Vehicle

Abstract

To provide a vehicle capable of correctly detecting spoofing.SOLUTION: A vehicle 11 includes a plurality of positioning units and a control unit 42 that estimates its own position based on position information output by each of the plurality of positioning units. The plurality of positioning units includes: a first positioning unit 21 that outputs first position information by receiving a positioning signal from an artificial satellite S1; and a second positioning unit 22 that outputs second position information by receiving reflected light from a surrounding environment A1 or a magnetic signal from a magnetic marker M1 installed in the surrounding environment. The control unit estimates a first tentative self-position, which is a tentative self-position, based on the first position information, estimates a second tentative self-position, which is a tentative self-position, based on the second position information, and detects spoofing of the first position information when a deviation between the first tentative self-position and the second tentative self-position is greater than or equal to a predetermined value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle. [Background technology]

[0002] Patent Document 1 describes a vehicle equipped with a first positioning unit that outputs first position information by receiving a positioning signal from an artificial satellite, and a second positioning unit that outputs second position information by receiving a wireless signal from a base station or a roadside device. The vehicle detects spoofing of the first position information when there is a large discrepancy between the vehicle's own position indicated by the first position information and the vehicle's own position indicated by the second position information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-14475 A Summary of the Invention [Problem to be solved by the invention]

[0004] In such a vehicle, since the second positioning unit outputs the second location information based on a wireless signal, there is a risk of spoofing of the second location information as well. Therefore, there is a risk that spoofing of the first location information cannot be correctly detected. [Means for solving the problem]

[0005] A vehicle that solves the above problem comprises a plurality of positioning units and a control unit that estimates its own position based on position information output by each of the plurality of positioning units, wherein the plurality of positioning units include a first positioning unit that outputs first position information by receiving a positioning signal from an artificial satellite, and a second positioning unit that outputs second position information by receiving reflected light from the surrounding environment or by receiving a magnetic signal from a magnetic marker installed in the surrounding environment, and the control unit estimates a first tentative self-location, which is a tentative self-location, based on the first position information, and estimates a second tentative self-location, which is a tentative self-location, based on the second position information, and detects spoofing of the first position information when a deviation between the first tentative self-location and the second tentative self-location is greater than or equal to a predetermined value.

[0006] According to the above configuration, the risk of spoofing the second location information is reduced compared to when the second positioning unit estimates its own location based on a wireless signal, and therefore spoofing of the first location information can be correctly detected.

[0007] In the vehicle, the plurality of positioning units may include a third positioning unit that outputs third position information by receiving reflected light from the surrounding environment or a magnetic signal from the magnetic marker installed in the surrounding environment, and the control unit may estimate the second tentative self-location based on the second position information and the third position information. According to the above configuration, the accuracy of detecting spoofing of the first position information is improved.

[0008] In the vehicle, the third positioning unit may have a magnetic sensor that receives a magnetic signal from the magnetic marker and output the third position information based on the magnetic signal received by the magnetic sensor. With the above configuration, the risk of spoofing the third position information is reduced. In particular, communication by magnetic signals is short-distance communication, so there is little risk of spoofing.

[0009] In the vehicle, the second positioning unit may have a light emitting element that irradiates a laser to the surrounding environment and a light receiving sensor that receives the laser reflected from the surrounding environment, and may output the second position information based on point cloud data of the laser. According to the above configuration, the risk of spoofing the second position information is reduced. Effect of the Invention

[0010] According to the present invention, spoofing of first location information can be detected with high accuracy. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing an example of a vehicle that autonomously travels in a surrounding environment. [Diagram 2] FIG. 2 is a schematic diagram showing the deviation between the first tentative self-location and the second tentative self-location. [Diagram 3] FIG. 3 is a schematic diagram showing the deviation between the first tentative self-location and the second tentative self-location, and the deviation between the first tentative self-location and the third tentative self-location. [Figure 4] FIG. 4 is a flowchart showing an example of a self-location estimation process including a spoofing detection process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment of a vehicle will be described below with reference to the drawings. The vehicle is an autonomous vehicle that travels autonomously. In one example, the vehicle is a towing tractor that tows cargo at an airport. The vehicle may be an automated guided vehicle that transports cargo at a port, a factory, a warehouse, or the like. The vehicle travels, for example, electrically.

