Vehicle position estimation and correction system

Abstract

To provide a vehicle position estimation correction system that can accurately correct a self-position when there is an error in self-position estimation.SOLUTION: A vehicle position estimation correction system 100 includes: an object OB installed at a fixed reference position FP; a transmission unit 10 that transmits an object confirmation signal OS1; a self-position estimation unit 20 that estimates a self-position in a vehicle VE; an object detection unit 30 that detects the object OB from the vehicle VE according to reception of the object confirmation signal OS1; and a position estimation correction unit 40 that corrects the position estimation by the self-position estimation unit 20 by comparing the estimation by the self-position estimation unit 20 and the detection by the object detection unit 30.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle position estimation correction system for correcting errors in vehicle position estimation in a vehicle that estimates its own position. [Background technology]

[0002] A communication system is known that uses signals from three or more transmitters to accurately identify the traveling position of the vehicle (see Patent Document 1).

[0003] However, the communication system described in the above Patent Document 1 does not take into consideration a method for correcting an error in the self-location estimation when an error occurs in the self-location estimation of a vehicle that estimates its own location. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2008-216231 A Summary of the Invention

[0005] The present invention has been made in consideration of the above-mentioned points, and has an object to provide a vehicle position estimation correction system that is capable of accurately correcting the vehicle's own position when an error occurs in the vehicle's own position estimation.

[0006] To achieve the above-mentioned objective, a vehicle position estimation correction system includes an object installed at a fixed reference position, a transmitter unit that transmits an object confirmation signal, a self-position estimation unit that estimates the vehicle's own position, an object detection unit that detects an object from the vehicle in response to receiving the object confirmation signal, and a position estimation correction unit that compares the estimation by the self-position estimation unit with the detection by the object detection unit and corrects the position estimation by the self-position estimation unit.

[0007] In the above-mentioned vehicle position estimation correction system, the results estimated by the self-position estimation unit are compared with the results detected from the vehicle of an object installed at a fixed reference position, i.e., compared with the results based on fixed position information from equipment external to the vehicle, and the self-position estimation by the self-position estimation unit is corrected based on this comparison, making it possible to accurately correct the self-position if there is an error in the self-position estimation.

[0008] In a specific aspect of the present invention, the transmitter includes information for identifying the object as the object confirmation signal. In this case, the transmitter can cause the vehicle to obtain objective location information based on the information for identifying the object included in the object confirmation signal, the information being different from the information source for the vehicle's own location estimation.

[0009] In another aspect of the present invention, the object detection unit includes an imaging unit that images the object, and the position estimation correction unit identifies the position of the vehicle based on image information acquired by imaging the object with the imaging unit. In this case, the position can be corrected based on the image information.

[0010] In yet another aspect of the present invention, the position estimation correction unit determines the amount of correction in the self-position estimation unit based on the difference between the object detection position calculated based on the detection by the self-position estimation unit and the object detection position based on the object confirmation signal. In this case, the position can be corrected quickly and accurately.

[0011] In yet another aspect of the present invention, the object is a signal lamp, and the transmitter is provided in association with the signal lamp. In this case, by transmitting an object confirmation signal from the transmitter, the signal lamp to which the transmitter is associated can be identified by the vehicle.

[0012] In yet another aspect of the present invention, the position estimation correction unit corrects the position estimation within an intersection where a traffic light is installed. In this case, it is possible to confirm a position with high accuracy within the intersection based on the installed traffic light. Therefore, for example, even if a white line painted on a road leading to the intersection ends just before the intersection, it is possible to maintain passage along a route corresponding to the white line based on the object confirmation signal. [Brief description of the drawings]

