensor.
- the performance of the external sensor is evaluated by an index of reliability, and the exact accuracy guarantee performance (detection distance and resolution) of the external sensor is not evaluated.
- An object of the present invention is to evaluate the accuracy-guaranteed detection distance of an external sensor mounted on an orbital transportation system in real time in order to cope with the above problems.
- the present invention which solves the above problems, describes the installation position of the ground-mounted object and the installation of the ground-mounted object for each of the plurality of ground-mounted objects installed on the side of the track on which the vehicle of the track transportation system equipped with the external sensor is traveling.
- An installation object recognition unit that identifies the installation identifier from the recording unit that records the identifier and the outside world sensor information including the information detected by the outside world sensor, and recognizes the ground installation object corresponding to the installation identifier by referring to the recording unit.
- the detection distance calculation unit is provided with a detection distance calculation unit that calculates the detection distance of the external sensor, and the detection distance calculation unit includes the self-position of the vehicle when the ground installation object is recognized and the ground installation object recognized by the installation object recognition unit. It is a sensor performance evaluation system characterized by calculating the detection distance of the external sensor from the installation position.
- the detection distance of the external world sensor mounted on the track transportation system can be evaluated in real time for the accuracy guaranteed detection distance of the external world sensor mounted on the vehicle moving along the track. Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.
- FIG. 1 is a block diagram for explaining a sensor performance evaluation system according to an embodiment of the present invention and a method using the same.
- the sensor performance evaluation method is a ground-mounted object for sensor performance evaluation having a unique ID (two-dimensional bar code, shape, etc.) that can be distinguished from other ground-mounted objects (hereinafter, simply "ground”.
- the accuracy guaranteed detection distance Ls of the external world sensor 3 is evaluated by the system configuration including the external world sensor (camera, laser range finder, millimeter wave radar) 3 that senses the external world condition (also referred to as "installed object") 1.
- the method is evaluated by the system configuration including the external world sensor (camera, laser range finder, millimeter wave radar) 3 that senses the external world condition (also referred to as "installed object") 1.
- the sensor performance evaluation system 2 means a component mounted on the vehicle 8 of the track transportation system as a main part for realizing the sensor performance evaluation method. As shown in FIG. 1, the sensor performance evaluation system 2 can record and collate the installation position of the ground installation object 1 with the installation object recognition unit 4 that recognizes and identifies the ground installation object based on the information from the external sensor 3.
- the recording unit 5 is composed of a recording unit 5 and a detection distance calculation unit 6 for calculating the accuracy-guaranteed detection distance Ls of the external sensor, which is the detection distance in the actual surrounding environment with respect to the detection distance Lc according to the specifications of the external sensor 3.
- the detection distance calculation unit 6 is the position of the ground-based object 1 for sensor performance evaluation recorded in the recording unit 5 as described later using the following mathematical formulas (1) and (2) in FIGS. 1 and 3. And the detection distance Ls of the sensor is calculated from the self-position Y of the vehicle 8. As a result, the accuracy guaranteed detection distance Ls of the external sensor 3 can be evaluated in real time. The method of acquiring the self-position Y will also be described later.
- the outside world sensor 3 collects outside world information to prevent a collision accident related to the running of the vehicle 8 and outputs the outside world sensor information.
- the sensor performance evaluation system 2 evaluates the detection capability in real time by calculating the accuracy guarantee detection distance Ls of the external world sensor 3 mounted on the vehicle 8 moving along the track 9.
- the ground-mounted object is installed on the side of the track 9, that is, on the side of the route 13 at appropriate intervals as described later with reference to FIGS. 2 to 6, and is used for evaluation of the external sensor 3.
- a plurality of above-ground installation objects 11, 12, 19 ... 31, 32 are arranged.
- a plurality of ground-mounted objects 12, 19, and 32 have installation identifiers (for example, two-dimensional bar code or shape) 11, 31 that can be recognized by the external sensor 3 and can be distinguished from others, respectively. It is arranged so as to correspond to.
- the installation identifiers 11 and 31 are also a part of the above-ground installation (11 in FIG. 2) or a single above-ground installation (31 in FIG. 6).
- ground-installed object 11 when a plurality of ground-mounted objects 11, 12, 19 ... 31, 32 are to be described separately, they are referred to as “ground-installed object 11" and “ground-installed object 12". When they are specified by different codes and are not distinguished (in other words, any ground-installed object may be used), they are collectively referred to as ground-installed object 1.
- the sensor performance evaluation system 2 is mounted on the vehicle 8 together with the external sensor 3.
- the sensor performance evaluation system 2 includes a ground-mounted object recognition unit (hereinafter referred to as “installed object recognition unit”) 4, a recording unit 5, a detection distance calculation unit 6, and a resolution detection unit 7.
- the installation object recognition unit 4 recognizes and identifies, for example, ground installation objects 12, 19 and 32 based on the information from the outside world sensor 3.
