Self-position calculation device

Abstract

To suppress a reduction in accuracy of self position calculation even in a situation where a plurality of kinds of mobilities each having a different size travel.SOLUTION: The present invention includes a position arithmetic unit 22 that calculates an absolute position of a self mobility on the basis of a signal received from a satellite, a periphery monitoring unit 5 that monitors the periphery of the self mobility, an information acquisition unit 32 that acquires absolute position information of a periphery mobility as a predetermined mobility existing at the periphery of the self mobility, a relative position arithmetic unit 33 that, when a receiving situation of a signal is deteriorated, calculates a relative position of the self mobility for the periphery mobility on the basis of the absolute position information of the periphery mobility and a detection result of the periphery monitoring unit 5, and a correction unit 34 that corrects the absolute position information of the self mobility calculated in the position arithmetic unit 22 on the basis of the absolute position information of the periphery mobility and the relative position information calculated by the relative position arithmetic unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobility self-position calculation device. [Background technology]

[0002] The position of a mobility such as a vehicle is calculated based on information from, for example, a Global Positioning System (GPS). Calculating the position of the mobility requires that a GPS receiver mounted on the mobility receives signals from GPS satellites. When the reception conditions for signals from the satellites deteriorate, the accuracy of the calculation of the vehicle's own position decreases. International Publication No. 2015 / 097905, for example, describes a technology for calculating the vehicle's own position, a management system that corrects the estimated position of a dump truck based on the positions of landmarks determined in advance and the relative positions of the landmarks and the dump truck. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 097905 Summary of the Invention [Problem to be solved by the invention]

[0004] However, this technology requires the placement of numerous landmarks throughout the mine. Furthermore, in mines, it is conceivable that other small mobility vehicles, such as pickup trucks (small freight vehicles), will be traveling alongside dump trucks (large heavy machinery). When a dump truck and a pickup truck travel through the same mine at the same time, the pickup truck may be in the shadow of the dump truck, which is a large heavy machinery, and the influence of the dump truck may result in poor reception of the pickup truck's GPS signal. In this respect, the above technology leaves room for improvement.

[0005] An object of the present invention is to provide a self-position calculation device that can suppress a decrease in accuracy of self-position calculation even in a situation where multiple types of mobility of different sizes are traveling. [Means for solving the problem]

[0006] The self-position calculation device of the present invention comprises a position calculation unit that calculates the absolute position of the own mobility based on a signal received from a satellite, a surrounding monitoring unit that monitors the surroundings of the own mobility, an information acquisition unit that acquires absolute position information of surrounding mobility, which is a specified mobility located around the own mobility, via a communication network, a relative position calculation unit that calculates the relative position of the own mobility with respect to the surrounding mobility based on the absolute position information of the surrounding mobility and the detection result of the surrounding monitoring unit when the reception conditions of the signal deteriorate, and a correction unit that corrects the absolute position information of the own mobility calculated by the position calculation unit based on the absolute position information of the surrounding mobility and the relative position information calculated by the relative position calculation unit. [Effects of the Invention]

[0007] According to the present invention, when the reception conditions of signals from satellites deteriorate, the absolute position information of the own mobility is corrected based on the absolute position information of surrounding mobility and the relative position of the own mobility with respect to the surrounding mobility. As a result, even if the reception conditions of the signal deteriorate due to the influence of other mobility larger than the own mobility traveling around, for example, the absolute position information of the own mobility is corrected based on the relative position of the large mobility, so that the deterioration of the accuracy of the self-position calculation is suppressed. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of a self-position calculation device according to an embodiment of the present invention; [Figure 2] FIG. 1 is a conceptual diagram for explaining identification of surrounding mobility in this embodiment. [Figure 3]10 is a flowchart illustrating an example of control related to correction of self-position in the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, as a mode for carrying out the present invention, a self-position calculation device 1 which is one embodiment of the present invention will be described in detail with reference to the drawings. In addition to the following examples, the present invention can be carried out in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Mobility in this disclosure can also be said to be a moving body, and is a concept that includes vehicles and heavy machinery.

[0010] As shown in FIG. 1, the self-position calculation device 1 of this embodiment is a device provided in a mobility, and includes a receiver 2, a calculation processing device 3, a wireless communication device 4, and a periphery monitoring device 5. The receiver 2 is a GPS receiver in this embodiment, and is a device that calculates the absolute position of the mobility based on signals received from satellites (GPS satellites). More specifically, the receiver 2 includes an antenna unit 21 that receives signals from the satellites, and a position calculation device (corresponding to a "position calculation unit") 22 that calculates the absolute position of the mobility based on signals received from the satellites. The receiver 2 may be a GNSS (Global Navigation Satellite System) receiver.

