JP7034741B2 - Information processing device, own vehicle position calculation system and vehicle - Google Patents

Description

The present invention relates to an information processing device, a vehicle position calculation system, and a vehicle.

Conventionally, a feature detection sensor is mounted on a vehicle, and the position information of the own vehicle is obtained by using the positional relationship (distance, angle) between the feature and the vehicle obtained by detecting a feature whose position information is known. A vehicle position calculation system for correction is known. According to the own vehicle position calculation system, for example, the own vehicle position information acquired from a satellite positioning system or the like can be corrected to calculate the own vehicle position information with higher accuracy.

Japanese Unexamined Patent Publication No. 2016-223847

However, in the above-mentioned own vehicle position calculation system, if the position information of the feature contains an error or the detection accuracy of the feature is low, the accuracy of the own vehicle position information may be rather lowered by the correction. Conceivable.

The present invention has been made in view of the above problems, and an object of the present invention is to suppress a decrease in accuracy of own vehicle position information.

According to one aspect, the information processing apparatus has the following configuration. That is,
An acquisition means for acquiring the first own vehicle position information indicating the position of the own vehicle measured by the positioning system, and
When a feature is detected by the feature detection sensor that detects the feature around the own vehicle, the distance and angle of the own vehicle with respect to the feature are acquired at a predetermined cycle and stored in the holding unit. And the storage means to do
Based on the feature position information indicating the position of the feature where the storage process was performed and the distance and angle of the own vehicle with respect to the feature stored in the holding portion immediately before the storage process is completed . A calculation means for calculating the second own vehicle position information indicating the position of the own vehicle, and
A changing means for changing the correction amount when correcting the first own vehicle position information, which is calculated based on the second own vehicle position information, according to the predetermined accuracy of the feature position information. And have.

It is possible to suppress a decrease in the accuracy of the vehicle position information.

It is a figure which shows an example of the system configuration of the own vehicle position calculation system. It is a figure which shows the detection direction and the detection range of a feature detection sensor. It is a figure which shows an example of the hardware composition of an information processing apparatus. It is a figure which shows an example of the feature position information. It is a figure which shows an example of the functional structure of the own vehicle position calculation part. It is a figure which shows an example of the holding data stored in the data holding part at the time of own vehicle position calculation processing. It is a figure which shows the specific example of the process of the position calculation part in the own vehicle position calculation process. It is a figure which shows the specific example of the processing of the accuracy determination part in the own vehicle position calculation processing. It is a figure which shows the example which the calculation accuracy of own vehicle position information for correction is lowered. It is a figure which shows the specific example of the processing of the position correction part in the own vehicle position calculation processing. It is a figure which shows the correction example of the own vehicle position information. It is a flowchart which shows the flow of the own vehicle position calculation process. It is a figure which shows the relationship between the difference value and the correction amount in each coefficient.

Hereinafter, each embodiment will be described with reference to the attached drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals to omit duplicate explanations.

[First Embodiment]
<System configuration of own vehicle position calculation system>
First, the system configuration of the own vehicle position calculation system will be described. FIG. 1 is a diagram showing an example of a system configuration of a vehicle position calculation system. As shown in FIG. 1, the own vehicle position calculation system 130 mounted on the vehicle 100 includes a feature detection sensor 110 and an information processing device 120.

The feature detection sensor 110 includes any one or more of an image pickup device, a laser device, and a radar device, and detects features around the vehicle 100. Further, the feature detection sensor 110 measures information indicating the positional relationship between the detected feature and the vehicle 100 (distance from the vehicle 100 to the feature and an angle indicating the direction of the feature when viewed from the vehicle 100). Then, it is transmitted to the information processing apparatus 120 as distance data and angle data.

An own vehicle position calculation program is installed in the information processing device 120, and when the program is executed, the information processing device 120 functions as the own vehicle position calculation unit 121. The own vehicle position calculation unit 121 acquires "own vehicle position information" (first own vehicle position information) of the vehicle 100 measured by a satellite positioning system such as GNSS (Global Navigation Satellite System).