- the recording unit 5 records the installation position of the ground-mounted object.
- the detection distance calculation unit 6 calculates the accuracy guarantee detection distance Ls.
- the resolution detection unit 7 detects the resolution ⁇ of the external sensor 3 and outputs an evaluation index value.
- the detection distance calculation unit 6 calculates the detection distance Ls different from the prepared measurement environment for the detection distance Lc according to the specifications of the external sensor 3 (catalog value catalog spec).
- the detection distance Ls refers to the detection distance Ls in the actual surrounding environment (measured value or guaranteed value). This detection distance Ls is the accuracy guarantee detection distance Ls.
- the accuracy-guaranteed detection distance Ls (guaranteed value is obtained from the measured value in FIG. 3) under fluctuating conditions such as weather is often lower than the catalog value.
- the detection distance of the external sensor 3 is roughly classified into two types, Lc and Ls.
- the first is the detection distance Lc in the specifications, that is, the detection distance Lc (catalog value) obtained under the best measurement conditions set by the provider.
- the detection distance calculation unit 6 refers to this catalog value and replaces it with the second detection distance Ls (guaranteed value) which is the result of actual measurement in the actual surrounding environment.
- the accuracy guarantee detection distance Ls actually measured in the actual surrounding environment shown in FIG. 3 is calculated.
- the outside world sensor 3 employs, for example, a laser range finder and a millimeter wave radar, detects the state of the outside world, outputs the outside world sensor information, and inputs it to the sensor performance evaluation system 2.
- the sensor performance evaluation system 2 evaluates by calculating the accuracy guarantee detection distance Ls of the external sensor 3.
- the calculated accuracy guarantee detection distance Ls is substituted into the mathematical formula (3) described later, and is used for calculating the speed limit V limit of the vehicle 8.
- This V limit is updated at an appropriate frequency, and is calculated in real time, for example, about once per second.
- the update frequency is related to the environment and the installation density of the above-ground installation object 1, as will be described later with reference to FIG.
- the ground installation object 1 has a unique ID (two-dimensional bar code, shape, etc.) that can be distinguished from other ground installation objects. That is, the ground-mounted object 1 has a unique ID and is a ground-based object installed for sensor performance evaluation.
- the detection distance calculation unit 6 calculates the detection distance Ls of the sensor from the position X of each ground-mounted object 1 recorded in the recording unit 5 and the self-position Y of the vehicle 8.
- the self-position Y generally uses a value obtained from the integral of the vehicle speed V, but the self-position Y calculated by map matching using a laser range finder may be used, and the Global Navigation Satellite System (GNSS) may be used. The obtained self-position Y may be used.
- GNSS Global Navigation Satellite System
- the resolution detection unit 7 exemplifies the resolution ⁇ of the optical camera as being detected by the external sensor 3, but if the function is other than the optical camera, the resolution corresponding to the corresponding external sensor information can be detected. good. Further, in the sensor performance evaluation system 2, it is sufficient that the self-position Y of the vehicle 8 can be acquired with high accuracy, and the method of realizing the self-position Y is not limited.
- FIG. 2 is an explanatory diagram illustrating an object installed on the ground used in the sensor performance evaluation system of FIG.
- the ground-mounted objects 11 and 12 illustrated in FIG. 2 are arranged on the ground in order to acquire sensor information by the external sensor 3.
- the ground-mounted object 12 has a two-dimensional bar code (hereinafter, abbreviated as "two-dimensional bar code 11") formed on the plane of the ground-mounted object 11.
- the two-dimensional bar code 11 describes a unique ID that identifies the ground-mounted object 12, and identifies the target ground-based object 12 by collating it with the information recorded in the recording unit 5.
- sensor information in addition to the illustrated camera acquisition information, point group data information of a laser range finder sensor (hereinafter, referred to as “laser range finder”) may be used.
- the laser range finder When the laser range finder is used as the external sensor 3, it is possible to recognize the shape of a three-dimensional object at high speed instead of the two-dimensional bar code 11 which is flat. In this case, a uniquely shaped ground-mounted object 12 is installed on the route. Therefore, the above-ground installation object 12 can be distinguished from other above-ground installation objects, and the target above-ground installation object is specified by collating the shape with the information recorded in the recording unit 5.
- the ground-installed object 12 cannot be uniquely identified. Therefore, by combining it with a camera or laser range finder, the object recognized by the millimeter-wave radar can be identified. Identify which ground-mounted object 12. At that time, if the ground-mounted object 12 alone is unique, the two-dimensional bar code 11 is not essential.
- the existing above-ground structure having a characteristic shape may be the above-ground installation object 12. By doing so, the cost required for installing the above-ground installation object 12 can be reduced.
- FIG. 3 is an explanatory diagram illustrating the installation position of the above-ground installation object 1 shown in FIG. 2 on a map.
