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JP-7855533-B2 - Position and orientation estimation device and position and orientation estimation method

JP7855533B2JP 7855533 B2JP7855533 B2JP 7855533B2JP-7855533-B2

Inventors

  • 高橋 雄介
  • 瀬川 泰誠
  • 小林 広幸
  • 鈴木 美彦
  • 大嶽 達哉
  • 瀬戸 直人
  • 中野 尚久
  • 浅野 渉
  • 服部 陽平
  • 加藤 紀康

Assignees

  • 株式会社東芝

Dates

Publication Date
20260508
Application Date
20230209

Claims (10)

  1. A peripheral measurement sensor that measures the distance from a railway vehicle and generates three-dimensional measurement data of the area around the railway vehicle, A position and attitude estimation unit estimates the position and attitude of the railway vehicle based on a comparison between the three-dimensional point cloud data of the three-dimensional measurement data and the three-dimensional point cloud data of the three-dimensional surrounding map stored in the memory unit. Equipped with , The position and orientation estimation unit, (i) Recognize fixed equipment installed around the track of the railway vehicle, and estimate the position and orientation of the railway vehicle based on the three-dimensional measurement data of the fixed equipment, (ii) The three-dimensional measurement data is limited to the three-dimensional measurement data in which the distance from the railway vehicle is less than or equal to a predetermined distance, or the reliability calculated by the surrounding measurement sensor is greater than or equal to a predetermined value, (iii) Recognize objects that change over time and objects that move, and estimate the position and orientation of the railway vehicle by excluding the three-dimensional measurement data of the objects that change over time and objects that move. The aforementioned fixed equipment includes at least one of the tracks, overhead line poles, signal lights, and control racks. The aforementioned objects that change over time include trees, The aforementioned moving object is a position and orientation estimation device, including other railway vehicles passing by its own vehicle .
  2. The system further includes a position measuring unit for measuring the position of the aforementioned railway vehicle, The position and attitude estimation device according to claim 1, wherein the position and attitude estimation unit searches for a position on the three-dimensional surrounding map based on the position of the railway vehicle measured by the position measurement unit.
  3. The position and attitude estimation device according to claim 1, further comprising an output unit that outputs the position and attitude of the railway vehicle estimated by the position and attitude estimation unit to a driving support device that provides driving support for the railway vehicle.
  4. The position and attitude estimation device according to claim 1, wherein the position and attitude estimation unit recognizes the fixed equipment and estimates the position and attitude of the railway vehicle based on the three-dimensional measurement data of the fixed equipment from the three-dimensional measurement data generated by the surrounding measurement sensor.
  5. The position and attitude estimation device according to claim 1, wherein the position and attitude estimation unit estimates the position and attitude of the railway vehicle based on the three-dimensional surrounding map corresponding to the direction of travel of the railway vehicle while it is in motion.
  6. The position and attitude estimation device according to claim 1, wherein the position and attitude estimation unit estimates the position and attitude of the railway vehicle based on the three-dimensional surrounding map corresponding to the conditions under which the railway vehicle is running.
  7. The position and orientation estimation device according to claim 1, wherein the three-dimensional surrounding map includes the three-dimensional measurement data previously generated by the surrounding measurement sensor.
  8. The position and orientation estimation device according to claim 7, wherein the position and orientation estimation unit stores the three-dimensional measurement data generated by the surrounding measurement sensor as the three-dimensional surrounding map stored in the storage unit based on a comparison between the three-dimensional measurement data and the three -dimensional surrounding map stored in the storage unit.
  9. The position and orientation estimation device according to claim 1, wherein the aforementioned three-dimensional surrounding map is pre-set.
  10. The distance from the railway vehicle is measured, and three-dimensional measurement data of the area around the railway vehicle is generated by the surrounding measurement sensor . Based on a comparison between the three-dimensional point cloud data of the three-dimensional measurement data and the three-dimensional point cloud data of the three-dimensional surrounding map stored in the memory unit, the position and orientation of the railway vehicle are estimated by the position and orientation estimation unit . It is equipped with the following: The position and orientation estimation unit, (i) Recognize fixed equipment installed around the track of the railway vehicle, and estimate the position and orientation of the railway vehicle based on the three-dimensional measurement data of the fixed equipment, (ii) The three-dimensional measurement data is limited to the three-dimensional measurement data in which the distance from the railway vehicle is less than or equal to a predetermined distance, or the reliability calculated by the surrounding measurement sensor is greater than or equal to a predetermined value, (iii) Recognize objects that change over time and objects that move, and estimate the position and orientation of the railway vehicle by excluding the three-dimensional measurement data of the objects that change over time and objects that move. The aforementioned fixed equipment includes at least one of the tracks, overhead line poles, signal lights, and control racks. The aforementioned objects that change over time include trees, The aforementioned moving object includes other railway vehicles passing by the vehicle itself , and is a method for estimating the position and orientation of the moving object.

