Control device, server device, control method, and program

Abstract

To allow for efficiently and appropriately detecting a target object.SOLUTION: An advanced map DB43 stored in a server device 4 contains pulse type information, that is setting information for detecting a landmark using a LiDAR 2. A vehicle-mounted device 1 transmits request information D1 including host vehicle location information to the server device 4 to receive response information D2 including pulse type information corresponding to a landmark in the vicinity of the host vehicle location, and controls the LiDAR 2 according to the received pulse type information.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a technique for detecting an object. [Background technology]

[0002] Conventionally, there is known a technique for measuring the distance to a nearby object by emitting a laser and receiving the reflected light. For example, Patent Document 1 discloses a measuring device that dynamically changes the transmission intensity or reception amplification rate of a laser in a predetermined time width to enable measurement of a wide range of objects from nearby objects with high reflectivity to distant objects with low reflectivity, and outputs a distance value where the received wave is not saturated and the received wave has a high intensity as a distance measurement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-275331 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the distance value is calculated while changing the transmission strength or reception strength at a predetermined time interval each time an object is detected, so there is a problem that it takes time to determine the laser or reception amplification rate conditions for calculating the optimal distance value.

[0005] The present invention has been made to solve the above-mentioned problems, and has as its main object to detect an object efficiently and accurately. [Means for solving the problem]

[0006] The invention described in the claims is a control device comprising an emission unit that emits emitted light, a memory unit that stores setting information indicating a pulse type setting for at least one of the peak power or pulse period of the emitted light emitted by the emission unit to the feature, which corresponds to at least one of the reflectance or size of the feature, a first acquisition unit that acquires a current position of a moving body, and a second acquisition unit that acquires feature information regarding features present in the vicinity of the moving body based on the current position, wherein the feature information includes position information of the feature and at least one of the reflectance or size of the feature, and the emission unit emits the emitted light based on the setting information and the feature information.

[0007] The invention described in the claims is a control method executed by a control device having an emission unit that emits emitted light, and a memory unit that stores setting information indicating a pulse type setting for at least one of a peak power or a pulse period of the emitted light emitted by the emission unit to the feature, which corresponds to at least one of the reflectance or size of the feature, the control method acquiring a current position of a moving body, acquiring feature information on features present in the vicinity of the moving body based on the current position, the feature information having position information of the feature and at least one of the reflectance or size of the feature, and emitting the emitted light by the emission unit based on the setting information and the feature information.

[0008] The invention described in the claims is a program executed by a computer of a control device having an emission unit that emits emission light, and a memory unit that stores setting information indicating a pulse type setting for at least one of the peak power or pulse period of the emission light emitted by the emission unit to the feature, corresponding to at least one of the reflectance or size of the feature, the program acquiring a current position of a moving body, acquiring feature information on features present in the vicinity of the moving body based on the current position, the feature information having position information of the feature and at least one of the reflectance or size of the feature, and causing the computer to execute a process of emitting the emission light from the emission unit based on the setting information and the feature information. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic configuration of an advanced map system. [Diagram 2] (A) shows the functional configuration of the in-vehicle device, (B) shows the functional configuration of the server device, and (C) shows the data structure of the landmark information. [Diagram 3] 1A is a diagram showing a pulsed laser beam emitted by the lidar 2 in one scan, and FIG. 1B is a portion of a waveform showing a change over time in the output power of the pulsed laser emitted by the lidar 2. [Figure 4] 11 is a table showing the pulse types of a pulse laser designated by the pulse type information. [Diagram 5] 1 is a flowchart showing a processing procedure according to an embodiment. [Figure 6] This figure clearly shows the pulsed laser emitted by one scan when there are three landmarks to be detected. [Figure 7] 7 shows the waveform of the output intensity of the lidar pulsed laser in one scan in the example of FIG. 6. [Figure 8] 13 is a schematic configuration of an advanced map system according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] According to a preferred embodiment of the present invention, a feature data structure representing a feature includes at least setting information for the detection device to detect the feature with the detection device. Here, a "feature" refers to any natural or artificial object existing on the ground, trees, rivers, houses, roads, railways, etc. According to this aspect, the feature data structure representing a feature includes setting information for detecting the feature with the detection device. Therefore, in this aspect, when detecting a feature with a detection device, it is possible to determine the setting information by referring to the setting information in the feature data structure, so that measurement for determining the setting information is not required, and efficient measurement is possible, and a detection result by the detection device with a predetermined accuracy is obtained.