[0013] <Vehicle> As shown in Fig. 1, vehicle 11 autonomously drives in surrounding environment A1. For example, vehicle 11 autonomously drives to tow cargo to a predetermined position in surrounding environment A1. Vehicle 11 estimates its own position for autonomous driving. The own position is the position of vehicle 11 on the ground. For example, the own position is the position of vehicle 11 in surrounding environment A1. The own position indicates the coordinates of the point where vehicle 11 is located.

[0014] The vehicle 11 estimates its own position in the surrounding environment A1 by using a Global Navigation Satellite System (GNSS). The vehicle 11 estimates its own position by using another system in addition to the GNSS. For example, the vehicle 11 estimates its own position by using two or more systems including the GNSS. In one example, the vehicle 11 estimates its own position by using three or more systems including the GNSS.

[0015] The vehicle 11 may estimate its own position in the surrounding environment A1 by utilizing SLAM (Simultaneous Localization and Mapping). The vehicle 11 may estimate its own position in the surrounding environment A1 by utilizing MPS (Magnetic Positioning System). That is, one or more magnetic markers M1 may be installed in the surrounding environment A1. The magnetic marker M1 may be embedded in the road surface, for example. The magnetic marker M1 may be installed on the road surface. The magnetic marker M1 outputs a magnetic signal. The magnetic signal includes, for example, identification information of the magnetic marker M1. The magnetic marker M1 represents the identification information by an arrangement pattern of a north pole and a south pole.

[0016] Vehicle 11 includes a plurality of positioning units. Vehicle 11 includes, for example, a first positioning unit 21 and a second positioning unit 22. In one example, vehicle 11 includes a first positioning unit 21, a second positioning unit 22, and a third positioning unit 23. Vehicle 11 may include four or more positioning units.

[0017] The positioning units are configured to output position information. The first positioning unit 21 outputs the first position information. The second positioning unit 22 outputs the second position information. The third positioning unit 23 outputs the third position information. The first positioning unit 21, the second positioning unit 22, and the third positioning unit 23 output the position information by different methods.

[0018] The coordinate system of the coordinates indicated by the position information is common to the multiple positioning units. That is, the coordinates indicated by the first position information, the coordinates indicated by the second position information, and the coordinates indicated by the third position information are each expressed in a common coordinate system. Therefore, the vehicle 11 can compare the coordinates indicated by the first position information, the coordinates indicated by the second position information, and the coordinates indicated by the third position information in the common coordinate system.

[0019] The position information is used to estimate the vehicle's own position. The position information is information indicating coordinates. The coordinates indicated by the position information indicate the position of the vehicle 11. In other words, the position information indicates the position of the vehicle 11 predicted from the positioning result by the positioning unit.

[0020] The location information indicates the location of the vehicle 11 in coordinates according to a specific coordinate system. In one example, the specific coordinate system is a geodetic coordinate system that has a specific position on the earth as its origin. The specific coordinate system may be a spatial coordinate system or a planar coordinate system. For example, the specific coordinate system may be a geographic coordinate system, a projected coordinate system, or another coordinate system. The specific coordinate system may be a coordinate system that has the vehicle 11 as its origin.

[0021] The location information indicates the coordinates and their accuracy. That is, the location information indicates the coordinates and their reliability. The reliability is expressed as a numerical value such as a percentage or a score. The higher the reliability, the higher the possibility that the vehicle 11 is located at the coordinates indicated by the location information.

[0022] The positioning unit has a receiving unit and a processing unit. That is, the first positioning unit 21 has a first receiving unit 31 and a first processing unit 32. The second positioning unit 22 has a second receiving unit 33 and a second processing unit 34. The third positioning unit 23 has a third receiving unit 35 and a third processing unit 36. The receiving unit is configured to receive a signal from the outside. The processing unit is configured to output position information by processing the signal received by the receiving unit.

[0023] The processing unit may include one or more processors that perform various operations according to a computer program. The processing unit may be configured with one or more dedicated hardware circuits, such as application specific integrated circuits, that perform at least some of the various operations. The processing unit may be configured as a circuit that includes a combination of a processor and a hardware circuit. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to perform operations. Memory, i.e., computer-readable medium, includes any medium that can be accessed by a general-purpose or special-purpose computer.

