JP7614885B2 - Information processing system, information processing method, and information processing program - Google Patents

Description

The present disclosure relates to an information processing system, an information processing method, and an information processing program that are capable of calculating the moving position of a vehicle on a road that includes an area where a positioning signal from a positioning satellite cannot be received.

Conventionally, there is known a technique for calculating the moving position of a vehicle moving along a roadway using information from positioning satellites and information on the running state of the vehicle, such as the vehicle's speed and attitude, with a GPS receiver. For example, Patent Document 1 discloses a technique for calculating the change in the moving position of a vehicle based on the running state of the vehicle in an area, such as a tunnel, where the positioning signal from the positioning satellite cannot be received.

JP 2017-181167 A

However, with the above-mentioned conventional technology, the deviation between the calculated moving position and the actual position increases due to the accumulation of errors in the on-board sensors that detect the vehicle's speed, attitude, etc. As a result, it can be difficult to accurately detect changes in the moving position of a vehicle traveling on a road that includes areas where positioning signals from positioning satellites cannot be received.

The present disclosure has been made in consideration of the above, and aims to provide an information processing system that can accurately calculate changes in the moving position of a vehicle traveling on a road that includes an area where a positioning signal from a positioning satellite cannot be received.

In order to solve the above-mentioned problems and achieve the object, the information processing system of the present disclosure includes a measurement information acquisition unit, a processing method selection unit, a calculation unit , and a curve information acquisition unit . The measurement information acquisition unit acquires measurement information including positioning information, which is information on a positioning signal from a positioning satellite received by a measurement device mounted on a vehicle traveling on a road, and state information indicating the traveling state of the vehicle detected by the measurement device. The processing method selection unit selects a method for calculating a change in the moving position of the vehicle for each section of the road from among a plurality of calculation processing methods including a calculation processing method using the positioning information and a calculation processing method not using the positioning information, based on a reception state of the positioning signal in the measurement device. The calculation unit calculates a change in the moving position of the vehicle for each section based on the measurement information acquired by the measurement information acquisition unit using the calculation processing method selected by the processing method selection unit. The curve information acquisition unit acquires curve information, which is information indicating a curvature radius of a curve for each section. The processing method selection unit determines, for each section, based on the curve information, whether the curve information is above a threshold value if the section is curved, and selects a calculation processing method for each section based on the result of the determination and the reception status of the positioning signal in the measuring device.

The present disclosure has the advantage of being able to accurately calculate changes in the moving position of a vehicle traveling on a road that includes an area where a positioning signal from a positioning satellite cannot be received.

FIG. 1 is a diagram showing an example of a configuration of an information processing system according to a first embodiment. FIG. 1 is a diagram showing an example of a configuration of a measurement information processing device according to a first embodiment; FIG. 1 is a diagram showing an example of a part of a road on which a measurement vehicle according to a first embodiment travels; FIG. 1 is a diagram showing an example of curve information included in a curve information DB stored in a storage unit of the measurement information processing device according to the first embodiment; FIG. 1 is a diagram showing an example of evaluation information of an evaluation information DB stored in a storage unit of a measurement information processing device according to a first embodiment; FIG. 1 is a diagram showing an example of an area of one section on a road according to a first embodiment; FIG. 13 is a diagram for explaining a change in the moving position of a measurement vehicle calculated before correction in the visualization processing according to the first embodiment; FIG. 13 is a diagram for explaining a change in the moving position of a measurement vehicle calculated after correction in the visibility processing according to the first embodiment; FIG. 1 is a diagram showing an example of the relationship between a section, a curve R, a satellite fix rate, and a calculation processing method according to the first embodiment; FIG. 13 is a diagram showing another example of evaluation information in the evaluation information DB stored in the storage unit of the measurement information processing device according to the first embodiment; FIG. 1 is a diagram showing an example of the relationship between a section, a curve R, a satellite fix rate, a PDOP average, and a calculation processing method according to the first embodiment; 1 is a flowchart showing an example of processing by a processing unit of a measurement information processing apparatus according to a first embodiment; FIG. 1 is a diagram illustrating an example of a hardware configuration of a measurement information processing device according to a first embodiment.

The information processing system, information processing method, and information processing program according to the embodiments are described in detail below with reference to the drawings.

Embodiment 1.
Fig. 1 is a diagram illustrating an example of a configuration of an information processing system according to the first embodiment. As illustrated in Fig. 1, the information processing system 100 according to the first embodiment includes a measurement vehicle 1, a measurement information processing device 2, and a terminal device 3.

The measurement vehicle 1, the measurement information processing device 2, and the terminal device 3 can transmit and receive information via a network 4. The network 4 is, for example, a communication network such as a LAN (Local Area Network) or a WAN (Wide Area Network).

The measurement vehicle 1 includes a vehicle 10 and a measurement device 11 mounted on the vehicle 10, and travels on a travel path 5. The vehicle 10 is, for example, a railroad vehicle or an automobile. If the vehicle 10 is a railroad vehicle, the travel path 5 is a rail, and if the vehicle 10 is an automobile, the travel path 5 is a road.

The measurement device 11 includes multiple GPS (Global Positioning System) receivers 12, an inertial sensor 13, a speed detection device 14, a laser scanner 15, a processing device 16, and a communication unit 17. The processing device 16 includes a memory unit 18.

