JP2019101138A - Data structure of map data - Google Patents

Abstract

To provide a data structure of map data for recording information on a curve mirror.SOLUTION: Map data FM including positional data FMB 3 which indicates positions of a feature and object kind data FMB 2 which indicates the kind of the feature in association with each other, is used for processing that an on-vehicle terminal determines whether the feature specified by the positional data FMB 3 is a curve mirror or the like on the basis of the object kind data FMB 2.SELECTED DRAWING: Figure 3

Description

  The present application relates to the technical field of the data structure of map data stored in a terminal and a server.

  In an autonomous driving vehicle, the feature position measured by a sensor such as a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) sensor is matched with the feature position described in map data for automatic It is necessary to estimate the vehicle position to the accuracy. There are signs and signs as features to be used, and map data for automatic operation including the positions of these features need to be maintained and updated according to reality in order to perform stable automatic operation. .

  As one technique for this purpose, development of laser measurement technology has been advanced in which laser light is emitted to the ground surface and point cloud data obtained by receiving the reflected light is utilized for utilization / update of map data and the like. For example, Patent Document 1 discloses a technique for extracting data measuring a road surface from among points cloud data including many data other than the road surface, such as buildings and road trees, etc. There is. By using the technology of Patent Document 1, it is possible to determine a road area from point cloud data obtained by measuring the ground surface. Moreover, if the said laser measurement technique including the technique of patent document 1 is used, it is also possible to detect terrestrial features, such as a sign installed in the roadside etc. besides the said road surface.

Unexamined-Japanese-Patent No. 2017-9378

  Here, on the road, there may be a case where a curved mirror, which is not visible to the driver of the vehicle, for example, for visually recognizing a person who intends to enter the road on which the vehicle travels from the side road or a bicycle is installed. The curved mirror has a high reflectance of laser light used in the above-described laser measurement technology. Therefore, when a laser beam is emitted from the LiDAR sensor to the curve mirror at the timing when the above person etc. are reflected on the curve mirror, the person etc. is as if it were a curve mirror according to the image of the person etc. included in the reflected light. There is a problem that it may be detected as if it exists at the position of. This problem leads to problems such as unnecessary braking operation being performed on the vehicle during automatic driving due to erroneous detection of the person or the like. It is considered that these problems can be solved by recognizing the position of the curve mirror in advance.

  Accordingly, the present application has been made in view of the above problems and needs, and an example of the problem is to provide a data structure of map data for recording information on a curve mirror.

  The invention according to claim 1 is a data structure of map data including position information indicating the position of a feature and type information indicating the type of the feature, the position being the type information as the type information. The information indicating that the predetermined feature specified by the information is a feature having a mirror is recorded, and the terminal mounted on the mobile body has the feature specified by the position information a mirror. It is a data structure of the said map data characterized by being used for the process which determines based on the said type information whether it is a terrestrial feature to have.

It is a block diagram which shows the data structure of the map data of embodiment. It is a block diagram showing a schematic structure of a map data management system of an example. (A) is a figure which illustrates the format of the transmission data of an Example. (B) is a figure which illustrates the format of the map data of an Example. It is a figure for demonstrating the calculation method of the curve mirror prediction range of an Example. (A) is a flowchart which shows the operation example of the transmission processing of transmission data by the map data management system of an Example. (B) is a figure which shows an example of an actual mirror. It is a flowchart which shows the operation example of the process using information, such as a curve mirror of an Example. It is a flowchart which shows the detail of the operation example of the process using information, such as a curve mirror of an Example.

  A mode for carrying out the present invention will be described with reference to FIG. In addition, FIG. 1 is a block diagram which shows a structure of the data structure of the map data of this embodiment.

  As shown in FIG. 1, the data structure of the present embodiment is a data structure of map data FM including position information 1A indicating the position of a feature and type information 1B indicating the type of the feature in association with each other. .

  Then, information indicating that the predetermined feature specified by the position information 1A is a feature having a mirror is recorded as the type information 1B, and the map data FM is obtained by the terminal mounted on the moving body It is used for the process which determines whether the terrestrial feature identified by the positional information 1A is a terrestrial feature having a mirror based on the type information 1B.

  As described above, the data structure of the map data FM according to the present embodiment includes the position information 1A and the type information 1B associated with the position information 1A, and the terminal is identified by the position information 1A. Since map data FM is used to determine whether an object is a feature having a mirror based on the type information 1B, a data structure of map data for recording information on the feature having a mirror is provided. be able to.