- each ground-based object 1 is placed on the route side 13 of the vehicle 8 moving along the track 9. It is basically installed at regular intervals. It is desirable that each ground-mounted object 1 is unique over the entire section of the track 9 operated by the vehicle 8, but it may be unique only within an arbitrary section such as between stations 22 and 23. (See FIG. 5).
- the ground-mounted object 1 recognized by the external sensor 3 can be uniquely identified.
- the interval of installation on the side 13 of the route is arbitrary, but it is desirable to install as many as possible in order to constantly monitor the accuracy guarantee detection distance Ls of the external sensor 3 and enhance the immediacy. It is desirable to install at least one in the vicinity of the station and evaluate the accuracy guarantee detection distance Ls of the outside world sensor 3 before departure.
- a ground installation object 19 will be installed at the depot 10.
- this depot 10 it is installed at the route side 15 or the route end position 16.
- the ground-mounted objects 19 are mainly installed near the position where the vehicle 8 is anchored.
- the ground-mounted object 19 to be installed at the vehicle base 10 is installed at a position of a detection distance Lc according to the specifications of each external world sensor 3 from the anchor position of the vehicle 8 and a position separated from the detection distance Lc by a predetermined distance. Is desirable.
- the detection distance calculation unit 6 acquires the self-position Y of the vehicle 8 for the purpose of calculating the accuracy guarantee detection distance Ls. More specifically, in FIG. 3, while the vehicle 8 is approaching the ground-installed object 19, the detection distance calculation unit 6 acquires the position Y of the vehicle 8 when the external sensor 3 recognizes the ground-installed object 19.
- the accuracy guarantee detection distance Ls is calculated using the mathematical formula (1) or the mathematical formula (2) described later.
- FIG. 4 is a flowchart showing a processing procedure of the sensor performance evaluation system 2 of FIG.
- the sensor performance evaluation method according to the present invention includes some of the processing procedures shown in FIG.
- a camera is used as the outside world sensor 3
- an image of the ground-mounted object 1 on which the two-dimensional bar code 11 is formed is used as the outside world sensor information read by the camera. , Not limited to this.
- the sensor performance evaluation system 2 calculates the accuracy guarantee detection distance Ls of the external sensor 3 (S5) and transmits it to a speed limit determination unit (not shown).
- Steps S1 to S3 show the processing of the installation object recognition unit 4.
- Step S4 shows the processing of the recording unit 5.
- Steps S5 to S7 show the processing in the detection distance calculation unit 6.
- step S2 the two-dimensional bar code is extracted by performing image processing on the image data acquired by the installation object recognition unit 4.
- General software can be used for image processing to extract a two-dimensional bar code. In this sensor performance evaluation method, it is sufficient that a two-dimensional bar code can be extracted from the image data, and the method does not matter.
- step S3 a unique ID that identifies the ground installation object 1 is read from the two-dimensional bar code extracted by the installation object recognition unit 4. After transmitting the read ID to the recording unit 5, the process proceeds to step S4.
- step S4 the recording unit 5 uses the IDs of the ground-mounted objects 1 recorded in the storage means as search keys, and collates the installation positions associated with each of these IDs. Based on this collation result, the recording unit 5 reads the installation position X (FIG. 3) of the ground-mounted object currently recognized by the camera. The recording unit 5 transmits the read installation position X to the detection distance calculation unit 6, and then proceeds to step S5.
- the calculation formula of the detection distance Ls is changed according to the traveling direction of the vehicle 8.
- the self-position Y is given by the mathematical formula (1) because it is explained in the case where the value increases in the traveling direction (ascending order).
- the value of the self-position Y decreases in the traveling direction (descending order)
- the following formula (2) is used.
- Detection distance Ls Self position Y-Position of ground-mounted object X ... (2) After calculating the accuracy guarantee detection distance Ls, the process proceeds to step S7, which will be described later.
- step S6 which is advanced in the case of No in step S2, the detection distance calculation unit 6 sets the previous value in the detection distance Ls.
- the detection distance calculation unit 6 sets in step S6 so that the accuracy-guaranteed detection distance Ls of the external world sensor 3 determined to be more effective is adopted.
- the detection distance Ls to be detected is defined.
- the minimum value Ls S of the accuracy guarantee detection distances Ls 1 to Ls n obtained from the respective external world sensors 3 1 to 3 n is set. It is preferable to adopt it. Based on this determination, only the external sensor information obtained by the external sensor 3, which has the highest safety, that is, the severely determined external sensor 3, is provided to the sensor performance evaluation system 2, so that a highly safe result can be expected.
- step S6 the detection distance calculation unit 6 sets the previous value for the detection distance Ls.
- the detection distance calculation unit 6 may set a loosely determined large detection distance Ls L.
- the sensor performance evaluation system 2 may notify the upper system of a failure or error notification of the external sensor 3 without setting the detection distance Ls.