[0011] In one aspect of the above feature data structure, the detection device has an emitter that emits light while changing the emission direction and a light receiving unit that receives the light, and the setting information is information on parameters related to the emission of light by the emitter. With this aspect, the detection device can appropriately determine the parameters related to the emission of light in accordance with the feature to be detected, based on the setting information included in the feature data structure.

[0012] In another aspect of the above feature data structure, the setting information is information on the peak power of the light or the period of emitting the light. With this aspect, the detection device emits light at a peak power and a period of emitting light according to the size and reflectance of the feature to be irradiated with the light, thereby enabling the detection device to detect the feature with high accuracy.

[0013] According to another preferred embodiment of the present invention, the feature data structure representing a plurality of features includes at least a plurality of pieces of setting information for the detection device for detecting each of the plurality of features with the detection device. In this aspect, when detecting a plurality of features with the detection device, it is possible to determine setting information for detecting each feature by referring to the setting information in the feature data structure, so that measurement for determining the setting information is not required, and efficient measurement is possible, and detection results by the detection device with a predetermined accuracy guaranteed can be obtained.

[0014] According to another preferred embodiment of the present invention, a control device includes a first acquisition unit that acquires location information indicating a location of a mobile body, a second acquisition unit that acquires setting information regarding settings in the detection unit for detecting features present in the vicinity of a location indicated by the location information by the detection unit, and a control unit that controls the detection unit based on the setting information. In this aspect, when detecting features in the vicinity of the location of the mobile body by the detection unit, the control device can easily and accurately detect the features by the detection unit by acquiring the setting information for detecting the features.

[0015] In one aspect of the control device, the second acquisition unit acquires the setting information corresponding to the features present in the vicinity from a server device having a database of feature information including the setting information for each feature. With this aspect, the control device can suitably acquire setting information for detecting features in the vicinity of the position of the mobile object from the server device and detect the features by the detection unit.

[0016] In another aspect of the control device, the detection device emits light while changing the emission direction, the feature information includes position information for each feature, the second acquisition unit acquires the position information of the features together with the setting information, and when there are multiple features to be detected by the detection unit, the control unit identifies the emission direction of the light in which each of the features exists based on the position information of each of the features and the position information of the mobile body, and switches the setting information to be applied to the detection unit for each identified emission direction. With this aspect, the control device can accurately detect each feature even when multiple features are detected simultaneously by the detection unit, by switching the setting information to be applied for each direction in which each feature exists.

[0017] According to another preferred embodiment of the present invention, there is provided a storage device for storing feature information relating to features, the feature information including at least setting information for a detection device for detecting the feature with the detection device. In this aspect, when detecting a feature with the detection device, no processing is required for determining optimal setting information, and it is possible to obtain detection results by the detection device with a predetermined accuracy guaranteed.

[0018] According to another preferred embodiment of the present invention, a control method executed by a control device includes a first acquisition step of acquiring position information indicating a position of a moving body, a second acquisition step of acquiring setting information regarding settings in the detection unit for detecting features present around the position indicated by the position information by the detection unit, and a control step of controlling the detection unit based on the setting information. By executing this control method, the control device can easily detect features by the detection unit and obtain detection results by the detection device with a predetermined accuracy.

