Information processor

Abstract

To provide an information processor capable of effectively utilizing initial data.SOLUTION: By generating displacement amount information on the basis of an actually measured sensor value stored in a storage part 2 and a new correction value, the displacement amount information can be generated based on the actually measured sensor value obtained in the past, and the most recent correction value. The most recent correction value is updated and highly precise displacement amount information can be generated. Consequently, in comparison with a method for generating displacement amount information on the basis of the actually measured sensor value in the past and the correction value at that time, highly precise displacement amount information can be generated. Therefore, the actually measured sensor value in the past as initial data can be utilized effectively.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information processing device. [Background technology]

[0002] Conventionally, a method for updating map data based on the travel path of a vehicle (mobile body) has been proposed (see, for example, Patent Document 1). In the map data updating method described in Patent Document 1, when map matching is not possible, the travel path is updated in the map database as a new road. At this time, the travel path is calculated by dead reckoning using a speed sensor, a gyro sensor, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-145159 Summary of the Invention [Problem to be solved by the invention]

[0004] When calculating a travel trajectory using dead reckoning as described in Patent Document 1, a sensor outputs a gyro voltage, a vehicle speed pulse, etc. as an actual measurement value, and the amount of displacement such as the amount of azimuth displacement or the amount of movement is calculated by multiplying the actual measurement value by a predetermined coefficient (correction value). However, because there are individual differences between sensors, if the correction value is not optimized, the amount of displacement may contain an error.

[0005] Therefore, a method for improving the accuracy of the calculated displacement amount can be considered by updating the correction value based on the end point of the driving trajectory generated by dead reckoning and the latitude and longitude information obtained by self-location estimation. However, although the reliability of the obtained displacement amount increases by repeatedly updating the correction value, the displacement amount obtained before the update may contain errors, making it difficult to effectively use the data obtained at the beginning of measurement. In addition, in general, the more frequently the correction value is updated, the smaller the error becomes.

[0006] Therefore, an object of the present invention is to provide an information processing device that can effectively utilize initial data. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, the information processing device of the present invention described in claim 1 is an information processing device that acquires information from a moving body equipped with a sensor for measuring a displacement amount, and is characterized by comprising: a memory unit in which the sensor's actual measurement value is stored; an acquisition unit that acquires a correction value for correcting the sensor's actual measurement value; and a generation unit that, when a new correction value is acquired from the moving body, generates displacement amount information of the moving body based on the sensor's actual measurement value and the new correction value. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an outline of an information processing device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a plan view showing a state in which a travel locus is generated by the information processing device. DETAILED DESCRIPTION OF THE INVENTION

[0009] An information processing device according to an embodiment of the present invention is an information processing device that acquires information from a moving object provided with a sensor for measuring a displacement amount, and includes: a storage unit that stores actual sensor measurements of the sensor; an acquisition unit that acquires correction values ​​for correcting the actual sensor measurements; and a generation unit that, when a new correction value is acquired from the moving object, generates displacement amount information of the moving object based on the actual sensor measurements and the new correction value.

[0010] When a new correction value is acquired, displacement amount information is generated based on the sensor measurement value stored in the storage unit and the new correction value, thereby making it possible to generate displacement amount information based on the sensor measurement value obtained in the past and the latest correction value. The latest correction value has been updated, making it possible to generate highly accurate displacement amount information. Therefore, compared to a method of generating displacement amount information based on past sensor measurement values ​​and past correction values, it is possible to generate highly accurate displacement amount information. Therefore, it is possible to effectively use past sensor measurement values, which are initial data.

[0011] The actual sensor measurement value may include at least one of the number of velocity pulses of the moving body, the gyro voltage, and the acceleration sensor voltage.

[0012] The information processing device preferably further includes a trajectory generating unit that generates travel trajectory information of the moving object based on the displacement amount information, thereby making it possible to effectively use the displacement amount information obtained from past sensor measurements for generating the travel trajectory information.

[0013] On the other hand, the information processing system according to this embodiment is an information processing system that acquires information from a moving body equipped with a sensor for measuring displacement, and includes a memory unit in which the actual sensor measurement value of the sensor is stored, an acquisition unit that acquires a correction value for correcting the actual sensor measurement value, and a generation unit that, when a new correction value is acquired from the moving body, generates displacement amount information of the moving body based on the actual sensor measurement value and the new correction value.

[0014] Furthermore, the information processing method according to this embodiment is an information processing method for acquiring information from a moving body provided with a sensor for measuring displacement, and includes a storage process for storing the actual sensor measurement value of the sensor, an acquisition process for acquiring a correction value for correcting the actual sensor measurement value, and a generation process for generating displacement amount information of the moving body based on the actual sensor measurement value and the new correction value when a new correction value is acquired from the moving body.

