Information processing device, recording medium, and position management system

Abstract

An information processing device according to the present invention acquires measured position information for a mobile body system equipped with a GNSS antenna that receives satellite signals transmitted from a positioning satellite from the mobile body system and matches the position of the mobile body system to a high-precision map. The information processing device acquires the measured position information and angular velocity information detected by an angular velocity sensor installed on the mobile body system from the mobile body system, calculates an estimated yaw rate for the mobile body system on the basis of information about a movement history for the position of the mobile body system and information about the azimuth at each position as found from the high-precision map, and matches the position of the mobile body system to the high-precision map on the basis of the measured position information, an actual yaw rate that is calculated on the basis of the angular velocity information, and the estimated yaw rate.

Description

Information processing device, recording medium, and location management system

[0001] The present disclosure relates to an information processing device, a recording medium, and a location management system.

[0002] GNSS (Global Navigation Satellite System), typified by GPS (Global Positioning System), is used as a means for determining the position of a mobile object. In GNSS, a GNSS antenna mounted on the mobile object receives signals transmitted from GNSS satellites, and measures the position of the mobile object equipped with the GNSS antenna. For example, GNSS measures the latitude and longitude of the mobile object equipped with the GNSS antenna as position information.

[0003] There are various GNSS positioning methods, such as stand-alone positioning, D-GNSS (differential GNSS) positioning, and RTK-GNSS (real-time kinematic GNSS) positioning (see Patent Documents 1 and 2). It is known that the positioning accuracy of these GNSSs varies depending on the positioning method. For example, the positioning error of GNSS using stand-alone positioning is approximately 5 to 20 m, the positioning error of GNSS using D-GNSS positioning is approximately 1 m or less, and the positioning error of GNSS using RTK-GNSS positioning is approximately 1 to 5 cm.

[0004] JP 2024-024499 A JP 2024-026243 A

[0005] For example, GNSS with a highly accurate positioning method (hereinafter also referred to as "high-precision GNSS") is adopted for controlling moving objects such as self-driving vehicles and unmanned aerial vehicles. A server (information processing device) that manages the control of moving objects such as self-driving vehicles and unmanned aerial vehicles acquires position information of each moving object, matches the position of each moving object on a high-precision map, and provides each moving object with information on the positions of other moving objects present in its vicinity.

[0006] However, the system of the mobile body that transmits the position information to the server is not limited to a system that uses a high-precision GNSS, but also includes a system that uses a GNSS with a positioning method with low positioning accuracy (hereinafter also referred to as "low-precision GNSS"). The server cannot determine how much the position matched on the high-precision map based on the position information acquired from the system of the mobile body that uses a low-precision GNSS deviates from the actual position of the mobile body.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and an object of the present disclosure is to provide an information processing device, a recording medium, and a location management system that are capable of accurately matching the location of a mobile body system on a high-precision map based on location information obtained from the mobile body system using low-precision GNSS.

[0008] In order to solve the above problem, according to one aspect of the present disclosure, there is provided an information processing device that acquires measured position information of a mobile body system from the mobile body system equipped with a GNSS antenna that receives satellite signals transmitted from positioning satellites, and matches the position of the mobile body system on a high-precision map, the information processing device performing an acquisition process that acquires the measured position information and angular velocity information detected by an angular velocity sensor mounted on the mobile body system from the mobile body system, an estimated yaw rate calculation process that calculates an estimated yaw rate of the mobile body system that is estimated based on information on the movement history of the position of the mobile body system and information on the azimuth angle at each of the positions obtained from the high-precision map, and a low-precision GNSS matching process that matches the position of the mobile body system on the high-precision map based on the measured position information, an actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

[0009] Furthermore, in order to solve the above problem, according to another aspect of the present disclosure, there is provided a non-transitory tangible recording medium having recorded thereon a program that causes a computer to execute the following operations: acquire, from a mobile system equipped with a GNSS antenna that receives satellite signals transmitted from positioning satellites, measured position information of the mobile system and angular velocity information detected by an angular velocity sensor mounted on the mobile system; calculate an estimated yaw rate of the mobile system that is estimated based on information on the movement history of the position of the mobile system and information on the azimuth angle at the position of each of the mobile systems obtained from a high-precision map; and match the position of the mobile system on the high-precision map based on the measured position information, the actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

[0010] Furthermore, in order to solve the above-described problem, according to another aspect of the present disclosure, there is provided a position management system including: a first mobile body system equipped with a GNSS antenna for receiving satellite signals transmitted from positioning satellites and having a positioning accuracy lower than a predetermined standard; a second mobile body system equipped with a GNSS antenna for receiving satellite signals transmitted from positioning satellites and having a positioning accuracy higher than a predetermined standard; and an information processing device that acquires measured position information from the first mobile body system and the second mobile body system and matches the positions of the first mobile body system and the second mobile body system on a high-precision map, wherein the first mobile body system transmits the measured position information of the first mobile body system, angular velocity information detected by an angular velocity sensor mounted on the first mobile body system, and information on the positioning accuracy of the first mobile body system to the information processing device, and a position management system configured to match the position of the first mobile body system on the high-precision map based on the measured position information of the first mobile body system, an actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate; and a position management system configured to match the position of the first mobile body system on the high-precision map based on the measured position information of the first mobile body system, an actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

[0011] As described above, according to the present disclosure, the position of a mobile body system that uses low-precision GNSS can be accurately matched on a high-precision map based on position information obtained from the mobile body system.

[0012] 1 is a schematic diagram showing an overall configuration of a position management system according to an embodiment of the present disclosure. FIG. 1 is a block diagram showing an example configuration of a first mobile body system equipped with a low-precision GNSS that is applied to the position management system according to the embodiment. FIG. 2 is a flowchart showing an example of processing operation of the first mobile body system equipped with a low-precision GNSS that is applied to the position management system according to the embodiment. FIG. 3 is a schematic diagram showing an example configuration of an autonomously driven vehicle equipped with a high-precision GNSS that is applied to the position management system according to the embodiment. FIG. 4 is a block diagram showing an example configuration of a second mobile body system equipped with a high-precision GNSS that is applied to the position management system according to the embodiment. FIG. 5 is a flowchart showing an example processing operation of an autonomous driving control device of the second mobile body system equipped with a high-precision GNSS that is applied to the position management system according to the embodiment. FIG. 6 is a block diagram showing an example configuration of an information processing device according to the embodiment. FIG. 7 is a flowchart showing a main routine of the processing operation of the information processing device according to the embodiment. FIG. 8 is a flowchart showing a high-precision map matching process by the information processing device according to the embodiment. FIG. 9 is a flowchart showing a high-precision GNSS matching process by the information processing device according to the embodiment. FIG. 10 is an explanatory diagram showing a trajectory of measurement positions by the GNSS of a first mobile body system that uses low-precision GNSS and boundary line center interpolation points of a driving lane. FIG. 11 is an explanatory diagram showing data of an actual yaw rate calculated from angular velocity information acquired from the first mobile body system. FIG. 10 is an explanatory diagram showing data of an estimated yaw rate obtained by time-differentiating an azimuth angle recorded in association with a boundary line center interpolation point.

[0013] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0014] In the following description, the information on the positions measured by the first mobile system and the second mobile system will be referred to as "measured position information," and the information on the position matched on the high-precision map by the information processing device will be referred to as "matched position information."

[0015] 1. Overall Configuration of Location Management System First, the overall configuration of a location management system according to an embodiment of the present disclosure will be described.

[0016] 1 is an explanatory diagram showing an example of the overall configuration of a location management system 10. The location management system 10 includes a first mobile system 20 provided in a first vehicle 11, a second mobile system 30 provided in a second vehicle 13, an information processing device 100, and a communication network 91. The number of first vehicles 11 and second vehicles 13 is arbitrary and is not particularly limited. Furthermore, for ease of understanding, one information processing device 100 is illustrated, but the location management system 10 may include multiple information processing devices 100.

