Correction data generating device, correction data generating method, and computer-readable recording medium

Abstract

The present invention provides a correction data generating device, a correction data generating method and a computer-readable recording medium. A receiving unit (101) receives moving body data from each moving body among a plurality of moving bodies, the moving body data indicating the measured position of each moving body and the measured positions of the surrounding objects of each moving body, the measured position of each moving body being the position of each moving body measured by each moving body and possibly containing errors, and the measured positions of the surrounding objects of each moving body being the position of the surrounding objects of each moving body measured by each moving body and possibly containing errors. A correction data generating unit (102) generates correction data for each moving body using the measured positions of the plurality of moving bodies and the measured positions of the surrounding objects of the plurality of moving bodies indicated by the plurality of moving body data received from the plurality of moving bodies, the correction data being used to correct errors that may be contained in the measured positions of each moving body. A transmitting unit (103) transmits the correction data for each moving body generated by the correction data generating unit (102) to each moving body.

Description

Technical Field

[0001] The present disclosure relates to a technology for correcting a measured position of a vehicle. Background Art

[0002] In recent years, research and development of vehicle-mounted systems that are equipped with a plurality of sensors and utilize sensor data obtained by the plurality of sensors has been progressing.

[0003] Furthermore, research and development of systems that receive sensor data from sensors mounted on other vehicles through inter-vehicle communication and utilize the received sensor data are also progressing.

[0004] Furthermore, research and development of systems for jointly performing data processing between a vehicle and a roadside server using road-to-vehicle communication between the vehicle and the roadside server is also progressing.

[0005] Here, a system is considered in which mobile bodies such as vehicles and people send their respective positions to a roadside server so that the roadside server can grasp the position of each mobile body. In such a system, for example, the roadside server can notify vehicle a in advance of vehicle b and / or people that vehicle a has not grasped.

[0006] Furthermore, if vehicle a transmits the position of vehicle x obtained by the sensor together with the position of vehicle a to the roadside server, the roadside server can also grasp the position of vehicle x which cannot transmit its position to the roadside server.

[0007] The position information sent by moving objects such as vehicles and people to the roadside server may contain errors. Therefore, sometimes the "positions of the same moving object" measured by multiple moving objects are consistent, and sometimes the "positions of the same moving object" measured by multiple moving objects are inconsistent.

[0008] That is, a situation may occur in which the position of vehicle a measured by vehicle a and the position of vehicle a measured by vehicle b coincide with each other, but the position of vehicle c measured by vehicle a and the position of vehicle c measured by vehicle b do not coincide with each other.

[0009] In such a case, it is necessary to determine whether the “coinciding position” is correct or the “inconsistent position” is correct. If the “coinciding position” is correct, a correction method for determining the “inconsistent position” is required.

[0010] As a technique for performing correction based on a plurality of measurement results, there is a technique described in Patent Document 1.

[0011] In Patent Document 1, vehicle α measures its own position and obtains position information of vehicle α measured by surrounding vehicles β. Then, vehicle α obtains the range of vehicle α based on the error between the measured position of vehicle α measured by vehicle α and the measured position of vehicle α obtained from vehicle β. The same process is performed between vehicle α and a plurality of surrounding vehicles. Then, vehicle α corrects the position of vehicle α so that the overlapping range after repeating the same process with a plurality of surrounding vehicles becomes the position of vehicle α.

[0012] Prior art literature

[0013] Patent Literature

[0014] Patent Document 1: Japanese Patent No. 6464978 Summary of the invention

[0015] Problem that the invention aims to solve

[0016] In the technology of Patent Document 1, unless the vehicle α receives the measured positions from the surrounding vehicles multiple times and compares the measured positions from the surrounding vehicles with the measured positions of the vehicle α multiple times, the position cannot be corrected.

[0017] Therefore, the technology of Patent Document 1 has a problem that it takes time to correct the position.

[0018] One of the main purposes of the present disclosure is to solve such a problem. More specifically, the main purpose of the present disclosure is to correct the position in a short time.

[0019] Means used to solve problems

[0020] The correction data generating device disclosed in the present invention comprises: a receiving unit, which receives moving body data from each of a plurality of moving bodies, the moving body data showing the measured position of each moving body and the measured positions of the surrounding objects of each moving body, the measured position of each moving body being the position of each moving body measured by each moving body and possibly containing errors, and the measured positions of the surrounding objects of each moving body being the positions of the surrounding objects of each moving body measured by each moving body and possibly containing errors; a correction data generating unit, which generates correction data for each moving body using the measured positions of the plurality of moving bodies and the measured positions of the surrounding objects of the plurality of moving bodies shown in the plurality of moving body data received from the plurality of moving bodies, the correction data being used to correct errors that may be contained in the measured positions of each moving body; and a sending unit, which sends the correction data of each moving body generated by the correction data generating unit to each moving body.

[0021] Effects of the Invention

[0022] According to the present disclosure, position correction can be performed in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing a configuration example of a position correction system according to Embodiment 1.

[0024] Figure 2 This is a diagram showing an overview of the processing procedure of the position correction system according to the first embodiment.

[0025] Figure 3 This is a diagram showing a functional configuration example of the vehicle-mounted device according to the first embodiment.

[0026] Figure 4 This is a diagram showing an example of a functional configuration of a correction data generating device according to the first embodiment.

[0027] Figure 5 This is a diagram showing a hardware configuration example of the vehicle-mounted device according to the first embodiment.

[0028] Figure 6 This is a diagram showing a hardware configuration example of the correction data generating device according to the first embodiment.

[0029] Figure 7 This is a flowchart showing an example of the operation of the vehicle-mounted device according to the first embodiment.

[0030] Figure 8 This is a flowchart showing an example of the operation of the vehicle-mounted device according to the first embodiment.

[0031] Fig. 9 This is a flowchart showing an example of the operation of the correction data generating device according to the first embodiment. DETAILED DESCRIPTION

[0032] Hereinafter, the embodiment will be described using the drawings. In the following description of the embodiment and the drawings, parts denoted by the same reference numerals represent the same parts or corresponding parts.

[0033] Implementation method 1.

[0034] ***Structure description***

[0035] Figure 1 A configuration example of a position correction system 500 according to this embodiment is shown.

[0036] The position correction system 500 of the present embodiment includes a correction data generating device 100 , an in-vehicle device A 200 a , and an in-vehicle device B 200 b .

[0037] The vehicle-mounted device A200a is mounted on the vehicle A300a. The vehicle-mounted device B200b is mounted on the vehicle B300b. The vehicle C300c and the vehicle D300d do not have any vehicle-mounted device mounted thereon.

[0038] The vehicle A300a, the vehicle B300b, the vehicle C300c, the vehicle D300d, and the pedestrian 400 are each a moving object.

[0039] In addition, the mobile bodies existing around the vehicle A300a, namely the vehicle B300b, the vehicle C300c, the vehicle D300d and the pedestrian 400, respectively correspond to the surrounding objects of the vehicle A300a. Similarly, the mobile bodies existing around the vehicle B300b, namely the vehicle A300a, the vehicle C300c, the vehicle D300d and the pedestrian 400, respectively correspond to the surrounding objects of the vehicle B300b.

