Information Processing Apparatus, Information Processing Method, and Program

Abstract

To provide an information processing device capable of effectively estimating a moving distance.SOLUTION: An information processing device includes an inertia sensor which measures the angular velocity or acceleration of a vehicle, and a movement amount sensor which measures the movement amount of the vehicle, and stores road surface determination function information on a road surface determination function indicating the relationship between the inertia information and the movement amount for each road surface pattern and speed calculation function information on a speed calculation function for calculating the moving speed of the vehicle for each road surface pattern, in a memory. A processor includes the steps of: acquiring the inertial information and the movement amount from the inertial sensor and the movement amount sensor; determining the road surface pattern on which the vehicle travels, on the basis of the acquired inertial information and movement amount and the road surface determination function information; calculating the moving speed of the vehicle based on the speed calculation function information corresponding to the determined road surface pattern and the inertia information; and calculating the moving distance of the vehicle based on the moving speed of the vehicle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] Indoors, such as in a factory or a plant, vehicles such as carrier vehicles are used. Since such vehicles are used indoors, they cannot utilize GPS (Global Positioning System). Therefore, the vehicle needs to estimate its own travel distance.

[0003] As a method for a vehicle to estimate its own travel distance, there is one that estimates the travel distance according to its own vibration and the road surface (for example, concrete or carpet).

[0004] However, conventionally, the vehicle has a problem that it cannot appropriately estimate the travel distance when the road surface changes during movement.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In order to solve the above problems, there is provided an information processing apparatus, an information processing method, and a program capable of effectively estimating a travel distance.

Means for Solving the Problems

[0007] According to an embodiment, an information processing apparatus includes a sensor interface, a memory, and a processor. The sensor interface is connected to an inertial sensor that measures an angular velocity or an acceleration applied to a vehicle as inertial information and a movement amount sensor that measures a movement amount of the vehicle. The memory stores road surface determination function information regarding a road surface determination function indicating a relationship between the inertial information and the movement amount for each road surface pattern, and speed calculation function information regarding a speed calculation function for calculating a movement speed of the vehicle for each road surface pattern. The processor acquires the inertial information and the movement amount from the inertial sensor and the movement amount sensor via the sensor interface, determines the road surface pattern on which the vehicle travels based on the acquired inertial information and movement amount and the road surface determination function information, calculates the movement speed of the vehicle based on the speed calculation function information corresponding to the determined road surface pattern and the inertial information, and calculates a movement distance of the vehicle based on the movement speed of the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 10

Figure 11

Figure 12

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Figure 14

[0009] Hereinafter, embodiments will be described with reference to the drawings. (First Embodiment) First, the first embodiment will be described. The vehicle system according to the embodiment estimates the moving distance of the vehicle. The vehicle system determines the road surface (such as concrete or carpet) on which the vehicle travels based on information from sensors of the vehicle. The vehicle system estimates the moving distance of the vehicle based on the determination result. For example, the vehicle system estimates the moving distance of the vehicle based on the determination result and the angular velocity of the vehicle. For example, the vehicle system is used in a factory, a warehouse, a plant, or the like.

[0010] FIG. 1 shows a configuration example of a vehicle system 1000 according to the embodiment. As shown in FIG. 1, the vehicle system 1000 includes a reference position transmitter 6 and a vehicle 10, etc.

[0011] The reference position transmitting device 6 is installed at a predetermined reference position. The reference position transmitting device 6 wirelessly transmits reference position information indicating the reference position where it is installed to the vehicle 10 existing within a predetermined range. The reference position transmitting device 6 will be described in detail later.

[0012] The vehicle 10 is a vehicle that travels on the passage R. The vehicle 10 travels while loading a predetermined load or the like. The vehicle 10 may be self-propelled. Also, the vehicle 10 may be towed or pushed by an operator or a robot or the like.

[0013] FIG. 2 schematically shows a configuration example of the vehicle 10. In FIG. 2, the traveling direction of the vehicle 10 is taken as the X-axis (horizontal axis), and the axis orthogonal to the X-axis in the horizontal direction is taken as the Y-axis (horizontal axis). Also, the vertical direction is taken as the Z-axis.

[0014] As shown in FIG. 2, the vehicle 10 includes an inertial sensor 20, an image sensor 30, a weight sensor 40, a vehicle body 90, an information processing device 100, and the like. The information processing device 100 is connected to the inertial sensor 20, the image sensor 30, and the weight sensor 40.

[0015] The vehicle body 90 is a base that constitutes the vehicle 10. The vehicle body 90 has a movable structure. When the vehicle body 90 is self-propelled, it is composed of tires and a motor that drives the tires and the like. Also, when the vehicle body 90 is not self-propelled, it is composed of tires and a handle and the like.

[0016] The inertial sensor 20, the image sensor 30, the weight sensor 40, and the information processing device 100 are installed on the vehicle body 90.

[0017] The inertial sensor 20 is a sensor that measures the angular velocity and acceleration applied to the vehicle 10. The inertial sensor 20 measures the angular velocity around the X-axis, Y-axis, and Z-axis as the angular velocity. Also, the inertial sensor 20 measures the acceleration in the X-axis, Y-axis, and Z-axis directions as the acceleration. The inertial sensor 20 will be described in detail later.

