CORRECTION DATA GENERATION DEVICE, CORRECTION DATA GENERATION PROCEDURE, AND CORRECTION DATA GENERATION PROGRAM

Abstract

Correction data generation device (100), comprising: a receiving unit (101) for receiving from each moving body of a plurality of moving bodies, data of the moving body indicating a measured position of each moving body, which is a position of each moving body at an individual time, which is measured at each moving body and may contain an error, and which indicates a measured position of an object in the vicinity of each moving body, which is a position of the object in the vicinity of each moving body at an individual time, which is measured at each moving body and may contain an error; and which indicates a measurement time, which is a time at which the measured position of each moving body and the measured position of the object in the vicinity of each moving body have been measured, a correction data generation unit (102) for calculating a predicted position of each moving body and a predicted position of the object in the vicinity of each moving body at a reference time, wherein the reference time is a time after the measurement times of the plurality of moving bodies and is a time generally applied to the plurality of moving bodies, using the measured position of each moving body, the measured position of the object in the vicinity of each moving body, and the measurement time of each moving body specified in a plurality of moving body data received from the plurality of moving bodies to integrate the predicted positions of the multiple moving bodies at the reference time and the predicted positions of the surrounding objects of the multiple moving bodies at the reference time.to analyze a distribution of predicted positions obtained by integration, to calculate a position at the reference time where each moving body is estimated to be, as an estimated position of each moving body at the reference time, and to generate correction data for each moving body to correct the error that may be contained in the measured position of each moving body, using the estimated position of each moving body at the reference time; and , a transmission unit (103) to transmit the correction data generated by the correction data generation unit (102) for each moving body to each moving body, wherein the correction data generation unit (102) groups predicted positions that are within a first distance in the distribution of predicted positions obtained by integration, From a multitude of groups obtained through grouping, a correction target group is extracted, which is a group that includes a predicted position of any moving body, as a first mean position, a mean position of predicted positions contained in the correction target group is calculated, with the exception of the predicted position of the moving body whose predicted position is contained in the correction target group. A second middle position is calculated as a middle position of predicted positions that are within a second distance from the first middle position below the predicted positions included in the correction target group, and The second middle position is used as an estimated position of the moving body whose predicted position is included in the correction target group.

Description

Technical area

[0001] The present disclosure relates to a technique for correcting a measured position of a vehicle. Background to the state of the art

[0002] In recent years, research and development work has progressed on an in-vehicle system in which a large number of sensors are installed and sensor data obtained from the large number of sensors is used.

[0003] In addition, research and development work has also progressed on a system that receives sensor data from a sensor installed in another vehicle via vehicle-to-vehicle communication and uses the received sensor data.

[0004] In addition, research and development work has also progressed on a system that provides a merger in data processing between a vehicle and a roadside server, using roadway-to-vehicle communication between the vehicle and the roadside server.

[0005] Here, we consider a system in which a moving body, such as a vehicle or a person, transmits its position to a roadside server, and the roadside server detects the position of each moving body. In such a system, it is possible, for example, for the roadside server to notify vehicle a of a vehicle b and / or a person whose position is not detected by vehicle a.

[0006] When vehicle a transmits a position of vehicle a together with a position of a vehicle x obtained from the sensor to the roadside server, the roadside server is further able to detect the position of vehicle x, which is unable to transmit its own position to the roadside server.

[0007] The position information to be transmitted from a moving body, such as a vehicle or a person, to the roadside server may contain an error. Therefore, the positions of the same moving body measured by multiple moving bodies may be consistent with each other. Alternatively, the positions of the same moving body measured by multiple moving bodies may not be consistent with each other.

[0008] That is, there may be a situation where the position of vehicle a measured by vehicle a agrees with the position of vehicle a measured by vehicle b, but the position of vehicle c measured by vehicle a does not agree with the position of vehicle c measured by vehicle b.

[0009] In such a situation, it is necessary to determine whether the "matching positions" are correct or whether the "non-matching positions" are correct. If the "matching positions" are correct, it is also necessary to determine how the "non-matching positions" can be corrected.

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

[0011] In Patent Literature 1, a vehicle α measures its own position and acquires position information of the vehicle α measured by a vehicle in the surrounding area β. Then, the vehicle α calculates a range of the vehicle α from an error between the position of the vehicle α measured by the vehicle α and the measured position of the vehicle α acquired by the vehicle β. The vehicle α performs the same process for a plurality of vehicles in the surrounding area. Then, the vehicle α corrects the position of the vehicle α so that the position of the vehicle α falls within an overlapping range acquired after repeating the same process for the plurality of vehicles in the surrounding area.

[0012] Further systems and methods for correcting a specific vehicle position are described in Patent Literature 2 to 8. For example, Patent Literature 2 discloses a hybrid positioning system in which a mobile device determines a number of pseudoranges based on a first positioning system, such as the Global Positioning System. In cases where the position of the mobile device cannot be accurately determined due to an insufficient number of satellite pseudoranges, the mobile device transmits its position information to other devices, which may include other mobile devices. A first mobile device can thus determine its position based on an insufficient number of satellite pseudoranges by determining pseudoranges to other mobile devices.Further systems based on the determination of distances between at least two units of the system are described in patent literature 3, 5, 6, 7 and 8, while patent literature 4 describes a position determination using landmark information. List of cited publicationsPatent literature Patent literature 1: JP 6464978 B2 Patent literature 2: US 2004 / 0 008 138 A Patent literature 3: US 2010 / 0 049 376 A1 Patent literature 4: US 2016 / 0 305 794 A1 Patent literature 5: US 2019 / 0 383 950 A1 Patent literature 6: EP 2 363 731 A1 Patent Literature 7: JP 2009-150 722 A Patent Literature 8: JP 2009-145 167 A Summary of the inventionTechnical problem

[0013] In the technique of Patent Literature 1, the vehicle α is unable to correct the position unless the vehicle α repeatedly obtains a measured position from a vehicle in the surroundings a plurality of times and repeatedly compares the measured position from the vehicle in the surroundings with the position measured by the vehicle α a plurality of times.

[0014] For this reason, the technique of Patent Literature 1 has the problem that it takes time to correct the position.

[0015] One of the main objectives of the present disclosure is to solve such a problem. Specifically, one of the main tasks of the present disclosure is to correct a position in a short time. Solution to the problem

[0016] These problems are solved by a correction data generating device according to claim 1, a correction data generating method according to claim 8 and a correction data generating program according to claim 9. A correction data generating device according to the present disclosure comprises: a receiving unit for receiving, from each of a plurality of moving bodies, moving body data indicating a measured position of each moving body, which is a position of each moving body measured at each moving body and may include an error, and a measured position of an object in the vicinity of each moving body, which is a position of the object in the vicinity of each moving body measured at each moving body and may include an error; a correction data generation unit for generating, for each movable body, correction data for correcting the error that may be included in the measured position of each movable body, using measured positions of the plurality of movable bodies and measured positions of objects in the vicinity of the plurality of movable bodies indicated in a plurality of movable body data received from the plurality of movable bodies; and a transmission unit for transmitting the correction data for each movable body generated by the correction data generation unit to each movable body. Advantageous effects of the invention