- the higher-level system for the sensor performance evaluation system 2 uses the result output obtained from the system, and as an example, there is an automatic operation system described later. In this way, the process proceeds to step S7 after step S5 or step S6. In step S7, the accuracy guarantee detection distance Ls of the external sensor 3 is transmitted to the host system.
- the accuracy guaranteed detection distance Ls of the outside world sensor 3 can be evaluated by the same processing with another outside world sensor 3.
- the target ground-mounted object is specified by matching the point cloud data obtained from the laser range finder with the point cloud data recorded in the recording unit 5.
- a three-dimensional laser scanner or the like can also be adopted.
- the processing of FIG. 4 is performed for each external world sensor 3, and the detection distance Ls is calculated.
- the calculated accuracy-guaranteed detection distance Ls of each external sensor 3 may be transmitted to the upper system, or the minimum value Ls S of the accuracy-guaranteed detection distance Ls of each external sensor 3 may be transmitted to the upper system. You can do it.
- the first external world sensor 3 1 recognizes the ground installation object 1, but when the second external world sensor 3 2 cannot recognize the ground installation object 1, the second external world sensor 3 2 recognizes the ground installation object 1. It may be determined that the external sensor 3 2 of the above is out of order. By doing so, the sensor performance evaluation system 2 can also execute the failure determination of the external sensor 3.
- FIG. 5 is an explanatory diagram illustrating the data format of the ground-mounted object recorded by the recording unit 5 in the sensor performance evaluation system 2 of FIG. FIG. 5 describes a case where a camera and a laser range finder are used as the external sensor 3.
- the ID, unique point cloud data, and the installation position of the ground installation object 1 are recorded in association with each ground installation object 1.
- the value of the two-dimensional bar code formed on each ground-mounted object 1 is recorded.
- the point cloud data the point cloud data when the ground-mounted object 1 is measured in advance with the laser range finder is recorded.
- FIG. 5 shows an example in which information for specifying a section is added, but it goes without saying that the section information is unnecessary when the ground-mounted object is unique in all sections.
- FIG. 2 shows an example of a ground-mounted object that evaluates the accuracy-guaranteed detection distance Ls of the external sensor 3.
- the performance of the external sensor 3 also has an evaluation axis of resolution ⁇ , which indicates what size of obstacle can be detected.
- the sensor performance evaluation system 2 may be provided with a resolution calculation unit (not shown) in addition to the detection distance calculation unit 6.
- the resolution calculation unit outputs an index value associated with the smallest recognizable object on the ground as the resolution ⁇ .
- FIG. 6 is an explanatory diagram illustrating ground-mounted objects 31 and 32 applied to the resolution calculation unit attached to the sensor performance evaluation system 2 of FIG. 1.
- a ground-mounted object 31 having a two-dimensional bar code formed in two different sizes for a camera is installed side by side.
- the ground-mounted object 12 shown in FIG. 2 it is laminated from the lower layer to the upper layer in partially different sizes, that is, three sizes, large, medium and small.
- the formed above-ground installation object 32 is installed.
- the accuracy guarantee resolution ⁇ s of the camera can be evaluated depending on which size of the ground-mounted object 31 can be recognized among multiple stages such as two stages of large and small. More specifically, the smallest value among the recognized two-dimensional bar code sizes (widths) is adopted as the accuracy guarantee resolution ⁇ s of the camera.
- the outside world sensor 3 is the same as in the case of a camera, depending on which size of the ground-mounted object 32 can be recognized among multiple stages such as three stages of large, medium and small. The accuracy guarantee resolution ⁇ s can be evaluated.
- the ground-mounted objects 31 and 32 are simplified into two large and small stages, and the processing of the resolution calculation unit will be described. However, this is for convenience of explanation and is not limited to the two large and small stages.
- the relationship between the resolution calculation unit and the ground-mounted objects 31 and 32 corresponds to the relationship between the measuring instrument that measures the resolution (resolution) of a general imaging system and the test target used for the measurement.
- a line pattern which is an index of resolution, is drawn on such a test target at a predetermined width and interval, and is designed so that it can be installed on the same surface as the imaging target.
- the instrument can identify the resolution of the imaging system by identifying the smallest line pattern that can be identified.
- the ground-mounted object 31 in the sensor performance evaluation system 2 uses two-dimensional bar codes having different sizes as an example. Further, a unique object having a different size and shape is used for the ground-mounted object 32.
- the resolution is set to ⁇ N. If, of the ground-mounted objects 31 and 32 of different sizes, neither large nor small ground-mounted objects can be recognized, the resolution is set to ⁇ L. Also, let ⁇ U be the resolution when even the smaller ground-mounted object can be recognized.