[0019] According to another preferred embodiment of the present invention, there is provided a program executed by a computer, the program causing the computer to function as a first acquisition unit that acquires location information indicating a location of a moving body, a second acquisition unit that acquires setting information regarding settings in the detection unit for detecting features present around a location indicated by the location information, using the detection unit, and a control unit that controls the detection unit based on the setting information. By executing this program, the computer can easily detect features using the detection unit, and can obtain detection results by the detection device with a predetermined accuracy. Preferably, the program is stored in a storage medium. EXAMPLES

[0020] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0021] [Outline of the Advanced Map System] Fig. 1 is a schematic configuration of an advanced map system according to the present embodiment. The advanced map system includes an on-board device 1 that moves with a vehicle, a Lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging) 2 controlled by the on-board device 1, and a server device 4 that stores an advanced map DB 43. The advanced map system standardizes the settings of the Lidar 2 for detecting features (also called "landmarks") that exist around roads for each landmark, and generates compatible, highly accurate measurement data. Fig. 1 shows an example in which the Lidar 2 detects a landmark Ltag, which is a signboard installed along the road.

[0022] The vehicle-mounted device 1 is electrically connected to the LIDAR 2 and controls the emission of light from the LIDAR 2 to detect landmarks. In this embodiment, the vehicle-mounted device 1 transmits request information (also referred to as "request information D1") including information on the vehicle's position to the server device 4, and receives response information (also referred to as "response information D2") including information required for detecting landmarks from the server device 4. The response information D2 includes position information of the landmark to be detected (also referred to as "landmark position information") and parameter information (also referred to as "pulse type information") related to the emission control of the light pulse of the LIDAR 2 for detecting the landmark to be detected by the LIDAR 2. The vehicle-mounted device 1 controls the LIDAR 2 based on the response information D2 received from the server device 4, and performs highly accurate estimation of the vehicle's position for automatic driving based on the output of the LIDAR 2, and generates update information for the advanced map DB 43 stored in the server device 4. The vehicle-mounted device 1 is an example of a "control device" in the present invention. The landmarks registered in the advanced map DB43 may be man-made features such as kilometer posts, 100m posts, delineators, traffic infrastructure facilities (e.g., signs, directional signs, traffic lights), utility poles, streetlights, etc. that are periodically lined up on the side of the road, as well as natural features such as trees.

[0023] The lidar 2 measures the distance to an object in the outside world discretely by emitting a pulsed laser in a predetermined angular range in the horizontal and vertical directions, and generates three-dimensional point cloud information indicating the position of the object. In this case, the lidar 2 has an emission unit that emits a laser beam while changing the irradiation direction, a light receiving unit that receives reflected light (scattered light) of the irradiated laser beam, and an output unit that outputs point cloud information based on the light receiving signal output by the light receiving unit. The point cloud information is generated based on the irradiation direction corresponding to the laser beam received by the light receiving unit and the response delay time of the laser beam specified based on the above-mentioned light receiving signal. In this embodiment, the lidar 2 is configured to be able to adjust the peak power of the emitted pulsed laser and the period (also called the "pulse period") for repeatedly emitting the pulsed laser based on a control signal supplied from the vehicle-mounted device 1. The lidar 2 is an example of the "detection device" or "detection unit" in the present invention.

[0024] The server device 4 stores an advanced map DB 43 containing information about landmarks (also referred to as "landmark information"), and when it receives request information D1 from the vehicle-mounted device 1, it extracts landmark information corresponding to landmarks around the vehicle-mounted device 1 from the advanced map DB 43 based on the position information of the vehicle-mounted device 1 contained in the request information D1, and transmits it to the vehicle-mounted device 1 as response information D2. The landmark information contains at least landmark position information and pulse type information, as described below. The server device 4 is an example of a "storage device" in the present invention.

[0025] 2(A) is a block diagram showing the functional configuration of the vehicle-mounted device 1. The vehicle-mounted device 1 mainly has a communication unit 11, a storage unit 12, a sensor unit 13, an input unit 14, a control unit 15, and an output unit 16. These elements are connected to each other via a bus line.

[0026] The communication unit 11 performs data communication with the server device 4 under the control of the control unit 15. Also, the communication unit 11 supplies information for controlling the emission of the pulse laser from the lidar 2 to the lidar 2 under the control of the control unit 15. The storage unit 12 stores programs executed by the control unit 15 and information required for the control unit 15 to execute predetermined processes.