[0024] The first positioning unit 21 outputs first position information by receiving a positioning signal from the artificial satellite S1. The first positioning unit 21 outputs the first position information based on the positioning signal. The positioning signal includes information such as the identification number of the artificial satellite S1, the position of the artificial satellite S1, and the output time of the positioning signal. The first positioning unit 21 outputs the first position information by calculating the distance to the artificial satellite S1 from the positioning signal.

[0025] The first receiving unit 31 is configured to receive a positioning signal from the artificial satellite S1. The first receiving unit 31 is, for example, an antenna. The first processing unit 32 outputs first position information based on the positioning signal received by the first receiving unit 31. The first processing unit 32 is, for example, a receiver.

[0026] The first positioning unit 21 may communicate with a reference station R1. The reference station R1 is configured to receive a positioning signal from an artificial satellite S1, similar to the first receiving unit 31. The reference station R1 is a receiver fixed on the ground. The reference station R1 may be installed in the surrounding environment A1 or outside the surrounding environment A1. The first positioning unit 21 can measure the position of the vehicle 11 relative to the reference station R1 by communicating with the reference station R1 by radio waves. This improves the accuracy of the first position information.

[0027] The second positioning unit 22 outputs the second position information by receiving reflected light from the surrounding environment A1 or by receiving a magnetic signal from the magnetic marker M1. The second positioning unit 22 outputs the second position information by, for example, receiving reflected light from the surrounding environment A1. In one example, the second positioning unit 22 outputs the second position information by SLAM. In detail, the second positioning unit 22 outputs the second position information by LIDAR (Laser Imaging Detection and Ranging)-SLAM. That is, the second positioning unit 22 irradiates a laser to the surrounding environment A1. The second positioning unit 22 receives the laser reflected from the surrounding environment A1. As a result, the second positioning unit 22 acquires point cloud data. The point cloud data is data indicating the reflection points of the laser in the surrounding environment A1. That is, the point cloud data indicates the coordinates of the reflection points in an arbitrary coordinate system. For example, the point cloud data indicates the coordinates of the reflection points in a coordinate system with the second positioning unit 22 as the origin. The second positioning unit 22 outputs second position information based on the point cloud data.

[0028] The second receiving unit 33 has a light emitting element 37 and a light receiving sensor 38. The second receiving unit 33 is, for example, a laser module. The light emitting element 37 is configured to emit a laser. The light receiving sensor 38 is configured to receive a reflected laser. The second processing unit 34 generates point cloud data as the second receiving unit 33 receives the reflected light. The second processing unit 34 outputs second position information by collating the point cloud data with map data D1 described later.

[0029] The second positioning unit 22 may output the second position information by radar SLAM, not limited to LIDAR-SLAM, or may output the second position information by visual-SLAM. That is, the second positioning unit 22 may output the second position information by irradiating millimeter waves and receiving the reflected millimeter waves. The second positioning unit 22 may also output the second position information based on image data. The second positioning unit 22 captures the surrounding environment A1 by receiving reflected light from the surrounding environment A1. As a result, the second positioning unit 22 acquires image data showing the surrounding environment A1. In this case, the second receiving unit 33 is an image sensor module. The second receiving unit 33 may capture the scenery of the surrounding environment A1 or the road surface of the surrounding environment A1. The second processing unit 34 outputs the second position information by collating the image data with the map data D1.

[0030] The third positioning unit 23 outputs the third position information by receiving reflected light from the surrounding environment A1 or a magnetic signal from the magnetic marker M1. In one example, the third positioning unit 23 outputs the third position information by receiving a magnetic signal from the magnetic marker M1. In detail, the third positioning unit 23 outputs the third position information by MPS. That is, the third positioning unit 23 reads the magnetic signal from the magnetic marker M1. As a result, the third positioning unit 23 acquires marker data. The marker data indicates identification information of the magnetic marker M1. The third positioning unit 23 grasps the position of the magnetic marker M1 by acquiring the marker data. The third positioning unit 23 outputs the third position information based on the marker data.