Further, the own vehicle position calculation unit 121 is stored in the feature position information storage unit 122, and among the feature position information indicating the position of the feature, the feature position of any one of the surroundings of the vehicle 100. Read information. The own vehicle position calculation unit 121 performs "correction own vehicle position information" (second own vehicle) for correcting the own vehicle position information based on the read-out feature position information and the distance data and the angle data. Position information) is calculated.

Further, the own vehicle position calculation unit 121 calculates the correction amount based on the own vehicle position information, the correction own vehicle position information, and the calculation accuracy when the correction own vehicle position information is calculated. Further, the own vehicle position calculation unit 121 corrects the own vehicle position information using the calculated correction amount, and outputs the corrected own vehicle position information.

<Detection direction and detection range of feature detection sensor>
Next, the detection direction and the detection range of the feature detection sensor 110 will be described. FIG. 2 is a diagram showing a detection direction and a detection range of the feature detection sensor. Of these, FIG. 2A shows a state in which the detection direction and detection range of the feature detection sensor 110 are viewed from the side surface of the vehicle 100. As shown in FIG. 2A, the feature detection sensor 110 has the front of the vehicle 100 as the detection direction and the region 210 in the YZ plane as the detection range.

Further, FIG. 2B shows the detection direction and detection range of the feature detection sensor 110 as viewed from the upper surface of the vehicle 100. As shown in FIG. 2B, the feature detection sensor 110 has a region 220 in the XY plane as a detection range.

<Hardware configuration of information processing equipment>
Next, the hardware configuration of the information processing apparatus 120 will be described. FIG. 3 is a diagram showing an example of the hardware configuration of the information processing apparatus. As shown in FIG. 3, the information processing device 120 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, and a RAM (Random Access Memory) 303. Further, the information processing device 120 has an auxiliary storage device 304, a connection device 305, a reception device 306, and an auxiliary sensor 307. Each part of the information processing apparatus 120 is connected to each other via a bus 308.

The CPU 301 is a device that executes various programs (for example, a vehicle position calculation program) installed in the auxiliary storage device 304. The ROM 302 is a non-volatile memory and functions as a main storage device. The RAM 303 is a volatile memory such as a DRAM (Dynamic Random Access Memory) or a SRAM (Static Random Access Memory). The RAM 303 functions as a main storage device that provides a work area that is expanded when various programs installed in the auxiliary storage device 304 are executed by the CPU 301.

The auxiliary storage device 304 stores various programs, information used when various programs are executed by the CPU 301, and the like. The feature position information storage unit 122 described above is realized in the auxiliary storage device 304.

The connection device 305 is connected to the feature detection sensor 110 and receives distance data and angle data transmitted from the feature detection sensor 110. The receiving device 306 receives the own vehicle position information indicating the current position of the vehicle 100 from the GNSS. The auxiliary sensor 307 is a sensor that measures state information indicating the current state of the vehicle 100. The auxiliary sensor 307 includes an acceleration sensor, a gyro sensor, a distance sensor, and the like. The receiving device 306 shall output the own vehicle position information according to the state information measured by the auxiliary sensor 307.

<Details of feature location information>
Next, the details of the feature position information stored in the feature position information storage unit 122 will be described. FIG. 4 is a diagram showing an example of feature position information. As shown in FIG. 4, the feature position information 400 includes "feature identifier", "position information", and "accuracy level" as information items.

An identifier for identifying a feature is stored in the "feature identifier". The "position information" stores the latitude, longitude, and altitude of the feature identified by the feature identifier. The "accuracy level" stores information indicating the accuracy of latitude, longitude, and altitude stored in "position information". In the example of FIG. 4, the feature identified by the feature identifier = "F1" is at the position (latitude 1, longitude 1, altitude 1), and the accuracy level is "rank A" (high accuracy). It is shown that.