  An embodiment will be described with reference to FIGS. The embodiment described below is an embodiment in which the present embodiment is applied to the map data management system S. 2 is a block diagram showing a schematic configuration of the map data management system of the embodiment, FIG. 3 is a diagram etc. illustrating the format of map data of the embodiment, and FIG. 4 is a curve mirror prediction range of the embodiment It is a figure for demonstrating the calculation method of. Further, FIG. 5 is a flowchart showing an operation example of transmission processing of transmission data by the map data management system of the embodiment, and FIG. 6 is a flowchart showing an operation example of processing using information such as a curve mirror of the embodiment. FIG. 7 is a flowchart showing details of an operation example of processing using information of a curve mirror or the like according to the embodiment.

[1. Configuration and Outline of Map Data Management System S]
As shown in FIG. 2, the map data management system S of this embodiment includes a server device 100 that manages map data, and an on-board terminal 200 (an example of a terminal of the embodiment) mounted on each of a plurality of vehicles. The server device 100 and each in-vehicle terminal 200 are connected so as to be able to transmit and receive various data via a network NW such as the Internet, for example. Although one in-vehicle terminal 200 is shown in FIG. 2, the map data management system S may include a plurality of in-vehicle terminals 200. Further, the server apparatus 100 may also be configured by a plurality of apparatuses.

  In the vehicle mounted with the LiDAR sensor described later together with the vehicle-mounted terminal 200, the vehicle-mounted terminal 200 receives the reflected light of the laser light emitted by the LiDAR sensor from the feature existing in the vicinity of the vehicle. An object is detected, and data and the like corresponding to the detection result are transmitted to the server apparatus 100 as transmission data having the data structure of the embodiment described later. At this time, in addition to the so-called curve mirror installed by the country or local government etc. at a required location beside the road, one individual installed at the boundary between the parking lot owned by oneself and the road, for example. Mirrors are included. In the following description, these are collectively called "curve mirror etc." In addition to this, the vehicle body terminal 200 performs the process described later corresponding to the curve mirror or the like based on the reflected light of the laser beam by the curve mirror or the like.

  The server device 100 updates map data, which will be described later, recorded in the server device 100 based on the plurality of transmission data received from each of the plurality of in-vehicle terminals 200, and responds to a request from any of the in-vehicle terminals 100. In response, the map data corresponding to the request is transmitted to the requested on-vehicle terminal 200. The update of the map data may be performed by another device that has received an instruction from the server device 100.

[2. Configuration of in-vehicle terminal 200]
Next, the configuration of the on-vehicle terminal 200 of the present embodiment will be described.

  As shown in FIG. 2, the on-vehicle terminal 200 is roughly divided into a control unit 201, a storage unit 202, a communication unit 203, and an interface unit 204. It is connected to the field sensor 206.

  The storage unit 202 is configured of, for example, a hard disk drive (HDD) or a solid state drive (SSD), and stores an operating system (OS), a processing program of the embodiment, map data, various data, and the like. The map data describes map position information indicating the position of a feature to be detected by the LiDAR sensor 205, and a feature ID for identifying the feature from another feature. At this time, since the map position information and the feature ID are information linked to one feature, the feature ID can be said to be one of position information indicating the position of the one feature. In addition to the curved mirror and the like of the present embodiment, for example, a person, another vehicle, a traffic light, a signboard, and a building exist around the vehicle on which the on-board terminal 200 is mounted. And vegetation along the road. Also, map data similar to the map data stored in the storage unit 202 (that is, map data in which map position information and feature ID are described for each feature) is stored in the storage unit 102 of the server device 100 The same feature can be specified by the feature ID in each of the in-vehicle apparatus 200 and the server apparatus 100. Furthermore, the map data stored in the storage unit 202 may store, for example, map data of the whole country, or map data corresponding to a certain area including the current position of the vehicle is received in advance from the server device 100 or the like. May be stored.

  The communication unit 203 controls the communication state between the in-vehicle terminal 200 and the server device 100.

  The interface unit 204 implements an interface function when data is exchanged between the LiDAR sensor 205 and the internal sensor 206 and the on-vehicle terminal 200.

  The LiDAR sensor 205 is attached to, for example, a roof portion of a vehicle, and as one function, a pulse-like laser beam (more specifically, for example, a pulse-like shape) to draw a circle at the irradiation point of the laser beam around the vehicle. Infrared laser beam) is emitted and scanned. At this time, the LiDAR sensor 205 emits laser light downward at a constant angle, for example, from the roof portion. Then, the light reflected at the points on the surface of each feature around the vehicle is received, and reflection intensity data indicating the reflection intensity at each point, point cloud distance data, and the like are generated. The reflection intensity data is data indicating the reflection intensity of the laser light by the ground and features. The point group distance data is data indicating the direction in which the laser beam is irradiated and the distance to the point on the ground or feature on which the laser beam is irradiated. These reflection intensity data and point cloud distance data are generically called sensor data. A plurality of LiDAR sensors 205 are attached to the front and rear of the vehicle to combine the reflection intensity data and point cloud distance data of the field of view acquired by each, and generate sensor data of the surroundings of the vehicle. May be