Description

Embodiments of the present invention relate to a position and attitude estimation device and a position and attitude estimation method. Forward detection sensors (on-board sensors) are being developed for train safety operation support and automated train operation. When monitoring the ground around a train with on-board sensors, the train's position and attitude relative to the ground constantly change during operation. The identification of the detection target area is greatly affected by even minute changes in the train's position and attitude relative to the ground. For appropriate driver assistance and automated operation, it is necessary to estimate the train's position and attitude relative to the ground with high accuracy. Japanese Patent Publication No. 2021-37811 This is a block diagram showing an example of the configuration of a railway vehicle system according to the first embodiment.This figure shows an example of generating three-dimensional measurement data from a peripheral measurement sensor according to the first embodiment.This figure shows an example of the functions of a railway vehicle system according to the first embodiment.This figure shows an example of the functions of a railway vehicle system according to the first embodiment.This figure shows an example of the calculation process of the position and orientation estimation unit according to the first embodiment.This figure shows an example of how the position and orientation estimation unit uses 3D measurement data according to the first embodiment.This figure shows an example of how the position and orientation estimation unit uses 3D measurement data according to the first embodiment.This figure shows an example of how the position and orientation estimation unit uses 3D measurement data according to the first embodiment.This figure shows an example of generating a three-dimensional surrounding map according to the first embodiment.This figure shows an example of a three-dimensional surrounding map according to the first embodiment.This is a flowchart showing an example of the operation of the position and orientation estimation device according to the first embodiment.An example of 3D measurement data according to the second embodiment is shown. The embodiments of the present invention will be described below with reference to the drawings. These embodiments are not limiting to the present invention. The drawings are schematic or conceptual, and the proportions of each part may not necessarily be identical to those of actual objects. In the specification and drawings, elements similar to those described above are denoted by the same reference numerals, and detailed explanations are omitted as appropriate. (First Embodiment) Figure 1 is a block diagram showing an example of the configuration of a railway vehicle system according to the first embodiment. The railway vehicle system comprises a position and orientation estimation device 1 and a driving support device 2. The position and attitude estimation device 1 estimates the position and attitude of the railway vehicle RV while it is in motion. Details of the position and attitude estimation device 1 will be explained later. The driver assistance system 2 provides driver assistance for the railway vehicle (RV). The driver assistance system 2 uses the position and attitude estimated by the position and attitude estimation device 1 to provide driver assistance. Driver assistance includes, for example, recognition of the driving space and obstacle detection. Driver assistance may also include automated driving. As will be explained later, the position and attitude estimation device 1 according to the first embodiment can estimate the position and attitude of the railway vehicle RV with higher accuracy. The attitude of the railway vehicle RV is, for example, its attitude relative to the ground or the track R. The attitude of the railway vehicle RV may change depending on the occupancy rate and obstacles on the track R. Furthermore, the attitude of the railway vehicle RV may also change during acceleration, deceleration, and curve travel. By correcting the position and attitude of the railway vehicle RV with the estimated position and attitude, the driver assistance device 2 can provide more appropriate driver assistance. Next, we will describe the details of the configuration of the position and orientation estimation device 1. The position and orientation estimation device 1 comprises a peripheral measurement sensor 10, a position measurement unit 20, a storage unit 30, a position and orientation estimation unit 40, and an output unit 50. The surrounding measurement sensor 10 generates three-dimensional measurement data of the area around the railway vehicle RV by measuring the distance from the RV. The surrounding measurement sensor 10 includes, for example, a stereo camera and a distance calculation unit. However, it is not limited to this; the surrounding measurement sensor 1