[0027] The sensor unit 13 is composed of an internal sensor for detecting the state of the vehicle and an external sensor for recognizing the surrounding environment of the vehicle, and includes a camera 31, a GPS receiver 32, a gyro sensor 33, a speed sensor 34, etc. In this embodiment, the control unit 15 generates current position information indicating the current position of the vehicle (i.e., the vehicle position) based on the output of the sensor 13.

[0028] The input unit 14 is a button, a touch panel, a remote controller, a voice input device, etc. that is operated by the user, and the output unit 16 is, for example, a display, a speaker, etc. that performs output based on the control of the control unit 15.

[0029] The control unit 15 includes a CPU that executes a program and controls the entire in-vehicle device 1. In this embodiment, the control unit 15 transmits request information D1 including vehicle position information to the server device 4 via the communication unit 11, for example, at predetermined time intervals. When the communication unit 11 receives response information D2, the control unit 15 transmits a control signal to the LIDAR 2 to change the peak power and pulse period of the pulse laser of the LIDAR 2 based on the pulse type information included in the response information D2. Thereafter, the control unit 15 analyzes the output of the LIDAR 2 using a known analysis technique, and performs a recognition process of the surrounding environment, a vehicle position estimation process, and / or a generation process of update information for the advanced map DB 43. The control unit 15 is an example of the "first acquisition unit," "second acquisition unit," and "control unit" of the present invention, and a computer that executes a program of the present invention.

[0030] 2(B) is a block diagram showing the functional configuration of the server device 4. The server device 4 mainly includes a communication unit 41, a storage unit 42, and a control unit 45. These elements are connected to each other via a bus line.

[0031] The communication unit 41 performs data communication with the vehicle-mounted device 1 under the control of the control unit 45. The storage unit 42 stores programs executed by the control unit 45 and information required for the control unit 45 to execute predetermined processes. In this embodiment, the storage unit 42 stores an advanced map DB 43. The advanced map DB 43 includes landmark information corresponding to each landmark that the vehicle-mounted device 1 detects using the LIDAR 2.

[0032] FIG. 2C shows a data structure of the landmark information. The landmark information is information generated for each landmark, and includes, for example, landmark position information, pulse type information, landmark ID, type information, and size information. Note that, as described later, the pulse type information may be different for each landmark's shape (size) and light reflectance. Since the landmark information is stored in the map DB 43 in such a data structure, when a position is specified by the position information (position information of the vehicle-mounted device 1) included in the request information D1, it becomes possible to extract landmarks existing around the specified position. Also, by referring to the landmark information of the extracted landmark, it is possible to extract the setting information of the lidar 2 for detecting the landmark by the lidar 2 (in other words, setting information suitable for detection by the lidar 2). Note that, the landmark information may include each information such as the shape and reflectance of the landmark in addition to each information described above (or instead of the above pulse type information). The landmark information is an example of a "feature data structure" and "feature information" in the present invention, the pulse type information is an example of "setting information" in the present invention, and the advanced map DB43 is an example of a "database" in the present invention.

[0033] Furthermore, the landmark information may include, instead of the pulse type information, information on the peak power and / or the pulse period of the pulse laser to be emitted by the LIDAR 2 as setting information for detecting the landmark by the LIDAR 2. In this case, the server device 4 may transmit the response information D2 to the vehicle-mounted device 1 including information on the peak power and / or the pulse period of the pulse laser to be emitted by the LIDAR 2.

[0034] The control unit 45 includes a CPU that executes programs and controls the entire server device 4. In this embodiment, when the communication unit 41 receives request information D1 from the vehicle-mounted device 1, the control unit 45 extracts landmark information around the vehicle-mounted device 1 by comparing the location information of the vehicle-mounted device 1 included in the request information D1 with landmark location information included in each piece of landmark information registered in the advanced map DB 43. Then, the control unit 45 transmits response information D2 including at least the landmark location information and pulse type information of the extracted landmark information to the communication unit 41. The information is transmitted to the vehicle-mounted device 1 by the unit 41.

[0035] [LIDAR pulsed laser emission control] Next, a description will be given of emission control of the pulsed laser of the lidar 2 by the vehicle-mounted device 1. The vehicle-mounted device 1 determines the peak power and pulse period of the pulsed laser to be emitted to the lidar 2 based on the pulse type information included in the response information D2 received from the server device 4.