[0018] The image sensor 30 (movement amount sensor) is a sensor that captures an image of the road surface on which the vehicle 10 travels. The image sensor 30 captures an image downward from the vehicle body 90. The image sensor 30 functions as a sensor that measures the movement amount of the vehicle 10. The image sensor 30 will be described in detail later.

[0019] The weight sensor 40 is a sensor that measures the weight of the load carried by the vehicle 10. For example, the weight sensor 40 is installed at the lower part of the loading platform or the like. The weight sensor 40 will be described in detail later.

[0020] The information processing device 100 estimates the moving distance that the vehicle 10 has moved based on the information from the inertial sensor 20, the image sensor 30, and the weight sensor 40. In addition, the information processing device 100 estimates the orientation of the vehicle 10. The information processing device 100 estimates the position of the vehicle 10 based on the moving distance and the orientation.

[0021] FIG. 3 shows a configuration example of the information processing device 100. As shown in FIG. 3, the information processing device 100 includes a processor 11, a ROM 12, a RAM 13, an NVM 14, a communication unit 15, a sensor interface 16, an operation unit 17, a display unit 18, and the like.

[0022] The processor 11, the ROM 12, the RAM 13, the NVM 14, the communication unit 15, the sensor interface 16, the operation unit 17, and the display unit 18 are connected to each other via a data bus or an interface or the like. Note that the information processing device 100 may have a configuration as required in addition to the configuration shown in FIG. 3, or a specific configuration may be excluded from the information processing device 100.

[0023] The processor 11 has a function of controlling the overall operation of the information processing device 100. The processor 11 may include an internal cache and various interfaces or the like. The processor 11 realizes various processes by executing a program stored in advance in an internal memory, the ROM 12, or the NVM 14.

[0024] Among the various functions realized by the processor 11 executing a program, some may be realized by a hardware circuit. In this case, the processor 11 controls the functions executed by the hardware circuit.

[0025] The ROM 12 is a non-volatile memory in which a control program, control data, etc. are stored in advance. The control program and control data stored in the ROM 12 are pre-embedded according to the specifications of the information processing apparatus 100.

[0026] The RAM 13 is a volatile memory. The RAM 13 temporarily stores data during the processing of the processor 11. The RAM 13 stores various application programs based on instructions from the processor 11. Also, the RAM 13 may store data necessary for the execution of the application program and the execution results of the application program.

[0027] The NVM 14 is a non-volatile memory capable of writing and rewriting data. The NVM 14 is composed of, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory. The NVM 14 stores a control program, applications, and various data according to the operation use of the information processing apparatus 100.

[0028] The NVM 14 stores in advance road surface determination function information indicating a road surface determination function used by the processor 11 to determine the road surface (road surface pattern). The road surface determination function will be described in detail later.

[0029] Also, the NVM 14 stores in advance speed calculation function information indicating a speed calculation function used by the processor 11 to calculate the moving speed of the vehicle 10. The speed calculation function will be described in detail later.

[0030] The communication unit 15 (communication interface) is an interface for communicating with the reference position transmitter 6. For example, the communication unit 15 is wirelessly connected to the reference position transmitter 6. For example, the communication unit 15 is an interface that supports wireless LAN (Local Area Network) connection, Bluetooth (registered trademark) connection, UWB (Ultra Wide Band) communication, or the like.

[0031] The sensor interface 16 is an interface for communicating with the inertial sensor 20, the image sensor 30, and the weight sensor 40. For example, the sensor interface 16 is an interface that supports wired or wireless LAN connection.

[0032] Note that the sensor interface 16 may be composed of an interface for communicating with the inertial sensor 20, an interface for communicating with the image sensor 30, and an interface for communicating with the weight sensor 40.

[0033] Also, the sensor interface 16 may be formed integrally with the communication unit 15.

[0034] The operation unit 17 (operation interface) receives various operation inputs from the operator. The operation unit 17 transmits a signal indicating the input operation to the processor 11. For example, the operation unit 17 is composed of buttons or a touch panel, etc.

[0035] The display unit 18 displays various information according to the control from the processor 11. For example, the display unit 18 is composed of a lamp or a liquid crystal monitor. When the operation unit 17 is composed of a touch panel, the display unit 18 is formed integrally with the touch panel as the operation unit 17.

[0036] Next, the inertial sensor 20 will be described. FIG. 4 shows a configuration example of the inertial sensor 20. As shown in FIG. 4, the inertial sensor 20 includes an inertial information acquisition unit 21, a communication unit 22, and the like. The inertial information acquisition unit 21 and the communication unit 22 are connected to each other.

[0037] The inertial information acquisition unit 21 acquires inertial information indicating the angular velocity and acceleration applied to the vehicle 10. The inertial information indicates the angular velocity around the X-axis, Y-axis, and Z-axis, and the acceleration in the X-axis, Y-axis, and Z-axis directions. The inertial information acquisition unit 21 transmits the acquired inertial information to the communication unit 22.

[0038] The communication unit 22 is an interface for communicating with the information processing device 100. For example, the communication unit 22 is an interface that supports a wired or wireless LAN connection. The communication unit 22 transmits the inertial information from the inertial information acquisition unit 21 to the information processing device 100.