The GPS receiver 12 receives positioning signals from GPS satellites, which are positioning satellites. The GPS receiver 12 stores positioning information, including a navigation message set in the positioning signal and information on the carrier phase of the positioning signal, in the memory unit 18 of the processing device 16 for each reception time or measurement time. The positioning information includes time information indicating the reception time or measurement time. Note that the GPS receiver 12 may be a receiver that receives positioning signals from satellites of GNSS (GLOBAL Navigation Satellite Systems) other than GPS satellites.

The inertial sensor 13 measures minute variations in the angular velocity of the three-dimensional attitude angle of the measurement vehicle 1 while the vehicle is stopped or moving, and stores attitude information including the measurement results in the memory unit 18 of the processing device 16 for each measurement time. The attitude information includes time information indicating the measurement time.

The speed detection device 14 detects the traveling speed of the measurement vehicle 1. The speed detection device 14 is, for example, a laser Doppler speedometer that measures the traveling speed of the measurement vehicle 1 by utilizing the Doppler effect. The speed detection device 14 stores speed information including information on the measured traveling speed of the measurement vehicle 1 in the memory unit 18 of the processing device 16 for each measurement time. The speed information includes time information indicating the measurement time.

The laser scanner 15 is a sensor for measuring the three-dimensional position of at least one of the roadway 5 and the periphery of the roadway 5 as a measurement object. The laser scanner 15 irradiates the measurement object with laser light while the measurement vehicle 1 is traveling, and receives the laser light reflected from the measurement object. The laser scanner 15 measures the distance and direction from the laser scanner 15 for each irradiation point irradiated with the laser light as a distance direction point, based on the time from irradiation of the laser light to reception of the laser light and the irradiation direction of the laser light.

The laser scanner 15 stores three-dimensional information, which is information on a distance and orientation point cloud consisting of multiple measured distance and orientation points, in the memory unit 18 of the processing device 16 for each measurement time or acquisition time. The distance and orientation points represent the distance and orientation from the measurement vehicle 1 to the measurement object. The three-dimensional information includes time information indicating the measurement time or acquisition time.

The processing device 16 transmits the measurement information stored in the memory unit 18 to the measurement information processing device 2 via the communication unit 17 and the network 4. The measurement information includes positioning information output from the GPS receiver 12, attitude information output from the inertial sensor 13, speed information output from the speed detection device 14, and three-dimensional information output from the laser scanner 15. The attitude information and speed information are examples of status information that indicate the traveling status of the vehicle 10.

The processing device 16 has an interface circuit (not shown) that writes information to a recording medium (not shown), and can write measurement information to a recording medium (not shown) via the interface circuit. The recording medium is, for example, a Universal Serial Bus (USB) memory, an optical disk, or a hard disk drive (HDD).

In the example shown in FIG. 1, the measuring device 11 is configured to have multiple GPS receivers 12, but the measuring device 11 may have only one GPS receiver 12. In this case, the measurement information processing device 2 detects the position of the measuring vehicle 1 based on the information of the positioning signal received by one GPS receiver 12. Note that since the accuracy of position detection using multiple GPS receivers 12 is higher than the accuracy of position detection using one GPS receiver 12, it is preferable that multiple GPS receivers 12 are provided in the measuring device 11.

Figure 2 is a diagram showing an example of the configuration of the measurement information processing device according to the first embodiment. As shown in Figure 2, the measurement information processing device 2 includes a communication unit 20, a storage unit 21, and a processing unit 22. The communication unit 20 is connected to the network 4, and receives measurement information transmitted from the measurement vehicle 1 via the network 4.

The processing unit 22 stores the measurement information received by the communication unit 20 in the memory unit 21. As described above, such measurement information includes positioning information, attitude information, speed information, and three-dimensional information. Note that the measurement information processing device 2 has an interface circuit (not shown) that reads information from a recording medium (not shown), and the processing unit 22 can read the measurement information from the recording medium (not shown) via the interface circuit (not shown) and store the read measurement information in the memory unit 21.

The memory unit 21 stores a measurement information DB (DataBase) 30, a curve information DB 31, an evaluation information DB 32, and a target information DB 33. The measurement information DB 30 stores measurement information. The curve information DB 31 includes curve information, which is information on the curve R for each section of the road 5.

Figure 3 is a diagram showing an example of a portion of a road along which a measurement vehicle according to the first embodiment travels, and Figure 4 is a diagram showing an example of curve information included in a curve information DB stored in a memory unit of a measurement information processing device according to the first embodiment.

As shown in FIG. 3, the road 5 on which the measurement vehicle 1 travels includes the areas of sections 1T, 2T, 3T, 4T, 5T, and 6T. The curve information shown in FIG. 4 includes a "section" and a "curve R" for each "section." A "section" is identification information for distinguishing each of the multiple sections 1T, 2T, 3T, 4T, 5T, and 6T that make up the road 5 on which the measurement vehicle 1 travels. A "curve R" is information about the curve R. The information about the curve R is information that indicates the radius of curvature of the section, and is measured in meters.

In the curve information shown in FIG. 4, the curve R in section 1T is 1800, the curve R in section 2T is 450, the curve R in section 3T is 1400, the curve R in section 4T is 400, the curve R in section 5T is 1200, and the curve R in section 6T is 2000. Hereinafter, when multiple sections such as sections 1T, 2T, 3T, 4T, 5T, and 6T are indicated without being individually distinguished, they may be referred to as section T.