[0040] In addition, in the following, it is not necessary to distinguish between the vehicle A300a, the vehicle B300b, the vehicle C300c, the vehicle D300d, and Figure 1 In the case of vehicles not shown in the figure, they are collectively expressed as vehicle 300.

[0041] In addition, when there is no need to distinguish between the vehicle-mounted device A200a and the vehicle-mounted device B200b, they are collectively expressed as the vehicle-mounted device 200.

[0042] The vehicle-mounted device A200a measures the position of the vehicle A300a. The vehicle-mounted device A200a also measures the positions of the surrounding objects of the vehicle A300a. The vehicle-mounted device A200a measures the speed of the vehicle A300a and the speed of the surrounding objects.

[0043] The vehicle-mounted device A200a transmits the measurement result to the correction data generating device 100 as vehicle data A. The vehicle data A corresponds to the moving body data. The measurement result of the vehicle-mounted device A200a is the measured position of the vehicle A300a, the measured position of the surrounding objects of the vehicle A300a, the measured speed of the vehicle A300a, and the measured speed of the surrounding objects.

[0044] The measurement result of the vehicle-mounted device A200a may include a measurement error.

[0045] In the present embodiment, it is assumed that the vehicle-mounted device A200a can measure only the positions and speeds of the vehicle B300b, the vehicle C300c, and the pedestrian among the surrounding objects.

[0046] Similarly, the vehicle-mounted device B200b measures the position of the vehicle B300b. In addition, the vehicle-mounted device B200b measures the position of the surrounding objects of the vehicle B300b. The vehicle-mounted device B200b measures the speed of the vehicle B300b and the speed of the surrounding objects. The vehicle-mounted device B200b may not measure the speed of the vehicle B300b. Here, it is assumed that the vehicle-mounted device B200b measures the speed of the vehicle B300b.

[0047] The vehicle-mounted device B200b transmits the measurement result to the correction data generating device 100 as vehicle data B. The vehicle data B corresponds to the moving body data. The measurement result of the vehicle-mounted device B200b is the measured position of the vehicle B300b, the measured position of the surrounding objects of the vehicle B300b, the measured speed of the vehicle B300b, and the measured speed of the surrounding objects.

[0048] The measurement result of the vehicle-mounted device B200b may include a measurement error.

[0049] In the present embodiment, it is assumed that the vehicle-mounted device B200b can measure only the positions and speeds of the vehicles A300a and D300d among the surrounding objects.

[0050] The operation procedure of the vehicle-mounted device 200 corresponds to the error correction method. In addition, the program for realizing the operation of the vehicle-mounted device 200 corresponds to the error correction program.

[0051] The correction data generating device 100 is, for example, a roadside server device disposed on the roadside of a lane on which the vehicle 300 is traveling. The correction data generating device 100 may be a server device other than the roadside server device.

[0052] The operation procedure of the correction data generating device 100 corresponds to the correction data generating method. The program for realizing the operation of the correction data generating device 100 corresponds to the correction data generating program.

[0053] Correction data generating device 100 receives vehicle data A and vehicle data B.

[0054] Then, the correction data generating device 100 generates correction data for each of the vehicle A 300a and the vehicle B 300b using the measurement results included in the vehicle data A and the measurement results included in the vehicle data B.

[0055] The correction data for vehicle A300a (referred to as correction data A) is data for correcting the measurement error included in the measurement result in the vehicle-mounted device A200a. In other words, the correction data A is data for correcting the measurement error that may be included in the measurement position of vehicle A300a and the measurement error that may be included in the measurement position of the surrounding objects of vehicle A300a.

[0056] The correction data for vehicle B300b (referred to as correction data B) is data for correcting the measurement error included in the measurement result in the vehicle-mounted device B200b. In other words, the correction data B is data for correcting the measurement error that may be included in the measurement position of vehicle B300b and the measurement error that may be included in the measurement position of the surrounding objects of vehicle B300b.

[0057] Then, the correction data generating device 100 sends the correction data A to the vehicle-mounted device A 200a and sends the correction data B to the vehicle-mounted device B 200b.

[0058] The vehicle-mounted device A200a receives the correction data A. Then, the vehicle-mounted device A200a corrects the positioning error included in the measured position of the vehicle A300a using the correction data A. Furthermore, the vehicle-mounted device A200a corrects the positioning error included in the measured position of the surrounding objects of the vehicle A300a using the correction data A.

[0059] Similarly, the vehicle-mounted device B200b receives the correction data B. Then, the vehicle-mounted device B200b corrects the positioning error included in the measured position of the vehicle B300b using the correction data B. In addition, the vehicle-mounted device B200b corrects the positioning error included in the measured position of the surrounding objects of the vehicle B300b using the correction data B.

[0060] Figure 2 An outline of the processing procedure in the position correction system 500 according to the present embodiment is shown.

[0061] Before describing the detailed configurations of the correction data generating device 100 and the vehicle-mounted device 200 , an overview of the processing steps in the position correction system 500 will be described.

[0062] The correction data generating device 100 receives a plurality of vehicle data from a plurality of vehicles 300. The vehicle data received by the correction data generating device 100 includes vehicle data A and vehicle data B.

[0063] Hereinafter, one or more vehicle data other than vehicle data A and vehicle data B are collectively referred to as vehicle data N ( Figure 2 In addition, the vehicle that is the transmission source of the vehicle data N is referred to as a vehicle N300n (not shown).

[0064] In addition, the vehicle 300 which is the transmission source of the vehicle data is also referred to as the transmission source vehicle 300 .

[0065] As described above, the vehicle data A is data transmitted from the vehicle-mounted device A200a of the vehicle A300a, and indicates the measurement result in the vehicle-mounted device A200a. The vehicle data A indicates the measured position of the vehicle A300a, which is the transmission source vehicle 300. In addition, the vehicle data A indicates the position of the vehicle X1, the position of the vehicle X2, and the position of the pedestrian as the measured positions of the surrounding objects. The vehicle X1 is Figure 1 Vehicle C300c. Vehicle X2 is Figure 1 The vehicle is B300b. The pedestrian is Figure 1 However, the vehicle-mounted device A200a cannot determine the surrounding objects, and therefore, the vehicle-mounted device A200a recognizes the surrounding objects as the vehicle X1, the vehicle X2, and the pedestrian.

[0066] In addition, it is assumed that the correction data generating device 100 can recognize that the vehicle A300 a indicated by the vehicle data A is the transmission source vehicle 300 of the vehicle data A.

[0067] As described above, the vehicle data B is data transmitted from the vehicle-mounted device B200b of the vehicle B300b and indicates the measurement result in the vehicle-mounted device B200b. The vehicle data B indicates the measured position of the vehicle B300b as the transmission source vehicle 300. In addition, the vehicle data B indicates the position of the vehicle Y1 and the position of the vehicle Y2 as the measured positions of the surrounding objects. The vehicle Y1 is Figure 1 Vehicle A300a, vehicle Y2 is Figure 1 However, since the vehicle-mounted device B200b cannot identify the surrounding objects, the vehicle-mounted device B200b recognizes the surrounding objects as the vehicle Y1 and the vehicle Y2.

[0068] It is assumed that the correction data generating device 100 can recognize that the vehicle B300 b indicated by the vehicle data B is the vehicle 300 from which the vehicle data B was transmitted.