[0017] The first mobile system 20 and the second mobile system 30 are communicably connected to the information processing device 100 via one or more communication networks 91. The communication network 91 may be, for example, a mobile communication network, but may also be any other communication network.

[0018] The first mobile body system 20 is provided in a first vehicle 11 participating in the position management system 10, measures the position and angular velocity of the first mobile body system 20 at a predetermined calculation period, and transmits the measured position information and angular velocity information to the information processing device 100 together with information on the positioning accuracy of the first mobile body system 20. The first mobile body system 20 is a system that uses a low-precision GNSS with a positioning method whose positioning accuracy is lower than a predetermined standard. The low-precision GNSS is, for example, a stand-alone positioning method GNSS with a positioning error of about 5 to 20 meters.

[0019] The second mobile system 30 is provided in a second vehicle 13 participating in the position management system 10, measures the position of the second mobile system 30 at a predetermined calculation cycle, and transmits the measured position information to the information processing device 100 together with information on the positioning accuracy of the second mobile system 30. The second mobile system 30 is a system that uses a high-precision GNSS using a positioning method with a positioning accuracy higher than a predetermined standard. The high-precision GNSS is, for example, a GNSS using a D-GNSS positioning method or an RTK-GNSS positioning method, and is a GNSS with a positioning error of at least 1 m or less.

[0020] The information processing device 100 is communicably connected to the first mobile system 20 and the second mobile system 30 via a communication network 91 that uses, for example, cloud computing technology. The information processing device 100 acquires measured position information and angular velocity information from the first mobile system 20. The information processing device 100 also acquires measured position information from the second mobile system 30.

[0021] The information processing device 100 matches the positions of the first mobile body system 20 and the second mobile body system 30 on a high-precision map based on the acquired information. The information processing device 100 also transmits matching position information of the matched first vehicle 11 and second vehicle 13 to at least the second mobile body system 30. The information processing device 100 may transmit the matching position information of the first vehicle 11 and the second vehicle 13 to the first mobile body system 20.

[0022] The configurations and operations of the first mobile system 20, the second mobile system 30, and the information processing device 100 will be specifically described below.

[0023] <2. First Mobile System> (2-1. Basic Configuration) Fig. 2 is an explanatory diagram showing the basic configuration of the first mobile system 20 in blocks for each function. Fig. 2 shows only the components necessary for the first mobile system 20 of the location management system 10 according to this embodiment.

[0024] The first mobile system 20 includes a communication device 21, a processing device 22, a memory unit 26, a low-precision GNSS antenna 27, a gyro sensor 28, and a map data memory unit 29. The first mobile system 20 may be a control device mounted on the first vehicle 11, or may be a mobile terminal device such as a smartphone or a tablet terminal.

[0025] The communication device 21 is an interface for communicating with the information processing device 100 via the communication network 91. The processing device 22 includes one or more processors such as a central processing unit (CPU). Part or all of the processing device 22 may be configured with updatable firmware or the like, or may be a program module or the like executed by instructions from the CPU or the like.

[0026] The storage unit 26 is composed of one or more memories such as RAM (Random Access Memory) or ROM (Read Only Memory), and is communicably connected to the processing device 22. However, the number and type of storage units 26 are not particularly limited. The storage unit 26 stores information such as computer programs executed by the processing device 22, various parameters used in arithmetic processing, measurement data, and calculation results. A part of the storage unit 26 is used as a work area for the processing device 22.

[0027] The low-precision GNSS antenna 27 receives satellite signals from GNSS positioning satellites such as GPS, and outputs them to the processing device 22. When the low-precision GNSS used by the first mobile system 20 is a stand-alone positioning type GNSS, the first mobile system 20 is provided with one low-precision GNSS antenna 27, and the low-precision GNSS antenna 27 receives satellite signals, each containing distance information, from a plurality of positioning satellites, and outputs them to the processing device 22.

[0028] The gyro sensor 28 detects angular velocity around each of three orthogonal axes set along a predetermined direction of the first vehicle 11 or the mobile terminal. When the first mobile body system 20 is mounted on the first vehicle 11, the gyro sensor 28 detects angular velocity around each of the three orthogonal axes, with the X-axis, Y-axis, and Z-axis representing the longitudinal, transverse, and height directions of the vehicle body, respectively. When the first mobile body system 20 is mounted on a mobile terminal, the gyro sensor 28 detects angular velocity around each of the three orthogonal axes, with the X-axis, Y-axis, and Z-axis representing the vertical, horizontal, and thickness directions of the mobile terminal, respectively.

[0029] The angular velocity that needs to be transmitted from the first mobile body system 20 to the information processing device 100 is a yaw rate that indicates the angular velocity around an axis perpendicular to the road surface. Therefore, the gyro sensor 28 of the first mobile body system 20 mounted on the first vehicle 11 may be a yaw rate sensor that detects the angular velocity around the Z axis. Furthermore, when the first mobile body system 20 is mounted on a mobile terminal, the gyro sensor 28 may be an angular velocity sensor that detects the angular velocity around the Z axis along the thickness direction of the mobile terminal, for example.

[0030] The map data storage unit 29 is a storage device that stores map data. The type of map data is not particularly limited, and may be a high-precision map.

[0031] The processing device 22 functions as a device that transmits measured position information of the first mobile body system 20 and angular velocity information (yaw rate information) measured by the gyro sensor 28, together with information on positioning accuracy, to the information processing device 100 by having one or more processors, such as CPUs, execute a computer program. The computer program is a computer program that causes the processor to execute operations to be performed by the processing device 22, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) 26 provided in the processing device 22, or may be recorded on a recording medium built into the processing device 22 or any recording medium that can be externally attached to the processing device 22.

[0032] The recording medium for recording a computer program may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape; an optical recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD (Digital Versatile Disk), or a Blu-ray (registered trademark); a magneto-optical medium such as a floptical disk; a memory element such as a RAM or a ROM; a flash memory such as a USB (Universal Serial Bus) memory or an SSD; or any other medium capable of storing a program.

[0033] The processing device 22 of the first mobile body system 20 provided in the first vehicle 11 may be configured as part of the functions of a processing device that executes various functions of the first vehicle 11 or the mobile terminal. For example, the processing device 22 of the first mobile body system 20 mounted on the first vehicle 11 may be part of the functions of a control device that controls the operation of the first vehicle 11. Furthermore, the processing device 22 of the first mobile body system 20 mounted on a mobile terminal may be part of the functions of a control device that controls terminal equipment.

[0034] (2-2. Processing Device) Next, the configuration of the processing device 22 of the first mobile system 20 will be described. The processing device 22 is connected to the communication device 21, storage unit 26, low-precision GNSS antenna 27, gyro sensor 28, and map data storage unit 29. The processing device 22 includes an acquisition unit 23, a position detection unit 24, and a communication processing unit 25. The functions of each of these units are realized by the execution of a computer program by a processor. Note that some of the acquisition unit 23, position detection unit 24, and communication processing unit 25 may be configured by hardware such as an analog circuit.

[0035] The acquisition unit 23 acquires the output signals output from the low-precision GNSS antenna 27 and the gyro sensor 28 at predetermined calculation intervals.

[0036] The position detection unit 24 calculates the position of the first mobile system 20 on the map data based on the output signal acquired from the low-precision GNSS antenna 27. For example, the position detection unit 24 identifies the latitude and longitude at which the first mobile system 20 is located.

[0037] The communication processing unit 25 transmits, at each predetermined calculation cycle, the measured position information of the first mobile body system 20 measured by the position detection unit 24 and the angular velocity information measured by the gyro sensor 28 together with information on the positioning accuracy to the information processing device 100. The information on the positioning accuracy may be, for example, information indicating the positioning method, or may be any identification information indicating the positioning accuracy that is set in advance depending on the positioning method.

[0038] (2-3. Processing Operation) Next, a description will be given of the processing operation of the processing device 22. FIG.