[0017] According to the present disclosure, it is possible to correct a position in a short time. Brief description of the drawings Fig. 1 is a diagram illustrating a configuration example of a position correction system according to a first embodiment. Fig. 2 is a diagram showing an overview of a processing flow of the position correction system according to the first embodiment. Fig. 3 is a diagram illustrating a functional configuration example of an in-vehicle device according to the first embodiment. Fig. 4 is a diagram illustrating a functional configuration example of a correction data generating device according to the first embodiment. Fig. 5 is a diagram illustrating an example of a hardware configuration of the in-vehicle device according to the first embodiment. Fig. 6 is a diagram illustrating an example of a hardware configuration of the correction data generating device according to the first embodiment. Fig. 7 is a flowchart illustrating an operation example of the in-vehicle device according to the first embodiment. Fig. 8 is a flowchart illustrating an operation example of the in-vehicle device according to the first embodiment. Fig. 9 is a flowchart illustrating an operation example of the correction data generating device according to the first embodiment. Description of embodiments

[0018] Embodiments will be described below with reference to the drawings. In the following description of the embodiments and in the drawings, parts assigned the same reference numerals indicate the same parts or corresponding parts. First embodiment.*** Configuration description ***

[0019] Fig. 1 shows a configuration example of a position correction system 500 according to the present embodiment.

[0020] The position correction system 500 according to the present embodiment includes a correction data generation device 100, an in-vehicle device A 200a, and an in-vehicle device B 200b.

[0021] The in-vehicle device A 200a is mounted on a vehicle A 300a. The in-vehicle device B 200b is mounted on a vehicle B 300b. It is assumed that no in-vehicle device is mounted on a vehicle C 300c and a vehicle D 300d.

[0022] Vehicle A 300a, vehicle B 300b, vehicle C 300c, vehicle D 300d and a pedestrian 400 are each a moving body.

[0023] Furthermore, vehicle B 300b, vehicle C 300c, vehicle D 300d, and pedestrian 400, each of which is a moving body in the vicinity of vehicle A 300a, are equal to an object in the vicinity of vehicle A 300a. Likewise, vehicle A 300a, vehicle C 300c, vehicle D 300d, and pedestrian 400, each of which is a moving body in the vicinity of vehicle B 300b, are equal to an object in the vicinity of vehicle B 300b.

[0024] If it is not necessary to distinguish between vehicle A 300a, vehicle B 300b, vehicle C 300c, vehicle D 300d and a Fig. To distinguish them from the vehicle not shown in Figure 1, they are collectively referred to as vehicle 300.

[0025] Furthermore, if it is not necessary to distinguish between the in-vehicle device A 200a and the in-vehicle device B 200b, they are collectively referred to as the in-vehicle device 200.

[0026] The in-vehicle device A 200a measures a position of the vehicle A 300a. The in-vehicle device A 200a also measures positions of the objects in the surroundings of the vehicle A 300a. The in-vehicle device A 200a measures a speed of the vehicle A 300a and speeds of the objects in the surroundings.

[0027] The in-vehicle device A 200a transmits a measurement result as vehicle data A to the correction data generation device 100. The vehicle data A corresponds to the data of the moving body. The measurement result of the in-vehicle device A 200a includes the measured position of the vehicle A 300a, the measured positions of the objects in the surroundings of the vehicle A 300a, the measured speed of the vehicle A 300a, and the measured speeds of the objects in the surroundings.

[0028] The measurement result of the on-board device A 200a may contain a measurement error.

[0029] In the present embodiment, it is assumed that the in-vehicle device A 200a can only measure the positions and speeds of the vehicle B 300b, the vehicle C 300c and the pedestrian among the objects in the surroundings.

[0030] The in-vehicle device B 200b also measures a position of the vehicle B 300b. The in-vehicle device B 200b further measures the positions of the objects in the surroundings of the vehicle B 300b. The in-vehicle device B 200b measures a speed of the vehicle B 300b and the speeds of the objects in the surroundings. The in-vehicle device B 200b could not measure the speed of the vehicle B 300b. Here, it is assumed that the in-vehicle device B 200b measures the speed of the vehicle B 300b.

[0031] The in-vehicle device B 200b transmits a measurement result as vehicle data B to the correction data generation device 100. The vehicle data B corresponds to the data of the moving body. The measurement result of the in-vehicle device B 200b includes the measured position of the vehicle B 300b, the measured positions of the objects in the surroundings of the vehicle B 300b, the measured speed of the vehicle B 300b, and the measured speeds of the objects in the surroundings.

[0032] The measurement result of the in-vehicle device B 200b may contain a measurement error.

[0033] In the present embodiment, it is assumed that the in-vehicle device B 200b can only measure the positions and speeds of the vehicle A 300a and the vehicle D 300d from the objects in the surroundings.

[0034] An operation sequence of the in-vehicle device 200 corresponds to an error correction method. Furthermore, a program that implements an operation of the in-vehicle device 200 corresponds to an error correction program.

[0035] The correction data generation device 100 is, for example, a roadside server device arranged on one side of a roadway on which the vehicle 300 is traveling. The correction data generation device 100 may be a different server device than the roadside server device.

[0036] An operation sequence of the correction data generation device 100 corresponds to a correction data generation method. A program that implements an operation of the correction data generation device 100 also corresponds to a correction data generation program.

[0037] The correction data generating device 100 receives the vehicle data A and the vehicle data B.

[0038] Then, the correction data generating means 100 generates correction data for each of the vehicle A 300a and the vehicle B 300b using the measurement result included in the vehicle data A and the measurement result included in the vehicle data B.

[0039] The correction data (referred to as correction data A) for vehicle A 300a is data for correcting the measurement error contained in the measurement result of the in-vehicle device A 200a. That is, the correction data A is data for correcting the measurement error possibly contained in the measured position of vehicle A 300a and the measurement errors possibly contained in the measured positions of objects around vehicle A 300a.

[0040] The correction data (referred to as correction data B) for vehicle B 300b is data for correcting the measurement error contained in the measurement result of the in-vehicle device B 200b. That is, the correction data B is data for correcting the measurement error possibly contained in the measured position of vehicle B 300b and the measurement errors possibly contained in the measured positions of objects around vehicle B 300b.

[0041] Subsequently, the correction data generating device 100 transmits the correction data A to the in-vehicle device A 200a and transmits the correction data B to the in-vehicle device B 200b.

[0042] The in-vehicle device A 200a receives the correction data A. Then, the in-vehicle device A 200a corrects a positioning error included in the measured position of the vehicle A 300a using the correction data A. Furthermore, the in-vehicle device A 200a corrects positioning errors included in the measured positions of the vehicle A 300a using the correction data A.

[0043] Similarly, the in-vehicle device B 200b receives the correction data B. Then, the in-vehicle device B 200b corrects a positioning error included in the measured position of the vehicle B 300b using the correction data B. Furthermore, the in-vehicle device B 200b corrects positioning errors included in the measured positions of the vehicle B 300b using the correction data B.

[0044] Fig. 2 shows an overview of a processing method of the position correction system 500 according to the present embodiment.

[0045] Before describing the detailed configurations of the correction data generating device 100 and the in-vehicle device 200, the outline of the processing flow of the position correction system 500 will be described.

[0046] 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 the vehicle data A and the vehicle data B.

