EP-4737948-A1 - MOVEMENT CONTROL DEVICE, MOVEMENT CONTROL METHOD, AND MOVEMENT CONTROL PROGRAM

Abstract

A movement control device (1) controls the movement of a vehicle (V) on the basis of information relating to the current position of the vehicle (V). Specifically, the movement control device (1) comprises: an own-position estimating unit that estimates the current position of the vehicle (V) on the basis of GNSS information; an environment information acquiring unit that acquires environment information around the vehicle (V); and a movement information acquiring unit that acquires movement information of the vehicle (V). The own-position estimating unit estimates the current position of the vehicle (V) on the basis of the environment information when the GNSS information cannot be acquired. The own-position estimating unit estimates the current position of the vehicle (V) on the basis of the movement information when the GNSS information and the environment information cannot be acquired.

Inventors

• HIRANO YOSHITAKE

Assignees

• Broadleaf Co., Ltd.

Dates

Publication Date

20260506

Application Date

20240624

Claims (8)

1. A movement control device that controls movement of a moving object, the movement control device comprising: a self-position estimation unit configured to acquire GNSS information through a GNSS receiver mounted on the moving object and estimate a current position of the moving object based on the GNSS information; an environment information acquisition unit configured to acquire environment information around the moving object through a first sensor mounted on the moving object; and a movement information acquisition unit configured to acquire movement information of the moving object through a second sensor mounted on the moving object, wherein the self-position estimation unit is configured to estimate the current position of the moving object based on the environment information acquired by the environment information acquisition unit when the GNSS information cannot be acquired, and estimate the current position of the moving object based on the movement information acquired by the movement information acquisition unit when the GNSS information and the environment information cannot be acquired.
2. The movement control device according to claim 1, further comprising: a reference point specifying unit configured to specify, as a reference point by the movement of the moving object, a position changed from a state where the self-position estimation unit estimates the current position of the moving object based on the GNSS information to a state where the self-position estimation unit estimates the current position of the moving object based on the environment information; and a reference point recording unit configured to record information of the reference point specified by the reference point specifying unit.
3. The movement control device according to claim 2, further comprising: an estimation mode switching unit configured to switch, when the moving object reaches the reference point recorded by the reference point recording unit, from a first estimation mode in which the self-position estimation unit estimates the current position of the moving object based on the GNSS information at the reference point to a second estimation mode in which the self-position estimation unit estimates the current position of the moving object based on the environment information, wherein the self-position estimation unit estimates a current position of the moving object by an estimation mode switched by the estimation mode switching unit.
4. The movement control device according to claim 3, further comprising: a map creation unit configured to create map information including information of the reference point or update the map information based on history information of the reference point recorded by the reference point recording unit; and a detection unit configured to detect that the moving object has reached within a predetermined distance from the reference point included in the map information based on the map information created or updated by the map creation unit, wherein the estimation mode switching unit prepares to switch an estimation mode at the reference point when the detection unit detects the moving object.
5. The movement control device according to claim 1, wherein the movement control device controls the movement of the moving object along a predetermined scheduled movement route, and the movement control device further comprises: a position error measurement unit configured to measure, when a third estimation mode in which the self-position estimation unit estimates a current position of the moving object based on the movement information is changed to a first estimation mode in which the self-position estimation unit estimates a current position of the moving object based on the GNSS information, a position error between the current position of the moving object estimated in the third estimation mode and the current position of the moving object estimated in the first estimation mode; and a correction route setting unit configured to set a movement correction route to be guided to the scheduled movement route based on the position error measured by the position error measurement unit.
6. The movement control device according to claim 3 or 4, wherein the reference point specifying unit specifies, when a third estimation mode in which the self-position estimation unit estimates a current position of the moving object based on the movement information is changed to the first estimation mode, a position changed from the third estimation mode to the first estimation mode as another reference point, the reference point recording unit records information of the other reference point, the estimation mode switching unit switches from the third estimation mode to the first estimation mode at the other reference point when the moving object reaches the other reference point, the movement control device controls the movement of the moving object along a predetermined scheduled movement route, and the movement control device further comprises: a position error measurement unit configured to measure a position error between a current position of the moving object estimated in the third estimation mode and a current position of the moving object estimated in the first estimation mode when the third estimation mode is switched to the first estimation mode at the other reference point by the estimation mode switching unit; and a correction route setting unit configured to set a movement correction route to be guided to the scheduled movement route based on the position error measured at the other reference point.
7. A movement control method executed by a computer that controls movement of a moving object, the movement control method comprising: by the computer, acquiring GNSS information through a GNSS receiver mounted on the moving object and estimating a current position of the moving object based on the GNSS information; acquiring environment information around the moving object through a first sensor mounted on the moving object; acquiring movement information of the moving object through a second sensor mounted on the moving object; and in a case of estimating the current position of the moving object, estimating the current position of the moving object based on the environment information when the GNSS information cannot be acquired, and estimating the current position of the moving object based on the movement information when the GNSS information and the environment information cannot be acquired.
8. A movement control program for causing a computer serving as a movement control device that controls movement of a moving object to execute: a process of acquiring GNSS information through a GNSS receiver mounted on the moving object and estimating a current position of the moving object based on the GNSS information; a process of acquiring environment information around the moving object through a first sensor mounted on the moving object; and a process of acquiring movement information of the moving object through a second sensor mounted on the moving object, and in the process of estimating a current position of the moving object, when the GNSS information cannot be acquired, the current position of the moving object is estimated based on the environment information, and when the GNSS information and the environment information cannot be acquired, the current position of the moving object is estimated based on the movement information.