[0039] When the first mobile system 20 is started (step S11), the acquisition unit 23 of the processing device 22 acquires the output signal output from the low-precision GNSS antenna 27 (step S12). Next, the position detection unit 24 of the processing device 22 calculates the position (latitude and longitude) of the first mobile system 20 based on the output signal acquired from the low-precision GNSS antenna 27 (step S13). Next, the acquisition unit 23 acquires the output signal output from the gyro sensor 28 (step S14).

[0040] Next, the communication processing unit 25 of the processing device 22 transmits the measured position information of the first mobile system 20 calculated in step S13 and the angular velocity information corresponding to the output signal acquired in step S14 to the information processing device 100 together with information on the positioning accuracy (step S15).

[0041] Next, the processing device 22 determines whether the first mobile system 20 has stopped (step S16). If the processing device 22 does not determine that the first mobile system 20 has stopped (S16 / No), the processing device 22 returns to step S12 and repeats the processing of each of the above steps at a predetermined calculation cycle. On the other hand, if the processing device 22 determines that the first mobile system 20 has stopped (S16 / Yes), the processing device 22 ends the processing.

[0042] In this way, the first mobile body system 20 transmits the measured position information and angular velocity information of the first mobile body system 20 together with information on positioning accuracy to the information processing device 100 at a predetermined calculation period. The measured position information transmitted from the first mobile body system 20 to the information processing device 100 is position information measured using low-accuracy GNSS, and is information with low positioning accuracy.

[0043] <3. Second Mobile Body System> (3-1. Basic Configuration of Vehicle) Before describing the configuration of the second mobile body system 30, an example of the basic configuration of the second vehicle 13 equipped with the second mobile body system 30 will be described. Fig. 4 is a schematic diagram showing the basic configuration of the second vehicle 13. In this embodiment, the second vehicle 13 is configured as an autonomous vehicle that performs positioning using high-precision GNSS and performs autonomous driving.

[0044] The second vehicle 13 is configured as a two-wheel drive four-wheel vehicle that transmits drive torque output from a drive power source 55 that generates drive torque to the left and right front wheels. The drive power source 55 may be an internal combustion engine such as a gasoline engine or a diesel engine, a drive motor, or may be equipped with both an internal combustion engine and a drive motor.

[0045] The second vehicle 13 may be a four-wheel drive vehicle that transmits drive torque to the front and rear wheels. The second vehicle 13 may also be an electric vehicle equipped with two drive motors, for example, a front-wheel drive motor and a rear-wheel drive motor, or an electric vehicle equipped with drive motors corresponding to the respective wheels. If the second vehicle 13 is an electric vehicle or a hybrid electric vehicle, the second vehicle 13 is equipped with a secondary battery that stores power supplied to the drive motors, and a motor or a generator such as a fuel cell that generates power to charge the secondary battery.

[0046] The second vehicle 13 is equipped with a driving force source 55, an electric steering device 57, and brake devices 61LF, 61RF, 61LR, 61RR (hereinafter collectively referred to as "brake devices 61" unless a distinction is required) as devices used to control the operation of the second vehicle 13. The driving force source 55 outputs driving torque that is transmitted to the front wheel drive shaft 51 via a transmission and a differential mechanism 53 (not shown). The operation of the driving force source 55 and the transmission is controlled by a vehicle control device 35 configured with one or more electronic control units (ECUs: Electronic Control Units).

[0047] An electric steering device 57 is provided on the front-wheel drive shaft 51. The electric steering device 57 includes an electric motor and a gear mechanism (not shown), and is controlled by the vehicle control device 35 to adjust the steering angle of the left and right front wheels. During autonomous driving, the vehicle control device 35 controls the electric steering device 57 based on the target steering angle or target steering angular velocity set by the second mobile body system 30. Note that while the autonomous driving function is turned off, the vehicle control device 35 controls the electric steering device 57 in response to the operation of the steering wheel 59 by the driver.

[0048] The brake devices 61 apply braking force to each wheel. The brake devices 61 are configured as, for example, hydraulic brake devices. The vehicle control device 35 adjusts the hydraulic pressure supplied to each brake device 61 by controlling the drive of the hydraulic units 63. If the second vehicle 13 is an electric vehicle or a hybrid electric vehicle, the brake devices 61 are used in combination with regenerative braking using a drive motor.

[0049] (3-2. Basic Configuration of Second Mobile Body System) The second mobile body system 30 mounted on the second vehicle 13 includes an automatic driving control device 31, a high-precision GNSS antenna 32, front imaging cameras 33LF, 33RF, a rear imaging camera 33R, a vehicle state sensor 34, a vehicle control device 35, and a notification device 36. The second mobile body system 30 functions as an automatic driving system.

[0050] The automatic driving control device 31 is configured as a control unit that executes automatic driving control to automatically drive the second vehicle 13. The automatic driving control device 31 has a configuration that allows it to communicate with the information processing device 100 via the communication network 91.

[0051] The high-precision GNSS antenna 32 receives satellite signals from GNSS positioning satellites such as GPS, and outputs the signals to the automatic driving control device 31. The high-precision GNSS antenna 32 is a GNSS antenna used for GNSS using, for example, a D-GNSS positioning method or an RTK-GNSS positioning method.

[0052] The front photographing cameras 33LF, 33RF and the rear photographing camera 33R constitute ambient environment sensors for acquiring information about the ambient environment of the second vehicle 13. The front photographing cameras 33LF, 33RF capture images of the area in front of the second vehicle 13 and generate image data. The rear photographing camera 33R captures images of the area behind the second vehicle 13 and generates image data. The front photographing cameras 33LF, 33RF and the rear photographing camera 33R are equipped with imaging elements such as a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), and transmit the generated image data to the automatic driving control device 31. In the second vehicle 13 shown in FIG. 4 , the front photographing cameras 33LF, 33RF are configured as stereo cameras including a pair of left and right cameras, but the front photographing cameras may be monocular cameras, or the vehicle may be equipped with both a stereo camera and a monocular camera.

[0053] The surrounding environment sensor may include, for example, a camera mounted on a side mirror for capturing images of the left rear or right rear, in addition to the front imaging cameras 33LF, 33RF and the rear imaging camera 33R. In addition, the surrounding environment sensor may include one or more sensors selected from the group consisting of a radar sensor such as a light detection and ranging (LiDAR) or a millimeter wave radar, and an ultrasonic sensor.

[0054] The vehicle state sensor 34 comprises at least one sensor that detects the operating state and behavior of the second vehicle 13. The vehicle state sensor 34 includes, for example, at least one of a steering angle sensor, an accelerator position sensor, a brake stroke sensor, a brake pressure sensor, or an engine rotation speed sensor. The vehicle state sensor 34 also includes, for example, at least one of a vehicle speed sensor, an acceleration sensor, or an angular velocity sensor. The vehicle state sensor 34 further includes a switch that detects the on / off state of a turn signal. The vehicle state sensor 34 outputs a signal indicating the detected information to the automatic driving control device 31.

[0055] The vehicle control device 35 includes one or more electronic control devices that control the operation of the driving force source 55, the electric steering device 57, and the hydraulic unit 63 in accordance with control commands output from the automatic driving control device 31. If the second vehicle 13 is equipped with a transmission that changes the speed of the output from the driving force source 55 and transmits it to the left and right wheels, the vehicle control device 35 has a function of controlling the operation of the transmission.

[0056] The notification device 36 notifies the driver of the second vehicle 13 of various information by means of image display, audio output, or the like based on the drive signal output from the automatic driving control device 31. The notification device 36 includes, for example, a display device provided in the instrument panel and a speaker provided in the second vehicle 13. The display device may be a display device of a navigation system. The display device may also be a HUD (head-up display) that displays information on the windshield.

[0057] 5 is an explanatory diagram showing, in blocks for each function, the basic configuration of the second mobile system 30. In FIG. 5, only the components necessary for the second mobile system 30 of the position management system 10 according to this embodiment are shown.