[0031] The third receiving unit 35 is configured to receive a magnetic signal from the magnetic marker M1. The third receiving unit 35 has, for example, a magnetic sensor 39. The third receiving unit 35 acquires marker data by receiving the magnetic signal. The third processing unit 36 ​​outputs the third position information by collating the marker data with the map data D1. The third processing unit 36 ​​may store table data. The table data is data in which the identification information of the magnetic marker M1 and the coordinates of the magnetic marker M1 are associated with each other. The table data indicates the coordinates of the magnetic marker M1 in a specific coordinate system. Therefore, in this case, the third processing unit 36 ​​can output the third position information by collating the marker data with the table data.

[0032] The third positioning unit 23 may output the third position information by SLAM instead of MSP. For example, the third positioning unit 23 may output the third position information by radar SLAM, visual SLAM, or the like. In this case, the third receiving unit 35 is an image sensor module. The third positioning unit 23 may be configured to output the position information by a method different from that of the second positioning unit 22.

[0033] The positioning unit may refer to the map data D1 when outputting the position information. In detail, the positioning unit may refer to the map data D1 in order to output the coordinates of the vehicle 11 in a specific coordinate system. In one example, as described above, the second positioning unit 22 and the third positioning unit 23 output the position information by referring to the map data D1. When the positioning unit outputs the position information by SLAM, the positioning unit converts the coordinate system by referring to the map data D1. For example, the second positioning unit 22 converts from a coordinate system having the second positioning unit 22 as the origin to a specific coordinate system by referring to the map data D1. As a result, the coordinates of the second positioning unit 22 in the specific coordinate system are indicated. Therefore, the second position information is obtained. The third positioning unit 23 obtains the coordinates of the magnetic marker M1 in the specific coordinate system from the identification information of the magnetic marker M1 by referring to the map data D1. As a result, the third position information is obtained.

[0034] There is a risk of spoofing for the first positioning unit 21. This is because the specifications of the GNSS positioning signal are open to the public for public use. Therefore, when the first positioning unit 21 receives a spoofed positioning signal, there is a risk that the first positioning unit 21 outputs erroneous first position information. That is, even though the positioning signal is highly accurate, there is a risk that the first positioning unit 21 outputs first position information including erroneous coordinates.

[0035] There is little risk of spoofing for the second positioning unit 22 and the third positioning unit 23. For example, in SLAM, near-infrared rays, visible light, etc. are used, so there is little risk of spoofing. In MPS, the communication distance of magnetic signals is short, so there is little risk of spoofing. Therefore, the vehicle 11 is equipped with the first positioning unit 21, which is at risk of spoofing, and one or more positioning units, which are at low risk of spoofing. The vehicle 11 detects spoofing of the first position information based on the position information output by the positioning unit, which is at low risk of spoofing.

[0036] The vehicle 11 includes a memory unit 41. The memory unit 41 is configured to be able to store data. The memory unit 41 is, for example, a hard disk drive, a solid state drive, or a flash memory. The memory unit 41 stores map data D1. The map data D1 is data of a map including the surrounding environment A1. That is, the map data D1 indicates the positions and shapes of the road surface of the surrounding environment A1, buildings of the surrounding environment A1, and objects installed in the surrounding environment A1. The map data D1 represents the map including the surrounding environment A1 in a specific coordinate system. The coordinate system of the map data D1 coincides with the coordinate system of the position information.

[0037] The map data D1 may be stored in advance in the storage unit 41, or may be generated by a plurality of positioning units and then stored in the storage unit 41. For example, the map data D1 may be generated by associating coordinates acquired by the GNSS with point cloud data generated by SLAM, image data, and marker data acquired by the MPS. In other words, the map data D1 may be generated by sensor fusion.

[0038] The vehicle 11 includes a control unit 42. The control unit 42 estimates its own position based on the position information. The control unit 42 estimates its own position based on, for example, the first position information, the second position information, and the third position information. The control unit 42 may estimate its own position based on a single type of position information, or may estimate its own position based on multiple types of position information. Estimating its own position based on multiple types of position information improves the estimation accuracy of its own position. Like the processing unit, the control unit 42 may be configured with a processor, may be configured with a hardware circuit, or may be configured with a circuit including a combination thereof.