<Functional configuration of own vehicle position calculation unit>
Next, the functional configuration of the own vehicle position calculation unit 121 will be described. FIG. 5 is a diagram showing an example of the functional configuration of the own vehicle position calculation unit. As shown in FIG. 5, the own vehicle position calculation unit 121 includes a distance and angle data acquisition unit 501, an own vehicle position information acquisition unit 502, a position calculation unit 503, an accuracy determination unit 504, a position correction unit 505, and a data holding unit 510. Has.

The distance and angle data acquisition unit 501 acquires the distance data and the angle data transmitted from the feature detection sensor 110 at a predetermined cycle, and stores the distance data and the angle data in the data holding unit 510. The own vehicle position information acquisition unit 502 is an example of the acquisition means, and the own vehicle position information output from the receiving device 306 is acquired at a predetermined cycle and stored in the data holding unit 510.

The position calculation unit 503 is an example of the calculation means. By referring to the feature position information 400 stored in the feature position information storage unit 122, the position calculation unit 503 currently stores the distance data and the angle data in the data holding unit 510. Identify the feature you are in. Further, the position calculation unit 503 monitors the data holding unit 510, and determines the timing at which the storage processing of the distance data and the angle data with respect to the data holding unit 510 is completed for the specified feature. The "timing at which the storage process of the distance data and the angle data for the specified feature in the data holding unit 510 is completed" is detected from the state where the feature detection sensor 110 is detecting the feature. It refers to the timing when the state shifts to the non-existent state.

Further, the position calculation unit 503 reads out the distance data and the angle data stored in the data holding unit 510 from the data holding unit 510 at the timing immediately before the timing when the storage process is completed. The "distance data and angle data stored in the data holding unit 510 at the timing immediately before the timing when the storage process is completed" are the distance data and the distance data detected by the feature detection sensor 110 in the state of being closest to the feature. This is because it is angle data and the detection accuracy is high.

Further, the position calculation unit 503 is based on the position information of the feature read from the feature position information 400 stored in the feature position information storage unit 122, and the distance data and the angle data read from the data holding unit 510. Then, the correction own vehicle position information is calculated.

The accuracy determination unit 504 is an example of the determination means. The accuracy determination unit 504 reads the accuracy level of the feature specified by the position calculation unit 503 from the feature position information 400 stored in the feature position information storage unit 122. Further, the accuracy determination unit 504 reads out the distance data and the angle data stored in the data holding unit 510 from the data holding unit 510 at the timing immediately before the timing when the storage process is completed. Further, the accuracy determination unit 504 determines the calculation accuracy of the correction own vehicle position information based on the read accuracy level, distance data, and angle data.

The position correction unit 505 is an example of the changing means. The position correction unit 505 reads out the own vehicle position information stored in the data holding unit 510 at the timing immediately before the timing when the storage process is completed from the data holding unit 510, and calculates the difference value from the correction own vehicle position information. do. Further, the position correction unit 505 calculates the correction amount by multiplying the calculated difference value by a coefficient corresponding to the calculation accuracy determined by the accuracy determination unit 504. Further, the position correction unit 505 corrects the own vehicle position information read from the data holding unit 510 using the calculated correction amount, and outputs the corrected own vehicle position information.

<Specific example of own vehicle position calculation processing>
Next, a specific example of the own vehicle position calculation process by the own vehicle position calculation unit 121 will be described with reference to FIGS. 6 to 11.

(1) Specific Example of Retention Data FIG. 6 is a diagram showing an example of retention data stored in the data retention unit during the vehicle position calculation process. As shown in FIG. 6, the holding data 600 stored in the data holding unit 510 has "time", "feature identifier", "distance to feature, angle", and "own vehicle position information" as information items. "Is included. The "time" stores the timing when the distance and angle data acquisition unit 501 acquires the distance data and the angle data, and the timing when the own vehicle position information acquisition unit 502 acquires the own vehicle position information.

