JP-7855755-B2 - Information processing device, information processing method, information processing program, and recording medium

JP7855755B2JP 7855755 B2JP7855755 B2JP 7855755B2JP-7855755-B2

Inventors

岩井智昭
加藤正浩
藤谷多史
野口良司

Assignees

パイオニア株式会社

Dates

Publication Date: 20260508
Application Date: 20250312
Priority Date: 20171130

Claims (10)

An acquisition unit that acquires reflected light information including information about the reflected light of light irradiated onto a feature at a location predicted by a feature location prediction means that predicts the location of the feature, and location information of the feature. A processing unit that performs statistical processing based on a plurality of reflected light information acquired by the acquisition unit, A determination unit determines the deterioration state of the geological feature by comparing the statistically processed information obtained by the processing unit with a threshold value, An information processing device characterized by comprising:
An information processing apparatus according to claim 1, The information processing device is characterized in that the information relating to the reflected light is information relating to the reflectance intensity or the reflectance with respect to the irradiation intensity of the light.
An information processing apparatus according to claim 1 or 2, The processing unit performs the statistical processing to calculate the average based on the reflected light information. The information processing device is characterized in that the determination unit determines the deterioration state of the geological feature based on whether the average calculated by the processing unit is less than or equal to the first threshold.
An information processing apparatus according to any one of claims 1 to 3, The processing unit performs the statistical processing to calculate the standard deviation based on the reflected light information, The determination unit is characterized by determining the deterioration state of the geological feature based on whether the standard deviation calculated by the processing unit is greater than or equal to the second threshold.
An information processing apparatus according to any one of claims 1 to 4, An information processing apparatus further comprising a correction unit that corrects the reflected light information using at least one of the measurement date and time information or weather information at the time the reflected light was measured, before the processing unit performs the statistical processing.
An information processing apparatus according to any one of claims 1 to 5, An information processing device characterized in that the aforementioned geographic feature is a white line.
An information processing apparatus according to claim 6, The aforementioned feature is characterized by being a painted portion of the dashed white line.
An information processing method using an information processing device, An acquisition step for acquiring reflected light information, which includes information about the reflected light of light irradiated onto a feature at a location predicted by a feature location prediction step that predicts the location of the feature, and location information of the feature. A processing step which performs statistical processing based on a plurality of reflected light information acquired in the acquisition step, A determination step is performed to determine the deterioration state of the geological feature by comparing the statistically processed information obtained in the above processing step with a threshold value, An information processing method characterized by including
The computer included in the information processing device An acquisition unit that acquires reflected light information including information about the reflected light of light irradiated onto a feature located at a position predicted by a feature location prediction means that predicts the position of the feature, and the position information of the feature. A processing unit that performs statistical processing based on the plurality of reflected light information acquired by the acquisition unit. A determination unit determines the deterioration state of the geological feature by comparing the statistically processed information obtained by the processing unit with a threshold value. An information processing program characterized by functioning as such.
The computer included in the information processing device An acquisition unit that acquires reflected light information including information about the reflected light of light irradiated onto a feature at a location predicted by a feature location prediction means that predicts the location of the feature, and location information of the feature. A processing unit that performs statistical processing based on the plurality of reflected light information acquired by the acquisition unit, A determination unit determines the deterioration state of the geological feature by comparing the statistically processed information obtained by the processing unit with a threshold value. A computer-readable recording medium that stores an information processing program to function as such.

Description

This application relates to a data structure for map data that includes deterioration information regarding the deterioration state of geographical features. In autonomous vehicles, it is necessary to accurately estimate the vehicle's position by matching the location of geographic features measured by sensors such as LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) with the location of geographic features described in the map data for autonomous driving. These geographic features include signs, billboards, and white lines painted on roads. The map data for autonomous driving, including the locations of these geographic features, needs to be maintained and updated to reflect reality in order to ensure stable autonomous driving. For example, if a white line has partially disappeared due to aging or other deterioration, the data representing that white line in the map data needs to reflect this deterioration information. Therefore, conventionally, it was necessary to drive map maintenance vehicles to conduct on-site surveys to check for deteriorated terrain features. However, with the development of laser measurement technology, technologies are being developed to utilize point cloud data obtained by measuring the ground surface for the use and updating of map data. For example, Patent Document 1 discloses a technology for extracting data that measures the road surface from point cloud data that includes a lot of data other than the road surface, such as buildings and street trees. This technology can be used as a preprocessing step for extracting white lines drawn on roads. Japanese Patent Publication No. 2017-9378 This is a block diagram showing the configuration of the deteriorated geological feature identification system according to the embodiment.This is a block diagram showing the outline configuration of the map data management system according to the embodiment.(A) is a diagram showing how the Lidar according to the embodiment measures the light reflection intensity at a white line (no degradation), and (B) is a diagram showing an example of a graph obtained when the said reflection intensity is statistically processed.(A) is a diagram showing how the Lidar according to the embodiment measures the light reflection intensity at a white line (with degradation), and (B) is a diagram showing an example of a graph obtained when the said reflection intensity is statistically processed.This is a diagram illustrating the method for calculating the predicted range of the white line in the embodiment.This figure shows an example of the data structure of the transmitted data related to the embodiment.This flowchart shows an example of the operation of the map data management system according to the embodiment for processing reflectance intensity data.This flowchart shows an example of the operation of the degradation determination process by the server device according to the embodiment.(A) is a side view showing how the Lidar according to the third modified example emits multiple lights in the vertical direction, and (B) is a diagram showing how the Lidar measures the reflected light intensity at a white line.(A) is a diagram showing an example of the reflected intensity measured along a dashed white line in the direction of travel of the vehicle in the third modified example, and (B) is an example diagram showing the effective area and ineffective area for separating the reflected intensity used for deterioration determination based on the distribution of said reflected intensity.This figure shows an example of the data structure of map data related to the fifth modified example.This figure shows an example of the data structure of transmitted data related to the sixth modified example. The embodiments for carrying out the present invention will be described with reference to Figure 1. Figure 1 is a block diagram illustrating the schematic configuration of the map data structure according to this embodiment. As shown in Figure 1, the data structure 1 of the map data according to this embodiment is configured to include, in association with, location information 1A indicating the location of a feature and deterioration information 1B relating to the deterioration state of the feature. The transmitted data is used by the information processing device to determine, based on the deterioration information, whether the feature identified by the location information is deteriorated. According to the data structure of the transmitted data in this embodiment, the information processing device can determine whether a geographic feature at a certain location is deteriorated based on deterioration information associated with the location information indicating that location.