[0013] [Figure 1] 1 is a conceptual diagram for explaining a vehicle position estimation and correction system according to a first embodiment. [Diagram 2] 1 is a block diagram for explaining a configuration example of a vehicle position estimation correction system. [Diagram 3] FIG. 11 is a conceptual diagram showing an example of data of an object confirmation signal to be transmitted. [Figure 4] 11A and 11B are flowcharts for explaining an example of the operation of the vehicle position estimation and correction system. [Diagram 5] FIG. 1 is a conceptual perspective view for explaining a traffic signal system incorporating a vehicle position estimation correction system. [Figure 6] FIG. 2 is a conceptual plan view for explaining the operation of a vehicle position estimation correction system incorporated in a traffic signal system. [Figure 7] FIG. 2 is a conceptual plan view for explaining the operation of a vehicle position estimation correction system incorporated in a traffic signal system. [Figure 8] FIG. 11 is a conceptual diagram for explaining a vehicle position estimation and correction system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] [First embodiment] An example of a vehicle position estimation correction system according to the first embodiment will be described below with reference to Fig. 1 etc. As shown in the conceptual diagram of Fig. 1, a vehicle position estimation correction system 100 according to this embodiment is configured by providing various equipment on the traffic infrastructure side and the vehicle side in a traffic system configured with signal lamps TL etc. Here, the vehicle position estimation correction system 100 includes a transmitter 10 configured with a transmission antenna ANs etc. as the traffic infrastructure side equipment, and a self-position estimation correction unit 50 mounted on the vehicle VE as the vehicle side equipment.

[0015] The transmitting unit 10 is provided in association with the signal lamp TL, and in addition to the transmitting antenna ANs, has a communication unit 11 for transmitting via the transmitting antenna ANs, reference position data 12 for storing the contents of transmission, etc., as data storage facilities for communication. In this example, the communication unit 11 and the reference position data 12 are provided as part of the control device CT including the control device of the signal lamp TL.

[0016] The self-position estimation correction unit 50 includes a receiving antenna ANr for collecting information such as acquiring information from the transmission unit 10, an imaging unit (camera) CA for imaging the surrounding outside, a lidar, and a self-position estimation unit 20 for estimating the self-position using various devices such as GNSS (GPS). Furthermore, the self-position estimation correction unit 50 includes an object detection unit 30 for analyzing image information acquired by the imaging unit CA to detect an object, and a position estimation correction unit 40 for correcting the self-position estimation by the self-position estimation unit 20. The vehicle position estimation correction system 100 is capable of estimating the self-position of the vehicle VE, and furthermore, when there is an error in the self-position estimation, it is possible to correct the self-position estimation based on information from the transmission unit 10, i.e., information from external equipment outside the vehicle.

[0017] A typical example of a vehicle VE is an autonomous vehicle that enables autonomous driving by using various devices such as the on-board self-location estimator 20 or by acquiring information from the outside. However, the vehicle position estimation and correction system 100 can also be applied to vehicles other than autonomous vehicles.

[0018] Here, the position of the object OB that exists at a fixed position that does not move, such as the installation position of the signal lamp TL, is defined as the fixed reference position FP. The transmitting unit 10 provided in association with the signal lamp TL includes, for example, information for identifying the object OB, in addition to information indicating the position of the object OB, i.e., information on the fixed reference position FP. In this case, the transmitting unit 10 transmits a signal within a predetermined range based on the fixed reference position FP where the signal lamp TL, which is the object OB, is installed. Here, the boundary position of the transmission range from the transmitting unit 10 is defined as the signal acquisition position SP. That is, the signal acquisition position SP indicates a position within a predetermined range from the fixed reference position FP, and when the vehicle VE equipped with the self-position estimation correction unit 50 reaches the signal acquisition position SP, it becomes possible to communicate with the transmitting unit 10. Furthermore, the information transmitted from the transmitting unit 10, i.e., information received by the self-position estimation correction unit 50 and used for position confirmation, is defined as the object confirmation signal OS1. That is, the object confirmation signal OS1 includes the fixed reference position FP and information for identifying the signal lamp TL.

[0019] From the above, for example, as shown in the figure, if a vehicle VE equipped with the self-position estimation correction unit 50 travels toward and approaches a signal lamp TL, which is an object OB, the self-position estimation correction unit 50 receives an object confirmation signal OS1 at the point of time when the signal acquisition position SP is reached. This enables the self-position estimation correction unit 50, i.e., the vehicle side, to correct the self-position estimation based on the object confirmation signal OS1. That is, the self-position estimation correction unit 50 receives information from the transmitting unit 10 (traffic infrastructure) side by the receiving antenna ANr, confirms the position of the object OB, i.e., the signal lamp TL, based on this, and corrects the self-position estimation based on the confirmed position.