In the "feature identifier", an identifier for identifying a feature for which distance data and angle data are currently stored is stored by the position calculation unit 503. The distance data and the angle data acquired by the distance and angle data acquisition unit 501 are stored in the "distance and angle to the feature". The own vehicle position information acquired by the own vehicle position information acquisition unit 502 is stored in the "own vehicle position information".

In the example of FIG. 6, at the timing of time = "T1", "L1, θ1" is stored as distance data and angle data for the feature of feature identifier = "F2", and as own vehicle position information. , "Latitude a, Longitude a, Altitude a" is stored.

Further, in the example of FIG. 6, at the timing of time = "T2", "L2, θ2" is stored as the distance data and the angle data for the feature of the feature identifier = "F2", and the own vehicle position is stored. It shows that "latitude b, longitude b, altitude b" is stored as information.

Further, the example of FIG. 6 shows that the storage process of the distance data and the angle data for the feature of the feature identifier = "F2" in the data holding unit 510 is completed at the timing of the time = "T3". There is.

In the retained data 600, the angle data for the feature originally includes both the angle data around the Z axis and the angle data around the X axis among the coordinate axes shown in FIG. 2, but the explanation is simplified. In order to achieve this, FIG. 6 shows only the angle data around the X axis. Further, in the following description, only the angle around the X axis will be dealt with.

(2) Specific Example of Processing of Position Calculation Unit Next, in the own vehicle position calculation processing, a specific example of processing of the position calculation unit 503 when the holding data 600 is stored in the data holding unit 510 will be described. FIG. 7 is a diagram showing a specific example of the processing of the position calculation unit in the own vehicle position calculation processing.

The position calculation unit 503 identifies the features around the vehicle 100 in which the distance data and the angle data are stored at the present time (time = "T2"). Subsequently, the position calculation unit 503 reads out the feature identifier ("F2") that identifies the specified feature from the feature position information 400 stored in the feature position information storage unit 122. Subsequently, the position calculation unit 503 stores the read feature identifier ("F2") in the data holding unit 510.

Specifically, as shown in FIG. 7 (a), in the position calculation unit 503, the vehicle position information ("latitude b, longitude") stored in the data holding unit 510 at the present time (time = "T2") is stored. b, altitude b ") is read. Subsequently, the position calculation unit 503 searches the feature position information 400 for the position information close to the own vehicle position information. Subsequently, the position calculation unit 503 identifies the feature (feature identifier = "F2") corresponding to the searched position information. Subsequently, the position calculation unit 503 reads out the feature identifier ("F2") of the specified feature from the feature position information 400 and stores it in the data holding unit 510.

Further, the position calculation unit 503 monitors the data holding unit 510, and the timing at which the storage processing of the distance data and the angle data in the data holding unit 510 of the feature identified by the feature identifier of "F2" is completed ( Time = "T3") is determined. Subsequently, in the position calculation unit 503, the distance data ("L2") stored in the data holding unit 510 at the timing (time = "T2") immediately before the timing (time = "T3") when the storage process is completed and The angle data ("θ2") is read from the data holding unit 510.

Further, in the position calculation unit 503, as shown in FIG. 7 (b), the position information of the feature ("latitude 2, longitude 2, altitude 2"), the distance data ("L2"), and the angle data ("θ2"). Based on "), the correction own vehicle position information ("latitude B, longitude B, altitude B ") is calculated. The position calculation unit 503 notifies the accuracy determination unit 504 of the calculated correction own vehicle position information ("latitude B, longitude B, altitude B").

(3) Specific Example of Processing of Accuracy Determination Unit Next, in the own vehicle position calculation processing, a specific example of processing of the accuracy determination unit 504 when the retention data 600 is stored in the data retention unit 510 will be described. FIG. 8 is a diagram showing a specific example of the processing of the accuracy determination unit in the own vehicle position calculation processing. As shown in FIG. 8, the accuracy determination unit 504 notifies the position correction unit 505 of the correction own vehicle position information (latitude B, longitude B, altitude B) notified by the position calculation unit 503.