[0036] Figure 3(A) is a diagram showing the beam of the pulsed laser emitted by the lidar 2 in one scan, and Figure 3(B) is a portion of a waveform showing the change over time in the output power of the pulsed laser emitted by the lidar 2.

[0037] In the example of FIG. 3(A), the lidar 2 emits a pulsed laser with a predetermined angular resolution determined by the pulse period, targeting a predetermined angular range (about 210° in this example) including the forward direction of the vehicle. In the example of FIG. 3(A), the vehicle-mounted device 1 receives pulse type information corresponding to the landmark Ltag from the server device 4, and causes the lidar 2 to emit a pulsed laser with a peak power and a pulse period based on the pulse type information. As shown in FIG. 3(B), the peak power corresponds to the amplitude of the waveform peak, and the pulse period corresponds to the time interval of the waveform peak. Note that the average power of the pulsed laser (see dashed line 6) shown in FIG. 3(B) is uniquely determined based on the peak power, pulse width, and pulse period, and an upper limit is specified for eye safety. Therefore, the peak power, pulse width, and pulse period are set so that the average power does not violate the eye-safe condition.

[0038] 4 is a table showing an example of the pulse type of the pulse laser specified by the pulse type information. Here, the pulse type (here, pulse type A to pulse type I) of the pulse laser emitted by the LIDAR 2 corresponds to a combination of peak power (here, p1 to p3) and pulse period (here, c1 to c3), and differs according to the reflectance and size of the landmark to be detected by the LIDAR 2. By using this table, if the reflectance and size of the landmark can be extracted, the setting information (pulse type) for detecting the landmark by the LIDAR can be extracted (recognized).

[0039] In general, the smaller the reflectance (reflection characteristic) of a landmark, the greater the peak power of the pulsed laser that is irradiated to the landmark must be. Also, the smaller the size of the landmark, the shorter the pulse period of the pulsed laser that is irradiated to the landmark must be to improve the accuracy of the angular resolution.

[0040] Considering the above, in the example of FIG. 4, the reflectance of the landmark is classified into three stages, namely, "large", "medium", and "small", the smallest peak power "p1" is associated with the reflectance "large", the largest peak power "p3" is associated with the reflectance "small", and the intermediate peak power "p2" is associated with the reflectance "medium". Similarly, in the example of FIG. 4, the size of the landmark is classified into three stages, namely, "large", "medium", and "small", the longest pulse period "c3" is associated with the size "large", the shortest pulse period "c1" is associated with the size "small", and the intermediate pulse period "c2" is associated with the size "medium". As a result, in the example of FIG. 4, nine pulse types A to I, each with a different combination of three stages of peak power and three stages of pulse period, are defined according to the combination of three stages of reflectance and three stages of size of the landmark.

[0041] In this way, the pulse type information indicates an appropriate combination of peak power and pulse period that is determined in advance according to the reflectance and size of the target landmark. Moreover, the pulse type information is stored in the advanced map DB 43 as part of the landmark information, as shown in FIG. 2(C). Therefore, the vehicle-mounted device 1 receives response information D2 including the pulse type information from the server device 4, and sets the peak power and pulse period of the LIDAR 2 based on the pulse type information, thereby enabling the LIDAR 2 to detect landmarks easily and with high accuracy. It is possible.

[0042] Instead of the example of FIG. 4, at least one of the reflectance and size of the landmark may be set to four or more stages, and more pulse types may be provided. Even in this case, the smaller the reflectance of the landmark, the higher the peak power is associated with it, and the smaller the size of the landmark, the shorter the pulse period is associated with it. This allows the lidar 2 to be set in accordance with the reflectance and size of the landmark to be detected, making it possible to detect the landmark with high accuracy. Similarly, at least one of the reflectance and size of the landmark may be set to four or more stages, and more pulse types may be provided. Even in this case, the smaller the reflectance of the landmark, the higher the peak power is associated with it, and the smaller the size of the landmark, the shorter the pulse period is associated with it. This allows the lidar 2 to be set in accordance with the reflectance and size of the landmark to be detected, making it possible to detect the landmark with high accuracy. It may be set in two stages.