[0069] Although not shown in the figure, the vehicle data N is the same as the vehicle data A and the vehicle data B described above.

[0070] The transmission source vehicle 300 measures the position of the transmission source vehicle 300 and the positions of the surrounding objects at a separate timing for each transmission source vehicle 300. The measurement time in the transmission source vehicle 300 is shown in the vehicle data.

[0071] like Figure 2 As shown, the measurement time in vehicle data A is time t1. The measurement time in vehicle data B is time t2 (t1<t2). In addition, the measurement time of vehicle data N is also a unique time in the transmission source vehicle 300.

[0072] As described above, since the measurement is not necessarily performed at the same time in each transmission source vehicle 300, there is a possibility that a shift in the measurement time occurs between vehicle data.

[0073] The correction data generating device 100 removes such deviations in the measurement time. In order to remove the deviations in the measurement time, the correction data generating device 100 sets a time after the measurement time in the plurality of transmission source vehicles 300, and this time is a time (hereinafter referred to as a reference time) commonly used in the plurality of transmission source vehicles 300. Then, the correction data generating device 100 calculates the predicted position of each transmission source vehicle 300 at the reference time and the predicted position of the surrounding objects of each transmission source vehicle 300 at the reference time.

[0074] Specifically, the correction data generating device 100 sets the latest measurement time among the measurement times of the received plurality of vehicle data as the reference time. Then, the correction data generating device 100 predicts the position of each transmission source vehicle 300 at the reference time and the position of the surrounding objects of each transmission source vehicle 300 at the reference time. In addition, when the measurement time coincides with the reference time, the correction data generating device 100 uses the measurement position indicated by the vehicle data as the predicted position directly.

[0075] exist Figure 2 In the example of , the correction data generating device 100 sets time t3 (t2<t3) as the reference time, and calculates the predicted position of each source vehicle 300 at time t3 and the predicted position of the surrounding object at time t3.

[0076] That is, the correction data generating device 100 calculates the predicted position of the vehicle A300a at time t3 based on the measured position and measured speed of the vehicle A300a shown in the vehicle data A. In addition, the correction data generating device 100 calculates the predicted position of each surrounding object at time t3 based on the measured position and measured speed of each surrounding object (vehicle X1, vehicle X2, pedestrian). The data showing the predicted positions of the vehicle A300a and each surrounding object at time t3 is referred to as predicted data A.

[0077] The correction data generating device 100 similarly calculates the predicted positions of the vehicle B300b and each surrounding object at time t3 for the vehicle data B. The data indicating the predicted positions of the vehicle B300b and each surrounding object at time t3 is referred to as predicted data B.

[0078] In addition, the correction data generating device 100 also calculates the predicted positions of the vehicle N300n and the surrounding objects at time t3 for the vehicle data N. The data showing the predicted positions of the vehicle N300n and the surrounding objects at time t3 is referred to as the prediction data N ( Figure 2 (not shown in the figure).

[0079] Next, the correction data generating device 100 integrates the prediction data A, the prediction data B, and the prediction data N to generate integrated data.

[0080] exist Figure 2 In the comprehensive data, the predicted position of vehicle A300a and the predicted position of vehicle Y1 partially overlap. In addition, the predicted position of vehicle B300b and the predicted position of vehicle X2 partially overlap. Since vehicle A300a and vehicle Y1 are the same vehicle, the predicted positions are close, but they are not completely consistent due to measurement errors and prediction errors. Similarly, since vehicle B300b and vehicle X2 are the same vehicle, the predicted positions are close, but they are not completely consistent due to measurement errors and prediction errors.

[0081] The correction data generating device 100 analyzes the distribution of the predicted positions obtained by integration, and calculates the position estimated to be where the transmission source vehicle 300 is at the reference time t3 as the estimated position of the transmission source vehicle 300. Figure 2 In the example, the correction data generating device 100 analyzes the distribution of the predicted position of vehicle A300a and the predicted position of vehicle Y1, and calculates the estimated position of vehicle A300a. Similarly, the correction data generating device 100 analyzes the distribution of the predicted position of vehicle B300b and the predicted position of vehicle X2, and calculates the estimated position of vehicle B300b.

[0082] Furthermore, the correction data generating device 100 calculates the position where the peripheral object is estimated to be at the reference time t3 as the estimated position of the peripheral object.

[0083] Next, the correction data generating device 100 generates correction data for each source vehicle 300 using the estimated position of the source vehicle 300 and the estimated positions of the surrounding objects. That is, the correction data generating device 100 generates correction data A for vehicle A300a using the estimated position of vehicle A300a and the estimated positions of the surrounding objects. Furthermore, the correction data generating device 100 generates correction data B for vehicle B300b using the estimated position of vehicle B300b and the estimated positions of the surrounding objects. Furthermore, the correction data generating device 100 generates correction data N(N) for vehicle N300n using the estimated position of vehicle N300n and the estimated positions of the surrounding objects. Figure 2 (not shown in the figure).

[0084] For example, in the correction data A, the correction values ​​(δ11 to δ14) of the vehicle X1, vehicle A300a, pedestrian, and vehicle X2 shown in the vehicle data A are shown. Similarly, in the correction data B, the correction values ​​(δ21 to δ23) of the vehicle Y1, vehicle B300b, and vehicle Y2 shown in the vehicle data B are shown.

[0085] The correction value indicated by the correction data is used to eliminate the measurement error in each vehicle-mounted device 200. That is, the correction value indicated by the correction data corresponds to the measurement error in each vehicle-mounted device 200 at the measurement time.

[0086] Thereafter, the correction data generating device 100 transmits the correction data A to the vehicle A 300a. Furthermore, the correction data generating device 100 transmits the correction data B to the vehicle B 300b. Furthermore, the correction data generating device 100 transmits the correction data N to the vehicle N 300n.

[0087] Next, a functional configuration example and a hardware configuration example of the vehicle-mounted device 200 according to the present embodiment will be described.

[0088] Figure 3 An example of the functional configuration of the vehicle-mounted device 200 is shown. Figure 5 A hardware configuration example of the vehicle-mounted device 200 is shown.

[0089] The vehicle-mounted device 200 is a computer. The operation procedure of the vehicle-mounted device 200 corresponds to the error correction method. In addition, the program that realizes the operation of the vehicle-mounted device 200 corresponds to the error correction program.

[0090] like Figure 5 As shown, the vehicle-mounted device 200 includes a processor 801 , a main storage device 802 , an auxiliary storage device 803 , and a communication device 804 as hardware.

[0091] In addition, if Figure 3 As shown, the vehicle-mounted device 200 includes a vehicle position measuring unit 201 , a peripheral object position measuring unit 202 , a transmitting unit 203 , a receiving unit 204 , and a correcting unit 205 as a functional structure.

[0092] The auxiliary storage device 803 stores a program for realizing the functions of the vehicle position measuring unit 201 , the surrounding object position measuring unit 202 , the transmitting unit 203 , the receiving unit 204 , and the correcting unit 205 .

[0093] These programs are loaded from the auxiliary storage device 803 to the main storage device 802. Then, the processor 801 executes these programs to perform the operations of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmitting unit 203, the receiving unit 204, and the correcting unit 205 described later.