Further, as shown in FIG. 8, in the accuracy determination unit 504, the accuracy level ("rank C") of the feature (feature identifier = "F2") specified by the position calculation unit 503 is set to the feature position information 400. Read more. Subsequently, in the accuracy determination unit 504, the distance data ("L2") stored in the data holding unit 510 at the timing (time = "T2") immediately before the timing (time = "T3") when the storage process is completed and The angle data ("θ2") is read from the data holding unit 510. Subsequently, the accuracy determination unit 504 determines the following determination conditions.
(Judgment condition 1): Is the read accuracy level ("rank C") less than a predetermined accuracy threshold (Th_r)?
(Judgment condition 2): Is the read distance data ("L2") larger than the predetermined distance threshold value (Th_L)?
(Judgment condition 3): Is the read angle data ("θ2") larger than the predetermined angle threshold value (Th_θ)?

As a result of the determination, if it is determined that any of the determination conditions is satisfied, the accuracy determination unit 504 determines that the calculation accuracy of the correction own vehicle position information ("latitude B, longitude B, altitude B") is low, and determines that the coefficient is low. Change α to "20%" and notify the position correction unit 505.

On the other hand, if it is determined that none of the determination conditions is satisfied, the accuracy determination unit 504 determines that the calculation accuracy of the correction own vehicle position information ("latitude B, longitude B, altitude B") is high, and determines the coefficient α. Change to "50%" and notify the position correction unit 505.

FIG. 9 is a diagram showing an example in which the calculation accuracy of the correction vehicle position information is lowered. Of these, in FIG. 9A, it is determined that the feature is the stop line 901, which is an example of a marker on the road surface, and the accuracy level of the position information of the stop line 901 is less than a predetermined accuracy threshold value. Shows the case. In this case, even if the feature detection sensor 110 accurately detects the stop line 901 and can correctly acquire the distance data and the angle data, the accuracy level of the position information of the stop line 901 is low in the first place, so that the correction self The calculation accuracy of vehicle position information is reduced.

In FIG. 9B, it is determined that the feature is the stop line 902 and the accuracy level of the position information of the stop line 902 is equal to or higher than the predetermined accuracy threshold value, but the distance data is equal to or higher than the predetermined angle threshold value. It shows the case where it is determined that there is. Generally, since the detection points of the feature detection sensor 110 are discrete, if the distance to the stop line 902 is long, the detection accuracy when the stop line 902 is detected decreases. Therefore, the calculation accuracy of the correction own vehicle position information calculated using the distance data is lowered.

In FIG. 9C, it is determined that the feature is the signboard 903 and the accuracy level of the position information of the signboard 903 is equal to or higher than the predetermined accuracy threshold value, but the angle data is equal to or higher than the predetermined angle threshold value. The case where it is judged is shown. When the angle data is large, the error of the horizontal distance to the signboard 903 becomes large. Therefore, the calculation accuracy of the correction own vehicle position information calculated using the angle data is lowered.

(4) Specific Example of Processing of Position Correction Unit Next, a specific example of processing of the position correction unit 505 when the holding data 600 is held in the data holding unit 510 in the own vehicle position calculation processing will be described. FIG. 10 is a diagram showing a specific example of the processing of the position correction unit in the own vehicle position calculation processing.

As shown in FIG. 10, the position correction unit 505 acquires the calculation accuracy ("coefficient α") and the correction vehicle position information ("latitude B, longitude B, altitude B") from the accuracy determination unit 504. do. Further, as shown in FIG. 10, in the position correction unit 505, the own vehicle is stored in the data holding unit 510 at the timing (time = "T2") immediately before the timing (time = "T3") when the storage process is completed. The position information ("latitude b, longitude b, altitude b") is read from the data holding unit 510.