[0043] 2C shows a data structure of the landmark information that includes pulse type information. If the landmark information includes information on the shape and reflectance of the landmark instead of the pulse type information, the table shown in FIG. 4 may be stored in the storage unit 42 (or the advanced map DB 43) separately from the landmark information. In this case, by referring to the landmark information, it is possible to detect the vicinity of the position specified by the position information (position information of the vehicle-mounted device 1) included in the request information D1. It is possible to extract the shape and reflectance of existing landmarks, and by referring to the table shown in Figure 4, it is possible to extract the pulse type corresponding to the extracted shape and reflectance.

[0044] In addition to the pulse type information, the peak power and the pulse period may be optimally set according to the relative distance between the landmark and the vehicle calculated from the landmark position information and the position information of the vehicle-mounted device 1. In this case, for example, according to three levels of relative distance, "large," "medium," and "small," the shortest period may be assigned to "large," the longest pulse period to "small," the intermediate period to "medium," and a large peak power may be assigned to "large," a small peak power to "small," and the intermediate period to "medium."

[0045] [Processing flow] Fig. 5 is a flowchart showing a processing procedure in this embodiment. Fig. 5 shows, as a representative example, a processing flow when the vehicle-mounted device 1 updates information of the advanced map DB 43 based on the output of the LIDAR 2. The vehicle-mounted device 1 repeatedly executes the processing of the flowchart in Fig. 5 according to a predetermined cycle, for example.

[0046] First, the vehicle-mounted device 1 acquires vehicle position information based on the output of the sensor unit 13 (step S101). Next, the vehicle-mounted device 1 transmits request information D1 including the vehicle position information acquired in step S101 to the server device 4 (step S102).

[0047] The server device 4 receives the request information D1 from the vehicle-mounted device 1 (step S201). In this case, the server device 4 extracts landmark position information and pulse type information corresponding to landmarks existing around the vehicle-mounted device 1 from the advanced map DB 43 (step S202). In this case, the server device 4 searches the advanced map DB 43 for landmark information having landmark position information indicating a position within a predetermined distance from the position indicated by the position information specified by the request information D1, and extracts at least the landmark position information and pulse type information from the searched landmark information. Then, the server device 4 transmits response information D2 including at least the landmark position information and pulse type information extracted in step S202 to the vehicle-mounted device 1 (step S203).

[0048] The vehicle-mounted device 1 receives the response information D2 transmitted by the server device 4 (step S103). Then, the vehicle-mounted device 1 performs emission control of the lidar 2 based on the pulse type information and the like included in the response information D2 (step S104). Note that the response when the response information D2 includes pulse type information and landmark position information corresponding to multiple landmarks will be described in detail in the section "Detection process of multiple landmarks."

[0049] Next, the vehicle-mounted device 1 performs an analysis process of the output of the LIDAR 2 (step S105). For example, the control unit 15 first extracts point cloud information of the landmark to be detected from the output of the LIDAR 2 to calculate the relative position of the landmark with respect to the vehicle position. After that, the control unit 15 estimates the absolute position of the landmark to be detected based on the calculated relative position and the absolute position of the vehicle recognized based on the output of the sensor unit 13. Then, the control unit 15 transmits the position information of the estimated landmark, etc. to the server device 4 as update information of the advanced map DB 43 (step S106). In this case, the control unit 15 may perform the transmission process of step S106 only when it is determined that the advanced map DB 43 needs to be updated, such as when the estimated landmark position and the position indicated by the landmark position information included in the response information D2 are apart by a predetermined distance or more.

[0050] Then, when the server device 4 receives the update information of the advanced map DB 43 from the vehicle-mounted device 1, the server device 4 updates the advanced map DB 43 based on the update information (step S204).

[0051] According to this embodiment, the server device 4 can cause each vehicle equipped with the LIDAR 2 to measure the landmarks using the LIDAR 2 based on uniform setting conditions suitable for each landmark, thereby obtaining measurement data with optimal measurement resolution and accuracy for each landmark and improving compatibility and reliability of the measurement data. Therefore, the server device 4 can obtain highly accurate update information that is compatible with the landmark information registered in the advanced map DB 43 from each vehicle traveling on the target road network, and can always keep the advanced map DB 43 in a state that is suited to the actual situation.

