Closed-Route Map Updating for Stable Vehicle Position Estimation
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Solution Overview
Problem
Existing map updating techniques for autonomous vehicles cause abrupt changes in position and orientation estimation due to frequent updates, leading to unpredictable vehicle movements.
Innovation Solution
An information processing apparatus that restrains map updates when the distance between the vehicle's estimated position and the updated map feature point exceeds a threshold, only updating the map when the vehicle returns to a predetermined distance from the initial position, thereby reducing abrupt changes in vehicle speed and direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If map information is updated frequently based on sensor values, then map accuracy is improved, but abrupt changes in vehicle position and orientation estimation occur
Solution Approach 1:
The system calculates the distance between the vehicle's current position and the update region, and uses this feedback to dynamically control map updates. When the distance is below a threshold, updates are restrained; when above, updates are performed. This feedback mechanism balances map accuracy improvement with maintaining stable position estimation.
Solution Approach 2:
The map update frequency is made dynamic rather than static. The system adjusts the update behavior based on the vehicle's distance from the update region, transitioning between updating and restraining states. This dynamic control prevents abrupt changes while allowing progressive map improvement.
2Reliability
If map updates are performed continuously, then map information remains current, but vehicle speed and direction change unpredictably
Solution Approach 1:
The system continuously monitors the vehicle's distance from the update region and uses this information to control update timing. This feedback ensures updates occur only when appropriate, maintaining map currency without causing unpredictable vehicle behavior.
Solution Approach 2:
Instead of continuous updates, the system performs periodic updates based on the vehicle's distance from the update region. Updates are triggered periodically when the distance threshold is exceeded, ensuring map information remains current while providing stable navigation.
3Stability of the object's composition
If map updates are restrained to reduce abrupt changes, then vehicle navigation stability is improved, but map accuracy improvement slows down
Solution Approach 1:
The system dynamically adjusts between restraining and performing updates based on real-time distance measurements. This allows the system to optimize between navigation stability and map improvement rate, neither being permanently sacrificed.
Solution Approach 2:
The system determines in advance whether to update or restrain based on the calculated distance from the update region. This preliminary determination prevents unnecessary updates that would slow improvement while avoiding updates that would compromise stability.
Data Source
AI summary
An information processing apparatus includes an update unit and an obtaining unit. The obtaining unit obtains a second position of a map feature point included in map information based on the map information and information obtained from a vehicle sensor. The map information includes a map feature point first position measured in an environment including a closed route along which the vehicle travels. The sensor-obtained information includes a sensor feature point measured by the sensor mounted on the vehicle while the vehicle travels along the closed route. Where a distance between an estimated vehicle first position and an estimated vehicle second position is greater than a threshold, map information updating is restrained. Where the vehicle traveling near the vehicle first position continues traveling along the closed route, the update unit updates the map information between when the vehicle leaves the vehicle first position and nears the vehicle second position.