[0011] The arithmetic processing device 3 is a computer (e.g., an on-board computer) or electronic control unit (ECU) equipped with at least one processor and at least one memory. Various programs and various data are stored in the memory. The processor reads and executes programs from the memory to perform various calculations. The arithmetic processing device 3 is communicatively connected to the receiver 2 and acquires location information from the receiver 2. The arithmetic processing device 3 is configured to be able to read map data stored in its own memory or another memory. The arithmetic processing device 3 is configured to be able to communicate with the control system 9 via the wireless communication device 4 and a communication network. Note that communication within the mobility is performed, for example, by CAN (car area network or controllable area network) when the mobility is a vehicle.

[0012] The control system 9 is composed of a computer that functions as a server, and acquires and stores location information of multiple mobility vehicles. The control system 9 is located, for example, in a facility outside the mobility vehicles. The control system 9 and multiple mobility vehicles can communicate with each other via a communication network (for example, a network constructed using local wireless base stations, etc.). Each mobility vehicle transmits its own absolute location information (hereinafter also referred to as "GPS data") based on its position determined by GPS to the control system 9. Therefore, when each mobility vehicle has good reception conditions for signals from satellites, the control system 9 acquires the GPS data of all registered mobility vehicles.

[0013] The control system 9 calculates a target route for each mobility based on, for example, the GPS data and destination information of each mobility, and transmits information about the target route to each mobility. When the arithmetic processing device 3 functions as, for example, an automatic driving control device, it controls the behavior (for example, driving force, braking force, and steering angle) of the own mobility during automatic driving based on the target route information transmitted from the control system 9.

[0014] The periphery monitoring device (corresponding to the "periphery monitoring unit") 5 is a device that monitors the periphery of the host mobility and is configured to include, for example, a LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging). The periphery monitoring device 5 of this embodiment includes, for example, one or more LiDARs, one or more cameras that capture images of the periphery of the host mobility, and one or more radars that measure the distance between the host mobility and objects around the host mobility. The periphery monitoring device 5 can also be said to be a device that measures the distance between the host mobility and objects around the host mobility (e.g., obstacles or other mobility) in order to calculate the positional relationship between the host mobility and objects around the host mobility. For example, based on the detection results of the periphery monitoring device 5 and three-dimensional map data, it is possible to calculate the host position with higher accuracy. The calculation processing device 3 can identify (specify, recognize) what the object is based on predetermined identification conditions and the detection results of the periphery monitoring device 5 (e.g., recognition data such as the shape of the object).

[0015] The arithmetic processing device 3 has, as its functions, a transmitter 31, an information acquisition unit 32, a relative position calculation unit 33, and a correction unit 34. The transmitter 31 transmits absolute position information (GPS data) of the own mobility to the control system 9 via the wireless communication device 4 and a communication network. The wireless communication device 4 is a communication device that enables communication between the control system 9 and the own mobility. The absolute position information transmitted by the transmitter 31 is absolute position information calculated by the receiver 2 when the signal reception conditions have not deteriorated, i.e., when the signal reception level is equal to or higher than a threshold.

[0016] The information acquisition unit 32 acquires absolute position information of surrounding mobility, which is a predetermined mobility located around the own mobility, via a communication network. In this embodiment, a dump truck (large heavy equipment) is set as the predetermined mobility, i.e., the surrounding mobility. In other words, the information acquired by the information acquisition unit 32 in this embodiment is absolute position information (GPS data) of the dump truck located around the own mobility.

[0017] The timing at which the information acquisition unit 32 acquires the absolute position information of the surrounding mobility may be, for example, constantly (at predetermined intervals) or at predetermined timing. The predetermined timing may be, for example, when the signal reception conditions of the receiver 2 deteriorate. In this case, for example, the information acquisition unit 32 may transmit an information request signal to the control system 9 when the signal reception conditions of the receiver 2 deteriorate. The control system 9 transmits the absolute position information of the surrounding mobility to the self-position calculation device 1, for example, constantly or in response to receiving an information request signal. The control system 9 identifies the surrounding mobility based on the GPS data of the own mobility (data when the reception conditions of the own mobility are normal or data after deterioration).