[0020] Hereinafter, a specific configuration example of the vehicle position estimation and correction system 100 will be described with reference to a block diagram shown in FIG.

[0021] First, as described above, the transmitting unit 10 is composed of the transmitting antenna ANs, the communication unit 11, and the reference position data 12. The communication unit 11 transmits the object confirmation signal OS1, which stores the contents of the object confirmation signal OS1, via the transmitting antenna ANs.

[0022] On the other hand, the self-location estimation correction unit 50 is configured by adding equipment necessary for correcting the location estimation using information from the transmission unit 10 in addition to the equipment that is provided in advance in the vehicle VE for driving. In this example, the vehicle VE is assumed to be an autonomous vehicle. For this reason, as shown in the figure, the vehicle VE is equipped with a driving operation unit DO composed of various parts necessary for various operations for normal driving such as steering, accelerator, and brake, a vehicle engine control unit (ECU: engine control unit) VC composed of integrated circuits and the like to control the engine operation corresponding to these operations, an autonomous driving mechanism AD that connects to the vehicle engine control unit VC to control the operation of each part for autonomous driving, a sensor unit SE, etc. In addition to the imaging unit (camera) CA described above, the sensor unit SE is composed of a distance measuring unit DM such as a lidar, a GPS receiver RE used for GNSS (GPS), etc. In addition to this, a vehicle position notification and correction device NC is incorporated to configure the self-location estimation correction unit 50.

[0023] In the case of an autonomous vehicle configured as described above, for example, the autonomous driving mechanism AD controls the operation of each component constituting the sensor unit SE via, for example, the vehicle engine control unit VC to obtain information about the situation around the vehicle VE (for example, information about the positions of the white lines that define the lanes on the road and the positions of the stop lines) and obtains information about the vehicle's own position by GNSS (GPS) via the GPS receiver RE. This makes it possible to accurately estimate the vehicle's own position and perform autonomous driving based on the estimation results.

[0024] However, for example, in places where the lines on the road are broken and detection of the driving path based on distance measurement or image analysis (line tracing) is not possible, or in places where position detection by GNSS (GPS) is not possible, there is a possibility that the vehicle's own position cannot be accurately grasped. In such a situation, the vehicle position estimation and correction system 100 of this embodiment makes it possible for the vehicle to use information (object confirmation signal OS1) from a traffic infrastructure device installed outside the vehicle, thereby making it possible to correct the estimation of the vehicle's own position as part of achieving the automatic driving function in the above-mentioned case.

[0025] In order to make the above-mentioned aspect possible, in this embodiment, a vehicle position notification / correction device NC including a receiving antenna ANr is incorporated in the vehicle side, and this is connected to each part of the vehicle VE to acquire necessary information and the like, thereby functioning as a self-position estimation correction unit 50. Specifically, the vehicle position notification / correction device NC includes, in addition to the receiving antenna ANr, an information receiving unit IR that receives an object confirmation signal OS1 via the receiving antenna ANr, a sensor information receiving unit SR that is connected to the sensor unit SE to receive various information acquired by the sensor unit SE, and a main control unit MP that is composed of various integrated circuits and the like. Furthermore, the main control unit MP includes an estimated position reference unit 21, a detection processing unit 31, and a correction amount calculation unit 41. The estimated position reference unit 21 refers to the estimation result of the self-position by the automatic driving mechanism AD of the vehicle VE, that is, the estimated position. The detection processing unit 31 performs processing for detecting the position of a signal lamp TL (see FIG. 1) that is an object OB from the imaging result by the imaging unit CA of the sensor unit SE. The correction amount calculation unit 41 compares the estimated position referred to by the estimated position reference unit 21 with the processing result related to the detection by the detection processing unit 31, and corrects the position estimation in the vehicle VE.

[0026] As described above, the vehicle position notification / correction device NC cooperates with the automatic driving mechanism AD and the sensor unit SE to function as the self-position estimation unit 20, the object detection unit 30, and further the position estimation correction unit 40. That is, a self-position estimation correction unit 50 is formed in the vehicle VE.