[0094] exist Figure 5 , a state in which the processor 801 executes a program for realizing the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmitting unit 203, the receiving unit 204, and the correcting unit 205 is schematically shown.

[0095] exist Figure 3 In the example, the vehicle position measuring unit 201 measures the position and speed of the vehicle 300 .

[0096] The vehicle position measuring unit 201 measures the position of the vehicle 300 using, for example, a positioning signal from a GPS (Global Positioning System) satellite. The vehicle position measuring unit 201 measures the speed using, for example, a difference in the measured positions within a unit time.

[0097] Then, the vehicle position measuring unit 201 outputs the measuring time, the measuring position and the measuring speed of the vehicle 300 to the transmitting unit 203. The measuring time is the time when the vehicle position measuring unit 201 measures the position and speed of the vehicle 300. In addition, the vehicle position measuring unit 201 uses a unified time such as GPS time as the measuring time. That is, a consistent time is used in each vehicle 300. That is, although the measuring timing may be inconsistent between the vehicles 300, it is considered that there is no time deviation between the vehicles 300.

[0098] Furthermore, the vehicle position measurement unit 201 outputs the measured position of the vehicle 300 to the correction unit 205 .

[0099] The vehicle position measuring unit 201 corresponds to a positioning unit together with the peripheral object position measuring unit 202 described later. The processing performed by the vehicle position measuring unit 201 and the processing performed by the peripheral object position measuring unit 202 correspond to positioning processing.

[0100] The surrounding object position measuring unit 202 measures the position and speed of the surrounding objects of the vehicle 300. The surrounding object position measuring unit 202 measures the measured position and measured speed of the surrounding objects at the same measurement timing as the vehicle position measuring unit 201.

[0101] The surrounding object position measuring unit 202 measures the position and speed of the surrounding object using, for example, sensor data from a sensor mounted on the vehicle 300. The surrounding object position measuring unit 202 measures the relative position and relative speed from the vehicle 300 as the position and speed of the surrounding object. In the present embodiment, the detection method of the sensor detecting the surrounding object is arbitrary. In the present embodiment, an example in which the surrounding object position measuring unit 202 measures the speed of the surrounding object is described, but the surrounding object position measuring unit 202 may not measure the speed of the surrounding object.

[0102] The surrounding object position measuring unit 202 outputs the measured position and measured speed of the surrounding object to the transmitting unit 203 . In addition, the surrounding object position measuring unit 202 outputs the measured position of the surrounding object to the correcting unit 205 .

[0103] The surrounding object position measuring unit 202 corresponds to a positioning unit together with the vehicle position measuring unit 201. The processing performed by the surrounding object position measuring unit 202 corresponds to a positioning processing together with the processing performed by the vehicle position measuring unit 201.

[0104] The transmission unit 203 transmits the measurement time, the measurement position and speed of the vehicle 300, and the measurement positions and speeds of the surrounding objects as vehicle data to the correction data generation device 100. The transmission unit 203 assigns an identifier of the vehicle-mounted device 200 to the vehicle data, and transmits the vehicle data to the correction data generation device 100. As the identifier, it is conceivable to use a unique number (for example, a MAC (Media Access Control) address) of the communication device 804.

[0105] The processing performed by the transmission unit 203 corresponds to the transmission processing.

[0106] The receiving unit 204 receives the correction data from the correction data generating device 100 .

[0107] Then, the receiving unit 204 outputs the received correction data to the correcting unit 205 .

[0108] The processing performed by the receiving unit 204 corresponds to the reception processing.

[0109] The correction unit 205 corrects the measured position of the vehicle 300 obtained from the vehicle position measurement unit 201 and the measured positions of the surrounding objects obtained from the surrounding object position measurement unit 202 using the correction value indicated by the correction data.

[0110] Next, a functional configuration example and a hardware configuration example of the correction data generating device 100 according to the present embodiment will be described.

[0111] Figure 4 FIG. 1 shows an example of a functional structure of the correction data generating device 100. Figure 6 A hardware configuration example of the correction data generating device 100 is shown.

[0112] The correction data generating device 100 is a computer. The operation steps of the correction data generating device 100 correspond to the correction data generating method. In addition, the program that realizes the operation of the correction data generating device 100 corresponds to the correction data generating program.

[0113] like Figure 6 As shown, the correction data generating device 100 includes a processor 901 , a main storage device 902 , an auxiliary storage device 903 , and a communication device 904 as hardware.

[0114] In addition, if Figure 4As shown in FIG. 1 , the correction data generating device 100 includes a receiving unit 101 , a correction data generating unit 102 , and a transmitting unit 103 as a functional structure.

[0115] The auxiliary storage device 903 stores a program for realizing the functions of the receiving unit 101 , the correction data generating unit 102 , and the transmitting unit 103 .

[0116] These programs are loaded from the auxiliary storage device 903 into the main storage device 902. Then, the processor 901 executes the programs to perform the operations of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103 described later.

[0117] exist Figure 6 , a state in which the processor 901 executes a program for realizing the functions of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103 is schematically shown.

[0118] exist Figure 4 In the example, the receiving unit 101 receives vehicle data transmitted from each vehicle-mounted device 200 .

[0119] The receiving unit 101 outputs the received vehicle data to the correction data generating unit 102 .

[0120] The processing performed by the receiving unit 101 corresponds to the reception processing.

[0121] The correction data generation unit 102 acquires vehicle data from the receiving unit 101 . Then, the correction data generation unit 102 generates correction data for each source vehicle 300 using a plurality of vehicle data from a plurality of vehicle-mounted devices 200 . The correction data generation unit 102 outputs the generated correction data to the transmitting unit 103 .

[0122] The processing performed by the correction data generating unit 102 corresponds to correction data generating processing.

[0123] The transmission unit 103 acquires the correction data for each transmission source vehicle 300 from the correction data generation unit 102. Then, the transmission unit 103 transmits the corresponding correction data to the vehicle-mounted device 200 of the transmission source vehicle 300.

[0124] The processing performed by the transmission unit 103 corresponds to the transmission processing.

[0125] ***Action description***

[0126] Next, refer to Figure 7 and Figure 8 An operation example of the vehicle-mounted device 200 will be described.

[0127] First of all, Figure 7 Provide explanation. Figure 7The process of measuring the position and speed and the process of transmitting the vehicle data are shown.

[0128] When the timing to measure the position and speed comes, the vehicle position measuring unit 201 measures the position and speed of the vehicle 300 (step S201 ).

[0129] As described above, the vehicle position measurement unit 201 uses the positioning signal from the GPS satellite to measure the position of the vehicle 300. In addition, the vehicle position measurement unit 201 measures the speed using, for example, the difference in the measured position within a unit time.

[0130] Furthermore, the vehicle position measurement unit 201 may measure the position and speed of the vehicle 300 using the correction value of the measurement position of the vehicle 300 at the previous measurement timing corrected by the correction unit 205 .

[0131] The surrounding object position measuring unit 202 measures the position and speed of the surrounding objects using, for example, sensor data from a sensor mounted on the vehicle 300 (step S202 ). The surrounding object position measuring unit 202 measures the relative position and relative speed from the vehicle 300 as the position and speed of the surrounding objects.

