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WO2017168588A1 - Dispositif de mesure, procédé de mesure et programme - Google Patents

Dispositif de mesure, procédé de mesure et programme Download PDF

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Publication number
WO2017168588A1
WO2017168588A1 PCT/JP2016/060234 JP2016060234W WO2017168588A1 WO 2017168588 A1 WO2017168588 A1 WO 2017168588A1 JP 2016060234 W JP2016060234 W JP 2016060234W WO 2017168588 A1 WO2017168588 A1 WO 2017168588A1
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WO
WIPO (PCT)
Prior art keywords
time
features
moving body
distance
traveling direction
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Application number
PCT/JP2016/060234
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English (en)
Japanese (ja)
Inventor
諒子 新原
加藤　正浩
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パイオニア株式会社
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Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2016/060234 priority Critical patent/WO2017168588A1/fr
Publication of WO2017168588A1 publication Critical patent/WO2017168588A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement

Definitions

  • the present invention relates to a technique for detecting a change in the traveling direction of a moving object.
  • Patent Document 1 describes a method of recognizing a fixed object existing in front of a moving body and correcting a deviation amount of a yaw rate sensor based on a movement trajectory in which the fixed object moves relative to the host vehicle. ing.
  • An object of the present invention is to provide a measuring apparatus capable of calculating the azimuth angle of a moving body with one sensor and obtaining the amount of change in the traveling direction.
  • Invention of Claim 1 is a measuring device, Comprising: Each distance from a mobile body to two features in each of 1st time and 2nd time, and direction of these 2 features seen from the mobile body And a moving direction of the moving body from the first time to the second time based on an acquisition result of the first acquiring section. And a calculating unit that calculates the amount of change.
  • the invention according to claim 7 is a measuring method executed by a measuring device, wherein each distance from a moving body to two features at each of a first time and a second time and the distance from the moving body. Based on the acquisition result of the 1st acquisition process and the 1st acquisition process which acquires the angle which each direction of two features and the advancing direction of the above-mentioned moving body make, the above-mentioned from the 1st time to the 2nd time And a calculating step of calculating the amount of change in the traveling direction of the moving body.
  • the invention according to claim 8 is a program executed by a measuring apparatus including a computer, and each distance from a moving body to two features at each of a first time and a second time and from the moving body From the first time to the second time based on the acquisition result of the first acquisition unit and the first acquisition unit that acquire the angles formed by the direction of the two features and the traveling direction of the moving body.
  • the computer is caused to function as a calculation unit that calculates an amount of change in the traveling direction of the moving body.
  • the calculation method of the azimuth change amount according to the first example of the first embodiment will be described.
  • the calculation method of the azimuth change amount according to the second example of the first embodiment will be described. It is a block diagram which shows the structure of the coefficient update apparatus by 1st Example. It is a flowchart of the coefficient update process by 1st Example.
  • the calculation method of the azimuth change amount according to the second embodiment will be described. It is a figure explaining a map coordinate system and a vehicle coordinate system.
  • the calculation method of the azimuth angle of the vehicle by 2nd Example is shown.
  • It is a flowchart of the coefficient update process by 2nd Example The example of the positional relationship of three features and a moving vehicle is shown. The other example of the positional relationship of three features and a moving vehicle is shown.
  • the distance from the moving body to the two features at the first time and the second time, the direction of the two features viewed from the moving body, and the progress of the moving body respectively.
  • a first acquisition unit that acquires an angle formed by each direction, and a calculation that calculates an amount of change in the traveling direction of the moving body from the first time to the second time based on an acquisition result of the first acquisition unit A section.
  • the distance from the moving body to the two features at the first time and the second time, the direction of the two features viewed from the moving body, and the traveling direction of the moving body are determined. Get the angle between each. And based on the acquisition result of the said 1st acquisition part, the variation
  • One aspect of the measurement apparatus further includes a second acquisition unit that acquires a distance between the two features, and the calculation unit is based on the acquisition results of the first acquisition unit and the second acquisition unit, An amount of change in the traveling direction of the moving body from the first time to the second time is calculated.