[0047] In the following, one or more pieces of vehicle data that are different from vehicle data A and vehicle data B are collectively referred to as vehicle data N (in Fig. 2 not shown). Furthermore, a vehicle from which the vehicle data N is transmitted is referred to as vehicle N 300n (not shown).

[0048] Furthermore, the vehicle 300 from which the vehicle data is transmitted is also referred to as transmission source vehicle 300.

[0049] As described above, the vehicle data A is data transmitted from the in-vehicle device A 200a of the vehicle A 300a and indicates the measurement result of the in-vehicle device A 200a. The vehicle data A indicates the measured position of the vehicle A 300a, which is the transmission source vehicle 300. Furthermore, the vehicle data A indicates a position of a vehicle X1, a position of a vehicle X2, and a position of a pedestrian as the measured positions of the objects in the surroundings. The vehicle X1 is the vehicle 300c in Fig. 1. The vehicle X2 is the vehicle B 300b in Fig. 1. The pedestrian is the pedestrian 400 in Fig. 1. However, the in-vehicle device A 200a is unable to specify the objects in the surroundings, so the in-vehicle device A 200a recognizes the objects in the surroundings as the vehicle X1, the vehicle X2, and the pedestrian.

[0050] It is assumed that the correction data generation device 100 is capable of recognizing that the vehicle A 300a indicated in the vehicle data A is the transmission source vehicle 300 of the vehicle data A.

[0051] As described above, the vehicle data B is data transmitted from the in-vehicle device B 200b of the vehicle B 300b and indicates the measurement result of the in-vehicle device B 200b. The vehicle data B indicates the measured position of the vehicle B 300b, which is the transmission source vehicle 300. Furthermore, the vehicle data B indicates a position of a vehicle Y1 and a position of a vehicle Y2 as the measured positions of the objects in the surroundings. The vehicle Y1 is the vehicle A 300a in Fig. 1 and the vehicle Y2 is the vehicle D 300d in Fig. 1. However, the in-vehicle device B 200b is unable to specify the objects in the surroundings, so the in-vehicle device B 200b recognizes the objects in the surroundings as the vehicle Y1 and the vehicle Y2.

[0052] It is assumed that the correction data generation device 100 is capable of recognizing that the vehicle B 300b indicated in the vehicle data B is the transmission source vehicle 300 of the vehicle data B.

[0053] Although the vehicle data N is not displayed, it is the same data as the vehicle data A and vehicle data B described above.

[0054] Each of the transmission source vehicles 300 measures the position of the transmission source vehicle 300 and the positions of objects in the surrounding area at an individual time interval. The vehicle data indicates a measurement time at the transmission source vehicle 300.

[0055] As in Fig. 2, the measurement time of vehicle data A is a time t1. The measurement time of vehicle data B is a time t2 (t1 <t2). Außerdem ist der Messzeitpunkt der Fahrzeugdaten N auch ein individueller Zeitpunkt für das Übertragungsquellenfahrzeug 300.

[0056] In this way, a measurement is not always performed at the same time in each transmission source vehicle 300, so that differences in the measurement times between individual vehicle data may occur.

[0057] The correction data generation device 100 eliminates such differences in measurement times. To eliminate the difference in measurement times, the correction data generation device 100 sets a time point (hereinafter referred to as a reference time point) that is a time point after the measurement times of a plurality of transmission source vehicles 300 and is generally applied to the plurality of transmission source vehicles 300. Then, the correction data generation device 100 calculates a predicted position of each transmission source vehicle 300 at the reference time point and predicted positions of the objects around each transmission source vehicle 300 at the reference time point.

[0058] Specifically, the correction data generation device 100 sets a latest measurement time point among the measurement times of the plurality of received vehicle data as the reference time point. Then, the correction data generation device 100 predicts the position of each transmission source vehicle 300 at the reference time point and the positions of the objects around each transmission source vehicle 300 at the reference time point. If the measurement time point is identical to the reference time point, the correction data generation device 100 uses the measured position indicated in the vehicle data as the predicted position.

[0059] In an example from Fig. 2, the correction data generating device 100 sets a time t3 (t2 <t3) als den Referenzzeitpunkt ein und berechnet die vorhergesagte Position jedes Übertragungsquellenfahrzeugs 300 und die vorhergesagten Positionen der Objekte in der Umgebung zum Zeitpunkt t3.

[0060] That is, the correction data generation device 100 calculates the predicted position of the vehicle A 300a at time t3 based on the measured position and measured speed of the vehicle A 300a indicated in the vehicle data A. That is, the correction data generation device 100 calculates the predicted position of each object in the surroundings at time t3 based on the measured position and measured speed of each object in the surroundings (the vehicle X1, the vehicle X2, or the pedestrian). Data indicating the predicted positions of the vehicle A 300a and each object in the surroundings at time t3 is referred to as prediction data A.

[0061] Similarly, the correction data generation device 100 also calculates the predicted position of the vehicle B 300b and each object in the surroundings at time t3 for the vehicle data B. Data indicating the predicted positions of the vehicle B 300b and each object in the surroundings at time t3 is referred to as prediction data B.

[0062] Similarly, the correction data generation device 100 further calculates the predicted position of the vehicle N 300n and each object in the surroundings at time t3 for the vehicle data N. Data indicating the predicted positions of the vehicle N 300n and each object in the surroundings at time t3 are referred to as prediction data N (not included in Fig. 2).

[0063] Next, the correction data generating means 100 generates integrated data by integrating the prediction data A, the prediction data B, and the prediction data N.

[0064] In the integrated data of Fig. 2, the predicted position of vehicle A 300a and the predicted position of vehicle Y1 partially overlap. Furthermore, the predicted position of vehicle B 300b and the predicted position of vehicle X2 partially overlap. Vehicle A 300a and vehicle Y1 are the same vehicle, so all predicted positions are close to each other but do not completely agree due to measurement errors and prediction errors. Similarly, vehicle B 300b and vehicle X2 are the same vehicle, so all predicted positions are close to each other but do not completely agree due to measurement errors and prediction errors.

[0065] The correction data generating device 100 analyzes a distribution of the predicted positions obtained by the integration and calculates a position at which the transmission source vehicle 300 is expected to be located at the reference time t3 as an estimated position of the transmission source vehicle 300. In the example of Fig. 2, the correction data generation device 100 analyzes the distribution of the predicted position of vehicle A 300a and the predicted position of vehicle Y1 and calculates the estimated position of vehicle A 300a. Similarly, the correction data generation device 100 analyzes the distribution of the predicted position of vehicle B 300b and the predicted position of vehicle X2 and calculates the estimated position of vehicle B 300b.

[0066] Further, the correction data generating means 100 calculates the positions at which the objects in the surroundings are estimated to be located at the reference time t3 as estimated positions of the objects in the surroundings.

[0067] Next, the correction data generation device 100 generates the correction data for each of the transmission source vehicles 300 using the estimated position of the transmission source vehicle 300 and the estimated positions of the objects in the surroundings. That is, the correction data generation device 100 generates the correction data A, which is the correction data for the vehicle A 300a, using the estimated position of the vehicle A 300a and the estimated positions of the objects in the surroundings. Further, the correction data generation device 100 generates the correction data B, which is the correction data for the vehicle B 300b, using the estimated position of the vehicle B 300b and the estimated positions of the objects in the surroundings. In addition, the correction data generation device 100 generates the correction data N (not shown). Fig. 2), which is the correction data for the vehicle N 300n, using the estimated position of the vehicle N 300n and the estimated positions of the objects in the surroundings.