[0132] Furthermore, the surrounding object position measuring unit 202 may measure the position and speed of the surrounding object using the correction value of the measurement position of the surrounding object at the previous measurement timing corrected by the correction unit 205 .

[0133] exist Figure 7 In the description, step S202 is performed after step S201, but step S201 and step S202 are performed in parallel.

[0134] Next, the transmission unit 203 transmits the vehicle data to the correction data generating device 100 (step S203 ).

[0135] As described above, the transmission unit 203 transmits the measurement time, the measurement position and speed of the vehicle 300, and the measurement positions and speeds of the surrounding objects as vehicle data to the correction data generation device 100. In addition, the transmission unit 203 assigns the identifier of the vehicle-mounted device 200 to the vehicle data and transmits the vehicle data to the correction data generation device 100.

[0136] In addition, in this embodiment, it is assumed that the transmission unit 203 has already acquired the communication address of the correction data generating device 100. The method by which the transmission unit 203 acquires the communication address of the correction data generating device 100 is arbitrary.

[0137] After the vehicle data is transmitted, the vehicle-mounted device 200 waits for the next measurement timing to arrive (step S204 ), and when the next measurement timing arrives, the processing from step S201 onwards is started.

[0138] Then Figure 8 Provide explanation. Figure 8 The correction data reception process and the correction process are shown.

[0139] When the receiving unit 204 receives the correction data from the correction data generating device 100 (Yes in step S211 ), the correction unit 205 corrects the position of the vehicle 300 and the positions of the surrounding objects using the correction data (step S212 ).

[0140] like Figure 2 As shown, the correction data includes correction values ​​for correcting the position of the vehicle 300 and the positions of each surrounding object. For example, the correction unit 205 subtracts the corresponding correction values ​​from the measured position of the vehicle 300 and the measured positions of each surrounding object to obtain the corrected position of the vehicle 300 and the positions of each surrounding object.

[0141] Next, refer to Fig. 9 An operation example of the correction data generating device 100 will be described.

[0142] When the receiving unit 101 receives the vehicle data from the vehicle 300 (Yes in step S101 ), the receiving unit 101 stores the received vehicle data in the auxiliary storage device 903 (step S102 ).

[0143] Then, the receiving unit 101 waits for the reception of vehicle data until a certain time has passed from the reception time of the first received vehicle data.

[0144] When a certain time has elapsed from the reception time of the first received vehicle data (YES in step S103 ), the correction data generating unit 102 sets a reference time (step S104 ).

[0145] Specifically, the correction data generating unit 102 sets the latest measurement time among the measurement times of the vehicle data stored in the auxiliary storage device 903 as the reference time.

[0146] Next, the correction data generating unit 102 calculates the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the surrounding objects at the reference time (step S105 ).

[0147] The correction data generating unit 102 calculates the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the surrounding objects at the reference time using the measured position and speed of the transmission source vehicle 300 and the measured positions and speeds of the surrounding objects.

[0148] The correction data generating unit 102 performs advance prediction processing using a Kalman filter to calculate the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the surrounding objects at the reference time.

[0149] Here, an example in which the correction data generating unit 102 calculates the predicted position of the vehicle A300a at the reference time t3 is described. It is assumed that the measurement time of the vehicle data received from the vehicle A300a is time t1. It is assumed that the measurement position and predicted position of the vehicle A300a at the past measurement time (time t0, time (t-1) etc.) are stored in the auxiliary storage device 903.

[0150] The correction data generation unit 102 calculates the error between the past measured position and the predicted position calculated corresponding to the measured position. For example, the correction data generation unit 102 calculates the error between the measured position of the vehicle A300a at the measurement time t0 and the predicted position calculated corresponding to the measured position. In addition, the correction data generation unit 102 calculates the error between the measured position of the vehicle A300a at the measurement time t(-1) and the predicted position calculated corresponding to the measured position. Then, the correction data generation unit 102 uses the calculated error, the measured position of the vehicle A300a at the measurement time t1, and the measured speed to calculate the predicted position of the vehicle A300a at the time t2 and the predicted position of the vehicle A300a at the time t3 using the Kalman filter.

[0151] The correction data generating unit 102 similarly calculates the predicted positions of the surrounding objects of the vehicle A300a at the reference time t3.

[0152] In addition, the details of the Kalman filter are described in the following references.

[0153] [References]

[0154] Shuichi Adachi and Ichiro Maruda, "Fundamentals of Kalamaru", Tokyo Denki University Press, 2012

[0155] In addition, when the speed of the surrounding objects is not measured by the passing vehicle 300, the correction data generating unit 102 calculates the predicted position of each surrounding object at the reference time based on the predicted position of the sending source vehicle 300 (e.g., vehicle A300a) at the reference time and the relative position of each surrounding object with respect to the sending source vehicle 300 (e.g., vehicle A300a) at the measurement time (e.g., time t1).

[0156] Next, the correction data generating unit 102 calculates the estimated position of the transmission source vehicle 300 at the reference time (step S106 ).

[0157] Specifically, the correction data generating unit 102 integrates a plurality of prediction data. Then, the correction data generating unit 102 analyzes the distribution of the prediction positions obtained by the integration, and calculates the position (estimated position) estimated to be where the transmission source vehicle 300 is at the reference time.

[0158] The transmission source vehicle 300 may be detected as a surrounding object of another vehicle. Figure 2 In the example of FIG. 1 , vehicle A300a is detected as a surrounding object (vehicle Y1 ) of vehicle B300b , and vehicle B300b is detected as a surrounding object (vehicle X2 ) of vehicle A300a .

[0159] Furthermore, due to measurement errors and prediction errors, even for the same source vehicle 300, there may be deviations between the multiple predicted positions. Figure 2 In the example, vehicle A300a and vehicle Y1 are the same vehicle and therefore the two predicted positions should be consistent. However, due to measurement errors and prediction errors, the predicted position of vehicle A300a and the predicted position of vehicle Y1 may deviate from each other.

[0160] Furthermore, the correspondence between the transmission source vehicle 300 and the surrounding objects of other vehicles 300 is not acquired by ID information, etc. Therefore, the correction data generating unit 102 needs to calculate the estimated position of the transmission source vehicle 300 based on the distribution of the predicted position.

[0161] The following describes a procedure for calculating the estimated position of the transmission source vehicle 300 .

[0162] In addition, below, each predicted position obtained by integrating the prediction data is expressed as Pi. The predicted position Pi includes both the predicted position of the transmission source vehicle 300 and the predicted positions of the surrounding objects. In addition, the predicted position of the transmission source vehicle 300 among the predicted positions Pi is expressed as Po_i.

[0163] First, the correction data generating unit 102 groups the prediction positions that are located within a first distance σ1 from each other in the distribution of the prediction positions Pi. The prediction positions included in each group obtained by the grouping are expressed as GPi.

[0164] The size of the first distance σ1 varies depending on the moving object. In the present embodiment, in order to obtain the estimated position of the vehicle 300, the first distance σ1 is set to about 2 m in consideration of the vehicle length and the vehicle width. When the estimated position of other types of moving objects is to be obtained, the first distance σ1 is determined in consideration of the size of the moving object being the target.