[0039] Next, the image sensor 30 will be described. FIG. 5 shows a configuration example of the image sensor 30. As shown in FIG. 5, the image sensor 30 includes an image acquisition unit 31, a communication unit 32, and the like. The image acquisition unit 31 and the communication unit 32 are connected to each other.

[0040] The image acquisition unit 31 acquires an image of the road surface on which the vehicle 10 is traveling. The image acquisition unit 31 is composed of a camera or the like. Further, the image acquisition unit 31 may include a light for illuminating the road surface or the like. The image acquisition unit 31 transmits the acquired image to the communication unit 32.

[0041] The communication unit 32 is an interface for communicating with the information processing device 100. For example, the communication unit 32 is an interface that supports a wired or wireless LAN connection. The communication unit 22 transmits the image from the image acquisition unit 31 to the information processing device 100.

[0042] Next, the weight sensor 40 will be described. FIG. 6 shows a configuration example of the weight sensor 40. As shown in FIG. 4, the weight sensor 40 includes a weight acquisition unit 41, a communication unit 42, and the like. The weight acquisition unit 41 and the communication unit 42 are connected to each other.

[0043] The weight acquisition unit 41 acquires the weight of the load carried by the vehicle 10. The weight acquisition unit 41 transmits the acquired weight to the communication unit 42.

[0044] The communication unit 42 is an interface for communicating with the information processing device 100. For example, the communication unit 42 is an interface that supports wired or wireless LAN connections. The communication unit 42 transmits the weight from the weight acquisition unit 41 to the information processing device 100.

[0045] Next, the reference position transmitter 6 will be described. FIG. 7 shows a configuration example of the reference position transmitter 6. As shown in FIG. 7, the reference position transmitter 6 includes a storage unit 61, a communication unit 62, and the like. The storage unit 61 and the communication unit 62 are connected to each other.

[0046] The storage unit 61 pre-stores reference position information indicating the reference position where the reference position transmitter 6 is installed. The storage unit 61 may update the reference position information according to an operation from an operator.

[0047] The communication unit 62 is an interface for communicating with the information processing device 100. For example, the communication unit 62 is an interface that supports wireless LAN connections, Bluetooth connections, UWB connections, or the like.

[0048] The communication unit 62 transmits the reference position information stored in the storage unit 61 to the information processing device 100. For example, the communication unit 62 transmits the reference position information to the information processing device 100 existing within a predetermined range (a range within a predetermined distance from the reference position transmitter 6) at a predetermined interval.

[0049] Next, the road surface determination function will be described. FIG. 8 is a graph showing an example of a road surface determination function. In FIG. 8, the horizontal axis represents the moving amount of the vehicle 10 estimated from the image acquired by the image sensor 30 (for example, the moving amount per unit time, m). The vertical axis represents the standard deviation (g) of the angular velocity around the X-axis and Y-axis indicated by the inertial information.

[0050] FIG. 8 shows graphs 71 to 73. Here, it is assumed that the graphs 71 to 73 are linear. Further, the graphs 71 to 73 show the relationship between m and g when the vehicle 10 is not loaded with cargo (when the weight sensor 40 measures 0).

[0051] Graph 71 shows the relationship between m and g on road surface 1. Graph 71 is expressed by the following formula.

[0052]

Equation

[0053] Graph 72 shows the relationship between m and g on road surface 2. Graph 72 is expressed by the following formula.

[0054]

Equation

[0055] Graph 73 shows the relationship between m and g on road surface 3. Graph 73 is expressed by the following formula.

[0056]

Equation

[0057] The road surface determination function information stores the coefficients of graphs 71 to 73. That is, the road surface determination function information is

[0058]

Equation

[0059] Stores a plurality of sets as one set of road surfaces. Here, i indicates the road surface.

[0060] Note that the number of sets of coefficients stored by the road surface determination function information only needs to be 2 or more, and is not limited to a specific number.

[0061] Next, the functions realized by the information processing apparatus 100 will be described. The functions realized by the information processing apparatus 100 are realized by the processor 11 executing a program stored in an internal memory, ROM 12, NVM 14, or the like.

[0062] First, the processor 11 has a function of inputting the number of road surfaces (number of road surfaces) to be determined. For example, when the operator has previously recognized the number of road surfaces on which the vehicle 10 travels, the operator inputs the number as the number of road surfaces to the operation unit 17 of the vehicle 10 or the like.

[0063] The processor 11 determines the road surface based on the input number of road surfaces. That is, when the processor 11 determines the same number of road surfaces as the number of road surfaces, thereafter, the processor 11 determines the road surface on which the vehicle 10 is traveling from among the road surfaces that have been determined so far. For example, when the processor 11 inputs 2 as the number of road surfaces, after determining two different road surfaces, the processor 11 determines that one of the two determined road surfaces is the road surface on which the vehicle 10 is traveling.

[0064] In addition, the processor 11 has a function of calculating the standard deviation of the angular velocity applied to the vehicle 10.

[0065] During traveling, the processor 11 acquires inertial information from the inertial sensor 20. When acquiring the inertial information, the processor 11 acquires the angular velocity around the X-axis and Y-axis from the inertial information. Here, the processor 11 acquires the angular velocity around the X-axis and Y-axis in a predetermined period (for example, 1 second).