Further, in the position calculation unit 503, the acquired vehicle position information for correction ("latitude B, longitude B, altitude B") and the read vehicle position information ("latitude b, longitude b, altitude b") are used. Calculate the difference value. Further, the position calculation unit 503 calculates the correction amount by multiplying the calculated difference value by the acquired coefficient α. Further, the position calculation unit 503 corrects the read own vehicle position information ("latitude b, longitude b, altitude b") by using the calculated correction amount, so that the corrected own vehicle position information ("latitude b") is corrected. b', longitude b', altitude b'") is output.

FIG. 11 is a diagram showing a correction example of the own vehicle position information. Of these, FIG. 11A shows a case where it is determined that the calculation accuracy of the correction own vehicle position information is high. In FIG. 11A, the vehicle 1101 shows a vehicle arranged at a position indicated by the own vehicle position information. Further, the vehicle 1102 indicates a vehicle arranged at the position indicated by the correction own vehicle position information calculated based on the position information of the feature 1121 and the distance data and the angle data. As shown in FIG. 11A, the distance between the vehicle 1101 and the vehicle 1102 is a difference value between the own vehicle position information and the correction position information.

Here, in the case of FIG. 11A, since it is determined that the calculation accuracy of the vehicle position information for correction is high, the correction amount is calculated by multiplying the difference value by the coefficient α = "50%". Will be done. The vehicle 1103 indicates a vehicle arranged at a position indicated by the corrected own vehicle position information when the own vehicle position information is corrected using the calculated correction amount. As shown in FIG. 11A, the vehicle 1103 is arranged at a substantially central position between the vehicle 1101 and the vehicle 1102. As described above, when it is determined that the calculation accuracy of the correction vehicle position information is high, the influence of the correction vehicle position information on the corrected vehicle position information becomes large.

On the other hand, FIG. 11B shows a case where it is determined that the calculation accuracy of the correction own vehicle position information is low. In FIG. 11B, the vehicle 1111 shows a vehicle arranged at a position indicated by the own vehicle position information. Further, the vehicle 1112 indicates a vehicle arranged at the position indicated by the correction own vehicle position information calculated based on the position information of the feature 1122 and the distance data and the angle data. As shown in FIG. 11B, the distance between the vehicle 1111 and the vehicle 1112 is a difference value between the own vehicle position information and the correction position information.

Here, in the case of FIG. 11B, since it is determined that the calculation accuracy of the vehicle position information for correction is low, the correction amount is calculated by multiplying the difference value by the coefficient α = "20%". Will be done. The vehicle 1113 indicates a vehicle arranged at a position indicated by the corrected own vehicle position information when the own vehicle position information is corrected using the calculated correction amount. As shown in FIG. 11B, the vehicle 1113 is arranged closer to the vehicle 1111 between the vehicle 1111 and the vehicle 1112. In this way, when it is determined that the calculation accuracy of the correction vehicle position information is low, the influence of the correction vehicle position information on the corrected vehicle position information is limited.

<Flow of own vehicle position calculation process>
Next, the flow of the own vehicle position calculation process by the own vehicle position calculation unit 121 will be described. FIG. 10 is a flowchart showing the flow of the own vehicle position calculation process by the own vehicle position calculation unit. In step S1201, the distance and angle data acquisition unit 501 acquires the distance data and the angle data of the vehicle 100 with respect to the feature from the feature detection sensor 110 and stores the distance data and the angle data in the data holding unit 510. In step S1202, the own vehicle position information acquisition unit 502 acquires the own vehicle position information from the receiving device 306 and stores it in the data holding unit 510.

In step S1203, the position calculation unit 503 determines whether or not the storage processing of the distance data and the angle data in the data holding unit 510 has been completed for the feature to be processed. If it is determined in step S1203 that the process has not been completed (No in step S1203), the process returns to step S1201. On the other hand, if it is determined in step S1203 that the process has been completed (Yes in step S1203), the process proceeds to step S1204.

In step S1204, the position calculation unit 503 reads out the distance data and the angle data stored in the data holding unit 510 from the data holding unit 510 at the timing immediately before the timing when the storage process is completed.