[0165] If the plurality of predicted positions GPi are not predicted positions GPi of the same vehicle, it is considered that the plurality of predicted positions GPi are not close to within the first distance σ1. In other words, the plurality of predicted positions GPi within the first distance σ1 are considered to be predicted positions of the same vehicle. Figure 2In the example of , the predicted position of the vehicle A300a in the prediction data A and the predicted position of the vehicle Y1 (= vehicle A300a ) in the prediction data B are within the first distance σ1 .

[0166] Next, the correction data generating unit 102 performs the following processes 111 to 119 for each group.

[0167] First, the correction data generating unit 102 selects one unselected group from a plurality of groups (process 111 ).

[0168] Then, the correction data generating unit 102 determines whether the predicted position Po_i of the transmission source vehicle 300 is included in the predicted positions GPi included in the selected group (processing 112).

[0169] When the predicted position Po_i of the transmission source vehicle 300 is included in the selected group, the correction data generation unit 102 calculates the average position GPi_a and the position standard deviation GPi_sd of the predicted positions GPi other than the predicted position Po_i of the transmission source vehicle 300 (processing 113). The group including the predicted position Po_i corresponds to the correction target group. In addition, the average position GPi_a corresponds to the first average position.

[0170] It is assumed that the predicted position GPi does not include the predicted positions Po_i of the plurality of transmission source vehicles 300. As described above, the first distance σ1 reflects the vehicle length and the vehicle width, so the possibility that the predicted positions Po_i of the plurality of transmission source vehicles 300 are included in the same group is low.

[0171] Next, the correction data generating unit 102 determines the second distance σ2 (process 114 ). Specifically, the correction data generating unit 102 uses the position standard deviation GPi_sd to set ±2*GPi_sd as the second distance σ2.

[0172] Next, the correction data generator 102 selects a prediction position GPi within the second distance σ2 from the average position GPi_a (process 115 ). That is, the correction data generator 102 selects a prediction position within GPi_a±2*GPi_sd.

[0173] Next, the correction data generating unit 102 calculates the average position of the predicted positions GPi (including the predicted position GPi_o of the transmission source vehicle 300) selected in the process 115 (process 116). The average position calculated in the process 116 corresponds to the second average position.

[0174] Then, the correction data generating unit 102 uses the average position calculated in the process 116 as the estimated position of the transmission source vehicle 300 (process 117 ).

[0175] In process 112, when the predicted position Po_i of the transmission source vehicle 300 is not included in the selected group, the correction data generating unit 102 calculates the average position and position standard deviation of all predicted positions GPi, and performs the same process as above to estimate the position (process 118).

[0176] Furthermore, the correction data generating unit 102 stores the estimated position obtained in the process 117 and the estimated position obtained in the process 118 together with the reference time in the auxiliary storage device 903 (process 119 ).

[0177] After processing 119 is completed for all groups, Fig. 9 As shown, the correction data generating unit 102 extracts the position difference of the transmission source vehicle 300 and the position difference of the surrounding objects for each transmission source vehicle 300 (step S107 ).

[0178] Specifically, the correction data generating unit 102 extracts the difference between the predicted position of the transmission source vehicle 300 calculated in step S105 and the estimated position of the transmission source vehicle 300 calculated in step S106 (processing 117). In addition, the correction data generating unit 102 extracts the difference between the predicted position of each surrounding object calculated in step S105 and the estimated position of each surrounding object calculated in step S106 (processing 118).

[0179] Next, the correction data generating unit 102 adjusts the position difference obtained in step S107 by the time difference (step S108 ).

[0180] The position difference obtained in step S107 is the difference between the predicted position and the estimated position at the reference time. The measured position indicated by the vehicle data transmitted from the transmission source vehicle 300 is the position at the measurement time. Therefore, the correction data generation unit 102 adjusts the position difference obtained in step S107 so as to reflect the difference between the measurement time and the reference time.

[0181] Specifically, the correction data generating unit 102 performs the following processing.

[0182] Here, the position of the transmission source vehicle 300 indicated by the vehicle data at the measurement time ti is referred to as Psrc_i.

[0183] Furthermore, the predicted position of the transmission source vehicle 300 at the reference time t (the predicted position calculated in step S105 ) is denoted as Ppre_i.

[0184] Furthermore, the estimated position of the transmission source vehicle 300 calculated in step S106 is referred to as Presult_i.

[0185] In addition, the position difference of the transmission source vehicle 300 obtained in step S107 is (Presult_i-Ppre_i).

[0186] In step S108, the correction data generating unit 102 adjusts the position difference by the time difference using "(Presult_i-Ppre_i)*(1-(t-ti) / cycle)" where cycle is the waiting time in step S103.

[0187] The correction data generating unit 102 performs the same processing on each surrounding object.

[0188] The value obtained in step S108 is the correction value, which is equivalent to Figure 2 δ11~δ14 and δ21~δ23 shown.

[0189] Next, the correction data generating unit 102 generates correction data for each transmission source vehicle 300 using the value obtained in step S108 (step S109 ).

[0190] Then, the transmission unit 103 transmits the correction data generated in step S109 to each transmission source vehicle 300 (step S110 ).

[0191] Later, if Figure 8 As shown, each vehicle-mounted device 200 receives the correction data and uses the correction data to correct the position.

[0192] In addition, the above description has been given of an example in which the correction data generation unit 102 generates correction data for correcting the measured position of the transmission source vehicle 300 and the measured positions of the surrounding objects. Alternatively, the correction data generation unit 102 may generate correction data for correcting only the measured position of the transmission source vehicle 300. In this case, the vehicle-mounted device 200 corrects only the measured position of the vehicle 300 using the correction data.

[0193] Furthermore, although the vehicle 300 is described above as an example of a moving object, the position correction system 500 of the present embodiment can also be applied to moving objects other than vehicles, such as pedestrians and robots.

[0194] **Description of the effects of the implementation method**

[0195] As described above, according to the present embodiment, position correction can be performed in a short time.

[0196] As described above, in the technology of Patent Document 1, unless vehicle α repeatedly receives the measured positions from surrounding vehicles and repeatedly compares the measured positions from surrounding vehicles with the measured positions in vehicle α, the position cannot be corrected. Therefore, in the technology of Patent Document 1, the position correction takes time.

[0197] In this embodiment, each vehicle-mounted device 200 can correct the position only by transmitting vehicle data and receiving correction data. That is, according to this embodiment, each vehicle-mounted device 200 can correct the position without performing multiple communications and multiple comparisons.

[0198] Furthermore, in the technology of Patent Document 1, the vehicle α cannot correct its position when there are no surrounding vehicles that can measure the position of the vehicle α.