[0039] The control unit 42 estimates the vehicle's own position based on the position information. The control unit 42 may estimate the coordinates indicated by the position information having the highest reliability among the first position information, the second position information, and the third position information as the vehicle's own position. For example, when the first position information has the highest reliability among the first position information, the second position information, and the third position information, the control unit 42 estimates the coordinates indicated by the first position information as the vehicle's own position.

[0040] The control unit 42 may estimate the self-location by integrating the first location information, the second location information, and the third location information based on their respective reliability. That is, the control unit 42 may estimate the self-location by calculating a weighted average of the first location information, the second location information, and the third location information. In this case, the control unit 42 integrates the location information after weighting it based on the reliability. The control unit 42 may estimate the self-location without using location information with low reliability. For example, when the reliability of the second location information is low, the control unit 42 may estimate the self-location by calculating a weighted average of the first location information and the third location information.

[0041] There is a risk of spoofing the first location information. Therefore, if incorrect first location information is used to estimate the self-location, the estimation accuracy of the self-location will be significantly reduced. Therefore, spoofing detection is essential when estimating the self-location.

[0042] When estimating the vehicle's own position, the control unit 42 checks for spoofing of the first position information. The control unit 42 detects spoofing of the first position information based on other position information, for example, the second position information and the third position information. The control unit 42 detects spoofing by comparing the tentative self-position. The tentative self-position is a tentative self-position in the vehicle 11. The tentative self-position is indicated by coordinates obtained based on the position information.

[0043] As shown in FIG. 2, the control unit 42 compares a first tentative self-location P1 with a second tentative self-location P2. The first tentative self-location P1 is a tentative self-location indicated by the coordinates of the first position information. The second tentative self-location P2 is a tentative self-location indicated by the coordinates of the other position information. In one example, the second tentative self-location P2 is a tentative self-location indicated by the coordinates obtained by calculating a weighted average of the second position information and the third position information. The second tentative self-location P2 may be a tentative self-location indicated by the coordinates of the position information having a higher reliability out of the second position information and the third position information.

[0044] The control unit 42 judges whether the deviation between the first tentative self-location P1 and the second tentative self-location P2 is a predetermined value or more. When the deviation is a predetermined value or more, the control unit 42 detects spoofing of the first location information. That is, when the distance L1 between the coordinates of the first tentative self-location P1 and the second tentative self-location P2 is a threshold value or more, the control unit 42 detects spoofing of the first location information. The threshold value may be stored in the storage unit 41 or may be stored in the control unit 42. Compared to the first positioning unit 21, the second positioning unit 22 and the third positioning unit 23 are less likely to be spoofed. Therefore, when the first tentative self-location P1 deviates from the second tentative self-location P2, it can be determined that there is a risk of spoofing of the first location information. This allows spoofing to be correctly detected.

[0045] When the control unit 42 detects spoofing of the first location information, it estimates the self-location without using the first location information. That is, in one example, the control unit 42 estimates the self-location based on the second location information and the third location information. The control unit 42 may estimate the coordinates of the second tentative self-location P2 as the self-location. The control unit 42 may estimate the coordinates of the location information having a higher reliability out of the second location information and the third location information as the self-location.

[0046] As shown in Fig. 3, the control unit 42 may compare the second tentative self-location P2 and the third tentative self-location P3 with the first tentative self-location P1 when detecting spoofing of the first location information. That is, the control unit 42 may detect spoofing of the first location information based on the deviation between the first tentative self-location P1 and the second tentative self-location P2 and the deviation between the first tentative self-location P1 and the third tentative self-location P3. In this example, the second tentative self-location P2 is the tentative self-location indicated by the coordinates of the second location information. The third tentative self-location P3 is the tentative self-location indicated by the coordinates of the third location information.

[0047] The control unit 42 determines whether the deviation between the first tentative self-location P1 and the second tentative self-location P2 and the deviation between the first tentative self-location P1 and the third tentative self-location P3 are both equal to or greater than a predetermined value. The control unit 42 detects spoofing of the first location information when both deviations are equal to or greater than a predetermined value. That is, the control unit 42 detects spoofing of the first location information when both the distance L1 between the coordinates of the first tentative self-location P1 and the coordinates of the second tentative self-location P2 and the distance L2 between the coordinates of the first tentative self-location P1 and the coordinates of the third tentative self-location P3 are equal to or greater than a threshold value. The control unit 42 may detect spoofing of the first location information when at least one of the distance L1 and the distance L2 is equal to or greater than a threshold value. For example, the control unit 42 may detect spoofing of the first location information when the distance L1 or the distance L2 is equal to or greater than a threshold value.