[0027] For example, the estimated position reference unit 21 is connected to the automatic driving mechanism AD, and by referring to the estimation result of the self-position by the automatic driving mechanism AD, the main control unit MP functions as the self-position estimation unit 20. In this case, it is also possible to regard the self-position estimation unit 20 as including not only the estimated position reference unit 21 but also each unit such as the automatic driving mechanism AD, the imaging unit CA and the ranging unit (lidar) DM that operate for self-position estimation under the control of the automatic driving mechanism AD, or the GPS receiver RE.

[0028] Furthermore, the main control unit MP receives an object confirmation signal OS1 via the information receiving unit IR, and based on the received object confirmation signal OS1, the imaging unit CA captures an image under the control of the automatic driving mechanism AD to capture the position of the object OB, which is a signal light TL (see FIG. 1), and the detection processing unit 31 grasps the vehicle's own position based on the information on the position. In this way, the main control unit MP functions as the object detection unit 30. Note that, in this case, it is also possible to regard the object detection unit 30 as including not only the detection processing unit 31 but also each unit such as the automatic driving mechanism AD and the imaging unit CA. In other words, the object detection unit 30 may include the imaging unit CA that captures the object OB (signal light TL).

[0029] Furthermore, the main control unit MP functions as a position estimation correction unit 40 by comparing the estimation by the self-position estimation unit 20 and the detection by the object detection unit 30 in the correction amount calculation unit 41 and correcting the position estimation by the self-position estimation unit 20. Note that in this case, it can also be considered that the position estimation correction unit 40 ultimately specifies the position of the vehicle based on image information acquired by imaging by the imaging unit CA constituting the object detection unit 30.

[0030] Regarding the calculation of the correction amount in the correction amount calculation unit 41 that constitutes the position estimation correction unit 40, here, the correction amount calculation unit 41 determines the correction amount in the self-position estimation unit based on the difference between the object detection position calculated based on detection in the self-position estimation unit 20 and the object detection position based on the object confirmation signal OS1.

[0031] Furthermore, looking at the above from a different perspective, we can also see that the vehicle position estimation and correction system 100 is constructed by adding the parts surrounded by the area AR shown by dashed lines in the figure to the normal transportation infrastructure and vehicle.

[0032] The information contained in the object confirmation signal OS1, i.e., the data transmitted from the traffic infrastructure side to the vehicle side, includes object identification information SS1, which is a header for identifying the relevant object (signal lamp), as well as object position data SS2, which is information on the position (longitude, latitude, altitude) of the relevant object OB (signal lamp TL), object shape (characteristics) data SS3, such as the shape characteristics of the signal lamp TL as the object OB, and map information data SS4 on the periphery of the object (signal lamp), as shown in Fig. 3. The object detection unit 30 and the position estimation correction unit 40 use the position of the signal lamp TL, which is the object OB, installed at the fixed reference position FP as described above as an absolute reference, based on the contents of the object confirmation signal OS1, which includes this information, to capture it and use it to correct their own position.

[0033] An example of the operation of the vehicle position estimation and revision system 100 will be described below with reference to the flowcharts shown in FIGS. 4(A) and 4(B).

[0034] First, the flow chart of FIG. 4(A) showing the operation of the transportation infrastructure equipment, that is, the transmitting unit 10, of the vehicle position estimation and correction system 100 will be described.

[0035] When the vehicle position estimation correction system 100 is started up, first, the communication unit 11 of the transmitting unit 10 transmits a signal for confirming communication establishment via the transmitting antenna ANs, and checks whether communication has been established with the vehicle VE equipped with the self-position estimation correction unit 50 (step S101), and repeats this until communication is established (step S101: Yes).

[0036] When the communication unit 11 confirms in step S101 that communication has been established (step S101: Yes), it refers to the reference position data 12 (infrastructure reference position data) (step S102) and transmits the information stored as the reference position data 12 as an object confirmation signal OS1 via the transmitting antenna ANs to the vehicle VE, i.e., notifies the vehicle VE of the infrastructure reference position data (step S103), and then ends the series of operations.

[0037] Next, the flow chart of FIG. 4(B) showing the operation of the vehicle-side equipment of vehicle position estimation and correction system 100, that is, self-position estimation and correction unit 50, will be described.