  • the distance between two features is acquired, and the amount of change in the traveling direction of the moving object is calculated using this distance.
  • the second acquisition unit is based on the distance between the two features and the angle formed by the moving direction of the moving body and the direction of each of the two features. Get the distance between two features.
  • the second acquisition unit acquires a distance between the two features based on map information.
  • the output result at the second time of the angular velocity sensor mounted on the moving body is calculated based on the change amount in the traveling direction per unit time.
  • a correction unit that corrects the first information for calculating the yaw rate of the mobile body.
  • the first information for calculating the yaw rate of the moving body is corrected based on the amount of change in the traveling direction per unit time.
  • the first information includes sensitivity and offset of the angular velocity sensor.
  • the measuring method executed by the measuring device includes the distance from the moving body to the two features at the first time and the second time, and the distance from the moving body. Based on the acquisition result of the 1st acquisition process and the 1st acquisition process which acquires the angle which each direction of two features and the advancing direction of the above-mentioned moving body make, the above-mentioned from the 1st time to the 2nd time And a calculation step of calculating a change amount in the traveling direction of the moving body. Thereby, the amount of change in the traveling direction of the moving body can be calculated using any feature that can be measured from the moving body.
  • the program executed by the measuring device including the computer is the distance from the moving body to the two features and the moving body at the first time and the second time, respectively. From the first time to the second time based on the acquisition result of the first acquisition unit and the first acquisition unit that acquire the angles formed by the direction of the two features and the traveling direction of the moving body.
  • the computer is caused to function as a calculation unit that calculates the amount of change in the traveling direction of the moving body. Thereby, the amount of change in the traveling direction of the moving body can be calculated using any feature that can be measured from the moving body.
  • This program can be stored in a storage medium and used.
  • the sensitivity and offset of the gyro sensor have characteristics that change with temperature and vibration. Therefore, if the angular velocity is integrated in a state including these errors, the errors accumulate, and the calculated azimuth angle deviates greatly from the actual value. Therefore, in order to estimate the azimuth angle with high accuracy, it is necessary to continuously correct the sensitivity and offset of the gyro sensor.
  • the sensitivity and offset are corrected using the direction change amount based on GPS information. For this reason, the accuracy of correction deteriorates in an environment such as an urban area where the GPS reception state is poor. Moreover, it cannot correct
  • the coefficient updating apparatus calculates the azimuth change amount of the vehicle based on the measurement result of the feature by the external sensor without using the GPS information, and corrects the sensitivity and offset of the gyro sensor.
  • the external sensor include a camera, LiDAR (Light Detection And Ranging), and a millimeter wave radar.
  • the coefficient updating device corrects the sensitivity and offset of the gyro sensor through the following steps. (1) Two features are detected at time t-1 and time t. (2) Based on the feature measurement result at each time, the amount of change in the azimuth angle of the vehicle between time t-1 and time t is calculated. (3) The sensitivity coefficient and the offset coefficient are estimated by the successive least square method.
  • ⁇ L When the change amount of the azimuth angle of the vehicle (hereinafter referred to as “azimuth angle change amount”) ⁇ L can be obtained from the feature measurement value by the external sensor, the following is obtained by dividing this by the time interval ⁇ t.
  • the angular velocity is calculated as follows.
  • the angular velocity (also referred to as “measured yaw rate”) obtained from the feature measurement value by the external sensor is regarded as the true angular velocity, it can be expressed as follows.
  • the recursive least square method it is possible to obtain the ⁇ and beta. That is, if the azimuth angle change amount ⁇ of the vehicle can be acquired using an external sensor, the sensitivity and offset of the gyro sensor can be estimated.
  • the azimuth angle change amount ⁇ is obtained using the measured value of the feature by the external sensor.
  • FIG. 1 is a diagram for explaining a method of calculating the azimuth change amount of a vehicle according to the first example of the first embodiment.
  • the feature A and the feature B can be measured by the external sensor at time t-1 and time t.
  • it is necessary that the same two features can be measured by the external sensor at each time.