[0018] When the signal reception conditions of the receiver 2 deteriorate, the relative position calculation unit 33 calculates the relative position of the own mobility with respect to the surrounding mobility based on the absolute position information of the surrounding mobility and the detection results of the periphery monitoring device 5. The relative position calculation unit 33 identifies the mobility corresponding to the absolute position information obtained from the control system 9 based on information on the position and shape of the object within the detection range (monitoring range) detected by the periphery monitoring device 5. The relative position calculation unit 33 identifies the object detected by the periphery monitoring device 5 based on the judgment conditions for the surrounding mobility (for example, the shape of a dump truck), and identifies the dump truck from among the detected objects.

[0019] The relative position calculation unit 33 identifies an object identified as a dump truck from the detection results of the periphery monitoring device 5, and associates the identified object with absolute position information acquired from the control system 9. Next, the relative position calculation unit 33 calculates the positional relationship between the identified object (dump truck) and the own mobility, i.e., the relative position of the own mobility with respect to the dump truck, based on the detection results of the periphery monitoring device 5. More specifically, the relative position calculation unit 33 calculates the distance between the mobilities and the direction in which the mobilities are separated from each other.

[0020] When multiple objects identified as dump trucks are detected by the surrounding monitoring device 5, the relative position calculation unit 33 compares the GPS data of the own mobility (data just before or after the reception conditions deteriorate) with the information of multiple surrounding mobility objects acquired by the information acquisition unit 32, and associates the detected objects with the acquired information.

[0021] For example, as shown in FIG. 2, the relative position calculation unit 33 recognizes a dump truck located close to the right of the subject mobility and a dump truck located relatively far from the subject mobility and to the left and front, based on the detection results of the perimeter monitoring device 5. Based on the direction (coordinates) and separation distance between the subject mobility, the relative position calculation unit 33 associates the GPS data of one dump truck acquired by the information acquisition unit 32 with one of the recognized objects (dump truck), and associates the GPS data of the other dump truck with the other recognized object (dump truck). Note that it is sufficient for the relative position calculation unit 33 to associate at least one recognized object (dump truck) with the acquired GPS data. In this way, the relative position calculation unit 33 identifies an object corresponding to the subject mobility from among the objects detected by the perimeter monitoring device 5, based on the absolute position information of the subject mobility and the detection results of the perimeter monitoring device 5.

[0022] The relative position calculation unit 33 calculates the distance between the object recognized as surrounding mobility and the subject mobility, and the direction (or the opposite direction) from the subject mobility to the object recognized as surrounding mobility, based on the detection results of the periphery monitoring device 5. In this way, the relative position calculation unit 33 calculates the relative position (e.g., the distance and direction) of the subject mobility with respect to the object recognized as surrounding mobility, based on the detection results of the periphery monitoring device 5.

[0023] The correction unit 34 corrects the absolute position information of the own mobility calculated by the receiver 2 based on the absolute position information of the surrounding mobility and the relative position information calculated by the relative position calculation unit 33. The correction unit 34 calculates the absolute position of the own mobility based on the GPS data of the surrounding mobility serving as a reference and the relative position of the own mobility with respect to the surrounding mobility. If there is a difference between the absolute position calculated by the correction unit 34 and the calculation result of the receiver 2, the correction unit 34 recognizes its own calculation result as the absolute position of the own mobility and corrects the calculation result of the receiver 2. The self-position calculation device 1 recognizes the corrected absolute position as the absolute position of the own mobility. The transmission unit 31 transmits the corrected absolute position information to the control system 9. In addition to the absolute position information, the transmission data of the transmission unit 31 may include information such as that the correction has been completed and that the reception level is below a threshold.

[0024] The flow of the self-position calculation process of this embodiment will be described with reference to Fig. 3. In this description, it is assumed that the mobility registered in the control system 9 is a dump truck and a pickup truck. It is also assumed that the self mobility is a pickup truck and a dump truck is set as a surrounding mobility.

[0025] The self-position calculation device 1 determines whether the signal reception level of the receiver 2 is below a threshold (S1). Examples of situations in which the reception level is below the threshold include a situation in which the own mobility is traveling near another mobility that is larger than the own mobility (e.g., a situation in which both mobility vehicles are traveling side by side), or a situation in which the own mobility is traveling near an earth wall of a mine. Such situations can also be described as a situation in which the own mobility is in the shadow of another mobility vehicle or an earth wall. For example, if a pickup truck is in the shadow of a dump truck with a tire diameter of 2 m or more (i.e., if the pickup truck is hidden behind the dump truck when viewed from a certain direction), the reception level of the GPS signal of the pickup truck may decrease. On the other hand, large mobility vehicles such as dump trucks are less likely to be hidden in the shadow of other mobility vehicles, and the signal reception level is less likely to decrease. Therefore, large mobility vehicles are suitable as a basis for calculating relative positions.

