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Map creation device, map creation system, map creation method, and storage medium

A technology for making a device and a manufacturing method, which is applied in the directions of measuring devices, instruments, surveying and mapping, and navigation, etc., can solve the problems of insufficient map accuracy of external sensor measurement errors and the like

Pending Publication Date: 2021-08-13
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In the technology described in Patent Document 1, the influence of the measurement error of the external sensor cannot be properly eliminated, and the accuracy of the map may not be sufficient.
It should be noted that the techniques described in Patent Documents 2 and 3 are not invented from the viewpoint of map creation.

Method used

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  • Map creation device, map creation system, map creation method, and storage medium
  • Map creation device, map creation system, map creation method, and storage medium
  • Map creation device, map creation system, map creation method, and storage medium

Examples

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no. 1 approach

[0035] figure 1 A diagram showing the configuration example of the map fabrication system 1 of the first embodiment. Map Production System 1 includes a LIDAR (Light Detection and Ranging) 10 equipped with an example of a vehicle, for example, as an external sensor; a wheel speed sensor 20-1 ~ 20 as an apparatus for obtaining a milemeter (ODMETER) information -4; speed computing device 22, steering angle sensor 30, and cross-swing angular velocity sensor 40; and map fabrication apparatus 100. The vehicle M can be a vehicle having an automatic driving function, or a vehicle that travels by manual driving. Further, various vehicles such as engine vehicles, hybrid vehicles, electric vehicles, fuel cell vehicles, and other vehicles can become vehicle M. Hereinafter, the wheel speed sensor 20 is simply recorded without distinguishing the wheels speed sensors.

[0036] The milemeter information refers to the result of the position and posture of the moving body based on the output value...

no. 2 approach

[0082] Hereinafter, a second embodiment will be described. Figure 9 It is a diagram showing the configuration example of the map fabrication system 2 of the second embodiment. In the map production system 2, the map production device 100A is configured as a cloud server, not a vehicle M. A communication device 50 is mounted in more than one vehicle M, and the communication device 50 applies an information from the LIDAR 10, the speed calculation device 22, the steering angle sensor 30, the transverse angular speed sensor 40, and the like, and transmits it to the map production device 100A as needed. The map production device 100a acquires information from the communication device 50 via the network NW. Network NW includes, for example, WAN (Wide AreaNetwork, LAN (Local Area Network), a cell, wireless base station, and the like. The map fabrication device 100a includes the same structure as the first embodiment in addition to the communication interface (not shown) connected to the...

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Abstract

The present invention provides a map creation device, a map creation system, a map creation method, and a storage medium capable of creating a map with higher accuracy. The map creation device is provided with: a first acquisition unit that acquires, from an external sensor mounted on a vehicle, position information of an object located outside the vehicle, and acquires a first amount of movement of the vehicle obtained on the basis of the position information of the object; a second acquisition unit that acquires a second amount of movement of the vehicle on the basis of odometer information of the vehicle; and a creation unit that creates map information of a location where the vehicle travels on the basis of the position information of the object target, the first amount of movement, and the second amount of movement.

Description

Technical field [0001] The present invention relates to a map fabrication device, a map production system, a map fabrication method, and a storage medium. Background technique [0002] A road map generation system is disclosed, which generates a camera image data obtained from a plurality of vehicles mounted in a vehicle camera, and generates road map data based on the collected camera image data. (Patent Document 1: Japanese Laid-Open 2019-109293. [0003] In addition, there are several inventions that utilize milemeter information. For example, the present invention is disclosed: a chamfering distance is obtained between the first feature image and the second feature image, and is optimized based on the opposite geometry and the milemeter information, thereby estimating the camera attitude. Wherein, the first feature image is an image obtained from the camera image captured by the camera mounted on the camera, and the second feature image is projected to the object's target wit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32
CPCG01C21/32G01C21/3848G01C22/00G06V20/64G06V20/588B60W60/001G01C21/3819B60W2420/403G01C21/3837G01C21/3822G06V20/58
Inventor 森直树
Owner HONDA MOTOR CO LTD