  • the azimuth angle variation ⁇ of the vehicle is expressed as follows using the azimuth angles ⁇ A, t-1 , ⁇ A, t of the feature A at time t-1 and time t and the angles ⁇ , ⁇ in FIG. Can be calculated.
  • angle ⁇ t ⁇ 1 is obtained from the cosine theorem.
  • the azimuth angles ⁇ A, t ⁇ 1 , ⁇ A, t obtained by the external sensor and the angles ⁇ t ⁇ 1 , ⁇ t obtained by the above equations (8), (9) are expressed by equation (7).
  • the azimuth angle change amount ⁇ can be calculated.
  • FIG. 2 is a diagram for explaining a method of calculating the azimuth change amount of the vehicle according to the second example of the first embodiment.
  • the feature A and the feature B can be measured by the external sensor at time t ⁇ 1 and time t.
  • the azimuth angle change amount ⁇ of the vehicle is expressed as follows using the azimuth angles ⁇ B, t ⁇ 1 , ⁇ B, t of the feature A at time t ⁇ 1 and time t and the angles ⁇ ′ and ⁇ ′ in FIG. It can be calculated as follows.
  • the angle ⁇ ′ t ⁇ 1 is obtained from the cosine theorem.
  • the relative distance r of the feature and the relative angle ⁇ of the feature can be obtained from the external sensor.
  • the relative position (x, y) of the feature can be obtained instead of the distance r and the relative angle ⁇
  • the relative distance r and the relative angle ⁇ can be obtained from the relative position (x, y) by the following formula and used. That's fine.
  • the distance R between the features can be calculated using the feature measurement value by the external sensor. Specifically, when the relative distance r and the relative angle ⁇ of the feature with respect to the host vehicle can be acquired from the external sensor, the distance R between the features can be calculated as follows using the cosine theorem.
  • the distance R between the features can be calculated as follows.
  • the distance R between the features may be acquired from the high-accuracy map.
  • the accuracy of the distance between features also changes depending on the measurement accuracy. That is, if the measurement accuracy is poor, the accuracy of the calculated distance between the features is also deteriorated, and the accuracy of the azimuth change amount of the vehicle to be calculated later is also deteriorated.
  • this problem can be avoided and the accuracy of the obtained azimuth angle change amount of the vehicle can be improved.
  • FIG. 3 is a block diagram showing the configuration of the coefficient update device 10 according to the first embodiment.
  • the coefficient update device 10 includes a gyro sensor 11, an external sensor 12, a traveling direction acquisition unit 13, a feature measurement unit 14, an inter-feature distance calculation unit 15, a coefficient calculation unit 16, And an azimuth angle variation calculation unit 17.
  • the traveling direction acquisition unit 13, the feature measurement unit 14, the feature distance calculation unit 15, the coefficient calculation unit 16, and the azimuth change amount calculation unit 17 execute a program prepared in advance by a computer such as a CPU. This can be realized.
  • the gyro sensor 11 supplies the detected angular velocity ⁇ t to the traveling direction acquisition unit 13 and the coefficient calculation unit 16.
  • the traveling direction acquisition unit 13 acquires the traveling direction Hd of the vehicle based on the angular velocity ⁇ t supplied from the gyro sensor 11 and supplies it to the feature measurement unit 14.
  • the external sensor 12 is, for example, a camera, LiDAR, millimeter wave radar, or the like.
  • the feature measuring unit 14 measures the distance to the feature and the angle with the feature based on the output of the external sensor 12. Specifically, the feature measuring unit 14 measures the distances (relative distances) r A, t ⁇ 1 , r B, t ⁇ 1 from the vehicle to the two features A, B at time t ⁇ 1. At the same time, the azimuth angles (relative angles) ⁇ A, t ⁇ 1 , ⁇ B, t ⁇ 1 of the two features A and B with respect to the traveling direction Hd t ⁇ 1 of the vehicle supplied from the traveling direction acquisition unit 13 are calculated.
  • the distance between the features is supplied to the distance calculation unit 15 and the azimuth angle change calculation unit 17.