[0058] The automatic driving control device 31 of the second mobile body system 30 includes a communication device 37, a storage unit 38, a map data storage unit 39, and a processing device 40. The automatic driving control device 31 functions as a device that executes automatic driving control of the second vehicle 13 by having one or more processors, such as CPUs, execute a computer program. The computer program is a computer program that causes the processor to execute the operations to be performed by the automatic driving control device 31, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) 38 provided in the automatic driving control device 31, or may be recorded on a recording medium built into the automatic driving control device 31 or any recording medium that can be externally attached to the automatic driving control device 31.

[0059] The recording medium for recording a computer program may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape; an optical recording medium such as a CD-ROM, a DVD, or a Blu-ray (registered trademark); a magneto-optical medium such as a floptical disk; a memory element such as a RAM or a ROM; a flash memory such as a USB memory or an SSD; or any other medium capable of storing a program.

[0060] The automatic driving control device 31 is connected to a high-precision GNSS antenna 32, an ambient environment sensor 33, a vehicle state sensor 34, a vehicle control device 35, and a notification device 36 via a dedicated line or communication means such as a controller area network (CAN) or local internet (LIN). Note that the automatic driving control device 31 is not limited to an electronic control device mounted on the second vehicle 13, and may be a terminal device such as a smartphone or a wearable device.

[0061] The communication device 37 is an interface for communicating with the information processing device 100 via the communication network 91. The processing device 40 includes one or more processors such as CPUs. Part or all of the processing device 40 may be configured with updatable firmware or the like, or may be a program module or the like that is executed by instructions from the CPU or the like.

[0062] The storage unit 38 is composed of one or more memories such as RAM or ROM, and is communicably connected to the processing device 40. However, the number and type of storage units 38 are not particularly limited. The storage unit 38 stores information such as computer programs executed by the processing device 40, various parameters used in arithmetic processing, measurement data, and calculation results. A part of the storage unit 38 is used as a work area for the processing device 40.

[0063] The map data storage unit 39 is a storage device that stores map data. The type of map data is not particularly limited, and may be a high-precision map.

[0064] The processing device 40 includes an acquisition unit 41, a position detection unit 42, a communication processing unit 43, a surrounding environment recognition processing unit 44, a driving state detection unit 45, an autonomous driving control unit 46, and a notification processing unit 47. The functions of these units are realized by a processor executing a computer program. Note that some of the acquisition unit 41, the position detection unit 42, the communication processing unit 43, the surrounding environment recognition processing unit 44, the driving state detection unit 45, the autonomous driving control unit 46, and the notification processing unit 47 may be configured using hardware such as an analog circuit.

[0065] The acquisition unit 41 acquires output signals or image data output from the high-precision GNSS antenna 32, the surrounding environment sensor 33, and the vehicle state sensor 34 at predetermined calculation intervals.

[0066] The position detection unit 42 calculates the position of the second mobile system 30 on the map data based on the output signal acquired from the high-precision GNSS antenna 32. For example, the position detection unit 42 identifies the latitude and longitude at which the second mobile system 30 is located.

[0067] The communication processing unit 43 transmits, at each predetermined calculation cycle, the measured position information of the second mobile body system 30 measured by the position detection unit 42 together with information on the positioning accuracy to the information processing device 100. The information on the positioning accuracy may be, for example, information indicating the positioning method, or any identification information indicating the positioning accuracy that is set in advance according to the positioning method. Furthermore, the communication processing unit 43 acquires, at each predetermined calculation cycle, matching position information of mobile bodies present around the second vehicle 13 from the information processing device 100. The acquired matching position information is information on the positions of other vehicles matched on high-precision map data in the information processing device 100.

[0068] The surrounding environment recognition processing unit 44 recognizes the surrounding environment of the second vehicle 13 based on the output signal or image data output from the surrounding environment sensor 33. For example, the surrounding environment recognition processing unit 44 recognizes objects by extracting feature points from the image data and matching the pattern of feature points with pre-prepared reference data. The surrounding environment recognition processing unit 44 recognizes various objects, including moving objects such as people, bicycles, motorcycles, and four-wheeled automobiles, as well as man-made or natural stationary objects, and lines or figures drawn on roads such as white lines and crosswalks. The surrounding environment recognition processing unit 44 also calculates the position and speed of the recognized objects, as well as the distance to the objects.

[0069] The surrounding environment sensor 33 may perform processing to recognize these moving objects, stationary objects, etc. In this case, the processing device 40 acquires measurement information including the recognition results from the surrounding environment sensor 33.

[0070] The surrounding environment recognition processing unit 44 also detects the positions of other moving bodies present around the second vehicle 13 based on matching position information of the surrounding moving bodies acquired from the information processing device 100. The surrounding environment recognition processing unit 44 may further acquire information about the road on which the second vehicle 13 is traveling based on map data and measured position information of the second mobile body system 30.

[0071] The running condition detection unit 45 detects information on various running conditions of the second vehicle 13. For example, the running condition detection unit 45 detects the speed, acceleration, angular velocity, steering angle, accelerator opening, and brake operation amount of the second vehicle 13 based on the output signal output from the vehicle condition sensor 34. The running condition detection unit 45 also detects whether a turn signal is on or off.

[0072] The autonomous driving control unit 46 sets driving conditions for the second vehicle 13 based on the measured position information of the second mobile body system 30 detected by the position detection unit 42, information on the surrounding environment of the second vehicle 13 recognized by the surrounding environment recognition processing unit 44, and information on the driving state of the second vehicle 13 detected by the driving state detection unit 45. For example, the autonomous driving control unit 46 sets target values ​​for the acceleration / deceleration and steering angular velocity of the second vehicle 13 according to the traffic environment in which the second vehicle 13 is located. Furthermore, the autonomous driving control unit 46 calculates the timing of lane changes and the timing of overtaking a preceding vehicle according to the traffic environment in which the second vehicle 13 is located, and sets target values ​​for the acceleration / deceleration and steering angular velocity of the second vehicle 13 and the timing of turning on the turn signals.

[0073] The automatic driving control unit 46 outputs information on the set driving conditions of the second vehicle 13 to the vehicle control device 35. As a result, the vehicle control device 35 drives the driving force source 55, the hydraulic unit 63, the electric steering device 57, etc. to cause the second vehicle 13 to travel automatically.

[0074] The content of the autonomous driving control by the autonomous driving control unit 46 may be set arbitrarily and is not limited to the above example. Furthermore, the autonomous driving control by the autonomous driving control unit 46 is not limited to control in which the second mobile body system 30 takes the lead in executing the driving task of the second vehicle 13, but may be control in which the driver takes the lead in executing the driving task of the second vehicle 13, and the second mobile body system 30 takes the lead in executing only a specific function temporarily or only.

[0075] The notification processing unit 47 notifies the driver of various information by driving the notification device 36. For example, the notification processing unit 47 displays the positions of the second vehicle 13 and surrounding moving objects on a map. The notification processing unit 47 may also notify the driver of information about the surrounding environment of the second vehicle 13 by voice, text, or other means.

[0076] (3-3. Processing Operation) Next, a description will be given of the processing operation of the processing device 40. FIG.

[0077] When the second mobile system 30 is started up (step S21), the acquisition unit 41 of the processing device 40 acquires the output signal output from the high-precision GNSS antenna 32 (step S23). Next, the position detection unit 42 of the processing device 22 calculates the position (latitude and longitude) of the second mobile system 30 based on the output signal acquired from the high-precision GNSS antenna 32 (step S25).

[0078] Next, the communication processing unit 43 of the processing device 40 transmits the measured position information of the second mobile body system 30 calculated in step S23 together with information on the positioning accuracy to the information processing device 100 (step S27). Next, the communication processing unit 43 acquires matching position information of mobile bodies around the second vehicle 13 from the information processing device 100 (step S29).

[0079] Next, the surrounding environment recognition processing unit 44 of the processing device 40 recognizes the surrounding environment of the second vehicle 13 based on the output signal and image data output from the surrounding environment sensor 33, the measured position information of the second mobile system 30 (second vehicle 13), the matching position information of the surrounding mobile bodies acquired from the information processing device 100, and the map data (step S31). Next, the running state detection unit 45 of the processing device 40 detects the running state of the second vehicle 13 based on the output signal output from the vehicle state sensor 34 (step S33).