[0066] When the angular velocities around the X-axis and Y-axis are acquired, the processor 11 calculates the standard deviation (g) of the distribution obtained by combining the angular velocity around the X-axis and the angular velocity around the Y-axis.

[0067] In addition, the processor 11 has a function of estimating the amount of movement based on the image from the image sensor 30.

[0068] The processor 11 acquires an image from the image sensor 30 within a predetermined period (for example, 1 second). When the image is acquired, the processor 11 calculates the amount of movement (for example, the amount of movement per unit time) of the vehicle 10 based on the image within the predetermined period.

[0069] For example, the processor 11 obtains the amount of movement on the XY plane from the change in the shade of pixels between images acquired at different timings. For example, the processor 11 uses the Lucas-Kanade method as a typical method for estimating the amount of movement to obtain the amount of movement.

[0070] Note that the processor 11 may use distance or the number of pixels as the unit of the amount of movement.

[0071] In addition, the processor 11 may calculate the amount of movement by the image sensor 30 based on the acquired image within a predetermined period, and the processor 11 may acquire the calculated amount of movement from the image sensor 30.

[0072] In addition, the processor 11 has a function of correcting the road surface determination function based on the weight of the load loaded on the vehicle 10.

[0073] The processor 11 acquires the weight of the load loaded on the vehicle 10 through the weight sensor 40. Note that when the weight is equal to or less than a predetermined threshold value, the processor 11 does not have to perform coefficient correction.

[0074] When the weight is acquired, the processor 11 corrects the coefficient based on the weight. The standard deviation of the angular velocity of the vehicle 10 is suppressed as the weight increases. Therefore, the processor 11 corrects the coefficient so that the value of g decreases as the weight increases.

[0075] FIG. 9 is a graph showing an example of the coefficient corrected by the processor 11. In the example shown in FIG. 9, it is assumed that the processor 11 corrects ci.

[0076] FIG. 9 shows graphs 71, 71' and 71''.

[0077] The graph 71 is as described above.

[0078] The graph 71' is a graph obtained by correcting c1, which is the coefficient of the graph 71. The graph 71' is a graph when the vehicle 10 is loaded with a load of a predetermined weight. As shown in FIG. 9, the graph 71' is formed below the graph 71. That is, g of the graph 71' is smaller than that of the graph 71 for the same m.

[0079] The graph 71'' is a graph obtained by further correcting c1 from the graph 71'. The graph 71'' is a graph when the vehicle 10 is loaded with a heavier load. As shown in FIG. 9, the graph 71'' is formed below the graph 71'. That is, g of the graph 71'' is smaller than that of the graph 71' for the same m.

[0080] The processor 11 similarly corrects the coefficients of the road surface determination functions corresponding to other road surfaces.

[0081] Note that the processor 11 may correct ai and bi. The method by which the processor 11 corrects the coefficient is not limited to a specific method.

[0082] Further, the processor 11 has a function of determining the road surface on which the vehicle 10 is traveling based on the standard deviation of the angular velocity (g) and the amount of movement (m) from the image.

[0083] Here, the processor 11 identifies the corrected road surface determination function closest to g and m. For example, the processor 11 calculates the distance between g and m and the corrected road surface determination function according to the following formula.

[0084]

Equation

[0085] Here, di represents the distance. Also, ai, bi, and ci represent the corrected coefficients.

[0086] The processor 11 identifies the corrected road surface determination function with the smallest distance. When the corrected road surface determination function with the smallest distance is identified, the processor 11 determines that the road surface corresponding to the identified road surface determination function is the road surface on which the vehicle 10 is traveling.

[0087] In addition, the processor 11 has a function of calculating the moving distance of the vehicle 10 based on the determined road surface.

[0088] When determining the road surface, the processor 11 sets a speed calculation function corresponding to the determined road surface.

[0089] The speed calculation function is expressed by the following formula.

[0090]

Equation

[0091] Here, v represents the moving speed of the vehicle 10. Also, g represents the standard deviation of the angular velocity. i represents the road surface.

[0092] The speed calculation function information stores the coefficients of the above formula. That is, the calculation function information is

[0093]

Equation

[0094] Stores a plurality of sets as one set of road surfaces.

[0095] The processor 11 substitutes g into the set speed calculation function to calculate the speed of the vehicle 10. When the speed is calculated, the processor 11 integrates the speed with respect to time to calculate the travel distance.

[0096] Note that the processor 11 may set a speed calculation function that can calculate the speed by substituting the movement amount, and calculate the speed of the vehicle 10 based on the movement amount. Further, the processor 11 may set a speed calculation function that can calculate the speed by substituting the movement amount and the standard deviation of the angular velocity, and calculate the speed of the vehicle 10 based on the movement amount and the standard deviation of the angular velocity.

[0097] Further, the processor 11 updates the position information indicating the current position of the vehicle 10 based on the travel distance. For example, the NVM 14 stores the position information.

[0098] For example, the processor 11 specifies the orientation of the vehicle 10 by offset-correcting the angular velocity around the z-axis and integrating it with respect to time. The processor 11 specifies the position of the vehicle 10 based on the orientation and travel distance of the vehicle, and updates the position information.