  • the feature measurement unit 14 measures the distances r A, t , r B, t from the vehicle to the two features A, B at the time t, and the vehicle supplied from the traveling direction acquisition unit 13 two features a to the traveling direction Hd t, the azimuth angle phi a, t of B, calculates the ⁇ B, t, and supplies the feature distance calculation unit 15 and azimuth angle change amount calculation unit 17.
  • the inter-feature distance calculation unit 15 uses the above equation (15).
  • a distance R between the features A and B is calculated and supplied to the azimuth angle change amount calculation unit 17.
  • the distance calculation part 15 between features may acquire the distance R between features from a high precision map.
  • the azimuth angle variation calculation unit 17 includes the azimuth angles ⁇ A, t ⁇ 1 , ⁇ B, t ⁇ 1 , ⁇ A, t , ⁇ B, t , and distance between features supplied from the feature measurement unit 14. Based on the distance R between the features calculated by the calculation unit 15, the azimuth change amount ⁇ of the vehicle is calculated by the above formulas (7) to (9) or the formulas (11) to (13) to calculate the coefficient. 16 is supplied.
  • the feature measurement unit 14 is an example of the first acquisition unit of the present invention
  • the azimuth change amount calculation unit 17 is an example of the calculation unit of the present invention
  • the inter-feature distance calculation unit 15 is the main acquisition unit. It is an example of the 2nd acquisition part of invention, and a coefficient calculation part is an example of the correction
  • the azimuth angle change amount corresponds to the change amount in the traveling direction in the present invention.
  • FIG. 4 is a flowchart of the coefficient update process.
  • the first example of the method for calculating the azimuth angle change amount described above is used.
  • the coefficient updating unit 10 the external sensor 12 detects the feature A, B (Step S10), and calculates an angle theta t by the formula (9) described above (step S11).
  • step S12 YES
  • the features A and B are detected at two times and the angles ⁇ t ⁇ 1 and ⁇ t are obtained.
  • the azimuth angle change amount ⁇ is calculated (step S14).
  • the coefficient updating apparatus 10 calculates the true angular velocity (measured yaw rate) ⁇ _dot (t) from the azimuth change amount ⁇ and the time interval ⁇ t using the equation (2) (Step S15), and obtained. From the measured yaw rate ⁇ _dot (t) and the output ⁇ t of the gyro sensor, the sensitivity coefficient ⁇ and the offset coefficient ⁇ are calculated and updated by the above equation (3) (step S16).
  • FIG. 5 is a diagram for explaining a method of calculating the azimuth change amount according to the second embodiment.
  • the position of the vehicle is shown on the map coordinate system (X m , Y m ).
  • map coordinates system is defined by X m-axis and the Y m axis.
  • the vehicle coordinate system is defined by an Xv axis indicating the front-rear direction of the vehicle, a Yv axis indicating the left-right direction of the vehicle, and a Zv axis indicating the vertical direction of the vehicle. Is done.
  • the second embodiment first, at time t ⁇ 1, at least two features registered in the high-precision map are measured using an external sensor.
  • the feature A and the feature B are measured.
  • the azimuth angle ⁇ t ⁇ 1 of the vehicle is calculated from the position information of the features A and B obtained from the high-accuracy map and the measurement result by the external sensor.
  • At time t similarly, at least two features registered in the high-precision map are measured using the external sensor.
  • the feature C and the feature D are measured.
  • direction angle (psi) t of a vehicle is calculated from the positional information on the features C and D obtained from a highly accurate map, and the measurement result by an external sensor.
  • the external sensor since the azimuth angle of the vehicle can be calculated independently at each time, it is not necessary that the same two features can be detected by the external sensor at time t-1 and time t.
  • the external sensor detects the features A and B at time t ⁇ 1 and detects the features C and D different from the features A and B at time t ⁇ 1.
  • FIG. 7 shows a method of calculating the azimuth angle of the vehicle according to the second embodiment.
  • the position (x mA , y mA ) of the feature A and the position (x mB , y mB ) of the feature A can be acquired from the high-precision map, and the relative position ( x vA , y vA ) and the relative position (x vB , y vB ) of the feature B can be acquired.