[0080] Next, the automatic driving control unit 46 of the processing device 40 executes automatic driving control processing for the second vehicle 13 (step S35). For example, the automatic driving control unit 46 sets driving conditions for the second vehicle 13 based on the measured position information of the second mobile body system 30, information on the surrounding environment of the second vehicle 13, and information on the driving state of the second vehicle 13. The automatic driving control unit 46 also outputs information on the set driving conditions of the second vehicle 13 to the vehicle control device 35. As a result, the vehicle control device 35 drives the driving force source 55, the hydraulic unit 63, the electric steering device 57, etc. to automatically drive the second vehicle 13.

[0081] Next, the processing device 40 determines whether the second mobile system 30 has stopped (step S37). If the processing device 40 does not determine that the second mobile system 30 has stopped (S37 / No), the processing device 40 returns to step S23 and repeats the processing of each of the above steps at a predetermined calculation cycle. On the other hand, if the processing device 40 determines that the second mobile system 30 has stopped (S37 / Yes), the processing device 40 ends the processing.

[0082] In this way, the second mobile body system 30 transmits the measured position information of the second mobile body system 30 together with information on positioning accuracy to the information processing device 100 at a predetermined calculation period, and acquires matching position information of surrounding mobile bodies from the information processing device 100 to perform automatic driving control of the second vehicle 13. The measured position information transmitted from the second mobile body system 30 to the information processing device 100 is position information measured using high-precision GNSS and is information with high positioning accuracy. Furthermore, the matching position information acquired by the second mobile body system 30 from the information processing device 100 is position information matched on high-precision map data by the information processing device 100 and is information with small error.

[0083] <4. Information Processing Device> (4-1. Basic Configuration) The information processing device 100 functions as a device that matches the position of a mobile system on a high-precision map by having one or more processors such as CPUs execute a computer program. The computer program is a computer program that causes the processor to execute the operations to be performed by the information processing device 100, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) provided in the information processing device 100, or may be recorded on a recording medium built into the information processing device 100 or any recording medium that can be externally attached to the information processing device 100.

[0084] The recording medium for recording a computer program may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape; an optical recording medium such as a CD-ROM, a DVD, or a Blu-ray (registered trademark); a magneto-optical medium such as a floptical disk; a memory element such as a RAM or a ROM; a flash memory such as a USB memory or an SSD; or any other medium capable of storing a program.

[0085] 7 is an explanatory diagram showing the basic configuration of the information processing device 100 in blocks for each function. The information processing device 100 includes a communication device 101, a processing device 102, a storage unit 109, and a high-precision map data storage unit 111. The communication device 101 is an interface for communicating with the first mobile system 20 and the second mobile system 30 via the communication network 91. The processing device 102 includes one or more CPUs, and executes processing for matching the positions of the first mobile system 20 and the second mobile system 30 onto a high-precision map.

[0086] The storage unit 109 includes one or more memories, and stores various parameters used in the calculation processes and information on the results of calculations, as well as computer programs executed by the processing device 102. The storage unit 109 may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape, an optical recording medium such as a CD-ROM, a DVD, or a Blu-ray (registered trademark), a magneto-optical medium such as a floptical disk, a storage element such as a RAM or a ROM, a flash memory such as a USB memory or an SSD, or other recording medium.

[0087] The high precision map data storage unit 111 is a storage medium that stores high precision map data. The high precision map data storage unit 111 may be a magnetic medium such as a hard disk, a floppy disk, or a magnetic tape, an optical storage medium such as a CD-ROM, a DVD, or a Blu-ray (registered trademark), a magneto-optical medium such as a floptical disk, a flash memory such as a USB memory or an SSD, or any other storage medium.

[0088] The high-precision map data is map data that records, in addition to map information, various information such as driving lanes, lane boundaries (center lines, road boundaries, driving lane boundaries), guardrails, road signs, traffic lights, crosswalks, etc. In this embodiment, the high-precision map data includes various information associated with the center points (hereinafter also referred to as "boundary line center interpolation points") of the areas of driving lanes sandwiched between various lane boundaries, which are set at regular or random distance intervals.

[0089] The boundary line center interpolation point is generated based on information acquired at predetermined calculation intervals from the second mobile body system 30, which uses, for example, high-precision GNSS. For example, the information acquired from the second mobile body system 30 includes measured position information using high-precision GNSS and measurement data from the surrounding environment sensor 33 and the vehicle state sensor 34, and various information determined from the acquired measurement data is recorded in association with the boundary line center interpolation point. For example, the information associated with the boundary line center interpolation point includes the information listed below.

[0090] - Latitude, longitude and altitude of each boundary line center interpolation point - Type of boundary lines on both sides of the travel lane - Distance from the boundary line center interpolation point to the boundary line - Curvature and radius of curvature of the travel lane - Azimuth angle in the direction of travel of the travel lane - Distance (interval) to the next boundary line center interpolation point in the direction of travel - Road information (road type, such as tunnel) - Speed ​​limit - Number of lanes - Road gradient

[0091] It should be noted that the listed information is merely an example, and other information may be recorded in association with the boundary line center interpolation point.

[0092] The processing device 102 includes a communication processing unit 103, a matching processing unit 104, a lane fixing processing unit 105, a gyro correction processing unit 106, a lane fixing release processing unit 107, and a communication processing unit 108. The functions of these units are realized by the execution of a computer program by a processor.

[0093] The communication processing unit 103 acquires information transmitted from the first mobile system 20 and the second mobile system 30 at each predetermined calculation cycle. The communication processing unit 103 acquires at least measured position information, angular velocity information (yaw rate information), and positioning accuracy information from the first mobile system 20. The communication processing unit 103 also acquires at least measured position information and positioning accuracy information from the second mobile system 30. The communication processing unit 103 also transmits matching position information of the first mobile system 20 and the second mobile system 30 matched on the high-precision map to at least the second mobile system 30. The communication processing unit 103 may transmit the matching position information of the first mobile system 20 and the second mobile system 30 to the first mobile system 20.

[0094] The matching processing unit 104 executes a process of matching the positions of the first mobile system 20 and the second mobile system 30 on a high-precision map. If the positioning accuracy of the mobile system is higher than a predetermined standard, the matching processing unit 104 identifies (matches) the position indicated by the acquired measured position information as the position of the mobile system on the high-precision map. Furthermore, if the positioning accuracy of the mobile system is lower than the predetermined standard, the matching processing unit 104 executes a matching process described below to match the position of the mobile system on the high-precision map.

[0095] In the position management system 10 according to this embodiment, the matching processing unit 104 identifies the position indicated by the measured position information acquired from the second mobile body system 30 that uses high-precision GNSS as the position of the second mobile body system 30 on the high-precision map. However, when the second vehicle 13 is in an environment where the positioning accuracy is reduced, such as when passing through a tunnel, the matching processing unit 104 matches the position of the second mobile body system 30 to the above-mentioned boundary line center interpolation point as a predetermined reference position.

[0096] Furthermore, the matching processing unit 104 executes a low-precision GNSS matching process using the measured position information and angular velocity information acquired from the first mobile body system 20 that uses the low-precision GNSS, and matches the position of the first mobile body system 20 on the high-precision map. In the low-precision GNSS matching process, the position of the first mobile body system 20 is matched on the high-precision map based on the measured position information, an actual yaw rate calculated based on the angular velocity information, and a predetermined estimated yaw rate.

[0097] When the matching processing unit 104 performs low-accuracy GNSS matching processing, the lane fixing processing unit 105 performs a determination process to fix the matching position on a predetermined reference position. In the position management system 10 according to this embodiment, the lane fixing processing unit 105 fixes the position of the first mobile body system 20 so that it is matched on the above-mentioned boundary line center interpolation point as the predetermined reference position while a predetermined fixing condition is met. In other words, when there is a high degree of certainty that it can be determined that the first vehicle 11 is traveling within the driving lane based on information acquired from the first mobile body system 20, the lane fixing processing unit 105 matches the position of the first mobile body system 20 to one of the boundary line center interpolation points.