[0099] Further, the processor 11 has a function of updating the position information based on the reference position information from the reference position transmitter 6.

[0100] For example, the processor 11 determines whether the reference position information is received during traveling through the communication unit 15. When it is determined that the reference position information is received, the processor 11 updates the existing position information to the position information indicating the reference position indicated by the received reference position information as the position of the vehicle 10.

[0101] Next, an operation example of the information processing apparatus 100 will be described. FIG. 10 is a flowchart for explaining an operation example of the information processing apparatus 100.

[0102] First, the processor 11 inputs the number of road surfaces through the operation unit 17 or the like (S11). When the number of road surfaces is input, the processor 11 calculates the standard deviation of the angular velocity around the X-axis and Y-axis acquired from the inertial sensor 20 (S12). When the standard deviation of the angular velocity is calculated, the processor 11 estimates the movement amount based on the image from the image sensor 30 (S13).

[0103] When the movement amount is estimated, the processor 11 acquires the weight of the load carried on the vehicle 10 using the weight sensor 40 (S14). When the weight is acquired, the processor 11 corrects the coefficient of the road surface determination function based on the weight (S15).

[0104] When the coefficient of the road surface determination function is corrected, the processor 11 calculates the distances between the standard deviation and the movement amount and each road surface determination function (S16). When the distances between the standard deviation and the movement amount and each road surface determination function are calculated, the processor 11 determines the road surface based on the calculated distances (S17).

[0105] When the road surface is determined, the processor 11 sets the speed calculation function corresponding to the determined road surface (S18). When the speed calculation function is set, the processor 11 calculates the moving distance of the vehicle 10 based on the set speed calculation function (S19).

[0106] When the moving distance is calculated, the processor 11 updates the position information based on the moving distance (S20). When the position information is updated, the processor 11 determines whether reference position information has been received through the communication unit 15 (S21).

[0107] When it is determined that the reference position information has been received (S21, YES), the processor 11 updates the position information based on the received reference position information (S22).

[0108] When it is determined that the reference position information has not been received (S21, NO), or when the position information is updated based on the received reference position information (S22), the processor 11 returns to S12.

[0109] Note that the processor 11 does not necessarily need to input the number of road surfaces. In this case, regardless of the road surfaces determined so far, the processor 11 determines the road surface corresponding to the road surface determination function with the closest g and m as the road surface on which the vehicle 10 is traveling.

[0110] Also, the processor 11 does not necessarily need to acquire the weight carried by the vehicle 10. In this case, the processor 11 does not necessarily need to correct the coefficient of the road surface determination function.

[0111] Also, the processor 11 may correct the standard deviation of the angular velocity (g) based on the weight carried by the vehicle 10. For example, the processor 11 may integrate a coefficient corresponding to the weight into the standard deviation of the angular velocity.

[0112] Also, the road surface determination function does not necessarily need to be linear. The configuration of the road surface determination function is not limited to a specific configuration.

[0113] Also, the processor 11 may include a plurality of image sensors 30. For example, the processor 11 may calculate m based on a plurality of images. Also, the vehicle 10 may include a sensor that detects the rotation of the tires installed on the vehicle body 90. In this case, the processor 11 may calculate m based on the rotation of the tires. The method by which the processor 11 calculates m is not limited to a specific method.

[0114] Also, the inertial sensor 20 may be an angular velocity sensor that only acquires the angular velocity applied to the vehicle 10.

[0115] Also, the processor 11 may calculate g using acceleration instead of angular velocity. In addition, the vehicle system 1000 does not necessarily need to mount the information processing device 100 on the vehicle 10. That is, the information processing device 100 may be arranged as an upper device outside the vehicle 10.

[0116] The vehicle system configured as described above determines the road surface based on the standard deviation of the angular velocity of the vehicle and the moving amount. The vehicle system calculates the moving speed based on the determined road surface and calculates the moving distance of the vehicle. As a result, the vehicle system can effectively estimate the moving distance of the vehicle even when the road surface changes during the running of the vehicle. (Second Embodiment) Next, the second embodiment will be described. The vehicle system according to the second embodiment is different from that according to the first embodiment in that it updates the function for calculating speed when determining the same road surface as the road surface on which the vehicle 10 is running during a predetermined period. Therefore, for other points, the same reference numerals are given and detailed description is omitted.

[0117] The configuration of the vehicle system 1000 according to the second embodiment is the same as that according to the first embodiment, and thus the description thereof is omitted.

[0118] Next, the functions realized by the information processing device 100 will be described. The functions realized by the information processing device 100 are realized by the processor 11 executing a program stored in an internal memory, ROM 12, NVM 14, or the like. In addition, the information processing device 100 realizes the following functions in addition to the functions realized by the information processing device 100 according to the first embodiment.

[0119] The processor 11 has a function of updating the function for calculating speed when determining the same road surface during a predetermined period.

[0120] When determining the road surface, the processor 11 calculates the period during which the same road surface has been determined. After calculating the period, the processor 11 determines whether the period exceeds a predetermined threshold value (for example, several seconds to several tens of seconds). When it is determined that the period exceeds the predetermined threshold value, the processor 11 updates the speed calculation function used for speed calculation from the current speed calculation function to the speed calculation function corresponding to the determined road surface.