  • the vector p from the feature B to the feature A is in the map coordinate system [X mA -x mB y mA -y mB ] T
  • [X vA -x vB y vA -y vB ] T It is expressed. Here, it is set as follows.
  • the direction cosine matrix C from the map coordinate system to the vehicle coordinate system is as follows.
  • the azimuth angle ⁇ of the vehicle can be calculated using the equations (22) to (24).
  • the vehicle azimuth angles ⁇ t-1 and ⁇ t are calculated at time t-1 and time t, respectively, and are substituted into equation (17), whereby the azimuth angle change amount ⁇ of the vehicle can be calculated.
  • FIG. 8 is a block diagram showing the configuration of the coefficient update device 20 according to the second embodiment.
  • the coefficient update device 20 includes a gyro sensor 21, an external sensor 22, a feature measurement unit 23, a coefficient calculation unit 24, an azimuth change amount calculation unit 25, and a map database (DB) 26. Is provided.
  • the feature measurement unit 23, the coefficient calculation unit 24, and the azimuth change amount calculation unit 25 can be realized by executing a program prepared in advance by a computer such as a CPU.
  • the gyro sensor 21 supplies the detected angular velocity ⁇ t to the coefficient calculation unit 24.
  • the external sensor 22 is, for example, a camera, LiDAR, millimeter wave radar, or the like.
  • the feature measurement unit 23 measures the relative position (x v , y v ) of the two features based on the output of the external sensor 22 and supplies the measured relative position (x v , y v ) to the azimuth angle change amount calculation unit 25.
  • the azimuth angle variation calculation unit 25 acquires the relative positions (x m , y m ) of the two features from the map DB 26 storing the high-accuracy map. Then, the azimuth angle change amount calculation unit 25 uses the relative positions (x v , y v ) and (x m , y m ) of the two features to calculate the azimuth angle ⁇ t according to equations (18) to (24). Is calculated. By performing this processing at two different times, the azimuth angle change amount calculation unit 25 calculates azimuth angles ⁇ t ⁇ 1 and ⁇ t , calculates the azimuth angle change amount ⁇ by equation (17), and calculates coefficients. To the unit 24.
  • the coefficient calculation unit 24 Based on the angular velocity ⁇ t supplied from the gyro sensor 21 and the azimuth angle change amount ⁇ supplied from the azimuth angle change amount calculation unit 25, the coefficient calculation unit 24 performs the following equations (2) to (3).
  • the sensitivity coefficient ⁇ and the offset coefficient ⁇ of the gyro sensor are calculated and updated.
  • FIG. 9 is a flowchart of the coefficient update process according to the second embodiment.
  • the coefficient update device 20 acquires the positions of two features by the external sensor 12 (step S20). Next, the coefficient update device 20 acquires the positions of these two features from the high-accuracy map stored in the map DB 26 (step S21). Next, the coefficient updating device 20 calculates the azimuth angle by the equations (18) to (24) based on the positions of the two features acquired from the external sensor and the positions of the two features acquired from the high-precision map. ⁇ is calculated (step S22).
  • step S23 YES
  • two features are detected at two times and azimuth angles ⁇ t ⁇ 1 and ⁇ t are obtained.
  • the azimuth angle change amount ⁇ is calculated from the equation (17) (step S25).
  • the coefficient updating device 20 calculates the true angular velocity (measured yaw rate) ⁇ _dot (t) from the azimuth angle change amount ⁇ and the time interval ⁇ t using the equation (2) (step S26). Then, the coefficient update device 20 calculates and updates the sensitivity coefficient ⁇ and the offset coefficient ⁇ from the measured yaw rate ⁇ _dot (t) and the output ⁇ t of the gyro sensor by the above-described equation (3) (step S27).
  • the azimuth angle change amount ⁇ between time t-1 and time t is calculated by the coefficient update process described above.
  • the azimuth angle change obtained by the combination of the feature 1 and the feature 2 is ⁇ 12
  • the azimuth change obtained by the combination of the feature 2 and the feature 3 is ⁇ 23
  • the feature 3 and the feature Assuming that the azimuth change amount obtained by the combination of 1 is ⁇ 31 , a value obtained by averaging these can be used as the azimuth change ⁇ as follows.