- the resolution calculation unit attempts to simultaneously recognize the ground-based objects 31 of different sizes installed at the same position while approaching them. At that time, the resolution calculation unit outputs the size of the smallest recognizable ground-mounted object as the resolution in the following cases. If the larger ground-mounted object cannot be recognized at a predetermined distance, the resolution is output as ⁇ L. At the same distance, the resolution when the larger ground-mounted object can be recognized and the smaller ground-mounted object cannot be recognized is output as ⁇ N. The resolution when the smaller ground-mounted object can be recognized at the same distance is output as ⁇ U.
- the resolution calculation unit includes information associated with the resolution ⁇ corresponding to each of the above cases or an index value indicating the range thereof.
- the smallest ground-mounted object 31 that the resolution calculation unit can recognize is defined so that the corresponding resolution ⁇ is associated with each size.
- This definition is stored in the recording unit 5 in the form of a mathematical formula or table (not shown), and the resolution calculation unit and the speed limit determination unit may be able to refer to the definition.
- the ground-mounted objects 32 are also defined so that a corresponding resolution ⁇ is associated with each size.
- the vehicle 8 using the accuracy guarantee detection distance Ls of the evaluated external world sensor 3 in the sensor performance evaluation system 2 shown in FIG. 1 will be described.
- the vehicle 8 that performs unmanned driving it is necessary to detect an obstacle on the track and stop the vehicle 8.
- the traveling speed of the vehicle 8 and the stopping distance have a relationship defined by the following mathematical formula (3).
- V limit [m / s] is the speed limit of the vehicle 8 obtained from the accuracy guarantee detection distance Ls of the outside world sensor 3.
- ⁇ [m / s 2 ] is the maximum deceleration of the vehicle 8.
- t i [s] is the empty run time.
- Ls [m] is the accuracy guarantee detection distance Ls of the external sensor 3.
- Maximum deceleration ⁇ and empty run time t i is to be defined by the specification of the vehicle 8, as soon see guaranteed accuracy detection distance Ls external sensor 3, possible traveling speed stops at guaranteed accuracy detection distance Ls external sensor 3 (Speed limit V limit) can be calculated immediately.
- the detection distance Lc according to the specifications is adopted as the accuracy guarantee detection distance Ls of the outside world sensor 3.
- the accuracy guarantee detection distance Ls is grasped by some method for the surrounding environment or the deterioration of the sensor performance.
- a method is adopted in which the speed limit V limit of the vehicle 8 is set low in anticipation of a decrease in the accuracy guarantee detection distance Ls of the external sensor 3. For example, if the visibility ahead is poor due to fog, the traveling speed of the vehicle 8 is limited at a predetermined speed.
- the vehicle speed is limited or stopped to a predetermined speed based on the reliability of the external world sensor, not necessarily in real time.
- the speed may be set lower than the speed at which the vehicle can travel with the accuracy guarantee performance Ls of the original external sensor 3.
- the sensor performance evaluation system 2 when the sensor performance evaluation system 2 according to the embodiment of the present invention enables accurate evaluation of the accuracy guarantee detection distance Ls of the outside world sensor 3, the accuracy guarantee detection distance Ls of the outside world sensor 3 evaluated by this can be obtained. Therefore , the speed limit V limit of the vehicle 8 can be calculated from the formula (3). As a result, the vehicle 8 can be driven based on the calculated speed limit V limit. By doing so, even when the performance of the external sensor 3 deteriorates due to a change in the surrounding environment, the normal timetable can be observed to the maximum extent possible, and deterioration of punctuality and express delivery can be minimized.
- the sensor performance evaluation system 2 transmits the accuracy guarantee detection distance Ls of the external sensor 3 to the operation management system as an example.
- the operation management system may generate an operation schedule for the day at a speed limit V limit calculated according to the received accuracy guarantee detection distance Ls.
- the timetable becomes according to the accuracy guarantee detection distance Ls of the outside world sensor 3, it is possible to prevent a sudden timetable change, and it is possible to improve the convenience of passengers.
- obstacles on the track to be detected may differ depending on the location (between stations or platforms). For example, in a home where a person is expected to fall, obstacles to be detected include a person. Therefore, in such a place, the external sensor 3 also needs to be supported by a human detection function capable of detecting and recognizing a person and a human body recognition function such as AI. It is preferable that these functions are also included in the installation object recognition unit 4.
- the following You may respond as follows. That is, from the relationship between the sensor performance evaluation system 2 and the method, the accuracy guarantee resolution ⁇ s of the external sensor 3 evaluated in the automatic driving system, and the resolution ⁇ L required for each location, the speed limit V limit of the vehicle 8 May be defined. Regarding this, a clear definition may be stored in the recording unit 5 in the form of a mathematical formula or table (not shown) so that the resolution calculation unit and the speed limit determination unit can refer to it.
- the accuracy guarantee performance of the external world sensor 3 mounted on the vehicle 8 moving along the track 9 can be accurately evaluated.