[0052] [Multiple landmark detection process] Next, a case where multiple landmarks are detected simultaneously will be described. In summary, the vehicle-mounted device 1 recognizes the emission angle at which each landmark is irradiated based on the landmark position information of each landmark to be detected and the vehicle position information, and switches the pulse type information to be applied to the LIDAR 2 for each recognized emission angle. As a result, even when multiple landmarks are detected simultaneously, the vehicle-mounted device 1 drives the LIDAR 2 under setting conditions suitable for each landmark.

[0053] Fig. 6 is a diagram clearly showing the pulsed laser emitted by one scan when three landmarks Ltag1, Ltag2, and Ltag3 are present. Fig. 7 shows a waveform of the time change in the output power of the pulsed laser of the lidar 2 in one scan in the example of Fig. 6. In this example, the landmark Ltag1 belongs to a reflectivity of "small" and a size of "large" in the table of Fig. 4, the landmark Ltag2 belongs to a reflectivity of "large" and a size of "small", and the landmark Ltag3 belongs to a reflectivity and a size of "medium".

[0054] 6 and 7, first, the vehicle-mounted device 1 receives pulse type information, landmark position information, size information, etc. for each of the landmarks Ltag1 to Ltag3 as response information D2. Then, based on the vehicle position information recognized by the output of the sensor unit 13 and the landmark position information of each of the landmarks Ltag1 to Ltag3, the vehicle-mounted device 1 calculates the relative positions of the landmarks Ltag1 to Ltag3 with respect to the vehicle position, and recognizes the emission angle of the corresponding pulse laser. Furthermore, by taking into account the size information, etc. of each of the landmarks Ltag1 to Ltag3, the vehicle-mounted device 1 recognizes the range of the emission angle of the pulse laser at which each of the landmarks Ltag1 to Ltag3 is irradiated.

[0055] Then, when the lidar 2 executes a scan, the vehicle-mounted device 1 changes the peak power and the pulse period of the pulse laser that irradiates the landmarks Ltag1 to Ltag3 in one pulse laser scan in a time-division manner.

[0056] Specifically, the vehicle-mounted device 1 emits a pulsed laser with the peak power and pulse period indicated by the pulse type information corresponding to the landmark Ltag1, in the emission angle range corresponding to the landmark Ltag1. Here, since the landmark Ltag1 is a landmark corresponding to the reflectance "small" and the size "large" in the table of Fig. 4, the pulse type information corresponding to the landmark Ltag1 indicates pulse type I (i.e., pulse period c3, peak power p3). Therefore, the vehicle-mounted device 1 causes the lidar 2 to emit a pulsed laser with pulse type I (i.e., pulse period c3, peak power p3) in the emission angle range corresponding to the landmark Ltag1.

[0057] Similarly, since the landmark Ltag2 is a landmark with a reflectivity of "large" and a size of "small", the pulse type information corresponding to the landmark Ltag2 indicates pulse type A (i.e., pulse period c1, peak power p1). Therefore, the vehicle-mounted device 1 causes the lidar 2 to emit a pulse laser with pulse type A (i.e., pulse period c1, peak power p1) in the emission angle range corresponding to the landmark Ltag2. Furthermore, since the landmark Ltag3 is a landmark with a reflectivity of "medium" and a size of "medium", the pulse type information corresponding to the landmark Ltag3 indicates pulse type E (i.e., pulse period c2, peak power p2). Therefore, the vehicle-mounted device 1 causes the lidar 2 to emit a pulse laser with pulse type E (i.e., pulse period c2, peak power p2) in the emission angle range corresponding to the landmark Ltag3.

[0058] In this way, even when there are multiple landmarks Ltags, the vehicle-mounted device 1 controls the lidar 2 by referring to the pulse type information corresponding to the landmark Ltag present within each emission angle range in which each landmark Ltag is irradiated. This allows the vehicle-mounted device 1 to suitably generate measurement data for each landmark Ltag based on the pulse type information registered in the advanced map DB 43.