[0026] If the reception level is below the threshold (S1: Yes), the self-position calculation device 1 recognizes surrounding dump trucks based on the detection results of the periphery monitoring device 5 (S2), and calculates the relative position of the own mobility with respect to the dump trucks (S3). The self-position calculation device 1 acquires GPS data of dump trucks surrounding the own mobility from the control system 9, and associates the recognized dump trucks with the GPS data (S4). The self-position calculation device 1 calculates the absolute position of the own mobility based on the GPS data of the surrounding mobility and the calculated relative position (S5). The self-position calculation device 1 corrects the GPS data calculated by the receiver 2 based on the calculated absolute position information (S6). When the reception level is below the threshold, the relative position is updated (calculated) at predetermined time intervals, and the GPS data of the surrounding mobility is also updated (acquired) at predetermined time intervals, and the absolute position information of the own mobility is also updated (calculated) accordingly.

[0027] (Effects of this embodiment) According to this embodiment, when the reception condition of a signal from a satellite deteriorates, the absolute position information of the own mobility is corrected based on the absolute position information of the surrounding mobility and the relative position of the own mobility with respect to the surrounding mobility. As a result, even if the reception condition of a signal deteriorates due to the influence of another mobility larger than the own mobility traveling around the own mobility, the absolute position information of the own mobility is corrected based on the relative position with respect to the large mobility, and a decrease in the accuracy of the self-position calculation is suppressed.

[0028] The absolute position information of each mobility is collected in the control system 9 and transmitted from the control system 9 to the self-position calculation device 1 of each mobility in response to, for example, a request from each mobility. The control system 9 enables smoother and more uniform acquisition of information on surrounding mobility.

[0029] (others) The present invention is not limited to the above embodiment. For example, the control system 9 may be configured to transmit only absolute position information of surrounding mobility objects with good signal reception conditions (e.g., reception levels above a threshold) to the self-position calculation device 1. In other words, the control system 9 may select, as surrounding mobility objects, mobility objects with good signal reception conditions. Alternatively, the self-position calculation device 1 may be configured to use, for relative position calculation, only absolute position information of surrounding mobility objects with good reception levels, among the absolute position information of surrounding mobility objects acquired from the control system 9. In this case, the self-position calculation device 1 acquires, for example, absolute position information of surrounding mobility objects and information on the reception conditions (reception levels) of GPS signals from the control system 9. In other words, in this case, absolute position information (GPS data) and information on the reception levels (characteristic information) are transmitted from each mobility object to the control system 9. This allows the self-position calculation device 1 to use highly accurate GPS data as reference absolute position information for relative position calculation. In other words, the calculation accuracy of the self-position can be improved.

[0030] Furthermore, multiple types (multiple kinds) of mobility may be set as the predetermined mobility (surrounding mobility). In this case, for example, the information acquisition unit 32 acquires characteristic information and GPS data of the surrounding mobility from the control system 9. The characteristic information includes information related to the type or variety of the surrounding mobility. In other words, the self-position calculation device 1 can determine what type of mobility the surrounding mobility is (e.g., dump truck, pickup truck, medium-sized truck, etc.) from the characteristic information. For example, when the self-position calculation device 1 recognizes that a dump truck is present around the self mobility, it may acquire GPS data from the control system 9 whose characteristic information indicates that the surrounding mobility is a dump truck.

[0031] Furthermore, the self-position calculation device 1 may be configured to determine that the own mobility has entered the shadow of the surrounding mobility when the reception level is below a threshold and the surroundings monitoring device 5 has detected a surrounding mobility within a predetermined distance from the own mobility, and to perform self-position calculation based on the relative position of the own mobility with respect to the surrounding mobility. This allows the receiver 2 to more reliably correct its own position in a scene where it is affected by the surrounding mobility.

[0032] Furthermore, it is preferable that a mobility larger than the own mobility is set as the predetermined mobility (surrounding mobility). Larger mobility is less affected by other mobility in terms of receiving GPS signals, and it can be assumed that the accuracy of its GPS data is high. Furthermore, the information acquisition unit 32 may acquire information on the size of the surrounding mobility in addition to the absolute position information of the surrounding mobility. When there are multiple surrounding mobility, the relative position calculation unit 33 may be configured to calculate the relative position with respect to the largest surrounding mobility among the multiple surrounding mobility. The priority of the relative position calculation may be set according to the size of the body.