- the accuracy guarantee performance to be evaluated is at least one of the accuracy guarantee detection distance Ls and the accuracy guarantee resolution ⁇ s.
- the accuracy guarantee performance obtained in this way is easy to use in terms of immediacy. That is, by setting the upper limit speed at which the vehicle can travel based on this accuracy guarantee performance, it is possible to improve the punctuality and the express delivery while considering the performance of the external sensor 3.
- the recording unit 5 also has a collation function for collating the information stored in the storage means with the search keyword.
- the storage means may be at least a memory and a persistent storage device.
- the permanent storage device may be one or more permanent storage devices, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive).
- the sensor performance evaluation system 2, the installed object recognition unit 4, the detection distance calculation unit 6, and the collation function provided in the recording unit 5 included in the sensor performance evaluation system 2 are at least one of the following two types, or It may be realized by a combination thereof.
- the first of the two types may be realized by executing one or more computer programs by a processor.
- the second of the two types may be realized by one or more hardware circuits (for example, FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)).
- the specified processing is appropriately performed using a storage device and / or an interface device, so that the function may be at least a part of the processor. good.
- the processor may be one or more processor devices.
- the at least one processor device is typically a microprocessor device such as a CPU (Central Processing Unit), but may be another type of processor device such as a GPU (Graphics Processing Unit).
- CPU Central Processing Unit
- GPU Graphics Processing Unit
- At least one processor device may be a processor device in a broad sense such as a hardware circuit (for example, FPGA or ASIC) that performs a part or all of the processing.
- a hardware circuit for example, FPGA or ASIC
- the process described with the function as the subject may be a process performed by a processor or a device having the processor.
- the program may be installed from the program source.
- the program source may be, for example, a program distribution computer or a computer-readable recording medium (eg, a non-temporary recording medium).
- the description of each function is an example, and a plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.
- the automatic driving system includes, in addition to the sensor performance evaluation system 2, an automatic driving unit (not shown) that performs unmanned driving of the vehicle 8 using the evaluation results obtained from the sensor performance evaluation system 2.
- the automatic operation unit means, for example, an automatic train operation (ATO).
- the automatic driving unit preferably includes a speed limit determination unit and a speed limit compliance unit (not shown).
- the speed limit determination unit uses the V limit [m / s] calculated by the above mathematical formula (3).
- the traveling speed (speed limit V limit) that can be stopped at the accuracy-guaranteed detection distance Ls of the external sensor 3 is immediately calculated. It can.
- This V limit [m / s] is the speed limit of the vehicle 8 obtained from the accuracy guarantee detection distance Ls of the outside world sensor 3.
- the speed limit determination unit determines the speed limit according to the evaluation of the external sensor 3 provided by the sensor performance evaluation system 2, and outputs the information to the speed limit compliance unit (not shown). For speed limit compliance unit, more specifically, whether to visualize the speed limit V limit relative motorman, by outputting the information relating to the speed limit V limit to the automatic driving unit, safe operation of the track transport system To realize.
- the sensor performance evaluation system 2 can be summarized as follows. [1]
- the sensor performance evaluation system 2 according to the embodiment of the present invention includes a recording unit 5, an installed object recognition unit 4, and a detection distance calculation unit 6.
- the recording unit 5 records the installation position X of the ground installation object 1 and the installation identifiers 11 and 31 as the ground installation object 1 for each of the plurality of ground installation objects 1.
- the plurality of ground-mounted objects 1 are installed beside the track 9 on which the vehicle 8 of the track transportation system travels.
- the external sensor 3 is mounted on the vehicle 8 of the track transportation system to detect information.
- the information detected by the outside world sensor 3 includes the outside world sensor information.
- the installation object recognition unit 4 identifies the installation identifiers 11 and 31 from the external sensor information.
- the installation object recognition unit 4 recognizes the above-ground installation object corresponding to the installation identifiers 11 and 31 specified in this way with reference to the recording unit 5.
- the detection distance calculation unit 6 calculates the detection distance Ls of the external sensor 3. That is, the detection distance calculation unit 6 calculates the maximum distance at which the installation object recognition unit 4 can recognize the ground installation object 1 as the detection distance Ls of the outside world sensor 3. That is, the detection distance Ls is the distance Ls from the outside world sensor 3 to the ground installation object 1 when the outside world sensor 3 recognizes the ground installation object 1.
- the detection distance calculation unit 6 can calculate the detection distance Ls of the external world sensor 3 from the self-position Y of the vehicle 8 and the installation position X of the ground-mounted object 1.
- the sensor performance evaluation system 2 calculates the detection distance Ls from the self-position Y of the vehicle 8 and the installation position of the ground-mounted object 1.
- the self-position Y of the moving vehicle 8 at least one of the integrated value of the vehicle speed V, the value calculated by map matching using the laser range finder, and the self-position Y obtained by GNSS may be used. ..