  The LiDAR sensor 205 immediately generates sensor data when the reflection intensity is measured, and transmits the sensor data to the on-vehicle terminal 200 via the interface unit 204. When the control unit 201 receives sensor data from the LiDAR sensor 205, the control unit 201 measures the received sensor data as measured position information indicating the position of the vehicle at the time of reception of the sensor data (that is, the position of the in-vehicle terminal 200 including the LiDAR sensor 205). It is stored in the storage unit 202 in association with measurement date and time information indicating the date and time of reception of sensor data. Note that the control unit 201 stores the sensor data, the measurement position information, and the measurement date and time information stored in the storage unit 202 for which the predetermined time has elapsed from the measurement or the information transmitted to the server device 100. It may be deleted from 202.

  The internal sensor 206 is a generic term such as a satellite positioning sensor (GNSS (Global Navigation Satellite System)), a gyro sensor, a vehicle speed sensor, and the like mounted on a vehicle.

  The control unit 201 temporarily stores various data, such as a central processing unit (CPU) for controlling the entire control unit 201, a read only memory (ROM) in which a control program for controlling the control unit 201 and the like is stored in advance. And a random access memory (RAM). Then, the CPU reads and executes various programs stored in the ROM and the storage unit 202, thereby performing transmission processing of transmission data by the map data management system S of the embodiment and processing using information such as a curve mirror of the embodiment. To realize various functions including

  The control unit 201 acquires estimated own vehicle position information. The estimated own vehicle position information may be generated by a device outside the on-board terminal 200, or may be generated by the control unit 201. The estimated vehicle position information may be generated, for example, by matching the feature position measured by the LiDAR sensor 205 with the feature position of map data for automatic driving, or information detected by the inner sensor 206 and the above It can be generated based on map data, or a combination of these.

  Further, the control unit 201 detects, for example, a curve mirror or the like among features present on the side of the road based on the estimated own vehicle position information and the sensor data from the LiDAR sensor 205, and corresponds to the detection result. The transmission data 1 is transmitted to the server apparatus 100 according to the data structure of the transmission data 1 of the embodiment. The detection process of the curve mirror etc. will be described in detail later using FIG.

  Here, the data structure of the transmission data 1 according to the embodiment will be described with reference to FIG.

  The transmission data 1 of the embodiment for each feature including the curve mirror etc. of the embodiment is composed of the basic information TMB, the recognition object information TMO, and the specific information TMS, as illustrated in FIG. 3A. Has a data structure that

  Among them, the basic information TMB is composed of a header TMB1, vehicle metadata TMB2, and position data TMB3. At this time, the header TMB1 is data indicating a version of a data format as the transmission data 1 and a time stamp indicating when data of the transmission data 1 is transmitted. The vehicle metadata TMB2 is a vehicle ID for identifying a vehicle on which the in-vehicle apparatus 200 is mounted from another vehicle, data indicating the size of the vehicle, and data indicating the type of sensor connected to the on-vehicle terminal 200. Etc. are included. As the vehicle metadata TMB2, in addition to the LiDAR sensor 205 of the embodiment, there is assumed to be a camera connected to the in-vehicle terminal 200, which picks up the surroundings and outputs image data. The position data TMB3 is data indicating the position of the vehicle on which the on-board terminal 200 is mounted at the timing when the on-board terminal 200 detects and recognizes an object (hereinafter, the object is appropriately referred to as the "object"). At this time, the position is generally indicated by latitude and longitude, and in addition to this, elevation (altitude) data may be included.

  The recognition object information TMO is composed of object ID data TMO1, object type data TMO2, detection date data TMO3, position data TMO4, shape data TMO5, and size data TMO6. At this time, the object ID data TMO 1 is an ID for identifying a feature (hereinafter, the feature is appropriately referred to as a “target feature to be sent”) to which the specifications and the like are transmitted by the transmission data 1 from other features. It is data. The object ID data TMO1 may be blank data if the detected feature is detected for the first time. The object type data TMO2 is a type of a transmission target feature (for example, a type such as "traffic sign", "traffic light", "curve mirror", etc., and "curve mirror" depends on the number of mirrors attached to a pole) It is code data for specifying the type), and in this example, a value indicating “curve mirror etc.” is set. The detection date data TMO3 is data indicating the date when the transmission target feature is detected using the LiDAR sensor 205. The position data TMO4 is data indicating the latitude and longitude and the height (elevation) detected as the position where the transmission target feature exists. The shape data TMO5 is data indicating the shape (for example, a shape such as a round shape, a square shape, or the like) of the transmission target feature. Finally, the size data TMO 6 is data indicating the vertical and horizontal sizes of the feature portion of the transmission target feature. In the case of a curved mirror or the like, the characteristic portion is a portion of the mirror. Further, the lateral size in the size data TMO 6 is described using the positions of both ends of the horizontal line segment parallel to the mirror surface and having the same length as the diameter of the mirror.