[0033] Furthermore, the information acquisition unit 32 may acquire the absolute position information of the surrounding mobility, for example, directly from the surrounding mobility, rather than from the control system 9. For example, the information acquisition unit 32 can acquire absolute position information (GPS data) from the surrounding mobility through wireless communication (communication network) between the own mobility and the surrounding mobility. This also makes it possible to calculate the absolute position of the own mobility based on the relative position. In this configuration, the control system 9 and the transmission unit 31 can be omitted. Furthermore, the control system 9 may be located, for example, within the mobility. Furthermore, the deterioration of the reception level may be determined (estimated) based on the traveling position of the own mobility (along a wall, etc.) rather than the magnitude of the reception level. [Explanation of symbols]

[0034] 1...self-position calculation device, 2...receiver, 21...antenna unit, 22...position calculation device (position calculation unit), 3...calculation processing device, 31...transmission unit, 32...information acquisition unit, 33...relative position calculation unit, 34...correction unit, 4...wireless communication device, 5...periphery monitoring device (periphery monitoring unit), 9...control system.

Claims

1. a position calculation unit that calculates the absolute position of the own mobility based on signals received from satellites; a surroundings monitoring unit that monitors the surroundings of the own mobility; an information acquisition unit that acquires absolute position information of surrounding mobility, which is a predetermined mobility located around the own mobility; a relative position calculation unit that calculates the relative position of the own mobility with respect to the surrounding mobility based on the absolute position information of the surrounding mobility and the detection result of the periphery monitoring unit when the signal reception condition deteriorates; a correction unit that corrects the absolute position information of the subject mobility calculated by the position calculation unit based on the absolute position information of the surrounding mobility and the relative position information calculated by the relative position calculation unit; Equipped with The predetermined mobility is a mobility larger than the own mobility. Self-position calculation device.

2. a position calculation unit that calculates the absolute position of the own mobility based on signals received from satellites; a surroundings monitoring unit that monitors the surroundings of the own mobility; an information acquisition unit that acquires absolute position information of surrounding mobility, which is a predetermined mobility located around the own mobility; a relative position calculation unit that calculates the relative position of the own mobility with respect to the surrounding mobility based on the absolute position information of the surrounding mobility and the detection result of the periphery monitoring unit when the signal reception condition deteriorates; a correction unit that corrects the absolute position information of the subject mobility calculated by the position calculation unit based on the absolute position information of the surrounding mobility and the relative position information calculated by the relative position calculation unit; Equipped with the information acquisition unit acquires information about the size of the body of the surrounding mobility; When there are a plurality of the surrounding mobility entities, the relative position calculation unit calculates the relative position with respect to the surrounding mobility entity having the largest physique among the plurality of the surrounding mobility entities. Self-position calculation device.

3. A transmitter transmits absolute position information of the mobility to a control system that acquires absolute position information of a plurality of mobility, The information acquisition unit acquires absolute position information of the surrounding mobility from the control system. The self-position calculation device according to claim 1 or 2.

4. the relative position calculation unit calculates the relative position when the reception level of the signal is less than a predetermined threshold. The self-position calculation device according to any one of claims 1 to 3.

5. the relative position calculation unit identifies an object corresponding to the surrounding mobility from among the objects detected by the periphery monitoring unit based on absolute position information of the surrounding mobility and the detection result of the periphery monitoring unit; The self-position calculation device according to any one of claims 1 to 4.

6. The information acquisition unit acquires information regarding a type or a kind of the surrounding mobility, the relative position calculation unit identifies an object corresponding to the surrounding mobility from among the objects detected by the periphery monitoring unit based on the characteristic information and absolute position information of the surrounding mobility; The self-position calculation device according to any one of claims 1 to 5.

7. the information acquisition unit acquires information about a reception status of the signal in the surrounding mobility; When there are a plurality of surrounding mobility entities, the relative position calculation unit calculates the relative position for a surrounding mobility entity in which the signal reception condition is not deteriorated, among the plurality of surrounding mobility entities. The self-position calculation device according to any one of claims 1 to 6.

8. the information acquisition unit acquires information about the size of the body of the surrounding mobility; When there are a plurality of the surrounding mobility entities, the relative position calculation unit calculates the relative position with respect to the surrounding mobility entity having the largest physique among the plurality of the surrounding mobility entities. The self-position calculation device according to claim 1 .

9. The control system selects, as the surrounding mobility, a mobility in which the signal reception condition is not deteriorated. The self-position calculation device according to claim 3 .

Images