Returning to FIG. 2, the description of the storage unit 21 will continue. The evaluation information DB 32 of the storage unit 21 includes evaluation information, which is information for evaluating measurement information. FIG. 5 is a diagram showing an example of evaluation information in the evaluation information DB stored in the storage unit of the measurement information processing device according to the first embodiment. The evaluation information shown in FIG. 5 includes, for each "curve R," a calculation processing method for the change in the moving position of the measurement vehicle 1 according to the "GPS reception conditions in the section."

"Curve R" is information indicating the radius of curvature of section T, similar to "Curve R" shown in FIG. 4. "GPS reception status in section" is information indicating the GPS reception status in section T, for example, information on the satellite fix rate. The satellite fix rate is the proportion of positioning information that is in a fixed state in which a fix solution can be obtained out of multiple pieces of positioning information obtained in section T. In the example shown in FIG. 5, the satellite fix rate is divided into three stages: 100%, a range of 50% to less than 100%, and a range of less than 50%.

There are three methods for calculating the change in the moving position of the measurement vehicle 1 according to the "GPS reception conditions in the section", namely visible processing, invisible processing, and invisible processing and LMU (Land Mark Update). Visible processing is processing that calculates the change in the moving position of the measurement vehicle 1 based on the positioning information and status information contained in the measurement information, while invisible processing is processing that calculates the change in the moving position of the measurement vehicle 1 based on the status information without using the positioning information. LMU is processing that calculates the change in the moving position of the measurement vehicle 1 by correcting the change in the moving position of the measurement vehicle 1 obtained by invisible processing based on the positions of targets called landmarks.

In the example shown in FIG. 5, in section T where curve R is a straight line, if the satellite fix rate is 100%, the calculation processing method is visible processing, if the satellite fix rate is in the range of 50% or more and less than 100%, the calculation processing method is visible processing, and if the satellite fix rate is in the range of less than 50%, the calculation processing method is invisible processing. Note that curve R being a straight line means that section T can be regarded as a straight line, and is not limited to a straight line in the strict sense.

In the example shown in FIG. 5, in section T where curve R is 500 or more, if the satellite fix rate is 100%, the calculation processing method is visible processing, if the satellite fix rate is in the range of 50% or more but less than 100%, the calculation processing method is visible processing, and if the satellite fix rate is in the range of less than 50%, the calculation processing method is invisible processing.

In the example shown in FIG. 5, in section T where curve R is less than 500, if the satellite fix rate is 100%, the calculation processing method is visible processing, if the satellite fix rate is in the range of 50% or more and less than 100%, the calculation processing method is visible processing, and if the satellite fix rate is in the range of less than 50%, the calculation processing method is invisible processing and LMU.

Here, we will explain the visible processing and invisible processing. First, we will explain the visible processing. Figure 6 is a diagram showing an example of an area of one section on a road in the first embodiment. Figure 7 is a diagram for explaining the change in the moving position of the measurement vehicle calculated before correction in the visible processing in the first embodiment.

The section T shown in FIG. 6 is formed by a satellite visible area 80a, a satellite invisible area 81, and a satellite visible area 80b, and the satellite invisible area 81 is located between the satellite visible areas 80a and 80b.

The satellite visible areas 80a and 80b are areas where the GPS receiver 12 of the measurement vehicle 1 can receive positioning signals from positioning satellites, and the satellite invisible area 81 is an area where the GPS receiver 12 of the measurement vehicle 1 cannot receive positioning signals from positioning satellites. Being able to receive positioning signals from positioning satellites means that the positioning information contained in the positioning signal is in a fixed state where a fixed solution can be obtained, and the moving position of the measurement vehicle 1 can be calculated from the positioning information.

In the visual processing, the change in the moving position of the vehicle 10 is calculated based on the positioning information obtained in the satellite visible areas 80a, 80b and the error correction information for the area including the satellite visible areas 80a, 80b, so that the change in the moving position of the measurement vehicle 1 in the satellite visible areas 80a, 80b can be detected with high accuracy. The error correction information includes information such as the pseudorange delay amount due to the position error of the positioning satellite, the ionospheric delay amount of the positioning signal, the satellite clock error, and the tropospheric delay amount of the positioning signal.

Since it is not possible to obtain positioning information that can provide a fixed solution in the satellite invisible area 81, changes in the moving position of the measurement vehicle 1 in the satellite invisible area 81 are detected by calculating the position change based on the traveling speed of the measurement vehicle 1 and the attitude of the measurement vehicle 1 indicated by the status information obtained in the satellite invisible area 81.

The inertial sensor 13 and speed detection device 14 mounted on the measurement vehicle 1 have measurement errors. Therefore, from when the measurement vehicle 1 enters the start position A of the satellite invisible area 81 until it reaches the end position B of the satellite invisible area 81, the measurement errors accumulate, and the accumulated error, which is the error that accumulates, becomes larger. Figure 7 shows a first example and a second example with different accumulated errors as examples of changes in position movement position based on status information.

Therefore, a large discrepancy may occur between the movement position of the measurement vehicle 1 calculated based on the status information obtained from the measurement vehicle 1 located at the end position B of the satellite invisible area 81 and the movement position of the measurement vehicle 1 calculated based on the positioning information obtained from the measurement vehicle 1 that has become the start position of the satellite visible area 80b.

Therefore, in the visual processing according to the first embodiment, a correction process is performed to correct the change in the moving position of the measurement vehicle 1 calculated based on the status information obtained from the measurement vehicle 1 located in the satellite invisible area 81. Figure 8 is a diagram for explaining the change in the moving position of the measurement vehicle calculated after correction in the visual processing according to the first embodiment.