[0121] When it is determined that the period does not exceed the predetermined threshold value, the processor 11 maintains the current speed calculation function (the currently set speed calculation function) as the speed calculation function used for speed calculation.

[0122] In addition, when the current speed calculation function is not set, the processor 11 may set the speed calculation function corresponding to the determined road surface regardless of the length of the period.

[0123] Next, an operation example of the information processing apparatus 100 will be described. FIG. 11 is a flowchart for explaining an operation example of the information processing apparatus 100.

[0124] First, the processor 11 inputs the number of road surfaces through the operation unit 17 or the like (S31). After inputting the number of road surfaces, the processor 11 calculates the standard deviation of the angular velocities around the X-axis and Y-axis acquired from the inertial sensor 20 (S32). After calculating the standard deviation of the angular velocities, the processor 11 estimates the movement amount based on the image from the image sensor 30 (S33).

[0125] After estimating the movement amount, the processor 11 acquires the weight of the load loaded on the vehicle 10 using the weight sensor 40 (S34). After acquiring the weight, the processor 11 corrects the coefficient of the road surface determination function based on the weight (S35).

[0126] When the coefficient of the road surface determination function is corrected, the processor 11 calculates the standard deviation, the amount of movement, and the distance from each road surface determination function (S36). When the standard deviation, the amount of movement, and the distance from each road surface determination function are calculated, the processor 11 determines the road surface based on the calculated distances (S37).

[0127] When the road surface is determined, the processor 11 determines whether the period during which the same road surface has been determined exceeds a predetermined threshold (S38).

[0128] When it is determined that the period during which the same road surface has been determined exceeds a predetermined threshold (S38, YES), the processor 11 updates the speed calculation function (S39). When it is determined that the period during which the same road surface has been determined does not exceed a predetermined threshold (S38, NO), the processor 11 maintains the speed calculation function (S40).

[0129] When the speed calculation function is updated (S39), or when the speed calculation function is maintained (S40), the processor 11 calculates the moving distance of the vehicle 10 based on the speed calculation function (S41).

[0130] When the moving distance is calculated, the processor 11 updates the position information based on the moving distance (S42). When the position information is updated, the processor 11 determines whether reference position information has been received through the communication unit 15 (S43).

[0131] When it is determined that the reference position information has been received (S43, YES), the processor 11 updates the position information based on the received reference position information (S44).

[0132] When it is determined that the reference position information has not been received (S43, NO), or when the position information has been updated based on the received reference position information (S44), the processor 11 returns to S32.

[0133] The vehicle system configured as described above calculates the moving speed of the vehicle using a speed calculation function corresponding to the road surface determined when the determination of the road surface continues for a predetermined period. As a result, even when an instantaneous misjudgment of the road surface occurs due to noise or the like in the inertial sensor or the image sensor, the vehicle system can appropriately judge the road surface. (Third Embodiment) Next, the third embodiment will be described. The vehicle system according to the third embodiment is different from that according to the first embodiment in that it further determines the road surface based on the unevenness of the road surface. Therefore, for other points, the same reference numerals are given and detailed description is omitted.

[0134] FIG. 1 shows a configuration example of a vehicle system 1000' according to the third embodiment. As shown in FIG. 1, the vehicle system 1000' is composed of a reference position transmitter 6, a vehicle 10', etc.

[0135] FIG. 12 schematically shows a configuration example of the vehicle 10'. In FIG. 12, the traveling direction of the vehicle 10' is taken as the X-axis, the axis perpendicular to the X-axis in the horizontal direction is taken as the Y-axis, and the vertical direction is taken as the Z-axis.

[0136] As shown in FIG. 12, the vehicle 10' includes an inertial sensor 20, an image sensor 30, a weight sensor 40, a distance sensor 50, a vehicle body 90, an information processing device 100, etc. The information processing device 100 is connected to the inertial sensor 20, the image sensor 30, the weight sensor 40, and the distance sensor 50.

[0137] The distance sensor 50 is a sensor that measures the distance (road surface distance) from a predetermined position (for example, the position where the distance sensor 50 is installed) to the road surface. The distance sensor 50 is installed downward at the lower part of the vehicle body 90. The distance sensor 50 will be described in detail later.

[0138] The sensor interface 16 of the information processing device 100 is an interface for communicating with the inertial sensor 20, the image sensor 30, the weight sensor 40, and the distance sensor 50.

[0139] Next, the distance sensor 50 will be described. FIG. 13 shows a configuration example of the distance sensor 50. As shown in FIG. 13, the distance sensor 50 includes a distance information acquisition unit 51 and a communication unit 52. The distance information acquisition unit 51 and the communication unit 52 are connected to each other.

[0140] The distance information acquisition unit 51 acquires distance information indicating the distance from a predetermined position (for example, the position where the distance sensor 50 is installed) to the road surface. For example, the distance information acquisition unit 51 includes an irradiation unit that irradiates a laser and a light receiving unit that receives the laser reflected from the road surface. The distance information acquisition unit 51 may adopt a ToF (Time-of-Flight) method of measuring the distance to the road surface based on the time until the irradiated laser is reflected by the road surface and reaches the light receiving unit.

