Method of expressing road in voxels and data structure for expressing road in voxels

Abstract

To enable determination as to whether the condition of a road in voxels through which the road passes may be an obstacle or not for a vehicle attempting to travel on the road.SOLUTION: A method of expressing a road in voxels is provided, the method comprising expressing at least one voxel, of a plurality of voxels, including the road using data showing the position of the at least one voxel and data indicative of the degree of steps on the road within the at least one voxel.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a method for representing roads in voxels and a data structure for representing roads in voxels. [Background technology]

[0002] The information processing device described in Patent Document 1 aims to appropriately estimate the vehicle's attitude, and calculates the pitch angle of the vehicle on a road surface that spans multiple voxels and is inclined (e.g., Figure 6A of Patent Document 1) (e.g., Figure 8 and paragraph 0067 of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-054315 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in relation to the above-mentioned inclined road surface, as shown in FIG. 10, for example, when a vehicle SR is about to travel along a road DR in a three-dimensional space SK represented by a plurality of voxels VX, it was not possible to determine whether the condition of the road DR, more specifically, the condition of the road DR within the voxel VX through which the road DR passes, for example, the condition of the road DR within the voxel VX(3, 1, 2), could be an obstacle for the vehicle SR.

[0005] An object of the present disclosure is to provide a method for representing a road in a voxel, which is capable of determining whether the condition of the road within the voxel through which the road passes may be an obstacle for a vehicle attempting to travel on the road, and a data structure for representing a road in a voxel. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the method of representing a road in voxels according to the present disclosure includes a step of representing at least one voxel among a plurality of voxels through which a road passes, using data indicating the position of the at least one voxel and data indicating the degree of step of the road within the at least one voxel. Effect of the Invention

[0007] According to the method of representing roads in voxels disclosed herein, it is possible to determine whether the condition of the road within the voxel through which the road passes could be an obstacle for a vehicle attempting to travel on the road. [Brief description of the drawings]

[0008]

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[0009] DETAILED DESCRIPTION OF THE DRAWINGS

[0023] FIG. 1 illustrates a method for representing roads in voxels and a data structure for representing roads in voxels according to the present disclosure.

[0010] In this embodiment, as shown in Figures 1 to 9, the explanation will be made based on whether or not a step DS exists on a road DR along which a vehicle SR is about to travel, which exists within multiple voxels VX representing a three-dimensional space SK, and how the step exists.

[0011] Here, the step DS is defined as, for example, a displacement in the Z-axis direction of a road DR extending along the X-axis when a vehicle SR moves on the road DR in the positive direction of the X-axis.

[0012] In this embodiment, at least one voxel VX through which a road DR passes is represented using data indicating the position of the voxel VX and data indicating the degree of step DS that the road DR has within the voxel VX.

[0013] More specifically, for example, the voxel VX(3, 1, 2, +10) shown in FIG. 2 indicates that the position of the former is “3” on the X axis, “1” on the Y axis, and “2” on the Z axis, and that the step of the latter is “+10” under the definition of the step DS described above.

[0014] First Embodiment A method of expressing roads in voxels according to the first embodiment and a data structure for expressing roads in voxels will be described.

[0015] In embodiment 1, the road DR extends parallel to the X-axis, ie, has no gradient.

[0016] <When there is no step DS on the road DR> FIG. 1 shows a case in which there is no step DS on a road DR in the first embodiment.

[0017] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, in the voxel VX(3,1,2), the road DR does not displace in the Z-axis direction, i.e., there is no step DS. Therefore, taking into consideration the presence or absence and the degree of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,0).

[0018] <When there is a step DS on the road DR (Part 1)> FIG. 2 shows a case (part 1) in the first embodiment where a step DS exists on a road DR.

[0019] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, voxel VX(3,1,2) has a step DS that is a displacement of "+10" in the Z-axis direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, voxel VX(3,1,2) is expressed as voxel VX(3,1,2,+10).

[0020] <When there is a step DS on the road DR (Part 2)> FIG. 3 shows a second case in the first embodiment where a step DS exists on a road DR.

[0021] In the three-dimensional space SK, among the voxels VX of the road DR, for example, in the voxel VX(3,1,2), there is a step DS that is a displacement of "-10" in the axial direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,-10).

[0022] Effects of the First Embodiment As described above, in the method of expressing a road in voxels and the data structure for expressing a road in voxels in the first embodiment, the voxel VX through which the road DR passes is expressed using, for example, data "3", "1", "2" indicating the position of the voxel VX, and data "0", "+10", "-10" indicating the level of step DS of the road DR in the voxel VX. This allows the vehicle SR intending to travel along the road DR to determine whether the condition of the road DR in the voxel VX (3, 1, 2) through which the road DR passes can be an obstacle.

[0023] Second Embodiment A method of expressing roads in voxels according to the second embodiment and a data structure for expressing roads in voxels will be described below.