As shown in FIG. 8, the visibility correction process corrects the change in the movement position of the measurement vehicle 1 in the satellite invisible area 81 so that the change in the movement position of the measurement vehicle 1 in the satellite invisible area 81 and the change in the movement position of the measurement vehicle 1 in the satellite visible area 80b are continuous.

Therefore, the continuity of the movement position of the measurement vehicle 1 between the satellite invisible area 81 and the satellite visible area 80b is maintained, but the movement trajectory of the measurement vehicle 1 in the satellite invisible area 81 changes to a shape in the extension direction of the satellite invisible area 81, and further, the length of the movement trajectory of the measurement vehicle 1 may become longer or shorter than the length of the extension direction of the satellite invisible area 81. As a change in position movement based on the status information, in the first example shown in FIG. 8, the length of the movement trajectory of the measurement vehicle 1 is longer than the length of the extension direction of the satellite invisible area 81, and in the second example shown in FIG. 8, the length of the movement trajectory of the measurement vehicle 1 is shorter than the length of the extension direction of the satellite invisible area 81.

In the visibility process, the greater the proportion of the satellite invisible area 81 in the section T, the longer or shorter the length of the movement trajectory of the measurement vehicle 1 in the section T calculated by the visibility process may be than the actual length of the section T in the extension direction.

In addition, in the visibility process, the smaller the curve R of the satellite invisible area 81, the longer the length of the movement trajectory of the measurement vehicle 1 in the section T calculated in the visibility process may be than the actual length of the section T in the extension direction.

Then, the measurement information processing device 2 selects invisible processing, or invisible processing and LMU, instead of visible processing, based on the proportion of the satellite invisible area 81 in the section T and the curve R of the satellite invisible area 81.

The invisible processing is a process that calculates the position change based on the traveling speed of the measurement vehicle 1 and the attitude of the measurement vehicle 1 shown in the status information, without using positioning information. Since the invisible processing does not perform the correction processing used in the visible processing, when the cumulative error in the change in the movement position of the measurement vehicle 1 in the satellite invisible area 81 is large, the error between the shape of the movement trajectory of the measurement vehicle 1 calculated by the invisible processing and the shape of the satellite invisible area 81 is smaller than in the visible processing.

Therefore, when the cumulative error of the change in the moving position of the measurement vehicle 1 in the satellite invisible area 81 is large, the length of the movement trajectory of the measurement vehicle 1 in the section T calculated by the invisibility processing has a smaller error in the actual length of the extension direction of the section T than the length of the movement trajectory of the measurement vehicle 1 in the section T calculated by the visibility processing. The cumulative error of the change in the moving position of the measurement vehicle 1 in the satellite invisible area 81 becomes larger the larger the proportion of the satellite invisible area 81 occupies in the section T. Furthermore, the cumulative error of the change in the moving position of the measurement vehicle 1 in the satellite invisible area 81 may become larger the smaller the curve R of the satellite invisible area 81.

LMU is a process that detects changes in the moving position of the measurement vehicle 1 obtained by invisible processing, based on the positions of targets called landmarks. When invisible processing and LMU are selected as the calculation processing method, the measurement information processing device 2 determines the true value of the moving position of the measurement vehicle 1 based on the targets included in the three-dimensional information and the positions of the targets included in the target information DB, and corrects the changes in the moving position of the measurement vehicle 1 obtained by invisible processing, based on this true value.

The target information DB33 contains target information for each target, including information on the three-dimensional shape of the target and the target's position. When invisibility processing and LMU are selected as the calculation processing method, the processing unit 22 of the measurement information processing device 2 identifies the position of a target that matches the target contained in the three-dimensional information based on the target information stored in the target information DB33.

Then, the processing unit 22 determines the true value of the movement position of the measurement vehicle 1 from the relationship between the position of the identified target and the movement position of the measurement vehicle 1 obtained by the invisibility processing. The processing unit 22 corrects the change in the movement position of the measurement vehicle 1 obtained by the invisibility processing based on the true value of the movement position of the measurement vehicle 1.

Returning to FIG. 2, the processing unit 22 will be described further. The processing unit 22 includes an information acquisition unit 40, a processing method selection unit 41, a calculation unit 42, and an output processing unit 43. The information acquisition unit 40 includes a measurement information acquisition unit 50, a curve information acquisition unit 51, and an evaluation information acquisition unit 52.

The measurement information acquisition unit 50 acquires from the communication unit 20 the measurement information transmitted from the measurement vehicle 1 and received by the communication unit 20 via the network 4. The measurement information acquisition unit 50 can also read measurement information from a recording medium (not shown) via an interface circuit (not shown) and acquire the read measurement information. The measurement information acquisition unit 50 adds the measurement information acquired from the communication unit 20 or the recording medium (not shown) to the measurement information DB 30 of the storage unit 21. The measurement information acquisition unit 50 can add the measurement information acquired from the communication unit 20 or the recording medium (not shown) to the measurement information DB 30 by assigning a section code for each section T. The section code may be assigned by the measurement device 11.

The measurement information acquisition unit 50 also acquires the measurement information contained in the measurement information DB 30 of the storage unit 21 for each section T based on the section code. The measurement information acquisition unit 50 outputs the acquired measurement information for each section T to the processing method selection unit 41 and the calculation unit 42.

The curve information acquisition unit 51 acquires curve information for each section T contained in the curve information DB 31 of the storage unit 21. The curve information acquisition unit 51 outputs the acquired curve information for each section T to the processing method selection unit 41.