  Furthermore, the specific information TMS is information added as information specific to a curve mirror or the like, and is configured of position height data TMS1, curvature data TMS2, and reflection presence / absence data TMS3. At this time, the position height data TMS1 is data indicating the height from the ground of the portion of the mirror in the curve mirror or the like. The curvature data TMS2 is data indicating the curvature of the mirror, and can be used to correct the shape of an object recognized from sensor data acquired through the curve mirror or the like. The reflection / non-reflection data TMS3 is data indicating whether or not a curve mirror or the like has functioned as a mirror, and for example, it is preferable to register whether or not the function has been performed for each time zone. Thus, in a time zone in which the mirror does not function as a mirror, it can be determined that the curve mirror etc. can not be used as a mirror, so that it is possible to omit the operation of processing using information such as a curve mirror described later.

  On the other hand, the control unit 201 predicts the actual position of a curve mirror or the like viewed from the host vehicle (that is, the LiDAR sensor 205) based on the estimated vehicle position information and map position information such as a curve mirror indicated by map data. . At this time, the control unit 201 calculates and sets a prediction range including the position of a curve mirror or the like with a certain margin. In the following description, the prediction range in which the position of the curve mirror or the like of the embodiment is included is simply referred to as "curve mirror prediction range".

  Here, a setting method of the curve mirror prediction range will be specifically described with reference to FIG. The coordinate system etc. in FIG. 4 are as follows. FIG. 4 shows a curve mirror prediction range including the position of the curve mirror included in the curve mirror and the like of the embodiment.

Map coordinate system: X _m , Y _m
Vehicle coordinate system: X _V , Y _V
Curve mirror map position in map coordinate system: mx _m , my _m
Curve mirror predicted position in vehicle coordinate system: lx _v , ly _v
Estimated vehicle position in the map coordinate system: x _m , y _m
Estimated vehicle azimuth in map coordinate system: Ψ _m
The above-mentioned vehicle coordinate system refers to a coordinate system using the position of the vehicle on which the vehicle body terminal 200 is mounted as a reference (origin).

  Based on the estimated own vehicle position indicated by the estimated own vehicle position information, the control unit 201 predicts the corresponding curve mirror from the curve mirror map position indicated by the map position information of the curve mirror in the traveling direction (for example, 10 m ahead) of the vehicle Calculate the range. Here, as shown in FIG. 4, in the case of detecting a curve mirror existing on the left side of the road (lane) on which the vehicle V travels, the case of calculating a curve mirror prediction range including the position of the curve mirror This will be described specifically. First, the control unit 201 calculates a curve mirror predicted position 301 based on the curve mirror map position and the estimated own vehicle position. The curved mirror predicted position is obtained by the following equation (1).

Next, the control unit 201 sets a curve mirror prediction range 311 based on the curve mirror prediction position 301. Specifically, a fixed range including the curve mirror predicted position 301 is set as a curve mirror predicted range 311. Then, the control unit 201 extracts sensor data 321 on a curve mirror indicating the reflection intensity in the curve mirror prediction range 311 from the sensor data.

  The control unit 201 associates the sensor data 321 extracted in this way with the feature ID corresponding to the curve mirror map position and the measurement date and time information corresponding to the sensor data which is the extraction source of the sensor data 321 in the storage unit 202. Remember. The process of the embodiment using information of a curve mirror or the like including the sensor data 321 obtained in this manner will be described in detail later using FIG.

[3. Configuration of Server Device 100]
Next, the configuration of the server device 100 will be described. As shown in FIG. 2, the server apparatus 100 is roughly divided into a control unit 101, a storage unit 102, a communication unit 103, a display unit 104, and an operation unit 105.

  The storage unit 102 is configured by, for example, an HDD or an SSD, and stores the OS, the map data, transmission data received from the in-vehicle terminal 200, and various other data.

  The communication unit 103 controls the communication state with the on-vehicle terminal 200.

  The display unit 104 is configured of, for example, a liquid crystal display or the like, and displays information such as characters and images.

  The operation unit 105 includes, for example, a keyboard, a mouse, and the like, receives an operation instruction from an operator, and outputs the content of the instruction to the control unit 101 as an instruction signal.

  The control unit 101 includes a CPU that controls the entire control unit 101, a ROM in which a control program that controls the control unit 101 and the like is stored in advance, and a RAM that temporarily stores various data. Then, the CPU reads and executes various programs stored in the ROM and the storage unit 102 to realize various functions including reception processing of transmission data by the map data management system S of the embodiment.