In step S1205, the position calculation unit 503 reads out the own vehicle position information stored in the data holding unit 510 from the data holding unit 510 at the timing immediately before the timing when the storage process is completed.

In step S1206, the position calculation unit 503 reads out the position information about the feature to be processed. In step S1207, the position calculation unit 503 calculates the correction own vehicle position information based on the read position information of the feature and the read distance data and angle data.

In step S1208, the accuracy determination unit 504 determines the calculation accuracy of the correction own vehicle position information, and specifies the coefficient α according to the determination result. In step S1209, the position correction unit 505 calculates the correction amount by multiplying the difference value between the read own vehicle position information and the calculated correction own vehicle position information by the coefficient α. In step S1210, the position correction unit 505 corrects the read own vehicle position information by using the calculated correction amount. In step S1211, the position correction unit 505 outputs the corrected own vehicle position information.

In step S1212, the distance and angle data acquisition unit 501 determines whether or not to end the own vehicle position calculation process. If it is determined in step S1212 that the vehicle position calculation process is not completed (No in step S1212), the process returns to step S1201. On the other hand, if it is determined in step S1212 that the own vehicle position calculation process is completed (yes in step S1212), the own vehicle position calculation process is ended.

<Relationship between difference value and correction amount>
Next, the relationship between the difference value and the correction amount in each coefficient according to the calculation accuracy of the vehicle position information for correction will be described. FIG. 12 is a diagram showing the relationship between the difference value and the correction amount in each coefficient. In FIGS. 13 (a-1) and 13 (a-2), the horizontal axis represents the mileage ([m]) of the vehicle 100, and the vertical axis represents the difference value between the vehicle position information and the correction vehicle position information ( [Cm]) or correction amount ([cm]).

Of these, FIG. 13 (a-1) shows a case where the coefficient α = "100%". As shown in FIG. 13 (a-1), when the coefficient α is 100%, the vehicle position information is corrected using a correction amount equal to the difference value. In this case, the position indicated by the corrected vehicle position information is equal to the position indicated by the corrected vehicle position information.

On the other hand, FIG. 13 (a-2) shows a case where the coefficient α = "50%". As shown in FIG. 13 (a-2), when the coefficient α is set to 50%, the own vehicle position information is corrected using a correction amount of half of the difference value. In this case, the position indicated by the corrected vehicle position information is a substantially central position between the position indicated by the vehicle position information and the position indicated by the corrected vehicle position information.

In FIGS. 13 (b-1) and 13 (b-2), the horizontal axis represents the mileage ([m]) of the vehicle 100, and the vertical axis represents the error ([cm]) of the feature position information or the correction amount ([]. cm]). Of these, FIG. 13 (b-1) shows a case where the coefficient α = "100%". When the coefficient α is set to 100%, as shown in FIG. 13 (b-1), the error of the feature position information is directly reflected in the correction amount. Therefore, when the own vehicle position information is corrected using the correction amount, the accuracy of the corrected own vehicle position information is greatly reduced. On the other hand, FIG. 13 (b-2) shows a case where the coefficient α = "50%". When the coefficient α is set to 50%, half of the error of the feature position information is reflected in the correction amount. Therefore, when the own vehicle position information is corrected by using the correction amount, the deterioration of the accuracy of the own vehicle position information after the correction can be suppressed.

<Summary>
As is clear from the above description, the information processing apparatus according to the first embodiment is
-Obtain the vehicle position information measured by the positioning system.
-Obtain feature location information that indicates the location of features around your vehicle.
-Obtain the distance data and angle data of the own vehicle with respect to the feature obtained by detecting the feature with the feature detection sensor.
-Based on the feature position information and the distance data and the angle data, the correction own vehicle position information indicating the position of the own vehicle is calculated.
-By comparing the accuracy level of the feature position information, the distance data, and the angle data with the respective threshold values, the calculation accuracy of the correction own vehicle position information is determined.
-The correction amount is calculated by multiplying the difference value between the own vehicle position information and the correction own vehicle position information by a coefficient corresponding to the calculation accuracy of the correction own vehicle position information.
-Correct the vehicle position information using the calculated correction amount.