[0015] According to the information processing system and information processing method of this embodiment, similar to the above-mentioned information processing device, when a new correction value is acquired, displacement amount information is generated based on the actual sensor measurement value stored in the memory unit and the new correction value, thereby making it possible to effectively utilize past actual sensor measurement values, which are initial data. [Example]

[0016] An embodiment of the present invention will be described in detail below. As shown in FIG. 1, an information processing device (information processing system) 1 of this embodiment is an external server that acquires information from a vehicle 10 as a moving object, and includes a storage unit 2, a server-side control unit 3, and a communication unit 4. The vehicle 10 includes a position estimation unit 11, a sensor 12, a vehicle-side storage unit 13, a vehicle-side control unit 14, and a communication unit 15. The vehicle 10 may be a general vehicle or a measurement vehicle intended to generate map data. Each vehicle 10 is assigned an identification number, for example, and the information processing device 1 stores and processes information for each of the multiple vehicles individually.

[0017] The storage unit 2 is configured by, for example, a hard disk or a non-volatile memory, and stores map data, which is read and written under the control of the control unit 3. The storage unit 2 also stores the sensor measurement values ​​of the sensor 12 and correction values ​​for correcting the sensor measurement values, as will be described later.

[0018] The server-side control unit 3 is composed of a CPU (Central Processing Unit) equipped with memory such as RAM (Random Access Memory) and ROM (Read Only Memory), and is responsible for overall control of the information processing device 1, storing information acquired from the vehicle 10 in the memory unit 2 and performing predetermined processing, as described below.

[0019] The communication unit 4 is composed of a circuit, an antenna, and the like for communicating with a network such as the Internet or a public line, and communicates with the vehicle 10 to send and receive information.

[0020] The position estimation unit 11 estimates the current position (absolute position) of the vehicle 10 and may be, for example, a GPS receiving unit that receives radio waves transmitted from a plurality of GPS (Global Positioning System) satellites. The position estimation unit 11 acquires latitude and longitude information as the current position of the vehicle 10.

[0021] The sensor 12 is for measuring the displacement of the vehicle 10, and is composed of, for example, a vehicle speed pulse acquisition unit that acquires the vehicle speed pulse of the vehicle 10, a gyro sensor that measures the amount of displacement in azimuth of the vehicle 10, and an acceleration sensor that acquires the acceleration of the vehicle 10. The sensor 12 also outputs, as actual sensor measurement values, for example, the number of vehicle speed pulses, a gyro voltage, and an acceleration sensor voltage.

[0022] The vehicle-side storage unit 13 is configured with, for example, a hard disk or a non-volatile memory, and stores map data.

[0023] The vehicle-side control unit 14 is configured by a CPU (Central Processing Unit) equipped with memories such as RAM (Random Access Memory) and ROM (Read Only Memory).

[0024] The communication unit 15 is composed of a circuit, an antenna, etc. for communicating with a network such as the Internet or a public line, and transmits and receives information by communicating with the information processing device 1. Note that the communication unit 15 may only transmit information to the information processing device 1.

[0025] The following describes in detail how the server-side control unit 3 processes and stores information in the above-described information processing device 1. In the vehicle 10, the vehicle-side control unit 14 performs map matching based on the absolute position (latitude and longitude information) estimated by the position estimation unit 11 and existing route information stored in the vehicle-side storage unit 13. The server-side control unit 3 of the information processing device 1 acquires the map matching result from the vehicle 10.

[0026] The travel trajectory indicated by the map matching result acquired from the vehicle 10 may not be a smooth curve, for example, in an area where the vehicle 10 makes a right or left turn. In the example shown in FIG. 2, the travel trajectory (solid line) based on the map matching result when the vehicle 10 makes a right turn has discontinuous portions. Therefore, the server-side control unit 3 corrects the travel trajectory in the area where the vehicle 10 makes a right or left turn using the measurement result of the sensor 12. The server-side control unit 3 acquires the actual sensor measurement value from the sensor 12 and calculates the amount of displacement by multiplying the actual sensor measurement value by the correction value. That is, the server-side control unit 3 calculates the amount of displacement by multiplying the number of vehicle speed pulses by the amount of movement per pulse as the correction value, calculates the amount of azimuth displacement by multiplying the amount of change in gyro voltage by a predetermined coefficient as the correction value, and calculates the amount of acceleration displacement by multiplying the amount of change in acceleration sensor voltage by a predetermined coefficient as the correction value.

[0027] A new trajectory can be generated by accumulating the amount of displacement from the travel trajectory indicated by the map matching result, for example, starting from the position where a right or left turn begins. That is, the portion of the travel trajectory based on map matching that does not form a smooth curve can be replaced with a travel trajectory based on the amount of displacement.

[0028] Although the correction value for calculating the displacement amount is a value according to the sensor 12, there are individual differences between sensors 12, and therefore errors occur in the obtained displacement amount. When the displacement amount is accumulated as described above, errors accumulate. For example, as shown in Figure 2, the end point (right turn completion position) P2 of the travel trajectory (two-dot chain line) obtained by accumulating the displacement amount with the right turn start position as the starting point P1 may deviate from the lane after the right turn.