[0141] The communication unit 52 is an interface for communicating with the information processing device 100. For example, the communication unit 52 is an interface that supports wired or wireless LAN connection. The communication unit 52 transmits the distance information from the distance information acquisition unit 51 to the information processing device 100.

[0142] Next, the functions realized by the information processing device 100 will be described. The functions realized by the information processing device 100 are realized by the processor 11 executing a program stored in an internal memory, ROM 12, NVM 14, or the like. In addition, the information processing device 100 realizes the following functions in addition to the functions realized by the information processing device 100 according to the first embodiment.

[0143] First, the processor 11 has a function of calculating an evaluation value indicating the characteristics of the unevenness of the road surface based on the distance information from the distance sensor 50. The processor 11 acquires distance information from the distance sensor 50 within a predetermined period (for example, from 1 to several seconds). When the distance information is acquired, the processor 11 calculates an evaluation value indicating the feature amount of the unevenness of the road surface based on the acquired distance information.

[0144] For example, the processor 11 calculates the difference between the maximum value and the minimum value of the distance as an evaluation value. Further, the processor 11 may calculate the standard deviation (or variance) of the distance as an evaluation value. The method by which the processor 11 calculates the evaluation value is not limited to a specific method. Also, the evaluation value may be composed of a plurality of values.

[0145] Further, the processor 11 has a function of determining whether the evaluated value calculated from the determined road surface and the distance information is consistent.

[0146] For example, the NVM 14 stores in advance an evaluation value indicating the unevenness characteristics of each road surface. The processor 11 acquires the evaluation value of the determined road surface from the NVM 14. When the evaluation value is acquired from the NVM 14, the processor 11 compares the evaluation value acquired from the NVM 14 with the evaluation value calculated from the distance information.

[0147] For example, when the difference (or distance) between the two is equal to or less than a predetermined threshold value, the processor 11 determines that the two evaluation values are consistent. That is, the processor 11 determines that the evaluated value calculated from the determined road surface and the distance information is consistent.

[0148] Also, when the difference (or distance) between the two is greater than a predetermined threshold value, the processor 11 determines that the two evaluation values are not consistent. That is, the processor 11 determines that the evaluated value calculated from the determined road surface and the distance information is not consistent.

[0149] Further, the processor 11 has a function of updating the speed calculation function when the evaluated value calculated from the determined road surface and the distance information is consistent.

[0150] When it is determined that the evaluated value calculated from the determined road surface and the distance information is consistent, the processor 11 updates the speed calculation function used for calculating the speed from the current speed calculation function to the speed calculation function corresponding to the determined road surface.

[0151] Further, when it is determined that the evaluation value calculated from the determined road surface and the distance information does not match, the processor 11 maintains the current speed calculation function (the currently set speed calculation function) as the speed calculation function used for speed calculation.

[0152] Note that when the current speed calculation function is not set, the processor 11 may set the speed calculation function corresponding to the determined road surface regardless of the determination result of the consistency.

[0153] Next, an operation example of the information processing apparatus 100 will be described. FIG. 14 is a flowchart for explaining an operation example of the information processing apparatus 100.

[0154] First, the processor 11 inputs the number of road surfaces through the operation unit 17 or the like (S51). When the number of road surfaces is input, the processor 11 calculates the standard deviation of the angular velocities around the X-axis and Y-axis acquired from the inertial sensor 20 (S52). When the standard deviation of the angular velocity is calculated, the processor 11 estimates the movement amount based on the image from the image sensor 30 (S53).

[0155] When the movement amount is estimated, the processor 11 acquires the weight of the load loaded on the vehicle 10 using the weight sensor 40 (S54). When the weight is acquired, the processor 11 corrects the coefficient of the road surface determination function based on the weight (S55).

[0156] When the coefficient of the road surface determination function is corrected, the processor 11 calculates the distances between the standard deviation and the movement amount and each road surface determination function (S56). When the distances between the standard deviation and the movement amount and each road surface determination function are calculated, the processor 11 determines the road surface based on the calculated distances (S57).

[0157] When the road surface is determined, the processor 11 calculates an evaluation value indicating the characteristics of the unevenness of the road surface based on the distance information from the distance sensor 50 (S58). When the evaluation value is calculated, the processor 11 determines whether the determined road surface and the evaluation value match (S59).

[0158] When it is determined that the determined road surface and the evaluation value match (S59, YES), the processor 11 updates the function for calculating the speed (S60). When it is determined that the determined road surface and the evaluation value do not match (S59, NO), the processor 11 maintains the function for calculating the speed (S61).

[0159] When the function for calculating the speed is updated (S60), or when the function for calculating the speed is maintained (S61), the processor 11 calculates the moving distance of the vehicle 10 based on the function for calculating the speed (S62).

[0160] When the moving distance is calculated, the processor 11 updates the position information based on the moving distance (S63). When the position information is updated, the processor 11 determines whether the reference position information has been received through the communication unit 15 (S64).

[0161] When it is determined that the reference position information has been received (S64, YES), the processor 11 updates the position information based on the received reference position information (S65).

[0162] When it is determined that the reference position information has not been received (S64, NO), or when the position information is updated based on the received reference position information (S65), the processor 11 returns to S52.

[0163] Note that the processor 11 may determine the road surface based on the evaluation value calculated from the distance information. In this case, the processor 11 may update the function for calculating the speed when the road surface determined from g and m matches the road surface determined from the evaluation value.