[0038] When the vehicle position estimation correction system 100 is started, first, the main control unit MP of the self-position estimation correction unit 50 checks whether or not communication has been established by checking whether or not a signal for confirming communication establishment has been received from the transmitting unit 10 via the receiving antenna ANr (step S201), and repeats this until communication is established (step S201: Yes). In this case, the communication establishment in step S201 corresponds to the communication establishment in step S101 in FIG. 4(A).

[0039] When the establishment of communication is confirmed in step S201 (step S201: Yes), the main control unit MP causes the automatic driving mechanism AD to acquire information on self-position estimation for the vehicle VE (step S202), and further causes the automatic driving mechanism AD to transmit the information on the position estimation to the main control unit MP (step S203). That is, the calculation result of the self-position estimation performed by the self-position estimation unit 20 in the vehicle VE is referred to.

[0040] Meanwhile, the main control unit MP receives infrastructure reference position data, that is, the object confirmation signal OS1, transmitted from the transmitting unit 10 in response to the establishment of communication in step S101 in FIG. 4A, which corresponds to the establishment of communication in step S201 (step S204).

[0041] Next, the main control unit MP operates the imaging unit CA of the sensor unit SE via the automatic driving mechanism AD to capture an image of the object OB (traffic light TL) corresponding to the object confirmation signal OS1 received in step S204 and acquire information about the object OB (traffic light TL) (step S205), and the object detection unit 30 calculates the position of the object OB (traffic light TL), i.e., the position of the vehicle based on the infrastructure position (step S206).

[0042] Next, the main control unit MP determines whether or not the vehicle's own estimated position referred to in step S203 matches the vehicle's own position based on the infrastructure position calculated in step S206 (step S207).

[0043] In step S207, if they match (step S207: Yes), it is determined that no error has occurred in the position estimation performed by the device itself, and the series of operations ends without performing any special processing.

[0044] On the other hand, if they do not match in step S207 (step S207: No), it is determined that an error has occurred in the self-position estimation (position estimation by the self-position estimation unit 20) referred to in step S203, and the processing of information related to the position estimation is restarted (rebooted) (step S208). More specifically, the amount of error (correction amount) to be corrected in the self-position estimation is calculated in step S208 based on the calculation result in step S206, and information related to the calculated correction amount is notified to the automatic driving mechanism AD (step S209), and a series of operations is terminated. In other words, in steps S208 and S209, the correction amount is determined based on the difference between the object detection position calculated based on the detection by the self-position estimation unit 20 and the object detection position based on the object confirmation signal OS1, and the determination result is notified.

[0045] In addition, the automatic driving mechanism AD, which has received the notification from the main control unit MP in step S209, performs a series of automatic driving controls according to the position information corrected based on the amount of correction. That is, in the above series of processes, when it is determined in step S207 that an error has occurred in the estimation of the position detection, the main control unit MP notifies the automatic driving mechanism AD that the result of the position estimation based on the inputs from the various sensors is incorrect and the degree to which it should be corrected, in order to correct the position estimation based on the various sensors for its own position estimation, as shown in steps S208 and S209.

[0046] Hereinafter, a specific example of the above-described correction of the estimated position will be described with reference to FIG. 5 and other figures.

[0047] As shown in Figs. 5 to 7, in this example, a case will be described in which position estimation at a crossroads CS is performed by a vehicle position estimation and correction system 100 incorporated in a traffic signal system.

[0048] For example, in FIG. 5, in an area ARx just before an intersection CS, the vehicle can detect the lane white lines WL, edges EG, center lines CL, etc. drawn on the road by utilizing the functions of various sensors provided for automatic driving on the vehicle side, thereby detecting the driving path (line tracing). On the other hand, in an area AR1 within the intersection CS, since there are no lane white lines WL, etc., position estimation by line tracing is not possible. That is, as shown by arrows A1 and A2 in the figure, when traveling from entering the intersection CS to leaving it, there is a possibility that position estimation based on line tracing for automatic driving cannot be performed accurately. Therefore, here, while traveling in the area AR1 where position confirmation by line tracing is not possible, more specifically, from point PA just before the area AR1 to point PB after leaving the area AR1, the position estimation correction by the vehicle position estimation correction system 100 is used.

