JP2022121049A - 自己位置推定装置 - Google Patents
自己位置推定装置 Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 40
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- 238000000034 method Methods 0.000 description 14
- 230000007423 decrease Effects 0.000 description 3
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
先ず、実施形態に係る自己位置推定装置100による車両1の位置の推定方法の概要について図1及び図2を参照して説明する。
自己位置推定装置100では、信頼度に基づいてマッチング範囲が変更される。このため、マッチング不成立に起因して誤差分散が大きくなる(即ち、信頼度が低下する)と、マッチング範囲が広くなる。従って、ランドマーク検出部14により検出されたランドマークの位置と、地図情報により示される対応するランドマークの位置とのずれ量が比較的大きい場合であっても、マッチング成立となりやすくなる(即ち、ランドマークが特定されやすくなる)。この結果、外乱に起因して、車両1が、計画された走行経路(例えば図1の矢印A参照)から比較的外れ位置を自走している場合であっても、車両1を上記走行経路に復帰させることができる。つまり、当該自己位置推定装置100によれば、車両1が外乱の影響を受ける場合であっても、車両1の位置を適切に推定することができる。
Claims (5)
- 自車両の挙動に基づいて前記自車両の位置を逐次推定するとともに、前記自車両の周辺に存在するランドマークを参照して、前記推定された位置を補正する自己位置推定装置であって、
前記自車両の変位の誤差に基づいて、自己位置に係る指標を算出する算出手段と、
前記指標に基づいて、前記ランドマークを特定するための判定基準を変更する変更手段と、
を備えることを特徴とする自己位置推定装置。 - 当該自己位置推定装置は、前記自車両の周辺の状況を検知する外界センサを介して、前記ランドマークの位置を検出する検出手段を備え、
前記算出手段は、前記変位の誤差に加えて、前記検出手段による前記ランドマークの位置検出の誤差に基づいて、前記指標を算出する
ことを特徴とする請求項1に記載の自己位置推定装置。 - 当該自己位置推定装置は、前記ランドマークの位置と、データベースにより示される前記ランドマークに対応する候補の位置との差分が、前記判定基準により示される閾値以下である場合に、前記ランドマークと前記候補とを対応付けることにより、前記ランドマークを特定する特定手段を備え、
前記変更手段は、前記特定手段により前記ランドマークが特定された場合に、前記判定基準を初期化する
ことを特徴とする請求項2に記載の自己位置推定装置。 - 当該自己位置推定装置は、前記ランドマークの位置と、データベースにより示される前記ランドマークに対応する候補の位置との差分が、前記判定基準により示される閾値以下である場合に、前記ランドマークと前記候補とを対応付けることにより、前記ランドマークを特定する特定手段を備え、
前記変更手段は、前記特定手段により前記ランドマークが特定された場合に、前記閾値を小さくする
ことを特徴とする請求項2に記載の自己位置推定装置。 - 前記算出手段は、前記自車両の状況を検知する内界センサとしての、車輪速センサ、舵角センサ、ジャイロセンサ及び加速度センサのうち少なくとも一つのセンサの出力から前記自車両の変位を算出することを特徴とする請求項1乃至4のいずれか一項に記載の自己位置推定装置。
Priority Applications (4)
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JP2021018184A JP2022121049A (ja) | 2021-02-08 | 2021-02-08 | 自己位置推定装置 |
EP22153462.1A EP4040112A1 (en) | 2021-02-08 | 2022-01-26 | Localization device |
CN202210112235.4A CN114910082A (zh) | 2021-02-08 | 2022-01-29 | 自身位置推定装置 |
US17/590,218 US20220252405A1 (en) | 2021-02-08 | 2022-02-01 | Localization device |
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JP2021018184A JP2022121049A (ja) | 2021-02-08 | 2021-02-08 | 自己位置推定装置 |
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JP2022121049A true JP2022121049A (ja) | 2022-08-19 |
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JP2021018184A Pending JP2022121049A (ja) | 2021-02-08 | 2021-02-08 | 自己位置推定装置 |
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US (1) | US20220252405A1 (ja) |
EP (1) | EP4040112A1 (ja) |
JP (1) | JP2022121049A (ja) |
CN (1) | CN114910082A (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US20100268697A1 (en) * | 2002-12-17 | 2010-10-21 | Evolution Robotics, Inc. | Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system |
WO2019098002A1 (ja) * | 2017-11-20 | 2019-05-23 | ソニー株式会社 | 情報処理装置、情報処理方法、プログラム、及び移動体 |
JP2020135619A (ja) * | 2019-02-22 | 2020-08-31 | セイコーエプソン株式会社 | 無人搬送システム及び無人搬送車の自己位置推定方法 |
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JP4760274B2 (ja) * | 2005-09-30 | 2011-08-31 | 株式会社豊田中央研究所 | 地図更新装置 |
JP2007303842A (ja) * | 2006-05-08 | 2007-11-22 | Toyota Central Res & Dev Lab Inc | 車両位置推定装置及び地図情報作成装置 |
US20090088979A1 (en) * | 2007-09-27 | 2009-04-02 | Roger Dale Koch | Automated machine navigation system with obstacle detection |
KR101319471B1 (ko) * | 2008-08-29 | 2013-10-17 | 미쓰비시덴키 가부시키가이샤 | 부감 화상 생성장치, 부감 화상 생성방법 및 기록매체 |
JP6246609B2 (ja) | 2014-02-12 | 2017-12-13 | 株式会社デンソーアイティーラボラトリ | 自己位置推定装置及び自己位置推定方法 |
US9630319B2 (en) * | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
WO2018031678A1 (en) * | 2016-08-09 | 2018-02-15 | Nauto Global Limited | System and method for precision localization and mapping |
US20190316929A1 (en) * | 2018-04-17 | 2019-10-17 | Faraday&Future Inc. | System and method for vehicular localization relating to autonomous navigation |
CN109459030B (zh) * | 2018-11-27 | 2021-01-29 | 北京方位捷讯科技有限公司 | 一种基于地标的行人定位修正方法及*** |
KR102604298B1 (ko) * | 2019-01-28 | 2023-11-17 | 에스케이텔레콤 주식회사 | 랜드마크 위치 추정 장치와 방법 및 이러한 방법을 수행하도록 프로그램된 컴퓨터 프로그램을 저장하는 컴퓨터 판독 가능한 기록매체 |
JP7151905B2 (ja) * | 2019-09-05 | 2022-10-12 | 株式会社デンソー | 車両用位置特定装置及び車両用位置特定方法 |
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2021
- 2021-02-08 JP JP2021018184A patent/JP2022121049A/ja active Pending
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2022
- 2022-01-26 EP EP22153462.1A patent/EP4040112A1/en active Pending
- 2022-01-29 CN CN202210112235.4A patent/CN114910082A/zh active Pending
- 2022-02-01 US US17/590,218 patent/US20220252405A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100268697A1 (en) * | 2002-12-17 | 2010-10-21 | Evolution Robotics, Inc. | Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system |
WO2019098002A1 (ja) * | 2017-11-20 | 2019-05-23 | ソニー株式会社 | 情報処理装置、情報処理方法、プログラム、及び移動体 |
JP2020135619A (ja) * | 2019-02-22 | 2020-08-31 | セイコーエプソン株式会社 | 無人搬送システム及び無人搬送車の自己位置推定方法 |
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US20220252405A1 (en) | 2022-08-11 |
EP4040112A1 (en) | 2022-08-10 |
CN114910082A (zh) | 2022-08-16 |
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