As a result, according to the information processing apparatus according to the first embodiment, when it is determined that the calculation accuracy of the vehicle position information for correction is low, it is possible to reduce the correction amount and correct the correction. It is possible to suppress a decrease in the accuracy of the vehicle position information. Further, according to the information processing apparatus according to the first embodiment, when it is determined that the calculation accuracy of the correction own vehicle position information is high, it is possible to increase the correction amount and make the correction. The accuracy of vehicle position information can be improved.

[Other embodiments]
In the first embodiment, the accuracy determination unit 504 has been described as referring to the accuracy level, the distance data, and the angle data as the determination conditions for determining the calculation accuracy. However, the data referred to when determining the calculation accuracy is not limited to these, and other data may be referred to.

Further, in the first embodiment, when the accuracy determination unit 504 determines that any of the determination conditions is satisfied, the coefficient α = 20%, and when it is determined that none of the determination conditions is satisfied, the coefficient α = 20%. The explanation was made assuming that the coefficient α = 50%. However, the relationship between the success or failure of the determination condition and the coefficient α is not limited to this. For example, the value of the coefficient α may be lowered each time one of the determination conditions is satisfied.

The present invention is not limited to the configurations shown here, such as combinations with other elements in the configurations and the like described in the above embodiments. These points can be changed without departing from the spirit of the present invention, and can be appropriately determined according to the application form thereof.

100: Vehicle 110: Feature detection sensor 120: Information processing device 121: Own vehicle position calculation unit 130: Own vehicle position calculation system 400: Feature position information 501: Distance and angle data acquisition unit 502: Own vehicle position information acquisition unit 503: Position calculation unit 504: Accuracy determination unit 505: Position correction unit 510: Data retention unit 600: Retention data

Claims (5)

An acquisition means for acquiring the first own vehicle position information indicating the position of the own vehicle measured by the positioning system, and
When a feature is detected by the feature detection sensor that detects the feature around the own vehicle, the distance and angle of the own vehicle with respect to the feature are acquired at a predetermined cycle and stored in the holding unit. And the storage means to do
Based on the feature position information indicating the position of the feature on which the storage process is performed and the distance and angle of the own vehicle with respect to the feature stored in the holding portion immediately before the storage process is completed . A calculation means for calculating the second own vehicle position information indicating the position of the own vehicle, and
A changing means for changing the correction amount when correcting the first own vehicle position information, which is calculated based on the second own vehicle position information, according to the predetermined accuracy of the feature position information. An information processing device characterized by having and. The information according to claim 1, wherein the correction amount is calculated by multiplying the difference value between the first own vehicle position information and the second own vehicle position information by a predetermined coefficient. Processing equipment. The information processing apparatus according to claim 2, wherein the changing means changes the correction amount by changing the predetermined coefficient according to the calculation accuracy of the second own vehicle position information. .. An own vehicle position calculation system having a feature detection sensor that detects features around the own vehicle and an information processing device connected to the feature detection sensor.
The information processing device is
An acquisition means for acquiring the first own vehicle position information indicating the position of the own vehicle measured by the positioning system, and
When a feature is detected by the feature detection sensor, a storage means that acquires the distance and angle of the own vehicle with respect to the feature at a predetermined cycle and holds the feature in the holding portion.
Based on the feature position information indicating the position of the feature where the storage process was performed and the distance and angle of the own vehicle with respect to the feature stored in the holding portion immediately before the storage process is completed . A calculation means for calculating the second own vehicle position information indicating the position of the own vehicle, and
A changing means for changing the correction amount when correcting the first own vehicle position information, which is calculated based on the second own vehicle position information, according to the predetermined accuracy of the feature position information. Own vehicle position calculation system characterized by having and. A vehicle equipped with the own vehicle position calculation system according to claim 4 .

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