[0049] Hereinafter, with reference to the conceptual plan views shown in Figs. 6 and 7, a more specific example of the operation (use mode) of the vehicle position estimation and correction system 100 installed at the intersection CS as described above will be described.

[0050] In the illustrated example, the transmitter 10 on the traffic infrastructure side of the vehicle position estimation and correction system 100 is installed in association with a signal light TL of an intersection CS. That is, the position estimation and correction unit 50, or the vehicle VE equipped with the same, can correct the position estimation based on the object confirmation signal OS1, which is information from the transmitter 10, in the intersection CS where the signal light TL is installed. In this embodiment, it is possible to perform highly accurate position confirmation based on the installed signal light TL in the intersection CS. Therefore, even if a white line WL or the like drawn on a road RD leading to the intersection CS is interrupted just before the intersection CS, it is possible to maintain passage along a route corresponding to the white line WL or the like based on the object confirmation signal OS1. Note that in the figure, only the transmitter 10 (transmission antenna ANs) provided in the signal light TL as the object OB corresponding to the traveling direction of the vehicle VE equipped with the self-position estimation and correction unit 50 is shown, and other transmitters 10 are omitted.

[0051] 6, the vehicle VE equipped with the self-position estimation correction unit 50 is capable of line tracing when traveling in an area ARx before the intersection CS at an intersection CS and a road RD connected thereto. Specifically, the road RD in the area ARx before the intersection CS is composed of three lanes (lanes) LNa, LNb, and LNc on each side before the intersection CS, and the vehicle VE grasps its own traveling position including the lane position by detecting, for example, the diagonal forward direction indicated by the arrow D1 using various sensors constituting a part of the self-position estimation correction unit 50, detecting the white lines WL and edges EG that separate the lanes LNa, LNb, and LNc, and also estimating position detection using GNSS (GPS) or the like.

[0052] On the other hand, after the stop line SL1 just before entering the intersection CS from the area ARx, there is no white line WL, and therefore the vehicle VE cannot trace the line. After passing through the intersection CS, line tracing becomes possible again, for example, based on the edge EG and center line CL that exist at the destination. From another perspective, the stop line SL1 corresponds to determining the point PA just before the area AR1. Also, the edge EG and center line CL that exist after passing through the intersection CS correspond to determining the point PB after leaving the area AR1. In the illustrated example, assuming that the vehicle VE turns right at the intersection CS, the point PB is where the edge EGe and center line CLe at the corresponding destination can be captured by the vehicle VE. If the stop line SL2 on the opposite lane at the destination of the vehicle VE can be captured by the vehicle VE, it is also possible to use this.

[0053] Furthermore, even if the vehicle VE is within the area ARx, it may not be able to travel as intended if there is an error in the self-location estimation by the vehicle VE itself (position estimation by the self-location estimator 20 in FIG. 2 etc.) that does not rely on the vehicle position estimation correction system 100. For example, even if the vehicle VE wants to turn right, there is a possibility that the vehicle VE will travel in the left-straight lane LNa or the straight lane LNb out of the left-straight lane LNa, the straight lane LNb, and the right-turn lane LNc due to an error in the self-location estimation.

[0054] In order to avoid the above-mentioned inability to trace a line or abnormal driving caused by errors in self-position estimation, the vehicle position estimation correction system 100 here uses a signal light TL installed at the intersection CS as an object OB that serves as a reference position, and provides information regarding the reference position (object confirmation signal OS1, etc.) from the transmitter 10 to the self-position estimation correction unit 50 (i.e., the vehicle VE) within a specified range from area ARx to area AR1.

[0055] In order to deal with the above-mentioned matters, for example, it is conceivable to set the signal acquisition position SP, which indicates the transmission range from the transmitter 10, as a point within the area ARx where the vehicle VE can change lanes. As a result, even if the vehicle VE, which wants to turn right at an intersection CS, has an error in its own position estimation and judges itself to be in the right-turn lane LNc despite actually traveling in the left-straight lane LNa, the vehicle can correct its own position estimation by communicating with the transmitter 10 at the signal acquisition position SP and change lanes to the right-turn lane LNc before reaching the intersection.