  The control unit 101 receives a plurality of the transmission data received from each of the one or a plurality of on-vehicle terminals 200, and uses them to update the map data corresponding to the corresponding feature.

  Here, a data structure of map data of the embodiment will be described using FIG. 3 (B).

  The map data FM stored in each of the on-vehicle terminal 200 and the server device 100 according to the embodiment has a data structure configured by basic information FMB and specific information FMS, as illustrated in FIG. 3B. ing.

  Among them, basic information FMB includes object ID data FMB1, object type data FMB2 (an example of type information 1B of the embodiment), position data FMB3 (an example of position information 1A of the embodiment), and size data FMB4. It is composed of At this time, the object ID data FMB1 is ID data for identifying the corresponding feature from the other features. The object type data FMB2 is code data for specifying the type of the corresponding feature, as in the case of the object type data TMO2, and in the present example, a value indicating "curve mirror etc." is set. . The position data FMB3 is data indicating the latitude and longitude and the height (elevation) of the position where the corresponding feature exists. The size data FMB4 is data indicating the vertical and horizontal sizes of the feature part of the corresponding feature, similarly to the size data TMO6. In addition to the position data FMB3, information indicating which road link the feature belongs to may be added.

  Next, the specific information FMS is information added as information specific to the curve mirror, and the curvature data FMS1, the observation target data FMS2, the shape data FMS3, the owner data FMS4, and the unusable time zone data FMS5 And consists of. At this time, the curvature data FMS1 is data indicating the curvature of a corresponding feature when the corresponding feature is a curve mirror or the like, as in the curvature data TMS2. The observation target data FMS2 is data indicating an object (for example, a road as a merging side road) to be displayed on the mirror when the corresponding feature is a curve mirror etc. Specifically, the road etc. It is road ID data for identifying with another road etc. In addition, it is preferable to associate the direction in which the curve mirror is viewed (or the road ID data indicating the road when the curve mirror is viewed), and to register an object projected on the mirror. The shape data FMS3 is data indicating the shape of the corresponding feature, as in the case of the shape data TMO5. The owner data FMS4 is data indicating the owner (e.g., classification of whether it is a state or a local government or private ownership) when the corresponding feature is a curve mirror or the like. When the corresponding feature is a curve mirror or the like, the unavailable time zone data FMS5 is, for example, a curve mirror or the like in the LiDAR sensor 205 in a time zone in which the sun is located behind the curve mirror or the like as viewed from the vehicle. Since the object etc. which exist in the road etc. which observation object data FMS2 show can not be detected using these, it is data which show the time zone. The unusable time zone data FMS 5 may be provided, for example, for each type of sensor that may be mounted on a vehicle. For example, for a camera as a sensor, a time zone in which morning dew adheres to a mirror is assumed as unusable time zone data FMS5. Further, for example, when a part of the curve mirror or the like is hidden by the street tree due to the season, data indicating the season may be used as the unavailable time zone data FMS5. Among the specific information FMS, the observation object data FMS2, the owner data FMS4, and the unusable time zone data FMS5 are, for example, based on the information from the installer at the stage when the corresponding curve mirror etc. are installed. It can be configured to be described in the map data FM.

[4. Operation Example of Map Data Management System S]
[4.1. Example of operation at detection of curve mirror etc.]
Next, among the operation examples of the map data management system S, an operation example at the time of detection of a curve mirror or the like by the on-board terminal 200 will be described using the flowchart of FIG. 5A. In the flowchart of FIG. 5, the flow of transmitting data 1 generated by the one on-vehicle terminal 200 using the detection result of the LiDAR sensor 205 and transmitting it to the server device 100 is described, but map data The same processing is performed for each of the on-vehicle terminals 200 included in the management system S. Also, the processing of step S101 to step S105 of the on-vehicle terminal 200 of FIG. 5A is performed periodically (for example, every predetermined time and / or each time the vehicle equipped with the on-vehicle terminal 200 moves for a predetermined distance) The server device 100 executes the processing of step S201 to step S202 in response to the processing of step S105 by the on-vehicle terminal 200.

  First, the control unit 201 of the on-vehicle terminal 200 acquires estimated own vehicle position information (step S101).