[0048] <Self-location estimation process> Next, an example of the self-position estimation process executed by the control unit 42 will be described. The self-position estimation process is a process for estimating the self-position of the vehicle 11. The self-position estimation process includes a spoofing detection process. The spoofing detection process is a process for checking whether there is a risk of spoofing in the first position information. Therefore, the control unit 42 executes the self-position estimation process to estimate the self-position and check whether there is a risk of spoofing in the first position information. The control unit 42 repeats the self-position estimation process, for example, at a predetermined cycle.

[0049] As shown in FIG. 4, in step S11, the control unit 42 determines whether the first position information is highly accurate. At this time, the control unit 42 determines whether the received positioning signal is highly accurate. When the vehicle 11 receives a spoofed positioning signal with high accuracy, the erroneous first position information becomes highly accurate. In this case, the erroneous first position information significantly reduces the estimation accuracy of the self-position. Usually, a third party who performs spoofing outputs a spoofed positioning signal so that the vehicle 11 receives it with high accuracy. Therefore, when the first position information is not highly accurate, there is little need to determine whether the first position information is likely to be spoofed. Therefore, when the first position information is not highly accurate, the control unit 42 shifts the process to step S16. When the first position information is highly accurate, the control unit 42 shifts the process to step S12.

[0050] In step S12, the control unit 42 determines whether the other location information except the first location information is highly accurate. In one example, the control unit 42 determines whether both the second location information and the third location information are highly accurate. This is because if the second location information and the third location information are not highly accurate, they cannot be compared with the first location information. In other words, if the second location information and the third location information are not highly accurate, it is difficult to determine whether there is a risk of spoofing for the first location information. Therefore, if the control unit 42 determines that at least one of the second location information and the third location information is not highly accurate, the control unit 42 shifts the process to step S16. If the control unit 42 determines that both the second location information and the third location information are highly accurate, the control unit 42 shifts the process to step S13.

[0051] When the control unit 42 determines in step S12 that at least one of the second location information and the third location information is highly accurate, the control unit 42 may proceed to step S13. In this case, the control unit 42 determines whether there is a risk of spoofing in the first location information based on the location information with high accuracy out of the second location information and the third location information.

[0052] In step S13, the control unit 42 calculates a tentative self-location. The control unit 42 calculates a first tentative self-location P1 and a second tentative self-location P2. The control unit 42 calculates a deviation between the first tentative self-location P1 and the second tentative self-location P2, that is, a distance L1.

[0053] In step S14, the control unit 42 determines whether the distance L1 is equal to or greater than a threshold. If the distance L1 is equal to or greater than the threshold, the control unit 42 detects spoofing of the first location information. If the distance L1 is equal to or greater than the threshold, the control unit 42 shifts the process to step S15. If the distance L1 is less than the threshold, the control unit 42 determines that there is no risk of spoofing of the first location information. In this case, the control unit 42 shifts the process to step S16.

[0054] In step S15, the control unit 42 estimates the self-location without using the first position information. That is, the control unit 42 estimates the self-location based on the second position information and the third position information. At this time, the control unit 42 may estimate the coordinates of the position information having the highest reliability of the second position information and the third position information as the self-location, or may estimate the coordinates obtained by calculating the weighted average of the second position information and the third position information as the self-location. The control unit 42 autonomously travels based on the estimated self-location. When the control unit 42 finishes the process of step S15, it ends the self-location estimation process.

[0055] In step S16, the control unit 42 estimates the self-location in a state in which the first location information is used. That is, the control unit 42 estimates the self-location based on the first location information, the second location information, and the third location information. At this time, the control unit 42 may estimate the coordinates of the location information having the highest reliability among the first location information, the second location information, and the third location information as the self-location, or may estimate the coordinates obtained by calculating the weighted average of each of the information as the self-location. The control unit 42 autonomously travels based on the estimated self-location. When the control unit 42 finishes the process of step S16, it ends the self-location estimation process.