[0056] 7, from when the vehicle VE enters the intersection CS until it can trace the line again, that is, while it is traveling in the area AR1, the vehicle VE continues to receive various information on the traveling position included in the information on the reference position, that is, the object confirmation signal OS1, from the transmitter 10, and drives based on this information, thereby enabling it to travel along the area that a right-turning vehicle should pass through in the intersection CS, as shown in the assumed traveling area AS indicated by the dashed line. Note that, in order to ensure the above-mentioned route guidance, for example, in order to confirm that communication establishment is maintained with respect to the communication of the object confirmation signal OS1, a bidirectional communication may be performed between the traffic infrastructure side and the vehicle side.

[0057] As described above, the vehicle position estimation correction system 100 according to the present embodiment includes the object OB placed at the fixed reference position FP, the transmitter 10 for transmitting the object confirmation signal OS1, the self-position estimation unit 20 for estimating the self-position in the vehicle VE, the object detection unit 30 for detecting the object OB from the vehicle VE in response to receiving the object confirmation signal OS1, and the position estimation correction unit 40 for correcting the position estimation by the self-position estimation unit 20 by comparing the estimation by the self-position estimation unit 20 with the detection by the object detection unit 30. In the above case, the vehicle position estimation correction system 100 compares the result estimated by the self-position estimation unit 20 with the result of detecting the object OB placed at the fixed reference position FP from the vehicle, that is, compares it with the result based on the information of the fixed reference position FP (fixed position information) from the external equipment of the vehicle VE, and corrects the self-position estimation by the self-position estimation unit 20 based on this comparison, thereby enabling accurate correction of the self-position when there is an error in the self-position estimation unit 20.

[0058] Second Embodiment An example of the vehicle position estimation correction system according to the second embodiment will be described below with reference to Fig. 8. Note that the vehicle position estimation correction system 100 according to this embodiment is similar to the first embodiment except that the transmitter 10 is not attached to an object OB such as a signal lamp but exists separately and independently, so the overall configuration of the vehicle position estimation correction system 100 will not be described or illustrated.

[0059] Fig. 8 is a conceptual diagram showing an example of the configuration of the vehicle position estimation and correction system 100 according to this embodiment, and corresponds to Fig. 1. Note that the installation environment in the example of Fig. 8 is different from that in Fig. 1, and the transmitting unit 10 of the vehicle position estimation and correction system 100 is installed in a tunnel TU and a signboard SB or the like existing inside the tunnel TU is used as an object OB indicating the reference position, but a signal lamp TL or the like can also be used as the object OB (see Fig. 1, etc.) as in the case of Fig. 1.

[0060] Here, the transmitting unit 10 is installed independently in the tunnel TU without being attached to the signboard SB, and when the vehicle VE equipped with the self-position estimation correction unit 50 reaches the signal acquisition position SP, it receives information about the position of the signboard SB and the like as an object confirmation signal OS1 from the transmitting unit 10. Note that the signal acquisition position SP may be set to a position just before the point at which the self-position estimation unit 20 is no longer able to estimate its own position by GNSS (GPS) due to entering the tunnel TU, for example.

[0061] In this embodiment as well, by correcting the self-location estimation by the self-location estimation unit 20, when the self-location estimation unit 20 has an error, it becomes possible to accurately correct the self-location.

[0062] 〔others〕 The present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the present invention.

[0063] First, among the above, the installation location of the transmitter 10 is not limited to the intersection or inside a tunnel where the exemplified signal lamp is located, but various other locations are possible. For example, it may be installed between buildings or in an underpass where it is considered difficult for radio waves of GNSS (GPS) to reach, as in a tunnel, or on a dedicated road or expressway, or on a normal road without an intersection. In this case, the object OB installed at the fixed reference position, i.e., the detection object on the vehicle side, may be various, and it may be possible to use an object with a highly distinctive shape such as an entrance or exit of a highway or an N system, or a landmark such as a high-rise building as the object OB.

[0064] Furthermore, the contents of the object confirmation signal OS1 transmitted from the transmitting unit 10 are not limited to the above, and various information may be provided depending on various conditions including the object OB and the traffic conditions in the vicinity.