[0199] In the present embodiment, even when two vehicles cannot measure each other's positions, as long as the other vehicle can measure the positions of the two vehicles, the two vehicles can correct their respective positions. For example, it is assumed that vehicle P is in a state where the position of vehicle Q cannot be measured, and vehicle Q is in a state where the position of vehicle P cannot be measured. In addition, it is assumed that vehicle R is in a state where the position of vehicle P and the position of vehicle Q can be measured. In this case, vehicle P sends the measured position of vehicle P to the correction data generating device 100. In addition, vehicle Q sends the measured position of vehicle Q to the correction data generating device 100. In addition, vehicle R sends the measured position of vehicle P and the measured position of vehicle Q as the measured positions of the surrounding objects to the correction data generating device 100. The correction data generating device 100 can send correction data for correcting the measured position of vehicle P to vehicle P by using the measured position of vehicle P from vehicle P and the measured positions of the surrounding objects from vehicle R (the measured position of vehicle P). Likewise, the correction data generating device 100 can transmit correction data for correcting the measured position of the vehicle Q to the vehicle Q by using the measured position of the vehicle Q from the vehicle Q and the measured positions of the surrounding objects of the vehicle R (the measured position of the vehicle Q).

[0200] Furthermore, only the position of the vehicle α can be corrected in the technology of Patent Document 1. That is, the position of the surrounding objects cannot be corrected in the technology of Patent Document 1.

[0201] According to this embodiment, the positions of surrounding objects can also be corrected.

[0202] ***Supplementary explanation of hardware structure***

[0203] Finally, a supplementary description will be given of the hardware configuration of the vehicle-mounted device 200 and the hardware configuration of the correction data generating device 100 .

[0204] Figure 5 The processor 801 shown is an IC (Integrated Circuit) that performs processing.

[0205] The processor 801 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or the like.

[0206] Figure 5 The main storage device 802 shown is a RAM (Random Access Memory).

[0207] Figure 5 The auxiliary storage device 803 shown is a ROM (Read Only Memory), a flash memory, a HDD (Hard Disk Drive), or the like.

[0208] Figure 5 The communication device 804 shown is an electronic circuit that performs communication processing of data.

[0209] The communication device 804 is, for example, a communication chip or a NIC (Network Interface Card).

[0210] Furthermore, the auxiliary storage device 803 also stores an OS (Operating System).

[0211] Also, at least a portion of the OS is executed by the processor 801 .

[0212] The processor 801 executes a program that realizes the functions of the vehicle position measuring unit 201 , the surrounding object position measuring unit 202 , the transmitting unit 203 , the receiving unit 204 , and the correcting unit 205 while executing at least a part of the OS.

[0213] The processor 801 executes the OS to perform task management, memory management, file management, communication control, and the like.

[0214] In addition, at least any one of the information, data, signal values ​​and variable values ​​representing the results of processing by the vehicle position measurement unit 201, the surrounding object position measurement unit 202, the sending unit 203, the receiving unit 204 and the correction unit 205 is stored in at least one of the main storage device 802, the auxiliary storage device 803, the registers in the processor 801 and the cache memory.

[0215] In addition, the program that realizes the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmitting unit 203, the receiving unit 204, and the correction unit 205 may be stored in a removable recording medium such as a magnetic disk, a floppy disk, an optical disk, a high-density disk, a Blu-ray (registered trademark) optical disk, or a DVD. Furthermore, a removable recording medium storing the program that realizes the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmitting unit 203, the receiving unit 204, and the correction unit 205 may be circulated.

[0216] In addition, the word "unit" in the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmitting unit 203, the receiving unit 204 and the correcting unit 205 may be replaced with "circuit", "process", "step", "processing" or "line".

[0217] In addition, the vehicle-mounted device 200 may also be implemented by a processing circuit, such as a logic IC (Integrated Circuit), a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array).

[0218] In this case, the vehicle position measuring unit 201 , the surrounding object position measuring unit 202 , the transmitting unit 203 , the receiving unit 204 , and the correcting unit 205 are each realized as a part of a processing circuit.

[0219] Figure 6 The processor 901 shown is an IC that performs processing.

[0220] The processor 901 is a CPU, a DSP, or the like.

[0221] Figure 6 The main storage device 902 is shown as RAM.

[0222] Figure 6 The auxiliary storage device 903 shown is a ROM, a flash memory, a HDD, or the like.

[0223] Figure 6 The communication device 904 shown is an electronic circuit that performs communication processing of data.

[0224] The communication device 904 is, for example, a communication chip or a NIC.

[0225] Furthermore, the auxiliary storage device 903 also stores an OS.

[0226] Furthermore, at least a part of the OS is executed by the processor 901 .

[0227] The processor 901 executes a program that realizes the functions of the receiving unit 101 , the correction data generating unit 102 , and the transmitting unit 103 while executing at least a part of the OS.

[0228] The processor 901 executes the OS to perform task management, memory management, file management, communication control, and the like.

[0229] In addition, at least any one of the information, data, signal values ​​and variable values ​​representing the results of processing by the receiving unit 101, the correction data generating unit 102 and the sending unit 103 is stored in at least one of the main storage device 902, the auxiliary storage device 903, the registers in the processor 901 and the cache memory.

[0230] In addition, the program that realizes the functions of the receiving unit 101, the correction data generating unit 102, and the sending unit 103 may be stored in a removable recording medium such as a magnetic disk, a floppy disk, an optical disk, a high-density disk, a Blu-ray (registered trademark) optical disk, or a DVD. Furthermore, a removable recording medium storing the program that realizes the functions of the receiving unit 101, the correction data generating unit 102, and the sending unit 103 may be circulated.

[0231] In addition, the “unit” in the receiving unit 101 , the correction data generating unit 102 , and the transmitting unit 103 may be replaced with a “circuit”, a “process”, a “step”, a “process”, or a “line”.

[0232] In addition, the correction data generating device 100 may also be implemented by a processing circuit, such as a logic IC, a GA, an ASIC, or an FPGA.

[0233] In this case, the receiving unit 101 , the correction data generating unit 102 , and the transmitting unit 103 are each realized as a part of a processing circuit.

[0234] In this specification, a processor and a processing circuit are collectively referred to as a "processing circuit".

[0235] That is, a processor and a processing circuit are each specific examples of a “processing circuit”.

[0236] Description of Reference Numerals

[0237] 100 correction data generating device, 101 receiving unit, 102 correction data generating unit, 103 sending unit, 200 vehicle-mounted device, 200a vehicle-mounted device A, 200b vehicle-mounted device B, 201 vehicle position measuring unit, 202 surrounding object position measuring unit, 203 sending unit, 204 receiving unit, 205 correction unit, 300 vehicle, 300a vehicle A, 300b vehicle B, 300c vehicle C, 300d vehicle D, 300n vehicle N, 400 pedestrian, 500 position correction system, 801 processor, 802 main storage device, 803 auxiliary storage device, 804 communication device, 901 processor, 902 main storage device, 903 auxiliary storage device, 904 communication device.