[0029] Among the driving trajectories indicated by the map matching results, the estimation accuracy of the absolute position (latitude and longitude) of the end position of a right or left turn is relatively high. Therefore, the correction value can be updated so that the latitude and longitude of the end position based on map matching coincides with the latitude and longitude of the end position based on the accumulated displacement amount. In the example shown in Figure 2, the end point P3 based on map matching is located on the lane after the right turn. If the correction value is updated so that the end point P3 based on map matching coincides with the end point P2 based on the accumulated displacement amount, and the displacement amount is calculated and accumulated using the new correction value, a new trajectory as shown by the dashed dotted line is obtained.

[0030] When the server-side control unit 3 acquires information from the vehicle 10, it stores the map matching result and the sensor measurement value of the sensor 12 in the memory unit 2 (storage process) and updates the correction value as described above. That is, the server-side control unit 3 acquires the correction value (acquisition process) and functions as an acquisition unit. Since the sensor measurement value is unique to each position on the travel route, the sensor measurement value is stored individually for each position. On the other hand, since the correction value is unique to the sensor 12, it is updated and overwritten as the vehicle 10 travels.

[0031] By repeatedly updating the correction value as described above, the error in the obtained change amount decreases, improving accuracy. On the other hand, the displacement amount based on the initial correction value, which has not been updated sufficiently, and the sensor measurement value obtained at that time has a large error, and the driving trajectory based on this displacement amount has low accuracy. Therefore, the server-side control unit 3 recalculates the displacement amount based on the latest correction value and the sensor measurement value obtained in the past (stored in the memory unit 2), and generates a driving trajectory again based on the recalculated displacement amount. In other words, when a new correction value is acquired, the server-side control unit 3 generates displacement amount information of the vehicle 10 based on the sensor measurement value and the new correction value (generation process), functioning as a generation unit. Furthermore, the server-side control unit 3 generates driving trajectory information of the vehicle 10 based on the displacement amount information, functioning as a trajectory generation unit.

[0032] As described above, the server-side control unit 3 of the information processing device 1 corrects the travel locus indicated by the map matching result by accumulating the amount of displacement. Appropriate positions on the corrected travel locus may be stored in the storage unit 2 as feature points (nodes).

[0033] With the above configuration, displacement amount information is generated based on the sensor measurement values ​​stored in the storage unit 2 and new correction values, so that displacement amount information can be generated based on the sensor measurement values ​​obtained in the past and the latest correction values. The latest correction values ​​are updated, making it possible to generate highly accurate displacement amount information. Therefore, compared to a method of generating displacement amount information based on past sensor measurement values ​​and the correction values ​​at that time, highly accurate displacement amount information can be generated. Therefore, past sensor measurement values, which are initial data, can be effectively used. This is particularly useful when generating road information using vehicle trajectory information on new roads where map matching cannot be performed, as accurate trajectory information is required.

[0034] The present invention is not limited to the above-described embodiment, but includes other configurations that can achieve the object of the present invention, and the following modifications are also included in the present invention.

[0035] For example, in the above embodiment, the sensor 12 is configured with a vehicle speed pulse acquisition unit, a gyro sensor, and an acceleration sensor, and outputs the number of vehicle speed pulses, the gyro voltage, and the acceleration sensor voltage as the sensor actual measurement values, but the sensor may be any sensor that measures the displacement of a moving object. For example, the sensor may be configured with at least one of a vehicle speed pulse acquisition unit, a gyro sensor, and an acceleration sensor, and may output at least one of the number of vehicle speed pulses, the gyro voltage, and the acceleration sensor voltage as the sensor actual measurement values.

[0036] In addition, in the above embodiment, the driving trajectory information is generated using displacement amount information based on the actual sensor measurement values ​​stored in the memory unit 2 and the new correction values, but other information may also be generated based on the displacement amount information.

[0037] Although the best configurations and methods for carrying out the present invention have been disclosed above, the present invention is not limited thereto. That is, although the present invention has been particularly illustrated and described mainly with reference to specific embodiments, those skilled in the art can make various modifications to the above-described embodiments in terms of shape, material, quantity, and other detailed configurations without departing from the scope of the technical idea and purpose of the present invention. Therefore, the above-disclosed descriptions limiting the shape, material, etc. are provided as examples to facilitate understanding of the present invention and are not intended to limit the present invention. Therefore, descriptions using names of components that are free from some or all of the limitations on shape, material, etc. are included in the present invention. [Explanation of symbols]

[0038] 1. Information processing equipment 2 Storage section 3. Server-side control unit (acquisition unit, generation unit) 10 Vehicles (moving objects) 12 sensors

Claims

[Claim 1] An information processing device that acquires information from a moving object provided with a sensor for measuring a displacement amount, a storage unit in which the actual sensor measurement values ​​of the sensors are stored; an acquisition unit that acquires a correction value for correcting the sensor actual measurement value; an information processing device comprising: a generation unit that, when a new correction value is acquired from the moving body, generates displacement amount information of the moving body based on the sensor actual measurement value and the new correction value.

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