The evaluation information acquisition unit 52 acquires evaluation information contained in the evaluation information DB 32 of the storage unit 21. The evaluation information acquisition unit 52 outputs the acquired evaluation information to the processing method selection unit 41.

The processing method selection unit 41 selects, for each section T, a calculation processing method for calculating the change in the moving position of the measurement vehicle 1 based on the measurement information, curve information, and evaluation information output from the information acquisition unit 40. As described above, the calculation processing method selected is either visible processing, invisible processing, or invisible processing and LMU. Hereinafter, the change in the moving position of the measurement vehicle 1 may be referred to as the moving position change of the measurement vehicle 1.

Figure 9 is a diagram showing an example of the relationship between the section, curve R, satellite fix rate, and calculation processing method according to the first embodiment. The example shown in Figure 9 shows an example in which the road 5 includes the areas of sections 1T, 2T, 3T, 4T, 5T, and 6T shown in Figure 3, the curve information is in the state shown in Figure 4, and the evaluation information is in the state shown in Figure 5. Also, in the example shown in Figure 9, the satellite fix rates for sections 1T, 2T, 3T, 4T, 5T, and 6T are 100%, 60%, 40%, 45%, 80%, and 70%.

In this case, the processing method selection unit 41 selects visible processing as the calculation processing method for the change in the moving position of the measurement vehicle 1 in each of sections 1T, 2T, 5T, and 6T, because the satellite fix rate is 50% or more in sections 1T, 2T, 5T, and 6T. Also, the processing method selection unit 41 selects invisible processing as the calculation processing method for the change in the moving position of the measurement vehicle 1 in section 3T, because the satellite fix rate is less than 50% in section 3T and the curve R is 1400.

In addition, since the satellite fix rate is less than 50% in section 4T and the curve R in the area of section 4T is less than 500, the processing method selection unit 41 selects invisible processing and LMU as the calculation processing method for the change in the movement position of the measurement vehicle 1 in section 4T.

Note that the evaluation information shown in FIG. 5 is an example, and the evaluation information is not limited to the example shown in FIG. 5. For example, the evaluation information may specify invisible processing instead of visible processing as the calculation processing method for section T where the curve R is less than 500 and the satellite fix rate is 50% or more and less than 100%. In this case, since the satellite fix rate of section 2T is 50% or more and less than 100% and the curve R is less than 500, the processing method selection unit 41 selects invisible processing as the calculation processing method for the change in the moving position of the measurement vehicle 1 in section 2T.

The evaluation information may also include an average value of PDOP (Position Dilution Of Precision) in section T in addition to the satellite fix rate in section T as information indicating the GPS reception status in section T. FIG. 10 is a diagram showing another example of evaluation information in the evaluation information DB stored in the storage unit of the measurement information processing device according to the first embodiment.

The evaluation information shown in FIG. 10 includes, for each "curve R," a calculation processing method for the change in moving position of the measurement vehicle 1 according to the "curve R" and the "GPS reception status in the section." The "GPS reception status in the section" is information indicating the GPS reception status in section T, and includes information on the satellite fix rate and information on the average value of the PDOP. In the following, the average value of the PDOP may be referred to as the PDOP average.

In the example shown in Figure 10, the satellite fix rate is divided into three stages: 100%, 50% to less than 100%, and less than 50%, and the PDOP average, which is the average value of PDOP, is divided into two stages: less than 6.0 and 6.0 or more.

Here, we will explain the selection of the calculation processing method using the evaluation information shown in Figure 10. Figure 11 is a diagram showing an example of the relationship between the section, curve R, satellite fix rate, PDOP average, and calculation processing method according to the first embodiment.

The example shown in FIG. 11 shows a case where the road 5 includes the areas of sections 1T, 2T, 3T, 4T, 5T, and 6T shown in FIG. 3, the curve information is in the state shown in FIG. 4, and the evaluation information is in the state shown in FIG. 5. In addition, in the example shown in FIG. 11, the satellite fix rates of sections 1T, 2T, 3T, 4T, 5T, and 6T are 100%, 45%, 40%, 45%, 80%, and 70%, and the average PDOPs of sections 1T, 2T, 3T, 4T, 5T, and 6T are 2.0, 8.0, 7.0, 2.7, 5.0, and 4.0.

In this case, since the satellite fix rate is 50% or more and the PDOP average is less than 6.0 in sections 1T, 5T, and 6T, the processing method selection unit 41 selects visual processing as the calculation processing method for the change in the movement position of the measurement vehicle 1 in sections 1T, 5T, and 6T.

In addition, since the satellite fix rate is less than 50%, the PDOP average is 6.0 or more, and the curve R is 450 in section 2T, the processing method selection unit 41 selects invisible processing and LMU as the calculation processing method for the change in the movement position of the measurement vehicle 1 in section 2T.

In addition, since the satellite fix rate is less than 50%, the PDOP average is 6.0 or more, and the curve R is 1400 in section 3T, the processing method selection unit 41 selects invisibility processing as the calculation processing method for the movement position of the measurement vehicle 1 in section 3T.

In addition, since the satellite fix rate is less than 50%, the PDOP average is less than 6.0, and the curve R is 400 in section 4T, the processing method selection unit 41 selects visual processing as the calculation processing method for the movement position of the measurement vehicle 1 in section 4T. Note that the evaluation information shown in FIG. 10 is an example, and the evaluation information including the PDOP average is not limited to the example shown in FIG. 10.