- the installation position of the ground-mounted object 1 is used by reading out the information recorded in advance in the recording unit 5.
- this sensor performance evaluation system 2 it is possible to provide a sensor performance evaluation system 2 capable of evaluating the accuracy guaranteed detection distance Ls of the external sensor 3 mounted on the orbital transportation system in real time. That is, by substituting the detection distance Ls, which is the output of the evaluation result, into the specified mathematical formula (3), the accuracy-guaranteed detection distance Ls, which is easy to use in terms of immediacy, can be calculated so that the speed limit V limit of the vehicle can be calculated. Can be calculated.
- the ground-mounted objects 11 and 31 having the installation identifiers that can be distinguished from others are less likely to misidentify the ground-based objects 12, 19 and 32 by the external sensor 3, accurate evaluation can be easily obtained. Be done.
- the sensor performance evaluation system 2 In the sensor performance evaluation system 2 described in the above [1], two or more types of ground-mounted objects 31 and 32 having different sizes are installed at one location. Further, the sensor performance evaluation system 2 further includes a resolution calculation unit for calculating the resolution ⁇ of the external sensor 3 in addition to the detection distance calculation unit 6. This resolution calculation unit calculates the resolution ⁇ of the external sensor 3 based on the recognized sizes of the ground-mounted objects 31 and 32.
- the accuracy guarantee resolution ⁇ s can be evaluated accurately and in real time. it can.
- the resolution calculation unit attempts to simultaneously recognize while approaching ground-mounted objects 31 of different sizes installed at the same position. At that time, the resolution calculation unit outputs the resolution ⁇ associated with the installation identifier 31 having the smallest size that can be recognized. If the larger ground-mounted object cannot be recognized at a certain distance, the resolution is output as ⁇ L. If the larger ground-mounted object can be recognized and the smaller ground-mounted object cannot be recognized at the same distance, the resolution is output as ⁇ N. If the smaller one can be recognized at the same distance, the resolution is output as ⁇ U.
- the resolution calculation unit includes information associated with the resolution ⁇ corresponding to each of the above cases or an index value indicating the range thereof. This information is stored in the recording unit 5 and can be referred to by both the resolution calculation unit and the speed limit determination unit. Further, the ground-mounted objects 32 are also defined so that a corresponding resolution ⁇ is associated with each size. According to this, the accuracy guarantee resolution ⁇ s as the accuracy guarantee performance of the external sensor 3 can be accurately and easily evaluated by the combination of the simple ground installation object 32 or the installation identifier 31 and the sensor performance evaluation system 2. ..
- the ground installation objects 1 and 32 on which the two-dimensional bar codes 11 and 31 are formed as installation identifiers are attached or partially attached to the ground installation objects 12 and 32. It may be formed.
- point cloud data may be adopted as the installation identifier for the ground installation objects 12 and 32.
- a laser range finder three-dimensional laser scanner
- the appearance shapes of the ground-mounted objects 12 and 32 by the three-dimensional structure can be read at high speed and accurately.
- the detection distance calculation unit 6 is used from the respective external world sensors 3 1 to 3 n . It is preferable to adopt the minimum value Ls S out of the obtained accuracy guarantee detection distances Ls 1 , Ls 1 to Ls n. This judgment can be expected to improve safety.
- a speed limit determination unit that determines the speed limit V limit based on the calculated detection distance Ls, and a speed limit V determined by the speed limit determination unit. easier to comply with the limit on the operator's, for example, a speed limit compliance portion of the apparatus for outputting visualized, may further comprise a.
- the automatic driving system includes an automatic driving unit that controls the traveling speed within a range not exceeding the speed limit V limit determined by the speed limit determining unit. Further prepared.
- the sensor performance evaluation method can be summarized as follows.
- the installation identifiers 11 and 31 are specified (S2, S3) from the outside world sensor information including the information detected (S1) by the outside world sensor 3 mounted on the vehicle 8 of the track transportation system.
- the installation position X of the ground-based object 1 and the installation identifier 11 of the ground-based object 1 By referring to the recording unit 5 that records the above and 31, the ground installation object 1 corresponding to the specified installation identifiers 11 and 31 is recognized (S4).
- the detection distance Ls of the outside world sensor is calculated from the self-position X of the vehicle 8 when the ground-mounted object 1 is recognized and the recognized installation position X of the ground-mounted object 1 (S5).
- the detection distance Ls refers to the maximum distance at which the external sensor 3 can recognize the ground-installed object 1.
- the self-position Y of the vehicle 8 refers to the position when the ground-installed object 1 is recognized while the vehicle 8 is approaching the ground-installed object 1.