[0024] In the second embodiment, unlike the first embodiment in which the road DR has no gradient, the road DR has a gradient KB(+) with respect to the X-axis, that is, is an uphill road.

[0025] <When there is no step DS on the road DR> FIG. 4 shows a case in which no step DS exists on the road DR in the second embodiment.

[0026] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, the voxel VX(3,1,2) does not have a step DS. Therefore, taking into consideration the presence or absence and the level of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,0).

[0027] <When there is a step DS on the road DR (Part 1)> FIG. 5 shows a case (part 1) in the second embodiment where a step DS exists on a road DR.

[0028] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, voxel VX(3,1,2) has a step DS that is a displacement of "+10" in the Z-axis direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, voxel VX(3,1,2) is expressed as voxel VX(3,1,2,+10).

[0029] <When there is a step DS on the road DR (Part 2)> FIG. 6 shows a case (part 2) in the second embodiment where a step DS exists on a road DR.

[0030] In the three-dimensional space SK, among the voxels VX of the road DR, for example, in the voxel VX(3,1,2), there is a step DS that is a displacement of "-10" in the axial direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,-10).

[0031] Effects of the Second Embodiment As described above, in the method of expressing a road in voxels and the data structure for expressing a road in voxels in the second embodiment, the voxel VX through which the road DR passes is expressed using, for example, data "3", "1", "2" indicating the position of the voxel VX, and data "0", "+10", "-10" indicating, for example, the level of step DS of the road DR in the voxel VX. As a result, as in the first embodiment, it is possible for the vehicle SR intending to travel along the road DR to determine whether the condition of the road DR in the voxel VX (3, 1, 2) through which the road DR passes can be an obstacle.

[0032] Third embodiment A method of expressing roads in voxels and a data structure for expressing roads in voxels according to the third embodiment will be described below.

[0033] In the third embodiment, unlike the first embodiment in which the road DR has no gradient, the road DR has a gradient KB(-) with respect to the X-axis, that is, a downward slope.

[0034] <When there is no step DS on the road DR> FIG. 7 shows a case in which no step DS exists on the road DR in the third embodiment.

[0035] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, the voxel VX(3,1,2) does not have a step DS. Therefore, taking into consideration the presence or absence and the level of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,0).

[0036] <When there is a step DS on the road DR (Part 1)> FIG. 8 shows a case (part 1) in the third embodiment where a step DS exists on a road DR.

[0037] In the three-dimensional space SK, among the multiple voxels VX through which the road DR passes, for example, voxel VX(3,1,2) has a step DS that is a displacement of "+10" in the Z-axis direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, voxel VX(3,1,2) is expressed as voxel VX(3,1,2,+10).

[0038] <When there is a step DS on the road DR (Part 2)> FIG. 9 shows a second case in the third embodiment where a step DS exists on a road DR.

[0039] In the three-dimensional space SK, among the voxels VX of the road DR, for example, in the voxel VX(3,1,2), there is a step DS that is a displacement of "-10" in the axial direction. Therefore, taking into consideration the presence or absence and the degree of the step DS, the voxel VX(3,1,2) is expressed as the voxel VX(3,1,2,-10).

[0040] Effects of the Third Embodiment As described above, in the method of expressing a road in voxels and the data structure for expressing a road in voxels of the third embodiment, the voxel VX through which the road DR passes is expressed using, for example, data "3", "1", "2" indicating the position of the voxel VX, and data "0", "+10", "-10" indicating, for example, the level of step DS of the road DR in the voxel VX. This allows the vehicle SR intending to travel along the road DR to determine whether the condition of the road DR in the voxel VX (3, 1, 2) through which the road DR passes can be an obstacle, as in the first embodiment.

[0041] <Example of composition> The method of representing roads in voxels and the data structure for representing roads in voxels according to the present disclosure have, for example, the following configuration.

[0042] [Item 1] expressing at least one voxel through which a road passes, among a plurality of voxels, using data indicating a position of the at least one voxel and data indicating a degree of a step of the road within the at least one voxel; How roads are represented in voxels.

[0043] [Item 2] Among the multiple voxels, for at least one voxel through which a road passes, data indicative of a position of the at least one voxel; Data indicating how much of a step the road has in the at least one voxel; A data structure for representing roads in voxels, including: [Explanation of symbols]

[0044] SK three-dimensional space VX Voxel DR road SR Vehicle DS Step

Claims

1. expressing at least one voxel through which a road passes, among a plurality of voxels, using data indicating a position of the at least one voxel and data indicating a degree of a step of the road within the at least one voxel; How roads are represented in voxels.

2. Among the multiple voxels, for at least one voxel through which a road passes, data indicative of a position of the at least one voxel; Data indicating how much of a step the road has in the at least one voxel; A data structure for representing roads in voxels, including:

Images