[0059] As described above, in this embodiment, the advanced map DB 43 stored in the server device 4 includes pulse type information, which is setting information for detecting landmarks with the LIDAR 2. The vehicle-mounted device 1 transmits request information D1 including vehicle position information to the server device 4, receives response information D2 including pulse type information corresponding to landmarks around the vehicle position, and controls the LIDAR 2 based on the received pulse type information. This allows the vehicle-mounted device 1 to obtain a compatible output result of the LIDAR 2 with a predetermined accuracy guaranteed, without performing a process of determining the settings of the LIDAR 2 for detecting landmarks.

[0060] [Variations] Next, preferred modifications of the embodiment will be described. The following modifications may be applied to the above-described embodiment in any combination.

[0061] (Variation 1) Instead of controlling the lidar 2 based on the pulse type information received from the server device 4, the vehicle-mounted device 1 may receive information on the reflectivity and size of the landmark from the server device 4, determine the peak power and pulse period of the laser pulse of the lidar 2 from this information, and control the lidar 2.

[0062] In this case, the server device 4 pre-stores information on the reflectance and size of the landmark as landmark information to be stored in the advanced map DB 43, and when request information D1 is received, transmits response information D2 including the reflectance and size information of the landmark to the vehicle-mounted device 1. The vehicle-mounted device 1 also pre-stores a correspondence table between the reflectance and size of the landmark and the peak power and pulse period of the laser pulse to be emitted as shown in Fig. 4. Then, when the vehicle-mounted device 1 receives response information D2 from the server device 4, the vehicle-mounted device 1 determines the peak power and pulse period of the laser pulse to be emitted by the LIDAR 2 by referring to the above-mentioned correspondence table from the reflectance and size information of the landmark included in the response information D2, and controls the LIDAR 2.

[0063] Even in this modified example, the vehicle-mounted device 1 can perform simple and highly accurate landmark detection by the LIDAR 2 based on the information received from the server device 4.

[0064] (Variation 2) The vehicle-mounted device 1 may store the advanced map DB 43 in advance in the storage unit 12 instead of the server device 4.

[0065] FIG. 8 shows an advanced map system according to a modified example. In the example of FIG. 8, the vehicle-mounted device 1 stores the advanced map DB 43. After acquiring vehicle position information in step S101 in the flowchart of FIG. 5, the vehicle-mounted device 1 executes step S202 instead of the server device 4 to extract pulse type information and the like corresponding to the landmarks Ltag around the vehicle position from the advanced map DB 43. The vehicle-mounted device 1 then controls the LIDAR 2 based on the extracted pulse type information and the like. In this example, the vehicle-mounted device 1 does not need to communicate with the server device 4. stomach.

[0066] In another example, the vehicle-mounted device 1 may hold a part of the advanced map DB 43 by downloading it from the server device 4. In this case, for example, the advanced map DB 43 is managed for each area, and when the vehicle-mounted device 1 reaches a specific area for the first time, it receives map data corresponding to that area from the server device 4. In yet another example, the vehicle-mounted device 1 may pre-store only a database of landmark information corresponding to a part of the advanced map DB 43. Even in this case, the vehicle-mounted device 1 does not need to exchange request information D1 and response information D2 with the server device 4.

[0067] (Variation 3) The vehicle-mounted device 1 may be configured separately from a vehicle position measuring device that measures vehicle position information using the sensor unit 13 and the like, and may receive vehicle position information from the vehicle position measuring device. [Explanation of symbols]

[0068] 1 Onboard device 2. Rider 4. Server equipment 11, 41 Communications Department 12, 42 Storage section 13 Sensor section 14 Input section 15, 45 Control section 16 Output section 43 Advanced Map DB

Claims

[Claim 1] A first acquisition unit that acquires location information indicating a location of a moving object; a second acquisition unit that acquires setting information indicating parameters that are set in the detection unit so that the detection unit detects features existing around the position indicated by the position information; A control unit that controls the detection unit based on the setting information; A control device comprising:

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