  Next, based on the sensor data from the LiDAR sensor 205, the control unit 201 is a feature that seems to be a curve mirror or the like (see FIG. 4) existing along the moving direction of the vehicle in which the on-board terminal 200 is mounted. Are recognized (step S102). More specifically, in step S102, in a general curve mirror, as illustrated in FIG. 5B, a mark MK such as "attention" with an arrow is attached to the pole PL to which the mirror MR1 and the mirror MR2 are fixed. Since it is often provided, by detecting the mark MK based on the sensor data, it can be recognized that the feature to which the mark MK is attached is a curve mirror or the like. Also, for example, the control unit 201 may recognize that the ground object is a curve mirror or the like based on the attribute or the like of the object detected at a position that can not be detected depending on the emission angle of the laser light from the LiDAR sensor 205 it can. More specifically, when a vehicle is detected by, for example, laser light emitted upward from the horizontal direction, it can be determined that the vehicle is a vehicle reflected in a mirror such as a curve mirror, whereby the control unit 201 The position of the vehicle can be recognized as the position of a mirror such as a curve mirror. Next, from the map data FM corresponding to the estimated own vehicle position indicated by the estimated own vehicle position information acquired in step S101, the control unit 201 maps the feature (a feature considered to be a curve mirror or the like) recognized in step S102. Position information is acquired (step S103). At this time, as described above, the control unit 201 acquires the map position information and the feature ID of the curve mirror in the traveling direction of the vehicle.

  Next, the control unit 201 determines the curvature of the mirror in the curve mirror or the like recognized in step S102, the shape thereof, and the height from the ground based on the sensor data in step S102 (step S104). At this time, if, for example, a white line appears on the curve mirror or the like recognized in step S102, the control unit 201 can determine the curvature of the mirror based on the degree of distortion. Thereafter, the control unit 201 generates transmission data 1 having a data structure exemplified in FIG. 3A using each data obtained up to step S104, and transmits the transmission data 1 to the server apparatus 100. After that, the control unit 201 ends the process of generating and transmitting transmission data 1 as the on-vehicle terminal 200.

  On the other hand, when the control unit 101 of the server device 100 receives the transmission data 1 from the in-vehicle terminal 200 (step S201), the control unit 101 updates the map data FM recorded in the storage unit 102 using this (step S201). S202). Thereafter, the control unit 101 ends the map data update process. As a result, the map data FM updated by the plurality of transmission data 1 transmitted from each of the plurality of on-vehicle terminals 200 is accumulated in the storage unit 102 of the server device 100.

  In step S103, when the map position information of the feature can not be acquired from the map data FM, the feature recognized in step S102 is a newly installed feature (in this case, a newly installed curve mirror Etc.), the object ID data TMO1 is left blank, and the control unit 101 of the server apparatus 100 that has received the transmission data 1 for the curve mirror etc. registers information such as a new curve mirror etc. in the map data FM And update the map data FM.

[4.2. Operation example of processing using information such as curve mirror]
Next, with reference to the flowcharts of FIGS. 6 and 7, an operation example of a process by the vehicle body terminal 200 using information such as a curve mirror of the embodiment will be described. Further, the process using the information such as the curve mirror of the embodiment is executed periodically (for example, every predetermined time and / or each time the vehicle on which the on-vehicle terminal 200 is mounted moves a predetermined distance). Ru.

  First, the control unit 201 of the vehicle body terminal 200 acquires estimated own vehicle position information in the same manner as step S101 in FIG. 5A (step S211). Next, from the map data FM, the control unit 201 obtains position data FMB3, its object ID data FMB1, and others of a curve mirror or the like existing in the vicinity of the vehicle indicated by the estimated vehicle position information acquired in step S211. Information (step S212, see FIG. 3 (B)).

  Next, the control unit 201 determines the estimated own vehicle position indicated by the estimated own vehicle position information, the map position such as a curve mirror indicated by position data FMB3 for a curve mirror etc., and the height of the curve mirror etc indicated by position data FMB3. Then, the curve mirror prediction range is calculated and set (step S213, see FIG. 4).