Claims

1. A correction data generating device, wherein: The correction data generating device comprises: a receiving unit that receives moving body data from each of a plurality of moving bodies, the moving body data indicating a measured position of each moving body, a measured position of a surrounding object of each moving body, and a measurement time, the measured position of each moving body being a position of each moving body measured by each moving body at a separate timing and possibly including an error, the measured position of the surrounding object of each moving body being a position of the surrounding object of each moving body measured by each moving body at a separate timing and possibly including an error, and the measurement time being a time when the measured position of each moving body and the measured position of the surrounding object of each moving body are measured; a correction data generating unit, which uses the measured positions of each moving body indicated by the plurality of moving body data received from the plurality of moving bodies, the measured positions of the surrounding objects of each moving body, and the measured time of each moving body to calculate the predicted position of each moving body at a reference time, and calculates the predicted position of the surrounding objects of each moving body at the reference time, wherein the reference time is a time after the measured time of the plurality of moving bodies and is a time commonly applied to the plurality of moving bodies, the correction data generating unit integrates the predicted positions of the plurality of moving bodies at the reference time and the predicted positions of the surrounding objects of the plurality of moving bodies at the reference time, analyzes the distribution of the predicted positions obtained by the integration, calculates the position estimated to be where each moving body is at the reference time as the estimated position of each moving body at the reference time, and generates correction data for each moving body using the estimated position of each moving body at the reference time, wherein the correction data is used to correct errors that may be included in the measured positions of each moving body; and a transmitting unit that transmits the correction data for each moving body generated by the correction data generating unit to each moving body, The correction data generating unit performs the following processing: In the distribution of the predicted positions obtained by integration, the predicted positions that are within the first distance from each other are grouped. A group including a predicted position of an arbitrary moving body, namely, a correction target group, is extracted from the plurality of groups obtained by grouping, and an average position of predicted positions included in the correction target group except for the predicted position of the moving body whose predicted position is included in the correction target group is calculated as a first average position, calculating an average position of predicted positions within a second distance from the first average position among the predicted positions included in the correction target group as a second average position, The second average position is used as the estimated position of the moving object whose predicted position is included in the correction target group.

2. The correction data generating device according to claim 1, wherein: The correction data generating unit generates, for each moving object, correction data for correcting an error that may be included in a measured position of each moving object and an error that may be included in a measured position of a peripheral object of each moving object.

3. The correction data generating device according to claim 1, wherein: The correction data generating unit generates the correction data of the moving object using a difference between an estimated position of a moving object whose predicted position is included in the correction target group and the predicted position of the moving object, and a difference between a measurement time indicated by moving object data from the moving object and the reference time.

4. The correction data generating device according to claim 1, wherein: The correction data generating unit calculates a standard deviation of predicted positions included in the correction target group except for predicted positions of moving objects whose predicted positions are included in the correction target group. The second distance is determined using the standard deviation.

5. The correction data generating device according to claim 1, wherein: The receiving unit receives, from each of the plurality of moving objects, moving object data indicating a measured speed of each moving object, the measured speed of each moving object being a speed of each moving object measured by each moving object. The correction data generating unit calculates the predicted position of each moving body and the predicted position of each moving body's surrounding objects using the measured position of each moving body, the measured speed of each moving body, the measured position of each moving body's surrounding objects, and the measured time of each moving body indicated by each moving body data.

6. The correction data generating device according to claim 1, wherein: The correction data generating unit calculates a predicted position of each moving object and a predicted position of a surrounding object of each moving object using the latest measured time among the measured times of the plurality of moving objects as the reference time.

7. The correction data generating device according to claim 1, wherein: The plurality of moving objects are a plurality of vehicles traveling in a lane, The correction data generating device is a roadside server device arranged on the roadside of the lane.

8. A method for generating correction data, wherein: A computer receives moving body data from each moving body among a plurality of moving bodies, the moving body data indicating a measured position of each moving body, a measured position of a surrounding object of each moving body, and a measurement time, the measured position of each moving body being the position of each moving body measured by each moving body at a separate timing and possibly including an error, the measured position of the surrounding object of each moving body being the position of the surrounding object of each moving body measured by each moving body at a separate timing and possibly including an error, and the measurement time being the time at which the measured position of each moving body and the measured position of the surrounding object of each moving body are measured, The computer calculates the predicted position of each mobile body at a reference time, and calculates the predicted position of the surrounding objects of each mobile body at the reference time, using the measured positions of the multiple mobile body data received from the multiple mobile bodies, the measured positions of the surrounding objects of each mobile body, and the measured time of each mobile body. The computer calculates the predicted position of each mobile body at a reference time, and calculates the predicted position of the surrounding objects of each mobile body at the reference time. The reference time is a time after the measured time of the multiple mobile bodies and is a time commonly applied to the multiple mobile bodies. The correction data generating unit integrates the predicted positions of the multiple mobile bodies at the reference time and the predicted positions of the surrounding objects of the multiple mobile bodies at the reference time, analyzes the distribution of the predicted positions obtained by the integration, calculates the position estimated to be where each mobile body is at the reference time, and uses the estimated position of each mobile body at the reference time to generate correction data for each mobile body. The correction data is used to correct errors that may be included in the measured positions of each mobile body. The computer sends the generated correction data for each moving object to each moving object, In generating the correction data, the computer performs the following processing: In the distribution of the predicted positions obtained by integration, the predicted positions that are within the first distance from each other are grouped. A group including a predicted position of an arbitrary moving body, namely, a correction target group, is extracted from the plurality of groups obtained by grouping, and an average position of predicted positions included in the correction target group except for the predicted position of the moving body whose predicted position is included in the correction target group is calculated as a first average position, calculating an average position of predicted positions within a second distance from the first average position among the predicted positions included in the correction target group as a second average position, The second average position is used as the estimated position of the moving object whose predicted position is included in the correction target group.

9. A computer-readable recording medium having a correction data generation program recorded thereon, the correction data generation program causing a computer to execute: Receiving processing, receiving moving body data from each moving body among a plurality of moving bodies, the moving body data indicating a measured position of each moving body, a measured position of a surrounding object of each moving body, and a measurement time, the measured position of each moving body being the position of each moving body measured by each moving body at a separate timing and possibly including an error, the measured position of the surrounding object of each moving body being the position of the surrounding object of each moving body measured by each moving body at a separate timing and possibly including an error, and the measurement time being the time at which the measured position of each moving body and the measured position of the surrounding object of each moving body are measured; correction data generation processing, using the measured positions of each moving body indicated by the plurality of moving body data received from the plurality of moving bodies, the measured positions of the surrounding objects of each moving body, and the measured time of each moving body, to calculate the predicted position of each moving body at a reference time, and to calculate the predicted position of the surrounding objects of each moving body at the reference time, the reference time being a time after the measured time of the plurality of moving bodies and a time commonly applied to the plurality of moving bodies, the correction data generation unit integrates the predicted positions of the plurality of moving bodies at the reference time and the predicted positions of the surrounding objects of the plurality of moving bodies at the reference time, analyzes the distribution of the predicted positions obtained by integration, calculates the position estimated to be where each moving body is at the reference time as the estimated position of each moving body at the reference time, uses the estimated position of each moving body at the reference time, and generates correction data for each moving body, the correction data being used to correct errors that may be included in the measured positions of each moving body; and a sending process of sending the correction data for each moving body generated by the correction data generating process to each moving body, In the correction data generation process, the correction data generation program causes the computer to execute the following process: In the distribution of the predicted positions obtained by integration, the predicted positions that are within the first distance from each other are grouped. A group including a predicted position of an arbitrary moving body, namely, a correction target group, is extracted from the plurality of groups obtained by grouping, and an average position of predicted positions included in the correction target group except for the predicted position of the moving body whose predicted position is included in the correction target group is calculated as a first average position, calculating an average position of predicted positions within a second distance from the first average position among the predicted positions included in the correction target group as a second average position, The second average position is used as the estimated position of the moving object whose predicted position is included in the correction target group.

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