[0098] Furthermore, when the positions indicated by the measured position information acquired from the first mobile body system 20 and the second mobile body system 30 are in an environment where the GNSS positioning accuracy is reduced, such as a tunnel, the lane fixing processing unit 105 fixes the positions of the first mobile body system 20 and the second mobile body system 30 so that they match on the boundary line center interpolation point.

[0099] The gyro correction processing unit 106 executes a process of correcting the yaw rate axis of the gyro sensor 28 of the first mobile body system 20 based on azimuth angle information recorded in the high-precision map data. The yaw rate measured by the gyro sensor 28 deviates from the vehicle yaw rate (angular velocity around an axis of a perpendicular line perpendicular to the road surface) of the first vehicle 11 depending on the orientation of the axis of the gyro sensor 28. For this reason, the gyro correction processing unit 106 executes a process of aligning the yaw rate axis of the gyro sensor 28 with the perpendicular line perpendicular to the road surface in order to use the angular velocity information acquired from the first mobile body system 20 as yaw rate information of the first vehicle 11. When the first mobile body system 20 is mounted on a mobile terminal and provided to the first vehicle 11, the process of aligning the yaw rate axis of the gyro sensor 28 with the perpendicular line perpendicular to the road surface is particularly important.

[0100] When a predetermined release condition is met in a state in which the position of the first mobile body system 20 is fixed so as to be matched on the boundary line center interpolation point, the lane fixing release processing unit 107 executes a determination process to release the fixation of the matching position on the boundary line center interpolation point. In other words, when the accuracy of determining that the first vehicle 11 is traveling within the traveling lane based on the information acquired from the first mobile body system 20 is low, the lane fixing release processing unit 107 sets the position indicated by the acquired measured position information of the first mobile body system 20 as the position of the first mobile body system 20.

[0101] (4-2. Processing Operation) Up to this point, we have explained the configuration of the information processing device 100. Next, we will explain the processing operation of the information processing device 100 in detail.

[0102] 8 is a flowchart showing a main routine of the processing operation by the information processing device 100. The processing operation shown in FIG. 8 is repeatedly executed at predetermined calculation intervals.

[0103] First, the communication processing unit 103 of the processing device 102 acquires information transmitted from the first mobile body system 20 and the second mobile body system 30 (step S41). The communication processing unit 103 acquires at least the measured position information of the first mobile body system 20, the angular velocity information of the first vehicle 11, and the positioning accuracy information of the first mobile body system 20 from the first mobile body system 20. The communication processing unit 103 also acquires at least the measured position information of the second mobile body system 30 and the positioning accuracy information of the second mobile body system 30 from the second mobile body system 30.

[0104] Next, the matching processing unit 104 of the processing device 102 executes high-precision map matching processing to match the positions of the first mobile system 20 and the second mobile system 30 onto a high-precision map (step S43).

[0105] 9 is a flowchart showing a routine of high-precision map matching processing by the matching processing unit 104. First, the matching processing unit 104 determines whether the mobile system that transmitted the measured position information is a mobile system that uses high-precision GNSS (step S51). The processing of step S51 corresponds to the processing of determining whether the positioning accuracy of the mobile system is equal to or higher than a predetermined standard. The matching processing unit 104 determines the positioning accuracy of the mobile system based on positioning accuracy information acquired from the first mobile system 20 or the second mobile system 30. In this embodiment, the matching processing unit 104 does not determine that the first mobile system 20 is a mobile system that uses high-precision GNSS, but determines that the second mobile system 30 is a mobile system that uses high-precision GNSS.

[0106] When the matching processing unit 104 determines that the mobile system that transmitted the measured position information is a mobile system that uses high-precision GNSS (Yes in S51), it executes high-precision GNSS matching processing (step S53).

[0107] 10 is a flowchart showing a routine for high-precision GNSS matching processing by the matching processing unit 104. First, the matching processing unit 104 determines whether the second mobile system 30 is in an environment with high positioning accuracy (step S61). For example, if the measurement position indicated by the acquired measurement position information is located inside or near a tunnel, the matching processing unit 104 determines that the second mobile system 30 is not in an environment with high positioning accuracy. The conditions for determining whether the second mobile system 30 is in an environment with high positioning accuracy may be set arbitrarily in advance.

[0108] If the matching processing unit 104 determines that the second mobile system 30 is in an environment with high positioning accuracy (S61 / Yes), it specifies the measurement position indicated by the acquired measurement position information as a position on the high-precision map. In other words, the matching processing unit 104 matches the measurement position indicated by the measurement position information acquired from the second mobile system 30 using the high-precision GNSS directly on the high-precision map.

[0109] On the other hand, if the matching processing unit 104 does not determine that the second mobile system 30 is in an environment with high positioning accuracy (S61 / No), it matches the position of the second mobile system 30 onto the boundary line center interpolation point as a reference position recorded on the high-precision map (step S65). For example, the matching processing unit 104 calculates the distance between the measurement position indicated by the acquired measurement position information and the boundary line center interpolation point recorded on the high-precision map, and matches the position of the second mobile system 30 onto the boundary line center interpolation point that is the shortest distance from the measurement position indicated by the acquired measurement position information.

[0110] Next, the matching processing unit 104 updates the matching position information of the second mobile system 30 matched on the high-precision map in step S63 or step S65 (step S67). In this way, the measured position information acquired from the second mobile system 30 using the high-precision GNSS is matched on the high-precision map by either the method in step S63 or step S65.

[0111] 9 , if the matching processing unit 104 does not determine that the mobile system that has transmitted the measured position information is a mobile system that uses high-precision GNSS (S51 / No), it executes low-precision GNSS matching processing (step S55). In other words, the matching processing unit 104 executes the low-precision GNSS matching processing described below without directly matching the measured position indicated by the measured position information acquired from the first mobile system 20 that uses low-precision GNSS onto a high-precision map.

[0112] 11 is a flowchart showing a routine of the low-accuracy GNSS matching process performed by the matching processing unit 104. First, the lane fixing processing unit 105 of the processing device 102 determines whether the measurement position indicated by the acquired measurement position information satisfies a condition for fixing the measurement position to a reference position set on the high-accuracy map (step S71). The condition for fixing the measurement position to a reference position is a condition for determining whether the measurement position indicated by the measurement position information does not indicate a position where the first vehicle 11 should not be able to travel. For example, the lane fixing processing unit 105 calculates the distance between the measurement position indicated by the acquired measurement position information and a boundary line center interpolation point recorded on the high-accuracy map, and determines whether the shortest distance from the measurement position indicated by the acquired measurement position information to the boundary line center interpolation point is equal to or less than a predetermined first threshold. The predetermined first threshold may be set to an appropriate value taking into account a tolerance, for example, 2 m.

[0113] If the lane fixing processing unit 105 does not determine that the measurement position indicated by the acquired measurement position information satisfies the fixing condition to the reference position set on the high-precision map (S71 / No), it proceeds to step S81 without matching the acquired measurement position information of the first mobile system 20 onto the high-precision map.

[0114] On the other hand, if the lane fixing processing unit 105 determines that the measurement position indicated by the measurement position information acquired satisfies the fixing condition to the reference position set on the high-precision map (S71 / Yes), the matching processing unit 104 matches the position of the first mobile system 20 to the boundary line center interpolation point that is the shortest distance from the measurement position indicated by the acquired measurement position information of the first mobile system 20 (step S73).

[0115] Next, the gyro correction processing unit 106 of the processing device 102 executes a process of correcting the yaw rate axis of the gyro sensor 28 of the first mobile body system 20 based on the azimuth angle information recorded in the high-precision map data (step S75). The yaw rate Ys measured by the gyro sensor 28 of the first mobile body system 20 and the vehicle yaw rate Yv, which is the angular velocity around the Z axis along the height direction of the first vehicle 11, have the following relationship: Ys = Yv × cos(Δθz) (1), where "Δθz" indicates the tilt of the yaw rate axis of the gyro sensor 28 with respect to the Z axis along the height direction of the first vehicle 11.