  Next, the control unit 201 extracts the sensor data detected by the LiDAR sensor 205 within the curve mirror prediction range set in the above step S213, and based on the extraction result, it is emitted toward the curve mirror etc. It is determined whether or not there is a laser beam (step S214). More specifically, the control unit 201 first estimates the curve mirror prediction range based on the measurement position of the measurement position information stored in association with the sensor data and the emission angle when the LiDAR sensor 205 emits the laser light. The laser light is emitted to the range including the and sensor data detected is specified. Next, the control unit 201 causes the sensor data of the reflected light from the portion corresponding to the height of the curve mirror etc. (ie, the portion of the portion within the curve mirror prediction range in the specified sensor data) The same applies below). For example, the control unit 201 controls the position of the LiDAR sensor 205 in the vehicle obtained in the vehicle coordinate system in the portion corresponding to the azimuth .theta. (See FIG. 4) of the curve mirror prediction range based on the vehicle direction. A portion corresponding to the height of the curve mirror or the like obtained as a difference between the height of and the height to the mirror such as the curve mirror in the map coordinate system is extracted. Then, based on the extraction result, the control unit 201 determines whether or not there is a laser beam emitted toward a curve mirror or the like. If it is determined in step S214 that there is no laser beam emitted toward the curve mirror or the like (step S214: NO), the control unit 201 returns to step S211 and repeats the above-described process. On the other hand, when there is a laser beam emitted toward a curve mirror or the like in the determination of step S214 (step S214: YES), the control unit 201 next determines based on sensor data detected from the reflected light of the laser beam. It is determined whether a curve mirror or the like is present at the emission destination of the laser beam (step S215). That is, for example, the control unit 201 can determine that (a mirror of) a curve mirror or the like is present at the emission destination of the laser light by the same method as that performed in step S102 described above. If it is determined in step S215 that a curve mirror or the like does not exist at the laser light emission destination (step S215: YES), the control unit 201 determines the curve mirror or the like identified by the object ID data FMB1 acquired in step S212 The fact that the object ID data FMB1 disappears is transmitted to the server apparatus 100 together with the object ID data FMB1 (step S216). In the case of “YES” in the determination of step S215, for example, the case where the curve mirror or the like is owned by an individual and it is removed by the individual may be mentioned. Here, in the case of a curved mirror or the like owned by an individual, it can be determined that the reliability of the information about the absence of the curved mirror or the like is treated as high and the information is removed. On the other hand, in the case of a curved mirror or the like installed by a country or a local public entity, it is determined that the possibility of the absence of the curved mirror or the like is low, and a similar number of similar information is gathered from other vehicles, It can be judged that it was removed. Thus, the server apparatus 100 performs processing such as deleting information such as a curve mirror indicated by the transmitted object ID data FMB1 from the map data FM. Thereafter, the control unit 201 ends the process using the information of the curve mirror and the like of the embodiment.

  On the other hand, if it is determined in step S215 that a curve mirror or the like is present at the laser light emission destination (step S215: NO), the control unit 201 performs processing using sensor data of reflected light from the curve mirror or the like. It executes (step S217). At this time, as the process of step S217, specifically, there is a process of ignoring sensor data of light reflected from the curve mirror or the like in order to avoid processing of an object appearing on the curve mirror or the like. Further, for example, there is processing for detecting a vehicle or the like reflected in a mirror such as a curve mirror based on sensor data of light reflected from the curve mirror or the like.

  Here, a process of detecting a vehicle or the like appearing on a mirror such as a curve mirror as the process of step S217 will be specifically described with reference to FIG. That is, as shown in FIG. 7, in the process of detecting a vehicle or the like reflected on a mirror such as a curve mirror as the process of step S217, the control unit 201 detects sensor data of reflected light from the curve mirror or the like. It is determined whether a vehicle as a feature is detected (step S2171). When the vehicle is not detected in the determination of step S2171 (step S2171: NO), the control unit 201 returns to FIG. 6 and ends the process using the information of the curve mirror and the like of the embodiment. On the other hand, when the vehicle is detected in the determination of step S2171 (step S2171: YES), the control unit 201 determines the emission direction of the laser beam from which the reflected light of the reflection intensity is obtained (step S2172). If it is determined in step S2172 that the emission direction of the laser light corresponds to the direction of a mirror such as a curve mirror (step S2172: upward), the control unit 201 determines that the vehicle detected in step S2171 is a curve. It is determined that the vehicle is a vehicle reflected in a mirror such as a mirror, and, for example, deceleration processing of the vehicle is performed (step S2174). At this time, by referring to the observation object data FMS2 such as a curve mirror identified by the object ID data FMB1 acquired in step S212, it can be determined from which road the vehicle is approaching. Thereafter, the control unit 201 returns to FIG. 6 and ends the process using the information of the curve mirror and the like of the embodiment. On the other hand, if it is determined in step S2172 that the emission direction of the laser light is not a position corresponding to the direction of the mirror (step S2172: other than upward), the control unit 201 determines that the vehicle detected in step S2171 is normal, for example It is determined that the vehicle on which the vehicle body terminal 200 is mounted is moving or the other vehicle moving in the opposite lane, and lane change processing or the like corresponding thereto is performed (step S2173). Thereafter, the control unit 201 returns to FIG. 6 and ends the process using the information of the curve mirror and the like of the embodiment.

  As described above, the map data FM in the map data management system S in the present embodiment is the map data FM including the position data FMB3 and the object type data FMB2 in association with each other, and the in-vehicle terminal 200 is the position data It is used for the process which determines whether the terrestrial feature specified by FMB3 is a curve mirror etc. based on object type data FMB2. Therefore, it is possible to provide a data structure of map data for recording information on a curve mirror or the like.

  In the map data FM, it is determined that the feature specified by the position data FMB3 is a curve mirror or the like, and the curve mirror or the like is detected by the LiDAR sensor 205 within a predetermined range from the position indicated by the position data FMB3. In this case, the processing is performed on the premise that there is a curve mirror or the like at the position, so that the position of the curve mirror or the like can be detected more accurately and the processing can be performed.