Returning to FIG. 2, we will continue to explain the processing unit 22 of the measurement information processing device 2. The calculation unit 42 of the processing unit 22 calculates the change in the moving position of the measurement vehicle 1 for each section T based on the measurement information acquired by the measurement information acquisition unit 50, using the calculation processing method selected by the processing method selection unit 41.

The calculation unit 42 includes a first calculation unit 60 that calculates the change in the moving position of the measurement vehicle 1 by visible processing, and a second calculation unit 61 that calculates the change in the moving position of the measurement vehicle 1 by invisible processing or invisible processing and LMU.

The visualization process executed by the first calculation unit 60 is a process that calculates the change in the moving position of the measurement vehicle 1 using the positioning information, as described above. The first calculation unit 60 executes a visualization process that calculates the change in the moving position of the measurement vehicle 1 based on the positioning information and status information contained in the measurement information.

For example, the first calculation unit 60 calculates the change in the moving position of the measurement vehicle 1 based on the positioning information and error correction information included in the measurement information obtained by the measurement vehicle 1 in the satellite visible area 80. The first calculation unit 60 also calculates the change in the moving position of the vehicle 10 based on the traveling speed of the measurement vehicle 1 and the attitude of the measurement vehicle 1 indicated by the status information included in the measurement information obtained by the measurement vehicle 1 in the satellite invisible area 81. The first calculation unit 60 also performs a correction process to correct the change in the moving position of the measurement vehicle 1 in the satellite invisible area 81.

The invisibility processing executed by the second calculation unit 61 is a process for calculating the change in the moving position of the measurement vehicle 1 based on the status information without using the positioning information, as described above. The second calculation unit 61 calculates the change in the moving position of the measurement vehicle 1 based on the traveling speed of the measurement vehicle 1 and the attitude of the measurement vehicle 1 indicated by the status information included in the measurement information obtained by the measurement vehicle 1.

The invisible processing and LMU executed by the second calculation unit 61 is a process that, after performing the invisible processing as described above, determines the true value of the moving position of the measurement vehicle 1 based on the position of the target, and corrects the change in the moving position of the measurement vehicle 1 obtained by the invisible processing based on the true value. The second calculation unit 61 identifies the position of the target that matches the target included in the three-dimensional information based on the target information stored in the target information DB 33. The second calculation unit 61 determines the true value of the moving position of the measurement vehicle 1 from the relationship between the identified target position and the moving position of the measurement vehicle 1 obtained by the invisible processing. The second calculation unit 61 corrects the change in the moving position of the measurement vehicle 1 obtained by the invisible processing based on the true value of the moving position of the measurement vehicle 1. The change in the moving position of the measurement vehicle 1 calculated by the invisible processing and LMU is more accurate than the change in the moving position of the measurement vehicle 1 calculated by the invisible processing.

The information on the change in the moving position of the measurement vehicle 1 calculated by the calculation unit 42 includes, for example, information on the moving position of the measurement vehicle 1 for each measurement time. Hereinafter, the information on the change in the moving position of the measurement vehicle 1 calculated by the calculation unit 42 may be referred to as measurement position information.

The output processing unit 43 of the processing unit 22 associates the measurement position information for each section T output from the calculation unit 42 with the section code and transmits it as output information to the terminal device 3 via the communication unit 20 and the network 4.

The output processing unit 43 can also transmit information based on the measurement position information for each section T output from the calculation unit 42 and the three-dimensional information included in the measurement information in the measurement information DB 30 as output information to the terminal device 3 via the communication unit 20 and the network 4. For example, based on the position information transmitted from the terminal device 3, the output processing unit 43 transmits display information for displaying a three-dimensional image of the measurement object at the position specified by the position information as output information to the terminal device 3 via the communication unit 20 and the network 4.

Next, the processing by the processing unit 22 of the measurement information processing device 2 will be described using a flowchart. FIG. 12 is a flowchart showing an example of processing by the processing unit of the measurement information processing device according to the first embodiment.

As shown in FIG. 12, the processing unit 22 of the measurement information processing device 2 acquires the measurement information, the curve information, and the evaluation information from the memory unit 21 (step S10), and then the processing unit 22 selects a calculation processing method for each section T based on the measurement information, the curve information, and the evaluation information acquired in step S10 (step S11).

Next, the processing unit 22 calculates the change in the moving position of the measurement vehicle 1 for each section T using the calculation processing method selected in step S11 (step S12). Then, the processing unit 22 outputs output information including information indicating the change in the moving position of the measurement vehicle 1 calculated for each section T in step S12 via the communication unit 20 and the network 4 (step S13), and ends the processing shown in FIG. 12.

In the above example, the status information includes speed information detected by the speed detection device 14, but if the measurement vehicle 1 is equipped with an odometer, the status information may include distance information for each measurement time detected by the odometer equipped on the measurement vehicle 1 instead of the speed information. In this case, the first calculation unit 60 of the calculation unit 42 calculates the change in the moving position of the measurement vehicle 1 based on the distance information and attitude information included in the status information in the invisibility processing.

FIG. 13 is a diagram illustrating an example of a hardware configuration of a measurement information processing device according to the first embodiment. As illustrated in FIG. 13, the measurement information processing device 2 includes a computer having a processor 101, a memory 102, a communication device 103, and an interface circuit 104.