  • the coefficient updating device may obtain the azimuth angle change amount ⁇ by using two features that are closer to the vehicle, that is, the feature 1 and the feature 3.
  • the distance between the features is compared with the threshold value L th .
  • L 12 ⁇ L th , L 23 > L th , and L 31 > L th combinations in which the distance between the features is shorter than the threshold L th , that is, combinations of the features 1 and 2 are excluded, combinations of the features 2 and 3 and features 1 and features
  • the azimuth angle change amount ⁇ may be obtained using the combination of three. Specifically, considering the distance from the vehicle to the feature by the method (B), the feature update device is closer to the vehicle than the feature 2 (L 1 ⁇ L 2 ). Based on the combination of the feature 1 and the feature 3, the azimuth angle change amount ⁇ may be obtained.
  • the average value of ⁇ 31 may be used as the azimuth angle change amount ⁇ .
  • the predetermined distance is set as the threshold value L th in advance, but instead, an average value of three or more measured distances between features may be used as the threshold value L th .
  • either the method for calculating the distance R between the features from the measurement results of the two features or the method for obtaining the distance R between the features using the map data of the high-precision map may be used in combination.
  • the distance between features R is obtained using high-precision map data
  • the distance R between features is obtained from the measurement result of the features. May be.
  • the present invention can be used for an apparatus mounted on a moving body.

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Abstract

La présente invention concerne un dispositif de mesure qui acquiert des distances d'un corps mobile à deux objets au sol à un premier temps d'horloge et à un deuxième temps d'horloge, et des angles formés entre la direction de déplacement du corps mobile et les directions des deux objets au sol depuis le corps mobile. Sur la base des résultats acquis de la première unité d'acquisition, une quantité de changement de la direction de déplacement du corps mobile du premier temps d'horloge au deuxième temps d'horloge est calculée.
PCT/JP2016/060234 2016-03-29 2016-03-29 Dispositif de mesure, procédé de mesure et programme WO2017168588A1 (fr)

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JP2020047210A (ja) * 2018-09-21 2020-03-26 トヨタ自動車株式会社 物体検出装置
CN110988989A (zh) * 2019-12-05 2020-04-10 大连民族大学 一种爆破振动速度幅值和方向修正的方法

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JP2014098613A (ja) * 2012-11-14 2014-05-29 Kddi Corp ジャイロセンサの較正機能を備えた角速度測定装置、較正プログラム及び方法
US20150025786A1 (en) * 2012-02-28 2015-01-22 Continental Automotive Gmbh Method And Device For Determining The Speed And/Or Position Of A Vehicle

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Publication number Priority date Publication date Assignee Title
JPH08247775A (ja) * 1995-03-15 1996-09-27 Toshiba Corp 移動体の自己位置同定装置および自己位置同定方法
JP2006160116A (ja) * 2004-12-08 2006-06-22 Toyota Central Res & Dev Lab Inc 車両運動推定装置及び移動体検出装置
JP2008008783A (ja) * 2006-06-29 2008-01-17 Toyota Motor Corp 車輪速パルス補正装置
US20100017128A1 (en) * 2007-06-05 2010-01-21 Gm Global Technology Operations, Inc. Radar, Lidar and camera enhanced methods for vehicle dynamics estimation
JP2013072782A (ja) * 2011-09-28 2013-04-22 Aisin Aw Co Ltd 移動体位置検出システム、移動体位置検出装置、移動体位置検出方法及びコンピュータプログラム
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Publication number Priority date Publication date Assignee Title
JP2020047210A (ja) * 2018-09-21 2020-03-26 トヨタ自動車株式会社 物体検出装置
JP7020353B2 (ja) 2018-09-21 2022-02-16 トヨタ自動車株式会社 物体検出装置
CN110988989A (zh) * 2019-12-05 2020-04-10 大连民族大学 一种爆破振动速度幅值和方向修正的方法

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