[0068] For example, the correction data A indicates correction values ​​(δ11 to δ14) for each of the vehicle X1, the vehicle A 300a, the pedestrian, and the vehicle X2 specified in the vehicle data A. Likewise, the correction data B indicates correction values ​​(δ21 to δ23) for each of the vehicle Y1, the vehicle B 300b, and the vehicle Y2 specified in the vehicle data B.

[0069] The correction values ​​specified in the correction data eliminate the measurement errors at each in-vehicle device 200. This means that the correction value specified in the correction data corresponds to the measurement error at the measurement time of each in-vehicle device 200.

[0070] Subsequently, 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.

[0071] Next, an example of a functional configuration and an example of a hardware configuration of the in-vehicle device 200 according to the present embodiment will be described.

[0072] Fig. 3 shows a functional configuration example of the in-vehicle device 200 and Fig. 5 shows the hardware configuration example of the in-vehicle device 200.

[0073] The in-vehicle device 200 is a computer. An operation sequence of the in-vehicle device 200 corresponds to an error correction method. Furthermore, a program that implements an operation of the in-vehicle device 200 corresponds to an error correction program.

[0074] As in Fig. 5, the in-vehicle device 200 includes, as hardware parts, a processor 801, a main memory device 802, an auxiliary memory device 803, and a communication device 804.

[0075] As in Fig. 3, the in-vehicle device 200 further includes a vehicle position measuring unit 201, an environment object position measuring unit 202, a transmission unit 203, a reception unit 204, and a correction unit 205 as functional configurations.

[0076] The auxiliary storage device 803 stores programs that implement functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmission unit 203, the reception unit 204, and the correction unit 205.

[0077] These programs are loaded from the auxiliary storage device 803 into the main storage device 802. Then, the processor 801 executes these programs and performs an operation 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 to be described below.

[0078] Fig. 5 schematically shows a state in which the processor 801 executes the programs that implement the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmission unit 203, the reception unit 204, and the correction unit 205.

[0079] In Fig. 3, the vehicle position measuring unit 201 measures the position and speed of the vehicle 300.

[0080] 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. Furthermore, the vehicle position measuring unit 201 measures the speed using, for example, a difference in measured positions in a unit of time.

[0081] The vehicle position measuring unit 201 then outputs the measurement time, as well as the measured position and speed of the vehicle 300, to the transmission unit 203. The measurement time is a time at which the vehicle position measuring unit 201 measured the position and speed of the vehicle 300. The vehicle position measuring unit 201 uses a uniform time, such as GPS time, as the measurement time. This means that an identical time is used in each vehicle 300. In other words, the measurement times may vary between the vehicles 300, but it is assumed that there is no time gap between the vehicles 300.

[0082] Furthermore, the vehicle position measuring unit 201 outputs the measured position of the vehicle 300 to the correction unit 205.

[0083] The vehicle position measuring unit 201 corresponds to a measuring unit, together with the surrounding object position measuring unit 202 to be described below. Furthermore, a process to be performed by the vehicle position measuring unit 201 corresponds to a measuring process, together with a process to be performed by the surrounding object position measuring unit 202.

[0084] The surrounding object position measuring unit 202 measures the positions and speeds of the objects in the surroundings of the vehicle 300. The surrounding object position measuring unit 202 measures the measured positions and speeds at the same measurement time as the vehicle position measuring unit 201.

[0085] The surrounding object position measuring unit 202 measures the positions and speeds of the surrounding objects, for example, using sensor data from a sensor mounted on the vehicle 300. The surrounding object position measuring unit 202 measures relative positions and relative speeds of the vehicle 300 as the positions and speeds of the surrounding objects. In the present embodiment, any method is used by the sensor to detect surrounding objects. In the present embodiment, an example is described in which the surrounding object position measuring unit 202 measures the speeds of the surrounding objects, but the surrounding object position measuring unit 202 does not need to measure the speeds of the surrounding objects.

[0086] The environmental object position measuring unit 202 outputs the measured positions and the measured velocities of the environmental objects to the transmission unit 203. Furthermore, the environmental object position measuring unit 202 outputs the measured positions of the environmental objects to the correction unit 205.

[0087] The measuring unit for the position of an object in the environment 202 corresponds to the measuring unit, together with the measuring unit for the vehicle position 201. Furthermore, the process performed by the measuring unit for the position of an object in the environment 202 corresponds to the measuring process, together with the process performed by the measuring unit for the vehicle position 201.

[0088] The transmission unit 203 transmits the measurement time, the measured position, and the measured speed of the vehicle 300, as well as the measured positions and the measured speeds of the objects in the surroundings, as the vehicle data to the correction data generation device 100. The transmission unit 203 assigns an identifier of the in-vehicle device 200 to the vehicle data and transmits the vehicle data to the correction data generation device 100. It is conceivable to use a unique number (e.g., a Media Access Control (MAC) address) of the communication device 804 as the identifier.

[0089] A process performed by the transmission unit 203 corresponds to a transmission process.

[0090] The receiving unit 204 receives the correction data from the correction data generating device 100.

[0091] Then, the receiving unit 204 outputs the received correction data to the correction unit 205.

[0092] A process performed by the receiving unit 204 corresponds to a receiving process.

[0093] The correction unit 205 corrects the measured position of the vehicle 300 obtained by the vehicle position measuring unit 201 and the measured positions of the surrounding objects obtained by the surrounding object position measuring unit 202 using the correction values ​​specified in the correction data.

[0094] Next, an example of a functional configuration and an example of a hardware configuration of the correction data generating device 100 according to the present embodiment will be described. Fig. 4 shows the functional configuration example of the correction data generating device 100 and Fig. 6 shows the hardware configuration example of the correction data generating device 100.

[0095] The correction data generation device 100 is a computer. An operation sequence of the correction data generation device 100 corresponds to a correction data generation method. A program that implements an operation of the correction data generation device 100 also corresponds to a correction data generation program.

[0096] As in Fig. 6, the correction data generating device 100 comprises as hardware parts a processor 901, a main memory device 902, an auxiliary memory device 903 and a communication device 904.

[0097] As in Fig. 4, the correction data generating device 100 further comprises, as functional configurations, a receiving unit 101, a correction data generating unit 102, and a transmitting unit 103.

[0098] The auxiliary storage device 903 stores programs that implement functions of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103.

[0099] These programs are loaded from the auxiliary storage device 903 into the main storage device 902. Then, the processor 901 executes these programs and performs an operation of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103.

[0100] Fig. 6 schematically shows a state in which the processor 901 executes the programs that implement the functions of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103.

[0101] In Fig. 4, the receiving unit 101 receives the vehicle data transmitted from the in-vehicle device 200.

[0102] The receiving unit 101 outputs the received vehicle data to the correction data generation unit 102.

[0103] A process performed by the receiving unit 101 corresponds to a receiving process.