Description

TECHNICAL FIELD The present disclosure relates to a movement control device, a movement control method, and a movement control program. BACKGROUND ART In recent years, in order to realize safety and comfort of a driver, there has been known a vehicle in which a vehicle itself grasps external environment information around the vehicle, controls traveling of the vehicle in place of the driver, and is equipped with an advanced drive assistance system (ADAS) for automatic driving (for example, see Patent Literature 1). In an automatic operation method described in Patent Literature 1, a current position (an absolute position) of the vehicle is acquired in real time by receiving a GPS signal while the vehicle is traveling, and when the reliability of the positional accuracy of the vehicle decreases, the absolute position is corrected by matching coordinates and an azimuth angle based on a GPS (a satellite positioning system) with coordinates and an azimuth angle based on an inertial measurement unit (IMU). Traveling of the vehicle is controlled based on current position information of the vehicle. CITATION LIST PATENT LITERATURE Patent Literature 1: JP2020-32873A SUMMARY OF INVENTION TECHNICAL PROBLEM Incidentally, in the travel control of a moving object as disclosed in Patent Literature 1, there is a demand for a technique for more accurately estimating a current position of the moving object traveling even in an external environment in which GPS signals (GNSS information) cannot be acquired. It has been required to use the technique for travel control of the moving object and to use the technique for a navigation service for guiding a driver or an operator along a route to a destination. The present disclosure has been made in view of the above problem. An object of the present disclosure is to provide a movement control device, a movement control method, and a movement control program capable of more accurately estimating a current position of a moving object. SOLUTION TO PROBLEM The problem of the present disclosure is solved by a movement control device according to the present disclosure that controls movement of a moving object, the movement control device includes: a self-position estimation unit configured to acquire GNSS information through a GNSS receiver mounted on the moving object and estimate a current position of the moving object based on the GNSS information; an environment information acquisition unit configured to acquire environment information around the moving object through a first sensor mounted on the moving object; and a movement information acquisition unit configured to acquire movement information of the moving object through a second sensor mounted on the moving object, and the self-position estimation unit is configured to estimate a current position of the moving object based on the environment information acquired by the environment information acquisition unit when the GNSS information cannot be acquired, and estimate the current position of the moving object based on the movement information acquired by the movement information acquisition unit when the GNSS information and the environment information cannot be acquired. As described above, the self-position estimation unit estimates a current position of the moving object based on the GNSS information, estimates a current position of the moving object based on the environment information when the GNSS information cannot be acquired, and estimates a current position of the moving object based on the movement information when the GNSS information and the environment information cannot be acquired. Thus, by performing the estimation, it is possible to realize a movement control device capable of more accurately estimating a current position of a moving object according to a surrounding environment of the moving object to be moved. In addition, the problem of the present disclosure is also solved by a movement control method according to the present disclosure executed by a computer that controls movement of a moving object, the movement control method includes: by the computer, acquiring GNSS information through a GNSS receiver mounted on the moving object and estimating a current position of the moving object based on the GNSS information; acquiring environment information around the moving object through a first sensor mounted on the moving object; acquiring movement information of the moving object through a second sensor mounted on the moving object; and in a case of estimating the current position of the moving object, estimating a current position of the moving object based on the environment information when the GNSS information cannot be acquired, and estimating a current position of the moving object based on the movement information when the GNSS information and the environment information cannot be acquired. The problem of the present disclosure is also solved by a movement control program according to the present di