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Abstract
Description
外界センサ3の精度保証検知距離Ls=地上設置物位置X-自己位置Y・・(1)
精度保証検知距離Lsの算出後、ステップS7に進むが、その説明は後にする。
[1]本発明の実施形態に係るセンサ性能評価システム2は、記録部5と、設置物認識部4と、検知距離算出部6と、を備えて構成される。
検知距離算出部6は、外界センサ3の検知距離Lsを算出する。すなわち、検知距離算出部6は、設置物認識部4が、地上設置物1を認識できる最大距離を外界センサ3の検知距離Lsとして算出する。つまり、検知距離Lsは、外界センサ3が地上設置物1を認識したとき、その外界センサ3から地上設置物1までの距離Lsである。
[8]自動運転システムは、上記[7]に記載のセンサ性能評価システム2に加えて、制限速度決定部により決定された制限速度Vlimitを超えない範囲に走行速度を制御する自動運転部をさらに備えた。
[9]軌道輸送システムの車両8に搭載された外界センサ3が検出(S1)した情報を含む外界センサ情報から設置識別子11,31を特定(S2,S3)する。次に、外界センサ3を搭載した車両8が走行する軌道9の脇に設置されている複数の地上設置物1の各々について、地上設置物1の設置位置Xと地上設置物1の設置識別子11,31とを記録した記録部5を参照することにより、特定された設置識別子11,31に対応した地上設置物1を認識(S4)する。次に、地上設置物1を認識した時の車両8の自己位置Xと、認識した地上設置物1の設置位置Xと、から外界センサの検知距離Lsを算出する(S5)。
Claims (9)
- 外界センサを搭載した軌道輸送システムの車両が走行する軌道の脇に設置されている複数の地上設置物の各々について当該地上設置物の設置位置と当該地上設置物の設置識別子とを記録した記録部と、
前記外界センサが検出した情報を含む外界センサ情報から設置識別子を特定し、当該設置識別子に対応した地上設置物を、前記記録部を参照することにより認識する設置物認識部と、
前記外界センサの検知距離を算出する検知距離算出部と、
を備え、
前記検知距離算出部は、前記地上設置物を認識した時の前記車両の自己位置と、前記設置物認識部が認識した前記地上設置物の設置位置と、から前記外界センサの検知距離を算出する、
ことを特徴とするセンサ性能評価システム。 - 前記地上設置物は、1か所につき2種類以上の異なる大きさのものが設置され、
前記検知距離算出部に加えて、前記外界センサの分解能を算出する分解能算出部をさらに備え、
該分解能算出部は、認識した前記地上設置物の大きさに基づいて前記外界センサの分解能を算出する、
請求項1に記載のセンサ性能評価システム。 - 前記分解能算出部は、前記異なる大きさの前記地上設置物に対し、
大きい方の前記地上設置物を認識できて小さい方の前記地上設置物が認識できない場合と、
小さい方の前記地上設置物まで認識できた場合と、
大きい方の前記地上設置物も認識できない場合と、
それぞれの場合に応じた前記分解能又はその範囲を示す指標値に紐づけられた情報を備えた、
請求項2に記載のセンサ性能評価システム。 - 前記地上設置物が有する設置識別子は二次元バーコードである、
請求項1に記載のセンサ性能評価システム。 - 前記地上設置物が有する設置識別子は点群データである、
請求項1に記載のセンサ性能評価システム。 - 前記検知距離算出部は、複数の前記外界センサが搭載されている場合、
それぞれの前記外界センサより得られた前記検知距離のうち最小値を採用する、
請求項1に記載のセンサ性能評価システム。 - 前記算出された前記検知距離に基づく制限速度を決定する制限速度決定部と、
該制限速度決定部により決定された制限速度を出力する制限速度遵守部と、
をさらに備えた、
請求項1~6の何れかに記載のセンサ性能評価システム。 - 請求項7に記載のセンサ性能評価システムと、
前記制限速度決定部により決定された前記制限速度を超えない範囲に走行速度を制御する自動運転部と、
を備えた自動運転システム。 - 軌道輸送システムの車両に搭載された外界センサが検出した情報を含む外界センサ情報から設置識別子を特定し、
外界センサを搭載した前記車両が走行する軌道の脇に設置されている複数の地上設置物の各々について当該地上設置物の設置位置と当該地上設置物の設置識別子とを記録した記録部を参照することにより、前記特定された設置識別子に対応した地上設置物を認識し、
前記地上設置物を認識した時の前記車両の自己位置と、前記認識した前記地上設置物の設置位置と、から前記外界センサの検知距離を算出する、
ことを特徴とするセンサ性能評価方法。
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WO2023032365A1 (ja) * | 2021-09-03 | 2023-03-09 | 株式会社日立製作所 | 走行パターン作成装置および走行パターン作成方法 |
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CN113419233A (zh) * | 2021-06-18 | 2021-09-21 | 阿波罗智能技术(北京)有限公司 | 感知效果的测试方法、装置和设备 |
JP2023089473A (ja) * | 2021-12-16 | 2023-06-28 | 株式会社日立製作所 | 列車制御システムおよび列車制御方法 |
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