[0104] The correction data generation unit 102 acquires the vehicle data from the receiving unit 101. Then, the correction data generation unit 102 generates the correction data for each transmission source vehicle 300 using the plurality of vehicle data from the plurality of in-vehicle devices 200. The correction data generation unit 102 outputs the generated correction data to the transmission unit 103.

[0105] A process performed by the correction data generation unit 102 corresponds to a correction data generation process.

[0106] The transmission unit 103 obtains the correction data for each of the transmission source vehicles 300 from the correction data generation unit 102. Then, the transmission unit 103 transmits the corresponding correction data to the in-vehicle device 200 of the transmission source vehicle 300.

[0107] A process performed by the transmission unit 103 corresponds to a transmission process. *** Description of the business ***

[0108] Next, an example of the operation of the in-vehicle device 200 with reference to the Fig. 7 and Fig. 8 described.

[0109] First, Fig. 7 explained. Fig. 7 illustrates the measurement process of position and speed and the transmission process of vehicle data.

[0110] When the measurement time for the position and the speed arrives, the vehicle position measuring unit 201 measures the position and the speed of the vehicle 300 (step S201).

[0111] As described above, the vehicle position measuring unit 201 measures the position of the vehicle 300 using a positioning signal from a GPS satellite. Furthermore, the vehicle position measuring unit 201 measures the speed using, for example, a difference in measured positions in a unit of time.

[0112] The vehicle position measuring unit 201 may measure the position and speed of the vehicle 300 using the correction value for the measured position of the vehicle 300 obtained by the correction unit 205 at a previous measurement time.

[0113] The surrounding object position measuring unit 202 measures the positions and speeds of the surrounding objects, for example, using sensor data from a sensor mounted on the vehicle 300 (step S202). The surrounding object position measuring unit 202 measures the relative positions and relative speeds of the vehicle 300 as the positions and speeds of the surrounding objects.

[0114] The environment object position measuring unit 202 may measure the positions and velocities of the objects in the environment, using the correction value obtained by the correction unit 205 at a previous measurement time for the measured positions of the objects in the environment.

[0115] In Fig. 7, it is described that step S202 is performed after step S201, but step S201 and step S202 are performed simultaneously.

[0116] Next, the transmission unit 203 transmits the vehicle data to the correction data generation device 100 (step S203).

[0117] As described above, the transmission unit 203 transmits the measurement time, the measured position, and the measured speed of the vehicle 300, as well as the measured positions and the measured speeds of the objects in the surroundings, as the vehicle data to the correction data generation device 100. Furthermore, the transmission unit 203 assigns the identifier of the in-vehicle device 200 to the vehicle data and transmits the vehicle data to the correction data generation device 100.

[0118] In the present embodiment, it is assumed that the transmission unit 203 has already acquired a communication address of the correction data generation device 100. The transmission unit 203 uses any method to acquire the communication address of the correction data generation device 100.

[0119] After the transmission of the vehicle data, the in-vehicle device 200 waits for the arrival of a next measurement time (step S204) and starts the processes from step S201 at a time when the next measurement time arrives.

[0120] Next, Fig. 8 explained. Fig. 8 illustrates the correction data reception process and the correction process.

[0121] When the receiving unit 204 receives the correction data from the correction data generating device 100 (YES in step S211), the correcting unit 205 corrects the position of the vehicle 300 and the positions of the objects in the surroundings using the correction data (step S212).

[0122] As in Fig. As shown in Figure 2, the correction data includes the correction values ​​for correcting the position of the vehicle 300 and the position of each object in the surrounding area. For example, the correction unit 205 obtains the corrected position of the vehicle 300 and the corrected position of each object in the surrounding area by subtracting the corresponding correction value from the measured position of the vehicle 300 and the measured position of each object in the surrounding area.

[0123] Now, with reference to Fig. 9 an example of the operation of the correction data generating device 100 is described.

[0124] 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).

[0125] Then, the receiving unit 101 waits to receive the vehicle data until a certain period of time has elapsed from a reception time of the first received vehicle data.

[0126] After the specified time period has elapsed from the reception time of the first received vehicle data (YES in step S103), the correction data generation unit 102 sets the reference time point (step S104).

[0127] Specifically, the correction data generation unit 102 sets, as the reference time, a latest measurement time among the measurement times of vehicle data stored in the auxiliary storage device 903.

[0128] Next, the correction data generation unit 102 calculates the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the objects in the surroundings at the reference time (step S105).

[0129] The correction data generation unit 102 calculates the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the objects in the surroundings at the reference time using the measured position and the measured speed of the transmission source vehicle 300 and the measured positions and the measured speeds of the objects in the surroundings.

[0130] The correction data generation unit 102 performs a pre-prediction process using a Kalman filter and calculates the predicted position of the transmission source vehicle 300 at the reference time and the predicted positions of the objects in the surroundings at the reference time.

[0131] Here, an example will be described in which the correction data generation unit 102 calculates the predicted position of the vehicle A 300a at the reference time t3. Assume that the measurement time of the vehicle data received from the vehicle A 300a is time t1. Assume that the auxiliary storage device 903 stores the measured positions and the predicted positions of the vehicle A 300a at past measurement times (time t0, time (t-1), and the like).

[0132] The correction data generation unit 102 calculates an error between a past measured position and the predicted calculated position that is to correspond to this measured position. For example, the correction data generation unit 102 calculates an error between the measured position of the vehicle A 300a at measurement time t0 and the predicted calculated position that is to correspond to this measured position. Furthermore, the correction data generation unit 102 calculates an error between the measured position of the vehicle A 300a at time t(-1) and the predicted calculated position that is to correspond to this measured position.Subsequently, the correction data generation unit 102 calculates the predicted position of the vehicle A 300a at time t2 and the predicted position of the vehicle A 300a at time t3 using the Kalman filter using the calculated errors as well as the measured position and the measured speed of the vehicle A 300a at the measurement time t1.

[0133] Similarly, the correction data generation unit 102 calculates the predicted positions of the objects in the surroundings of the vehicle A 300a at the reference time t3.

[0134] The details of the Kalman filter are described in the following reference. [Reference]

[0135] Shuichi ADACHI and Ichiro MARUTA, “Fundamentals of Kalman Filter,” Tokyo Denki University Press, 2012.

[0136] When the speeds of the objects in the surroundings are not measured by the vehicle 300, the correction data generation unit 102 determines the predicted position of each object in the surroundings at the reference time from the predicted position of the transmission source vehicle 300 (e.g., the vehicle A 300a) at the reference time and the relative position of each object in the surroundings from the transmission source vehicle 300 (e.g., the vehicle A 300a) at the measurement time (e.g., the time t1).

[0137] Next, the correction data generation unit 102 calculates the estimated position of the transmission source vehicle 300 at the reference time (step S106).

[0138] Specifically, the correction data generation unit 102 integrates a plurality of prediction data. Then, the correction data generation unit 102 analyzes the distribution of the predicted positions obtained through integration and calculates a position (an estimated position) where the transmission source vehicle 300 is estimated to be located at the reference time.

[0139] There is a case where the transmission source vehicle 300 is detected as an object in the vicinity of another vehicle. In the example of Fig. 2, the vehicle A 300a is detected as the object in the surroundings (the vehicle Y1) of the vehicle B 300b and the vehicle B 300b is detected as the object in the surroundings (the vehicle X2) of the vehicle A 300a.