[0065] There are also various possible aspects regarding the timing of using the vehicle position estimation correction system 100. For example, when it is known that GNSS (GPS) is being received reliably, the vehicle position estimation correction system 100 may not be used even if the vehicle VE is present within the range from the fixed reference position FP to the signal acquisition position SP, and the vehicle position estimation correction system 100 may be used only when reception using GNSS (GPS) becomes impossible.

[0066] In addition, if there is a time lag between the reception of the object confirmation signal OS1 and the detection of the object OB, it is possible to perform position correction taking this into account. For example, it is possible to separately calculate the distance traveled by the vehicle VE from the reception timing of the object confirmation signal OS1 to the image capture timing of the object OB, and to take this into account when calculating the position correction amount.

[0067] Various modes are also possible for the transmission method of the transmitter 10, and in addition to a case where transmission is made over the entire range from the fixed reference position FP to the signal acquisition position SP, a mode where transmission is made pinpoint at the signal acquisition position SP using highly directional electromagnetic waves (for example, infrared light or microwaves) is also possible. Furthermore, a mode where a beacon is used and the object confirmation signal OS1 is transmitted when passing directly underneath the beacon is also possible. [Explanation of symbols]

[0068] 10...transmitter, 11...communication unit, 12...reference position data, 20...self-position estimation unit, 21...estimated position reference unit, 30...object detection unit, 31...detection processing unit, 40...position estimation correction unit, 41...correction amount calculation unit, 50...self-position estimation correction unit, 100...vehicle position estimation correction system, A1, A2...arrow, AD...automatic driving mechanism, ANr...receiving antenna, ANs...transmitting antenna, AR...area, AR1, ARx...area, AS...expected driving range, CA...imaging unit (camera), CL...center line, CS...intersection, CT...control device, D1...arrow, DM...distance measurement unit, DO...driving operation unit, EG...edge, F P...Fixed reference position, IR...Information receiving unit, LNa, LNb, LNc...Lane, MP...Main control unit, NC...Vehicle position notification and correction device, OB...Object, OS1...Object confirmation signal, PA, PB...Location, RD...Road, RE...GPS receiver, SB...Signboard, SE...Sensor unit, SL1, SL2...Stop line, SP...Signal acquisition position, SR...Sensor information receiving unit, SS1...Object identification information, SS2...Object position data, SS3...Object shape (characteristics) data, SS4...Map information data, TL...Signal lamp, TU...Tunnel, VC...Vehicle engine control unit, VE...Vehicle, WL...White line

Claims

1. An object located at a fixed reference position; A transmitter that transmits an object confirmation signal; a vehicle position estimation unit that estimates a vehicle position; an object detection unit that detects the object from the vehicle in response to receiving the object confirmation signal; a position estimation correction unit that compares the estimation by the self-position estimation unit with the detection of the self-position based on the reception by the object detection unit and corrects the position estimation by the self-position estimation unit; Equipped with the transmitting unit causes the object detecting unit to receive the object confirmation signal at a position before an area in which the self-position estimating unit cannot perform position estimation based on line tracing, The position estimation correction unit estimates a position based on reception by the object detection unit in an area where the self-position estimation unit cannot estimate a position based on line tracing.

2. The vehicle position estimation and correction system according to claim 1 , wherein the transmitting unit includes, as the object confirmation signal, information for identifying the object.

3. The object detection unit includes an imaging unit that images the object, The vehicle position estimation correction system according to claim 1 , wherein the position estimation correction unit specifies the position of the vehicle based on image information acquired by imaging by the imaging unit.

4. A vehicle position estimation correction system according to any one of claims 1 to 3, wherein the position estimation correction unit determines an amount of correction in the self-position estimation unit based on a difference between an object detection position calculated based on detection in the self-position estimation unit and an object detection position based on the object confirmation signal.

5. The object is a signal light, 5. The vehicle position estimation and correction system according to claim 1, wherein the transmitter is provided in association with the signal lamp.

6. 6. The vehicle position estimation and correction system according to claim 5, wherein the position estimation correction unit corrects the position estimation within an intersection where the signal lamp is installed.

Images