  Further, in the case where the position of the feature is specified by excluding the reflection intensity data based on the reflected light from the curved mirror or the like of the laser light in step S217 in FIG. 6, the position can be specified more accurately.

  Furthermore, in step S217 in FIG. 6, since an object such as another vehicle present at a blind spot when viewed from the vehicle on which the on-vehicle terminal 200 is mounted is detected based on the reflected light from the curve mirror etc. See FIG. 7 step S2174), the other vehicle can be easily avoided.

  Further, when the on-vehicle terminal 200 restricts emission of laser light within a predetermined range from the position of a curve mirror or the like, irregular reflection from the curve mirror or the like is suppressed to detect other features more accurately. be able to.

  Furthermore, as the map data FM for a curve mirror etc., information (curvature data FMS1 etc.) indicating the attribute of the curve mirror etc. is associated with the position data FMB3 and included, so the position of the curve mirror etc. is more accurately It can be identified. At this time, if at least one of the curvature data FMS1, the shape data FMS3, and the size data FMB4 is included as the information indicating the attribute, the position of the curve mirror or the like can be specified more accurately.

  Furthermore, since the owner data FMS4 is included in the map data FM, position detection processing of a curve mirror or the like according to the owner, etc. (for example, in the case of a privately owned curve mirror, the position is moved It is possible to perform the processing based on the premise, etc., and it is possible to specify the position of the curve mirror etc. more accurately.

  Further, since the unavailable time zone data is included, it is possible to more accurately detect the position of the curve mirror or the like based on, for example, the information on fog or poor visibility.

  In the embodiment described above, the case where the LiDAR sensor 205 is connected to the vehicle body terminal 200 has been described, but in addition to this, for example, a camera equipped with a complementary metal oxide semiconductor (CMOS) sensor capable of capturing visible light It is also possible to apply the present invention to the case where the feature is detected by using the imaging data of the camera connected to the vehicle body terminal 200. In this case, as sensor data, an image or moving image which is imaging data is handled, and recognition object information FMO such as feature type, position, size and the like and feature information FMS such as features can be recognized by image recognition processing.

  Also, programs corresponding to the flowcharts shown in FIG. 5 to FIG. 7 are recorded in a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet and recorded. It is also possible to cause the microcomputer or the like to function as the control unit 101 or the control unit 201 in the embodiment by reading out and executing the process using a computer or the like.

1 Transmission data 1A Position information 1B Mirror information S Map data management system 100 Server unit 101, 201 Control unit 200 On-board terminal 205 LiDAR sensor FM Map data FMB Basic information FMS specific information FMB1 Object ID data FMB2 Object type data FMB3 Position data FMB4 Large Data FMS1 curvature data FMS2 observation target data FMS3 shape data FMS4 owner data FMS5 unavailable time zone data

Claims (9)

A data structure of map data including position information indicating the position of a feature and type information indicating the type of the feature in association with each other,
As the type information, information indicating that the predetermined feature identified by the position information is a feature having a mirror is recorded,
The map data characterized in that a terminal mounted on a moving body is used to determine based on the type information whether or not the feature specified by the position information is a feature having a mirror. Data structure of. In the data structure according to claim 1,
Transmission data characterized in that attribute information of the mirror is recorded in association with the position information for the feature in which information indicating that the feature has a mirror is recorded as the type information Data structure of. In the data structure according to claim 2,
The data structure of the transmission data, wherein the attribute information of the mirror includes information indicating a road that can be observed by the mirror in association with the position information. In the data structure according to claim 2,
The data structure of the map data, wherein the attribute information of the mirror includes at least one of a curvature of the mirror, a shape of the mirror, and a size of the mirror. In the data structure according to claim 2,
In the attribute information of the mirror, information for determining whether the owner of the feature having the mirror indicated by the position information is an individual is recorded in association with the position information. Data structure of the transmission data characterized by the above. In the data structure according to claim 2,
The data of the transmission data, wherein the attribute information of the mirror includes information indicating a time zone in which the feature having the mirror indicated by the position information can not be used as a mirror in association with the position information Construction. In the data structure according to any one of claims 1 to 7,
When detecting an object at the position of the feature which is shown to have the mirror by the sensor mounted on the movable body, processing is performed on the premise that the mirror is at the position. A data structure of the map data used to make the terminal function. In the data structure according to claim 7,
In the processing on the premise of having the mirror, a road on which the terminal mounted on the movable body can observe the mirror based on the reflected light of the light emitted from the detection unit to the mirror A data structure of the map data, which is used for a process of detecting an object present in the image. In the data structure according to claim 7,
In the processing premised on the presence of the mirror, a terminal mounted on the moving body is used for processing of specifying the position of an object by excluding the reflected light of the light emitted from the detection means to the mirror. A data structure of the map data characterized in that.