[0140] Furthermore, due to measurement errors and prediction errors, even a plurality of predicted positions of the same transmission source vehicle 300 may not match each other. Since the vehicle A 300a and the vehicle Y1 in the example of Fig. 2 is the same vehicle, it is assumed that two predicted positions match. However, due to measurement errors and prediction errors, the predicted position of vehicle A 300a and the predicted position of vehicle Y1 may not match.

[0141] In addition, the transmission source vehicle 300 and an object in the vicinity of another vehicle 300 are not connected by ID information or the like. Therefore, the correction data generation unit 102 needs to calculate the estimated position of the transmission source vehicle 300 from the distribution of the predicted positions.

[0142] A calculation procedure of the predicted position of the transmission source vehicle 300 will be described below.

[0143] Hereinafter, each predicted position obtained by integrating pieces of prediction data is referred to as Pi. The predicted position Pi includes both the predicted position of the transmission source vehicle 300 and the predicted positions of surrounding objects. Further, among the predicted positions Pi, the predicted position of the transmission source vehicle 300 is referred to as Po_i.

[0144] First, the correction data generation unit 102 groups the predicted positions mutually located within a first distance σ1 in the distribution of predicted positions. The predicted positions included in each group obtained by grouping are referred to as GPi.

[0145] The size of the first distance σ1 varies depending on the moving bodies. In the present embodiment, to find the estimated position of the vehicle 300, the first distance σ1 is set to approximately 2 m, taking into account the length and width of the vehicle. When determining the estimated position of a different type of moving body, the first distance σ1 is determined taking into account the size of the target moving body.

[0146] Unless each of the predicted positions GPi belongs to the same vehicle, it is assumed that a plurality of predicted positions GPi within the first distance σ1 do not approach each other. In other words, the plurality of predicted positions GPi within the first distance σ1 are considered to be the predicted positions of the same vehicle. In the example of Fig. 2, the predicted position of the vehicle A 300a in the prediction data A and the predicted position of the vehicle Y1 (= the vehicle A 300a) in the prediction data B are within the first distance βl .

[0147] Subsequently, the correction data generation unit 102 performs the following processes 111 to 119 for each group.

[0148] First, the correction data generation unit 102 selects a non-selected group from a plurality of groups (process 111).

[0149] Then, the correction data generation unit 102 determines whether or not the predicted position Po_i of the transmission source vehicle 300 is included in the predicted positions GPi included in the selected group (process 112).

[0150] If the predicted position Po_i of the transmission source vehicle 300 is included in the selected group, the correction data generation unit 102 calculates a center position GPi_a and a position standard deviation GPi_sd of the predicted positions GPi excluding the predicted position Po_i of the transmission source vehicle 300 (process 113). A group including the predicted position Po_i corresponds to a correction target group. Furthermore, the center position GPi_a corresponds to a first center position.

[0151] It is assumed that the predicted positions Po_i of the plurality of transmission source vehicles 300 are not included in the predicted positions GPi. As described above, the length and width of the vehicle are reflected in the first distance 61 so that the predicted positions Po_i of the plurality of transmission source vehicles 300 are unlikely to be included in the same group.

[0152] Next, the correction data generation unit 102 determines a second distance a2 (process 114). Specifically, the correction data generation unit 102 sets ±2*GPi_sd as the second distance <J2 ein, wobei die Positionsstandardabweichung GPi_sd verwendet wird.

[0153] Next, the correction data generation unit 102 selects the one within the second distance CY2predicted positions Gpi from the center position GPi_a (process 115). That is, the correction data generation unit 102 calculates the values ​​within GPi - a±2*GPi_sd arranged predicted positions.

[0154] Next, the correction data generation unit 102 calculates the center position of the predicted positions GPi (including the predicted position GPi_o of the transmission source vehicle 300) selected in process 115 (process 116). The center position calculated in process 116 corresponds to a second center position.

[0155] Then, the correction data generation unit 102 uses the center position calculated in process 116 as the estimated position of the transmission source vehicle 300 (process 117).

[0156] 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 generation unit 102 calculates the center position and the position standard deviation of all the predicted positions GPi and estimates the position by performing the same processes described above (process 118).

[0157] Further, the correction data generation unit 102 stores the estimated position acquired in process 117 and the estimated position acquired in process 118 together with the reference time point in the auxiliary storage device 903 (process 119).

[0158] After completion of process 119 for all groups, as in Fig. 9, the correction data generation unit 102 extracts, for each transmission source vehicle 300, a position difference of the transmission source vehicle 300 and position differences of the objects in the surroundings (step S107).

[0159] Specifically, the correction data generation unit 102 extracts a 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 (process 117). Furthermore, the correction data generation unit 102 extracts a difference between the predicted position of each object in the surroundings calculated in step S105 and the estimated position of each object in the surroundings calculated in step S106 (process 118).

[0160] Next, the correction data generation unit 102 adjusts the position difference acquired in step S107 using a time difference (step S108).

[0161] The position difference obtained in step S107 is a difference between the predicted position and the estimated position at the reference time. The measured position indicated in the vehicle data transmitted from the transmission source vehicle 300 is a position at the measurement time. For this reason, the correction data generation unit 102 adjusts the position difference obtained in step S107 to reflect the difference between the measurement time and the reference time. Specifically, the correction data generation unit 102 performs the following process.

[0162] It is assumed that the position of the transmission source vehicle 300 specified in the vehicle data at a measurement time ti is referred to as Psrc_i.

[0163] Further, the predicted position (the predicted position calculated in step S105) of the transmission source vehicle 300 at the reference time t is referred to as Ppre_i.

[0164] Further, the estimated position of the transmission source vehicle 300 calculated in step S106 is referred to as Presult_i.

[0165] Further, the position difference of the transmission source vehicle 300 acquired in step S107 is referred to as (Presult_i - Ppre_i).

[0166] In step S108, the correction data generation unit 102 adjusts the position difference using the time difference by "(Presult_i - Ppre_i)*(1-(t-ti) / cycle)". Note that "cycle" is a waiting time in step S103.

[0167] The correction data generation unit 102 performs the same process for each object in the environment.

[0168] The values ​​obtained in step S108 are the correction values ​​and correspond to the specifications δ11 to δ14 and δ21 to δ23 of Fig. 2.

[0169] Next, the correction data generation unit 102 generates the correction data for each transmission source vehicle 300 using the values ​​acquired in step S108 (step S109).

[0170] Subsequently, the transmission unit 103 transmits the correction data generated in step S109 for each transmission source vehicle 300 (step S110).

[0171] Thereafter, each in-vehicle device 200 receives, as in Fig. 8, the correction data and corrects the position using the correction data.

[0172] The example described above is that the correction data generation unit 102 generates the 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 the correction data to correct only the measured position of the transmission source vehicle 300. In this case, the in-vehicle device 200 corrects only the measured position of the vehicle 300 using the correction data.

[0173] Furthermore, in the above, the vehicle 300 was described as an example of a moving body. However, the position correction system 500 according to the present embodiment can also be applied to moving bodies other than the vehicle, such as a pedestrian or a robot. *** Description of the effect of the embodiment ***

[0174] As described above, according to the present embodiment, it is possible to correct a position in a short time.