[0116] Here, azimuth angle information is associated with the boundary line center interpolation points recorded in the high-precision map data. The gyro correction processing unit 106 estimates the yaw rate (estimated yaw rate) of the first mobile body system 20 based on information on the movement history of the positions of the first mobile body system 20 and information on the azimuth angles at each position obtained from the high-precision map. The estimated yaw rate of the first mobile body system 20 corresponds to the estimated yaw rate of the first vehicle 11.

[0117] For example, the gyro correction processing unit 106 extracts the matching position information of the first mobile body system 20, whose position information was matched in step S73 of the current calculation cycle, from the matching position information recorded in the previous calculation cycle. For example, the gyro correction processing unit 106 extracts the matching position information of the first mobile body system 20 from the matching position information recorded in the previous calculation cycle, based on information on the traveling direction associated with the boundary line center interpolation point indicated by the matching position information in each calculation cycle and the estimated movement distance from the previous calculation cycle to the current calculation cycle.

[0118] The gyro correction processing unit 106 calculates an estimated yaw rate Ye of the first mobile body system 20 by time-differentiating the amount of change between the azimuth angle of the boundary line center interpolation point matched in the current calculation cycle and the azimuth angle of the boundary line center interpolation point matched in the previous calculation cycle (estimated yaw rate calculation process). The estimated yaw rate Ye indicates the yaw rate expected when the first vehicle 11 equipped with the first mobile body system 20 travels along the boundary line center interpolation point in the currently passing driving lane. The gyro correction processing unit 106 then determines the yaw rate indicated by the angular velocity information acquired from the first mobile body system 20 in the current calculation cycle as the actual yaw rate Ys, and applies the calculated estimated yaw rate to the vehicle body yaw rate Yv in the above equation (1), thereby calculating the tilt (Δθz) of the yaw rate axis of the gyro sensor 28 with respect to the Z axis along the height direction of the first vehicle 11.

[0119] Thereafter, when the yaw rate Ys of the angular velocity information acquired from the first mobile body system 20 is used in a calculation as the momentum of the first mobile body system 20, the gyro correction processing unit 106 is set to multiply the acquired yaw rate Ys by a correction coefficient (1 / cos(Δθz)). Alternatively, depending on the tilt of the yaw rate axis, the angular velocity around any appropriate axis of the three axes of the gyro sensor 28 may be used as the yaw rate. For example, when the tilt of the yaw rate axis is 90 degrees, the gyro correction processing unit 106 may use the angular velocity around the axis of the pitch angle or roll angle as the yaw rate.

[0120] Next, the lane fixing release processing unit 107 of the processing device 102 determines whether a condition (lane fixing release condition) for releasing the fixation of the matching position on the boundary line center interpolation point is satisfied (step S77). For example, the lane fixing release processing unit 107 determines whether the shortest distance from the measurement position indicated by the acquired measurement position information to the boundary line center interpolation point, calculated by the lane fixing processing unit 105 in step S71, exceeds a predetermined first threshold, and whether the difference between the estimated yaw rate Ye calculated by the gyro correction processing unit 106 in step S73 and the actual yaw rate Ys acquired from the first mobile body system 20 exceeds a predetermined second threshold. The predetermined first threshold and the second threshold may be set to any appropriate values. For example, the predetermined first threshold is set to 2 m, and the second threshold is set to 5 degrees / second.

[0121] In a case where the first vehicle 11 actually changes lanes, the position indicated by the measured position information acquired from the first mobile body system 20 moves away from the boundary line center interpolation point, and the actual yaw rate Ys indicated by the angular velocity information acquired from the first mobile body system 20 deviates from the estimated yaw rate Ye. Conversely, even if the position indicated by the measured position information acquired from the first mobile body system 20 moves away from the boundary line center interpolation point, if the deviation is due to the measurement accuracy of the GNSS, the actual yaw rate Ys indicated by the angular velocity information acquired from the first mobile body system 20 will approximate the estimated yaw rate Ye.

[0122] 12 shows the locus of measurement positions by the GNSS when the first vehicle 11 equipped with the first mobile body system 20 using low-precision GNSS passes through a left curve, and the interpolated point of the boundary line center of the driving lane of the left curve. As shown in Fig. 12, in the first mobile body system 20 using low-precision GNSS, the measurement position measured by the GNSS may deviate from the driving lane even though the first vehicle 11 is traveling in the driving lane.

[0123] Fig. 13 shows actual yaw rate data calculated from angular velocity information acquired from the first mobile body system 20, and Fig. 14 shows estimated yaw rate data corresponding to the actual yaw rate shown in Fig. 13, which is calculated by time-differentiating the azimuth angle recorded in association with the boundary line center interpolation point. As shown in Fig. 13 and Fig. 14, when the actual yaw rate based on the angular velocity information acquired from the first mobile body system 20 is compared with the estimated yaw rate based on the azimuth angle of the high-precision map data, it can be seen that the two show approximate values. Note that the yaw rate data shown in Fig. 13 and Fig. 14 is not the travel trajectory data shown in Fig. 12.

[0124] Therefore, in this embodiment, the lane fixation release processing unit 107 determines whether the shortest distance from the measurement position using the low-precision GNSS to the boundary line center interpolation point exceeds a predetermined first threshold and whether the difference between the estimated yaw rate Ye and the actual yaw rate Ys exceeds a predetermined second threshold. If the lane fixation release processing unit 107 determines that the lane fixation release condition is met (S77 / Yes), it releases the setting that fixes the matching position of the first mobile body system 20 to the boundary line center interpolation point (step S79). On the other hand, if the lane fixation release processing unit 107 does not determine that the lane fixation release condition is met (S77 / No), it proceeds to step S81 while maintaining the setting that fixes the matching position of the first mobile body system 20 to the boundary line center interpolation point.

[0125] Next, the matching processing unit 104 updates the matching position information of the first mobile body system 20 matched on the high-precision map (step S81). In this way, the measured position information acquired from the first mobile body system 20 using the low-precision GNSS is matched to the reference position on the high-precision map. Therefore, for example, when the first vehicle 11 changes lanes, the matching position that was fixed on the boundary line center interpolation point is temporarily removed from the boundary line center interpolation point, and a search is again performed for the driving lane to be matched (boundary line center interpolation point), and the matching position is identified.

[0126] 8 , after the high-precision map matching process is performed by the matching processing unit 104, the communication processing unit 103 transmits the updated matching position information to the second mobile body system 30 (step S45). The transmitted matching position information is used, for example, for automatic driving control of the second vehicle 13 in the second mobile body system 30. The communication processing unit 103 may transmit the updated matching position information not only to the second mobile body system 30 but also to the first mobile body system 20.

[0127] 5. Effects As described above, the information processing device 100 of the position management system 10 according to the present embodiment is configured to execute an acquisition process that acquires, from the first mobile body system 20 that uses a low-precision GNSS, measured position information by the low-precision GNSS and angular velocity information detected by the gyro sensor 28 mounted on the first mobile body system 20; an estimated yaw rate calculation process that calculates an estimated yaw rate Ye of the first mobile body system 20 that is estimated based on information about the movement history of the position of the first mobile body system 20 and information about the azimuth angle at each position obtained from the high-precision map; and a low-precision GNSS matching process that matches the position of the first mobile body system 20 on the high-precision map based on the measured position information by the low-precision GNSS, the actual yaw rate Ys calculated based on the angular velocity information, and the estimated yaw rate Ye.

[0128] According to the information processing device 100 of this embodiment, by using not only the position indicated by the measured position information but also the actual yaw rate Ys indicated by the angular velocity information and the estimated yaw rate Ye estimated from the high-precision map data, it is possible to accurately determine whether the first mobile body system 20 (first vehicle 11) is traveling on the traveling lane or has deviated from the traveling lane. Therefore, based on the measured position information acquired from the first mobile body system 20 using the low-precision GNSS, it is possible to accurately match the position of the first mobile body system 20 on the high-precision map.

