Vehicle Position Control Using Reliable Map Voxels
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Solution Overview
Problem
The accuracy of position information regarding stationary structures in map information varies, leading to decreased accuracy in estimating the own vehicle position when matching with low-accuracy recorded stationary objects, which is not adequately addressed by existing methods.
Innovation Solution
An output device that acquires and utilizes accuracy information and weight information attached to map information to output control information for improving the accuracy of position estimation by weighting voxels with high reliability and considering occlusion possibilities, allowing for precise control of a moving body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If matching is performed with reference to a stationary object corresponding to position information with low accuracy recorded in map information, then the matching process can be completed, but the accuracy of the estimated own position decreases
Solution Approach 1:
The patent applies local quality by differentiating the treatment of different map information based on their accuracy levels. High-accuracy map information is prioritized for matching operations, while low-accuracy information is excluded or given lower weight. This selective approach ensures that only reliable stationary objects are used as reference points, thereby maintaining high position estimation accuracy while still completing the matching process efficiently.
2Quantity of substance
If all map information is used for matching regardless of accuracy, then the quantity of matching data increases, but the reliability of position estimation decreases
Solution Approach 1:
The patent changes the parameter of data selection criteria by introducing accuracy thresholds and reliability weights. Instead of using all map information uniformly, the system evaluates each stationary object's position information against predefined accuracy standards. Objects meeting the criteria are selected for matching, while others are excluded. This parameter-based filtering ensures that the quantity of matching data is optimized for reliability, producing position estimates that are both numerous and trustworthy.
3Measurement precision
If high-accuracy map information is selectively used for matching, then position estimation accuracy improves, but the complexity of information processing increases
Solution Approach 1:
The patent applies preliminary action by pre-processing and categorizing map information into accuracy levels before the actual matching operation. Stationary objects are预先 evaluated and tagged with their position information accuracy during map creation or update phases. When position estimation is needed, the system simply retrieves pre-categorized high-accuracy objects without performing complex real-time accuracy assessments. This preliminary classification reduces online processing complexity while maintaining high position estimation accuracy.
Data Source
AI summary
An onboard device 1 acquires, from map DB 10 including voxel data, reliability information included in the voxel data corresponding to voxels around the route when determining that the accuracy of an estimated position has decreased. Then, on the basis of the acquired reliability information, the onboard device 1 sets a voxel suitable for estimating the own vehicle position as a reference voxel Btag. Then, the onboard device 1 output, to an electronic control device of the vehicle, control information for correcting the target track of the vehicle so as for the vehicle to pass the position suitable for measuring the reference voxel Btag.