[0175] As described above, in the technique of Patent Literature 1, the vehicle α cannot correct the position unless the vehicle α repeatedly obtains a measured position from a surrounding vehicle and repeatedly compares the measured positions of the surrounding vehicle with the position measured by the vehicle α. Therefore, in the technique of Patent Literature 1, it takes time to correct the position.

[0176] In the present embodiment, each in-vehicle device 200 is capable of correcting the position simply by transmitting the vehicle data and receiving the correction data. That is, according to the present embodiment, each in-vehicle device 200 is capable of correcting the position without requiring multiple notifications and multiple alignments.

[0177] In addition, in the technique of Patent Literature 1, the vehicle α is unable to correct the position unless there is a vehicle in the surrounding area that can measure the position of the vehicle α.

[0178] In the present embodiment, even if two vehicles are unable to measure each other's position, the two vehicles can correct each other's position if another vehicle is able to measure the positions of the two vehicles. For example, assume that a vehicle P is in a state where it is unable to measure a position of a vehicle Q, and the vehicle Q is in a state where it is unable to measure a position of the vehicle P. Further, assume that a vehicle R is in a state where it is able to measure the position of the vehicle P and the position of the vehicle Q. In this case, the vehicle P transmits the measured position of the vehicle P to the correction data generation device 100. Further, the vehicle Q transmits the measured position of the vehicle Q to the correction data generation device 100.In addition, the vehicle R transmits the measured position of the vehicle P and the measured position of the vehicle Q as measured positions of the objects in the surroundings to the correction data generation device 100. The correction data generation device 100 is capable of transmitting the correction data for correcting the measured position of the vehicle P to the vehicle P, using the measured position of the vehicle P from the vehicle P and the measured position of the object in the surroundings (the measured position of the vehicle P) from the vehicle R. Similarly, the correction data generation device 100 is capable of transmitting the correction data for correcting the measured position of the vehicle Q to the vehicle Q, using the measured position of the vehicle Q from the vehicle Q and the measured position of the object in the surroundings (the measured position of the vehicle Q) from the vehicle R.

[0179] Furthermore, the technique of Patent Literature 1 can only correct the position α of the vehicle. That is, the technique of Patent Literature 1 cannot correct the position of an object in the surrounding area.

[0180] According to the present embodiment, the position of the object in the environment can also be corrected. *** Additional description of the hardware configuration ***

[0181] Finally, a supplementary description of the hardware configuration of the in-vehicle device 200 and the hardware configuration of the correction data generation device 100 is given.

[0182] The Fig. The processor 801 shown in Figure 5 is an IC (integrated circuit) that performs processing.

[0183] The processor 801 is a central processing unit (CPU), a digital signal processor (DSP), or the like.

[0184] The Fig. The main memory device 802 shown in Figure 5 is a RAM (random access memory).

[0185] The Fig. The auxiliary storage device 803 shown in Fig. 5 is a ROM (Read Only Memory), a flash memory, an HDD (Hard Disk Drive) or the like.

[0186] The Fig. The communication device 804 shown in Fig. 5 is an electronic circuit that performs a communication process of data.

[0187] The communication device 804 is, for example, a communication chip or a network interface card (NIC).

[0188] The auxiliary storage device 803 also stores an operating system (OS).

[0189] Then at least part of the OS is executed by the processor 801.

[0190] While at least part of the OS is executed, the processor 801 executes the programs that implement the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmission unit 203, the reception unit 204, and the correction unit 205.

[0191] The processor 801, which executes the OS, performs task management, memory management, file management, communication control, and the like.

[0192] Furthermore, at least one of the information, data, a signal value, and a variable value indicating results of processes of the vehicle position measuring unit 201, the surrounding object measuring unit 202, the transmitting unit 203, the receiving unit 204, and the correcting unit 205 is stored in at least one of the main storage device 802, the auxiliary storage device 803, and a register and a cache memory in the processor 801.

[0193] Furthermore, the programs implementing the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmission unit 203, the reception unit 204, and the correction unit 205 can be stored on a portable recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disc, a Blu-ray disc (registered trademark), or a DVD. Then, the portable recording medium storing the programs implementing the functions of the vehicle position measuring unit 201, the surrounding object position measuring unit 202, the transmission unit 203, the reception unit 204, and the correction unit 205 can be distributed.

[0194] Furthermore, the “unit” of the vehicle position measuring unit 201, the surrounding object measuring unit 202, the transmitting unit 203, the receiving unit 204 and the correcting unit 205 can be understood as a “circuit”, “step”, “sequence”, “process” or “circuit”.

[0195] Furthermore, the in-vehicle device 200 can be implemented by a processing circuit. The processing circuit is, for example, a logic integrated circuit (IC), a gate array (GA), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0196] In this case, the vehicle position measuring unit 201, the surrounding object measuring unit 202, the transmitting unit 203, the receiving unit 204 and the correction unit 205 are each implemented as part of the processing circuit.

[0197] The Fig. Processor 901 shown in Figure 6 is an IC that performs processing.

[0198] The processor 901 is a CPU, a DSP or the like.

[0199] The Fig. The main memory device 902 shown in Figure 6 is a RAM.

[0200] The Fig. The auxiliary storage device 903 shown in Fig. 6 is a ROM, a flash memory, an HDD, or the like.

[0201] The Fig. The communication device 904 shown in Fig. 6 is an electronic circuit that performs a communication process of data.

[0202] The communication device 904 is, for example, a communication chip or a NIC.

[0203] The auxiliary storage device 903 also stores an operating system (OS).

[0204] Then at least part of the OS is executed by the processor 901.

[0205] While at least part of the OS is executed, the processor 901 executes the programs that implement the functions of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103.

[0206] The processor 901, which executes the OS, performs task management, memory management, file management, communication control, and the like.

[0207] Furthermore, at least one of information, data, a signal value, and a variable value indicating results of processes of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103 is stored in at least one of the main storage device 902, the auxiliary storage device 903, and a register and a cache memory in the processor 901.

[0208] Furthermore, the programs implementing the functions of the receiving unit 101, the correction data generation unit 102, and the transmission unit 103 can be stored on a portable recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disc, a Blu-ray Disc (registered trademark), or a DVD. Then, the portable recording medium storing the programs implementing the functions of the receiving unit 101, the correction data generation unit 102, and the transmission unit 103 can be distributed.

[0209] Furthermore, the “unit” of each of the receiving unit 101, the correction data generating unit 102, and the transmitting unit 103 may be understood as a “circuit,” “step,” “sequence,” “process,” or “circuit.”

[0210] Furthermore, the correction data generation device 100 can be implemented by a processing circuit. The processing circuit is, for example, a logic IC, a GA, an ASIC, or an FPGA.

[0211] In this case, the receiving unit 101, the correction data generating unit 102 and the transmitting unit 103 are implemented as part of the processing circuit.

[0212] It should be noted that in this description, a higher-level concept of the processor and the processing circuit is referred to as “processing circuitry.”