The processor 101, memory 102, communication device 103, and interface circuit 104 can transmit and receive information to and from each other via, for example, a bus 105. The storage unit 21 is realized by the memory 102. The communication unit 20 is realized by the communication device 103. The processor 101 executes functions such as the processing unit 22 by reading and executing a program stored in the memory 102. The processor 101 is, for example, an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). The memory 102 also includes a recording medium on which a computer-readable program is recorded. Such a recording medium includes one or more of a non-volatile or volatile semiconductor memory, a magnetic disk, a flexible memory, an optical disk, a compact disk, and a DVD (Digital Versatile Disc). The measurement information processing device 2 may include an integrated circuit such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

The measurement information processing device 2 may be composed of two or more devices. When the measurement information processing device 2 is composed of two or more devices, each of the two or more devices has, for example, the hardware configuration shown in FIG. 13. Note that communication between the two or more devices is performed via the communication device 103. The measurement information processing device 2 may also be composed of two or more servers. For example, the measurement information processing device 2 may be composed of a processing server and a data server.

As described above, the information processing system 100 according to the first embodiment includes a measurement information acquisition unit 50, a processing method selection unit 41, and a calculation unit 42. The measurement information acquisition unit 50 acquires measurement information including positioning information, which is information on a positioning signal from a positioning satellite received by a measurement device 11 mounted on a vehicle 10 traveling on a travel path 5, and state information indicating the traveling state of the vehicle 10 detected by the measurement device 11. The processing method selection unit 41 selects a method for calculating a change in the moving position of the vehicle 10 for each section T of the travel path 5 from among a plurality of calculation processing methods including a calculation processing method using the positioning information and a calculation processing method not using the positioning information, based on the reception state of the positioning signal in the measurement device 11. The calculation unit 42 calculates a change in the moving position of the vehicle 10 for each section based on the measurement information acquired by the measurement information acquisition unit 50 using the calculation processing method selected by the processing method selection unit 41. Visible processing is an example of a calculation processing method that uses positioning information, while invisible processing or invisible processing and LMU is an example of a calculation processing method that does not use positioning information. This allows the information processing system 100 to accurately calculate the change in the moving position of the vehicle 10 traveling on the travel path 5 that includes an area where the positioning signal from the positioning satellite cannot be received. In addition, since the information processing system 100 can accurately calculate the distance from the start point of each section T, the calculated change in the moving position of the vehicle 10 can be used for automatic driving, for example.

The information processing system 100 also includes a curve information acquisition unit 51 that acquires curve information, which is information about the curve R for each section T. The processing method selection unit 41 selects a method for calculating changes in the moving position of the vehicle 10 for each section T, based on the reception state of the positioning signal in the measuring device 11 and the curve information. This enables the information processing system 100 to more accurately calculate changes in the moving position of the vehicle 10 traveling on the road 5 that includes an area where the positioning signal from the positioning satellite cannot be received.

The reception state of the positioning information also includes the proportion of fixed state positioning information for which a fixed solution can be obtained among the multiple pieces of positioning information in section T. The processing method selection unit 41 selects a calculation processing method for each section T based on the proportion of fixed states in section T and the curve information. This enables the information processing system 100 to more accurately calculate changes in the moving position of the vehicle 10 traveling on the road 5 that includes an area where a positioning signal from a positioning satellite cannot be received.

The reception state of the positioning information also includes a position accuracy degradation rate. The processing method selection unit 41 selects a calculation processing method for each section based on the average value of the position accuracy degradation rate in the section T, the proportion of fixed states in the section T, and the curve information. This enables the information processing system 100 to more accurately calculate changes in the moving position of the vehicle 10 traveling on the road 5 that includes an area where a positioning signal from a positioning satellite cannot be received.

Calculation processing methods that do not use positioning information include a method of calculating a change in moving position based on state information, and a second method of calculating a change in moving position by correcting the change in moving position calculated based on the state information based on the position of a target detected by a measuring device 11 provided on the road 5 or around the road 5. This allows the information processing system 100 to more accurately calculate a change in moving position of the vehicle 10 traveling on the road 5 that includes an area where a positioning signal from a positioning satellite cannot be received.

The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies. Parts of the configurations may be omitted or modified without departing from the spirit of the invention.

1 Measurement vehicle, 2 Measurement information processing device, 3 Terminal device, 4 Network, 5 Travel path, 10 Vehicle, 11 Measurement device, 12 GPS receiver, 13 Inertial sensor, 14 Speed detection device, 15 Laser scanner, 16 Processing device, 17, 20 Communication unit, 18, 21 Memory unit, 22 Processing unit, 30 Measurement information DB, 31 Curve information DB, 32 Evaluation information DB, 33 Target information DB, 40 Information acquisition unit, 41 Processing method selection unit, 42 Calculation unit, 43 Output processing unit, 50 Measurement information acquisition unit, 51 Curve information acquisition unit, 52 Evaluation information acquisition unit, 60 First calculation unit, 61 Second calculation unit, 80a, 80b Satellite visible area, 81 Satellite invisible area, 100 Information processing system.