[0129] For example, the information processing device 100 matches the position of the first mobile body system 20 to a boundary line center interpolation point set on the high-precision map, and when the difference between the measurement position indicated by the measurement position information and the boundary line center interpolation point set on the high-precision map exceeds a predetermined first threshold and the difference between the estimated yaw rate Ye and the actual yaw rate Ys exceeds a predetermined second threshold, the information processing device 100 cancels the matching of the position of the first mobile body system 20 to the boundary line center interpolation point. This makes it possible to prevent the first vehicle 11 from being matched to a position that is inappropriate for the driving behavior of the first vehicle 11.

[0130] Furthermore, when the acquired measured position information is measured position information from the second mobile system 30 equipped with a high-precision GNSS, the information processing device 100 according to this embodiment identifies the measured position information as the position of the second mobile system 30 on the high-precision map. Therefore, the information processing device 100 is configured so as not to increase the load of the matching process for the measured position information acquired from the second mobile system 30 with high measurement precision.

[0131] Furthermore, the information processing device 100 according to the present embodiment corrects the yaw rate axis of the gyro sensor 28 mounted on the first mobile body system 20 based on the azimuth angle method recorded on the high-precision map. This improves the accuracy when the yaw rate measured by the gyro sensor 28 is used in the matching process as the yaw rate of the first vehicle 11. This improves the accuracy of the matching process of the position of the first mobile body system 20 on the high-precision map even when the axis alignment accuracy of the gyro sensor 28 in the first vehicle 11 is low or when the first mobile body system 20 is mounted on a mobile terminal and provided on the first vehicle 11.

[0132] 6. Application Examples Application examples of the location management system 10 and the information processing device 100 according to the above-described embodiment will be described below.

[0133] As described above, even in the first mobile system 20 that uses low-precision GNSS, the actual yaw rate calculated from the angular velocity information acquired from the first mobile system 20 and the estimated yaw rate obtained by time-differentiating the azimuth angle recorded in association with the boundary line center interpolation point show approximate values ​​(see Figures 13 and 14).

[0134] Therefore, when the position of the first mobile body system 20 passes a branch point at a predetermined reference position (boundary line center interpolation point) set on the high-precision map, the matching processing unit 104 may determine the traveling direction of the first mobile body system 20 based on the angular velocity information. For example, when the first vehicle 11 passes near an interchange while traveling on a highway, the matching processing unit 104 may determine whether the first vehicle 11 should continue traveling on the highway or should travel on a side road leading to the interchange based on the actual yaw rate of the angular velocity information measured by the gyro sensor 28.

[0135] As a result, when the measured position information acquired from the first mobile system 20 deviates from the boundary line center interpolation point of the main line of the expressway, it can be easily determined whether the error is due to the measurement accuracy of the low-precision GNSS or whether the first vehicle 11 has deviated onto a side road. Therefore, the position of the first mobile system 20 can be easily and accurately matched onto a high-precision map.

[0136] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technology of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the technology to which the present disclosure pertains can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0137] In the above embodiment, the information processing device 100 connected to the first mobile body system 20 and the second mobile body system 30 via the communication network 91 performs the matching process on the high-precision map, but this function may be provided by a vehicle control device. The technology of the present disclosure may also be realized as a matching process method by the information processing device described in the above embodiment, a computer program that causes a computer to function as the above information processing device, and a non-transitory tangible recording medium on which the computer program is recorded.

[0138] 10: Position management system 11: First vehicle 13: Second vehicle 20: First mobile system 27: Low-precision GNSS antenna 28: Gyro sensor 30: Second mobile system 31: Automatic driving control device 32: High-precision GNSS antenna 91: Communication network 100: Information processing device 101: Communication device 102: Processing device 103: Communication processing unit 104: Matching processing unit 105: Lane fixing processing unit 106: Gyro correction processing unit 107: Lane fixing release processing unit 108: Communication processing unit 111: High-precision map data storage unit

Claims

1. An information processing device that acquires measured position information of a mobile body system from the mobile body system equipped with a GNSS antenna that receives satellite signals transmitted from positioning satellites, and matches the position of the mobile body system on a high-precision map, the information processing device executes the following: an acquisition process that acquires the measured position information and angular velocity information detected by an angular velocity sensor equipped on the mobile body system from the mobile body system; an estimated yaw rate calculation process that calculates an estimated yaw rate of the mobile body system that is estimated based on information on the movement history of the position of the mobile body system and information on the azimuth angle at each of the positions obtained from the high-precision map; and a low-precision GNSS matching process that matches the position of the mobile body system on the high-precision map based on the measured position information, the actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

2. The information processing device according to claim 1, wherein the information processing device matches the position of the mobile system to a predetermined reference position set on the high-precision map, and when the difference between the measured position indicated by the measured position information and the predetermined reference position set on the high-precision map exceeds the predetermined first threshold and the difference between the estimated yaw rate and the actual yaw rate exceeds the predetermined second threshold, cancels the matching of the position of the mobile system to the predetermined reference position.

3. The information processing device according to claim 1, wherein the information processing device corrects the yaw rate axis of the angular velocity sensor based on azimuth angle information recorded on the high-precision map.

4. The information processing device according to claim 1, wherein when the position of the mobile system passes through a branch point of the predetermined reference position set on the high-precision map, the information processing device determines the direction of travel of the mobile system based on the angular velocity information.

5. The information processing device according to claim 1, further acquiring information on positioning accuracy from the mobile system, and performing the low-accuracy GNSS matching process when the positioning accuracy of the mobile system is lower than a predetermined standard.

6. The information processing device according to claim 1, wherein the information processing device transmits information on the position of the mobile system matched on the high-precision map to an autonomous driving system equipped with the mobile system having a positioning accuracy above a predetermined standard.

7. The information processing device according to claim 6, wherein the information processing device acquires the measured position information and the positioning accuracy information from each of the plurality of mobile systems, and if the positioning accuracy is higher than the predetermined standard, identifies the position indicated by the acquired measured position information as the position of the mobile system on the high-precision map, and if the positioning accuracy is lower than the predetermined standard, executes the low-precision GNSS matching process to match the position of the mobile system on the high-precision map.

8. A non-transitory tangible recording medium having recorded thereon a program that causes a computer to execute the following: acquire, from a mobile system equipped with a GNSS antenna that receives satellite signals transmitted from positioning satellites, measured position information of the mobile system and angular velocity information detected by an angular velocity sensor equipped on the mobile system; calculate an estimated yaw rate of the mobile system that is estimated based on information on the movement history of the position of the mobile system and information on the azimuth angle at each position of the mobile system obtained from a high-precision map; and match the position of the mobile system on the high-precision map based on the measured position information, the actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

9. A location management system comprising: a first mobile system equipped with a GNSS antenna for receiving satellite signals transmitted from positioning satellites and having a positioning accuracy lower than a predetermined standard; a second mobile system equipped with a GNSS antenna for receiving satellite signals transmitted from positioning satellites and having a positioning accuracy higher than a predetermined standard; and an information processing device for acquiring measured position information from the first mobile system and the second mobile system and matching the positions of the first mobile system and the second mobile system on a high-precision map; wherein the first mobile system transmits the measured position information of the first mobile system, angular velocity information detected by an angular velocity sensor mounted on the first mobile system, and information on the positioning accuracy of the first mobile system to the information processing device; the second mobile system transmits the measured position information of the second mobile system and information on the positioning accuracy of the second mobile system to the information processing device; and the information processing device, when the positioning accuracy is higher than the predetermined standard, identifies the position indicated by the acquired measured position information as the position of the second mobile system on the high-precision map; a position management system that, when the positioning accuracy is lower than the predetermined standard, calculates an estimated yaw rate of the first mobile body system based on information on the movement history of the position of the first mobile body system and information on the azimuth angle at each of the positions obtained from the high-precision map, and matches the position of the first mobile body system on the high-precision map based on the measured position information of the first mobile body system, an actual yaw rate calculated based on the angular velocity information, and the estimated yaw rate.

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