[0213] That is, the processor and the processing circuit are each a specific example of the “processing circuit.” List of reference symbols

[0214] 100: Correction data generating device; 101: Receiving unit; 102: Correction data generating unit; 103: Transmitting unit; 200: In-vehicle device; 200a: In-vehicle device A; 200b: In-vehicle device B; 201: Vehicle position measuring unit; 202: Surrounding object measuring unit; 203: Transmitting 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] Correction data generating device (100), comprising: a receiving unit (101) for receiving, from each movable body of a plurality of movable bodies, movable body data indicating a measured position of each movable body, which is a position of each movable body at an individual time, which is measured at each movable body and may contain an error, and indicating a measured position of an object in the vicinity of each movable body, which is a position of the object in the vicinity of each movable body at an individual time, which is measured at each movable body and may contain an error; and indicating a measurement time, which is a time at which the measured position of each movable body and the measured position of the object in the vicinity of each movable body have been measured, a correction data generation unit (102) for calculating a predicted position of each moving body and a predicted position of the object in the vicinity of each moving body at a reference time, the reference time being a time after the measurement times of the plurality of moving bodies and being a time generally applied to the plurality of moving bodies, wherein the measured position of each moving body, the measured position of the object in the vicinity of each moving body, and the measurement time of each moving body indicated in a plurality of moving body data received from the plurality of moving bodies are used to integrate 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,to analyze a distribution of predicted positions obtained by integration, calculate a position at the reference time at which each moving body is estimated to be located as an estimated position of each moving body at the reference time, and generate correction data for each moving body to correct the error that may be included in the measured position of each moving body using the estimated position of each moving body at the reference time; and, a transmission unit (103) for transmitting the correction data for each movable body generated by the correction data generation unit (102) to each movable body, wherein the correction data generation unit (102) groups predicted positions that are within a first distance in the distribution of the predicted positions obtained by the integration, from a plurality of groups obtained by grouping, a correction target group is extracted, which is a group including a predicted position of any moving body, as a first mean position calculates a mean 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, as a second mean position, a mean position of predicted positions that are within a second distance from the first mean position among the predicted positions included in the correction target group is calculated, and the second mean position is used as an estimated position of the moving body whose predicted position is included in the correction target group. [2] The correction data generating device (100) according to claim 1, wherein the correction data generating unit (102) generates, for each movable body, correction data for correcting the error that may be included in the measured position of each movable body and the error that may be included in the measured position of the object in the vicinity of each movable body. [3] The correction data generating device (100) according to claim 1, wherein the correction data generating unit (102) generates the correction data of the movable body using a difference between the estimated position of the movable body whose predicted position is included in the correction target group and the predicted position of the movable body, and a difference between the reference time and a measurement time indicated in movable body data from the movable body. [4] Correction data generating device (100) according to claim 1, wherein the correction data generation unit (102) calculates a standard deviation of the predicted positions included in the correction target group, except for the predicted position of the movable body whose predicted position is included in the correction target group, and the second distance is determined using the standard deviation. [5] Correction data generating device (100) according to claim 1, wherein the receiving unit (101) receives, from each moving body of the plurality of moving bodies, moving body data indicating a measured speed of each moving body, which is a speed of each moving body measured at each moving body, and the correction data generation unit (102) calculates the predicted position of each moving body and the predicted position of the object in the vicinity of each moving body using the measured position of each moving body, the measured speed of each moving body, the measured position of the object in the vicinity of each moving body, and the measurement time of each moving body indicated in all the moving body data. [6] The correction data generating device (100) according to claim 1, wherein the correction data generating unit (102) calculates the predicted position of each moving body and the predicted position of the object in the vicinity of each moving body, using a last measured time point among the measurement time points of the plurality of moving bodies as the reference time point. [7] Correction data generating device (100) according to claim 1, wherein the plurality of moving bodies is a plurality of vehicles (300) traveling on a roadway and the correction data generating device (100) is a roadside server device located at a roadside. [8] Correction data generation method, comprising: Receiving, by a computer, from each moving body among a plurality of moving bodies, moving body data indicating a measured position of each moving body, which is a position of each moving body at a certain time, which is measured at each moving body and may contain an error, and indicating a measured position of an object in the vicinity of each moving body, which is a position of the object in the vicinity of each moving body, which is measured at each moving body at a certain time and may contain an error; and indicating a measurement time, which is a time at which the measured position of each moving body and the measured position of the surrounding object of each moving body were measured; calculating by the computer a predicted position of each moving body and a predicted position of the object in the vicinity of each moving body at a reference time, the reference time being a time after the measurement times of the plurality of moving bodies and a time generally applied to the plurality of moving bodies, using the measured position of each moving body, the measured position of the surrounding object of each moving body, and the measurement time of each moving body indicated in a plurality of moving body data received from the plurality of moving bodies, integrating 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,Analyzing a distribution of the predicted positions obtained by integration, calculating a position at the reference time at which each moving body is estimated to be located as an estimated position of each moving body at the reference time, and generating, for each moving body, correction data for correcting the error that may be included in the measured position of each moving body using the estimated position of each moving body at the reference time; and generating, for each moving body, correction data for correcting the error that may be included in the measured position of each moving body using the estimated position of each moving body at the reference time, and Transmitted by the computer, to each moving body, the generated correction data for each moving body where the computer when calculating the estimated position predicted positions are grouped that are within a first distance in the distribution of predicted positions determined by the integration, from a plurality of groups obtained by grouping, extracts a correction target group, which is a group containing a predicted position of any moving body, calculates as a first mean position 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, calculates as a second mean position a mean position of predicted positions that are within a second distance from the first mean position among the predicted positions included in the correction target group, and the second middle position is used as the estimated position of the moving body whose predicted position is included in the correction target group. [9] Correction data generation program to cause a computer to execute: a receiving process for receiving, from each of a plurality of moving bodies, moving body data indicating a measured position of each moving body, which is a position of each moving body measured at each moving body at an individual time and may include an error, and a measured position of an object in the vicinity of each moving body, which is a position of the object in the vicinity of each moving body measured at each moving body at an individual time and may include an error; and indicating a measurement time, which is a time at which the measured position of each moving body and the measured position of the object in the vicinity of each moving body were measured; a correction data generation process for calculating a predicted position of each moving body and a predicted position of the surrounding object of each moving body at a reference time, the reference time being a time after the measurement times of the plurality of moving bodies and a time generally applied to the plurality of moving bodies, using the measured position of each moving body, the measured position of the surrounding object of each moving body, and the measurement time of each moving body indicated in a plurality of moving body data received from the plurality of moving bodies;to integrate 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, to analyze a distribution of the predicted positions obtained by integration, to calculate a position at the reference time where each moving body is estimated to be located as an estimated position of each moving body at the reference time, and to generate, for each moving body, correction data for correcting the error that may be included in the measured position of each moving body using the estimated position of each moving body at the reference time; and; a transmission process for transmitting the correction data generated by the correction data generation process for each movable body to each movable body, wherein When generating correction data, the correction data generation program causes the computer to: to group predicted positions that are within a first distance in the distribution of predicted positions obtained by the integration, extracting a correction target group from a plurality of groups obtained by grouping, which is a group containing a predicted position of any moving body, calculating as a first mean position 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, to calculate a mean position as a second mean position of predicted positions that are within a second distance from the first mean position among the predicted positions included in the correction target group, and to use the second middle position as the estimated position of the moving body whose predicted position is included in the correction target group.

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