[0164] The vehicle system configured as described above updates the function for calculating the speed when the determined road surface and the unevenness of the road surface match. As a result, the vehicle system can set the function for calculating the speed more accurately.

[0165] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and its equivalent scope.

Explanation of Reference Numerals

[0166] 1…road surface, 2…road surface, 3…road surface, 6…reference position transmitter, 10…vehicle, 10’…vehicle, 11…processor, 12…ROM, 13…RAM, 14…NVM, 15…communication unit, 16…sensor interface, 17…operation unit, 18…display unit, 20…inertial sensor, 21…inertial information acquisition unit, 22…communication unit, 30…image sensor, 31…image acquisition unit, 32…communication unit, 40…weight sensor, 41…weight acquisition unit, 42…communication unit, 50…distance sensor, 51…distance information acquisition unit, 52…communication unit, 61…storage unit, 62…communication unit, 71…graph, 71’…graph, 71’’…graph, 72…graph, 73…graph, 90…vehicle body, 100…information processing device, 1000…vehicle system, 1000’…vehicle system.

Claims

1. A sensor interface connected to an inertial sensor that measures the angular velocity or acceleration applied to the vehicle as inertial information and a movement amount sensor that measures the movement amount of the vehicle, A memory that stores road surface determination function information regarding a road surface determination function indicating the relationship between the inertial information and the movement amount for each road surface pattern, and speed calculation function information regarding a speed calculation function for calculating the moving speed of the vehicle for each road surface pattern, Obtain the inertial information and the movement amount from the inertial sensor and the movement amount sensor via the sensor interface, Determine the road surface pattern on which the vehicle is traveling based on the obtained inertial information and movement amount and the road surface determination function information stored in the memory, Calculate the moving speed of the vehicle based on the speed calculation function information corresponding to the determined road surface pattern and the inertial information, and calculate the moving distance of the vehicle based on the moving speed of the vehicle, A processor, An information processing apparatus comprising the same.

2. The inertial sensor measures the angular velocity applied to the vehicle, The processor, Calculate the standard deviation of the angular velocity around the horizontal axis based on the angular velocity obtained from the inertial sensor via the sensor interface, Calculate the distance between the point represented by the standard deviation and the movement amount and the road surface determination function, Determine the road surface pattern based on the distance, The information processing apparatus according to claim 1.

3. The processor calculates the moving speed of the vehicle based on the standard deviation and the speed calculation function, The information processing apparatus according to claim 2.

4. The movement amount sensor is an image sensor, The information processing apparatus according to any one of claims 1 to 3.

5. The road surface determination function is a linear function. The information processing apparatus according to any one of claims 1 to 4.

6. The sensor interface is connected to a weight sensor that measures the weight of the load carried on the vehicle, and the processor modifies the road surface determination function based on the weight. The information processing apparatus according to any one of claims 1 to 5.

7. comprising an operation interface for receiving an input of an operation, and the processor acquires an input of the number of road surface patterns to be targeted when determining the road surface pattern through the operation interface. The information processing apparatus according to any one of claims 1 to 6.

8. When the processor determines the same road surface pattern within a predetermined period, the processor calculates the moving distance of the vehicle based on the determined road surface pattern. The information processing apparatus according to any one of claims 1 to 7.

9. The sensor interface is connected to a distance sensor that measures the road surface distance, which is the distance between the vehicle and the road surface on which the vehicle travels, and the processor calculates an evaluation value based on the road surface distance, and when the determined road surface pattern and the evaluation value match, the processor calculates the moving distance of the vehicle based on the determined road surface pattern. The information processing apparatus according to any one of claims 1 to 8.

10. The memory stores position information indicating the position of the vehicle, and the processor updates the position information indicating the position of the vehicle based on the moving distance of the vehicle. The information processing apparatus according to any one of claims 1 to 9.

11. comprising a communication interface for connecting to other devices, when the processor receives reference position information indicating a reference position through the communication interface, the processor updates the position information based on the reference position information. The information processing apparatus according to claim 10.

12. An information processing method executed by a processor, measuring the angular velocity or acceleration applied to a vehicle as inertial information, measuring the movement amount of the vehicle, determining the road surface pattern on which the vehicle travels based on the acquired inertial information and movement amount, and road surface determination function information regarding a road surface determination function indicating the relationship between the inertial information and the movement amount for each road surface pattern, calculating the moving speed of the vehicle based on speed calculation function information corresponding to the determined road surface pattern, the inertial information, calculating the moving distance of the vehicle based on the moving speed of the vehicle. Information processing method.

13. A program executed by a processor, causing the processor to have a function of measuring the angular velocity or acceleration applied to a vehicle as inertial information, have a function of measuring the movement amount of the vehicle, have a function of determining the road surface pattern on which the vehicle travels based on the acquired inertial information and movement amount, and road surface determination function information regarding a road surface determination function indicating the relationship between the inertial information and the movement amount for each road surface pattern, have a function of calculating the moving speed of the vehicle based on speed calculation function information corresponding to the determined road surface pattern, the inertial information, have a function of calculating the moving distance of the vehicle based on the moving speed of the vehicle, and realizing the functions.

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