Claims (9)

a measurement information acquisition unit that acquires measurement information including positioning information, which is information on a positioning signal from a positioning satellite received by a measurement device mounted on a vehicle traveling on a road, and status information that indicates a traveling status of the vehicle detected by the measurement device;
a processing method selection unit that selects, for each section of the road, a method for calculating a change in the moving position of the vehicle from a plurality of calculation processing methods including a calculation processing method that uses the positioning information and a calculation processing method that does not use the positioning information, based on a reception state of the positioning signal in the measurement device;
a calculation unit that calculates a change in a moving position of the vehicle for each section based on the measurement information acquired by the measurement information acquisition unit using the calculation processing method selected by the processing method selection unit;
a curve information acquisition unit that acquires curve information that is information indicating a curvature radius of a curve for each section ,
The processing method selection unit is
an information processing system characterized in that, for each section, based on the curve information, it is determined whether the curve information is equal to or greater than a threshold value if the section is curved, and the calculation processing method is selected for each section based on the result of the determination and the reception state of the positioning signal in the measuring device . The reception state of the positioning information is
a ratio of positioning information in a fixed state in which a fix solution can be obtained among the plurality of positioning information in the section,
The processing method selection unit is
The information processing system according to claim 1 , wherein the calculation processing method is selected for each of the sections based on the proportion of the fixed state in the section and the curve information. The reception state of the positioning information is
Including the location accuracy dilution rate,
The processing method selection unit is
3. The information processing system according to claim 2 , wherein the calculation processing method is selected for each of the sections based on an average value of the position accuracy degradation rate in the section, a proportion of the fixed state in the section, and the curve information. The calculation processing method without using positioning information includes:
A method for calculating a change in the movement position based on the state information;
and a method of calculating the change in the moving position by correcting the change in the moving position calculated based on the state information based on a position of a target object detected by the measuring device provided on the traveling path or around the traveling path. the measurement device includes a sensor for measuring a three-dimensional position of the path or a measurement object around the path;
The calculation processing method without using positioning information includes:
a first method of calculating a change in the movement position based on the state information;
a second method of identifying the target corresponding to the measurement object using target information including information on a three-dimensional shape of the target and a position of the target and the three-dimensional position of the measurement object measured by the sensor, and correcting a change in the movement position calculated based on the state information based on the identified three-dimensional position of the target to calculate the change in the movement position.
2. The information processing system according to claim 1 . The reception state of the positioning information is
a ratio of positioning information in a fixed state in which a fix solution can be obtained among the plurality of positioning information in the section,
The processing method selection unit is
For each section,
When the ratio of the fixed state is equal to or greater than a first value, a calculation processing method using the positioning information is selected as the calculation processing method; when the ratio of the fixed state is less than the first value and the curve information is equal to or greater than the threshold value, the first method is selected as the calculation processing method; and when the ratio of the fixed state is less than the first value and the curve information is less than the threshold value, the second method is selected as the calculation processing method.
6. The information processing system according to claim 5. The reception state of the positioning information is
the position accuracy degradation rate and a ratio of positioning information in a fixed state in which a fix solution can be obtained among the plurality of pieces of positioning information in the section,
The processing method selection unit is
For each section,
When the proportion of the fixed state is equal to or greater than a first value and less than a second value greater than the first value, and the average value of the position accuracy degradation rate is equal to or greater than a certain value, the first method is selected as the calculation processing method; when the proportion of the fixed state is less than the first value, the average value of the position accuracy degradation rate is equal to or greater than the certain value, and the curve information is equal to or greater than the threshold value, the first method is selected as the calculation processing method; when the proportion of the fixed state is less than the first value, the average value of the position accuracy degradation rate is equal to or greater than the certain value, and the curve information is less than the threshold value, the second method is selected as the calculation processing method; and when the proportion of the fixed state is equal to or greater than the second value or the average value of the position accuracy degradation rate is less than a certain value, the calculation processing method using the positioning information is selected as the calculation processing method.
6. The information processing system according to claim 5. 1. A computer-implemented information processing method, comprising:
A first step of acquiring measurement information including positioning information, which is information on positioning signals from positioning satellites received by a measurement device mounted on a vehicle traveling on a road, and status information indicating a traveling status of the vehicle detected by the measurement device;
A second step of acquiring curve information which is information indicating a radius of curvature of a curve for each section of the road;
a third step of selecting, for each section, a method for calculating a change in a moving position of the vehicle from among a plurality of calculation processing methods including a calculation processing method that uses the positioning information and a calculation processing method that does not use the positioning information, based on a receiving state of the positioning signal in the measuring device;
a fourth step of calculating a change in a moving position of the vehicle for each section of the road based on the measurement information acquired in the first step by using the calculation processing method selected in the third step;
Including,
In the second step, for each section, it is determined based on the curve information whether the curve information is equal to or greater than a threshold value when the section is curved, and the calculation processing method is selected for each section based on the result of the determination and a reception state of the positioning signal in the measuring device.
23. An information processing method comprising: A first step of acquiring measurement information including positioning information, which is information on positioning signals from positioning satellites received by a measurement device mounted on a vehicle traveling on a road, and status information indicating a traveling status of the vehicle detected by the measurement device;
A second step of acquiring curve information which is information indicating a radius of curvature for each section of the road;
a third step of selecting, for each section, a method for calculating a change in a moving position of the vehicle from among a plurality of calculation processing methods including a calculation processing method that uses the positioning information and a calculation processing method that does not use the positioning information, based on a receiving state of the positioning signal in the measuring device;
a fourth step of calculating a change in a moving position of the vehicle for each section of the road based on the measurement information acquired in the first step by using the calculation processing method selected in the third step ;
In the second step, for each section, it is determined based on the curve information whether the curve information is equal to or greater than a threshold value when the section is curved, and the calculation processing method is selected for each section based on the result of the determination and a reception state of the positioning signal in the measuring device.
2. An information processing program comprising:

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