[0056] [Action and Effects] Next, the operation and effects of the above-described embodiment will be described. (1) The second positioning unit 22 outputs second position information by receiving reflected light from the surrounding environment A1 or receiving a magnetic signal from a magnetic marker M1 installed in the surrounding environment A1. The control unit 42 estimates a first tentative self-location P1, which is a tentative self-location, based on the first position information. The control unit 42 estimates a second tentative self-location P2, which is a tentative self-location, based on the second position information. The control unit 42 detects spoofing of the first position information when the deviation between the first tentative self-location P1 and the second tentative self-location P2 is a predetermined value or more.

[0057] According to the above configuration, the risk of spoofing the second location information is reduced compared to when the second positioning unit 22 estimates its own location based on a wireless signal. Therefore, spoofing of the first location information can be correctly detected.

[0058] (2) The third positioning unit 23 outputs third position information by receiving reflected light from the surrounding environment A1 or receiving a magnetic signal from a magnetic marker M1 installed in the surrounding environment A1. The control unit 42 estimates a second tentative self-position P2 based on the second position information and the third position information. With the above configuration, the accuracy of detecting spoofing of the first position information is improved.

[0059] (3) The third positioning unit 23 has a magnetic sensor 39 that receives a magnetic signal from the magnetic marker M1. The third positioning unit 23 outputs the third position information based on the magnetic signal received by the magnetic sensor 39. With the above configuration, the risk of spoofing the third position information is reduced. In particular, communication using magnetic signals is short-distance communication, so there is little risk of spoofing.

[0060] (4) The second positioning unit 22 has a light emitting element 37 that irradiates a laser to the surrounding environment A1, and a light receiving sensor 38 that receives the laser reflected from the surrounding environment A1. The second positioning unit 22 outputs second position information based on the point cloud data of the laser. With the above configuration, the risk of spoofing the second position information is reduced.

[0061] [Example of change] The above embodiment can be modified as follows: The above embodiment and the following modified examples can be combined with each other to the extent that there is no technical contradiction.

[0062] Vehicle 11 may include a fourth positioning unit. The fourth positioning unit outputs fourth position information. Control unit 42 estimates the own position of vehicle 11 based on the first position information, the second position information, the third position information, and the fourth position information. Control unit 42 may calculate a fourth tentative own position.

[0063] The second positioning unit 22 may output the second position information by Depth-SLAM. The third positioning unit 23 may output the third position information by Depth-SLAM. [Explanation of symbols]

[0064] 11...vehicle, 21...first positioning unit, 22...second positioning unit, 42...control unit, A1...surrounding environment, M1...magnetic marker, P1...first tentative self-position, P2...second tentative self-position, S1...artificial satellite.

Claims

1. A plurality of positioning units; A control unit that estimates a self-position based on position information output by each of the plurality of positioning units, The plurality of positioning units include a first positioning unit that receives a positioning signal from an artificial satellite and outputs first position information; a second positioning unit that outputs second position information by receiving reflected light from the surrounding environment or receiving a magnetic signal from a magnetic marker installed in the surrounding environment, The control unit is Estimating a first tentative self-location, which is a tentative self-location, based on the first position information; Estimating a second tentative self-location, which is a tentative self-location, based on the second position information; The vehicle detects spoofing of the first location information when a deviation between the first tentative self-location and the second tentative self-location is equal to or greater than a predetermined value.

2. the plurality of positioning units include a third positioning unit that outputs third position information by receiving reflected light from the surrounding environment or a magnetic signal from the magnetic marker installed in the surrounding environment, The vehicle according to claim 1 , wherein the control unit estimates the second tentative self-location based on the second position information and the third position information.

3. The third positioning unit, a magnetic sensor for receiving a magnetic signal from the magnetic marker; The vehicle according to claim 2 , wherein the third position information is output based on a magnetic signal received by the magnetic sensor.

4. The second positioning unit, A light emitting element that irradiates the surrounding environment with a laser; a light receiving sensor that receives the laser reflected from the surrounding environment; The vehicle according to claim 1 , wherein the second position information is output based on the laser point cloud data.

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