JP2022105410A - Map switching device and map switching program - Google Patents

Abstract

To provide a map switching device capable of switching a first map which is point cloud data used for automatic driving of a vehicle, into a second map which is point cloud data which does not match the first map.SOLUTION: A map switching device 100 comprises: a map acquisition unit 111 that acquires an outdoor map 510 that is used for automatic driving of a PMV and an indoor map 620 that includes an overlapping region overlapping with part of the region of the outdoor map 510 and is used for automatic driving which cannot be matched with the outdoor map 510; and a map switching unit 112 that switches the map used for automatic driving from the outdoor map 510 to the indoor map 620 when it is detected that a PMV performing automatic driving by using the outdoor map 510 is moving toward the inside of the region of the indoor map 620 from the overlapping region in the overlapping region.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a map switching device that switches a first map used by a personal mobility vehicle for autonomous driving to a second map.

Vehicles that travel at low speeds electrically, such as senior cars, electric wheelchairs, or electric strollers, are commonly referred to as personal mobility vehicles (PMVs).

When the PMV is automatically driven, a reference point cloud is required. This point cloud does not have to have an absolute position and an absolute orientation, but it needs to be continuous as data. In the field, by using a measurement system such as MMS (Mobile Mapping System), it is possible to relatively easily create a point cloud with correct absolute position and absolute orientation. On the other hand, the acquisition of a point cloud in a room cannot be used by satellite positioning, and is usually created by a method such as SLAM (Simultaneus Localization and Mapping), and the point cloud is locally and relatively. correct. However, the absolute orientation and position are not correct, and the map represented by the entire point cloud is usually distorted.

Conventional techniques include a technique for geometrically transforming a digital map (for example, Patent Document 1). When trying to make a map of a highly accurate outdoor point cloud and a map of a distorted point cloud created by SLAM continuous, the distorted point cloud created by SLAM is used as a highly accurate outdoor point cloud. It is customary to correct a distorted point cloud with a technique such as geometric transformation in the prior art so that it matches the group. That is, it is a method of correcting the entire indoor point cloud so that the indoor point cloud has the correct absolute position and absolute orientation in the same way as the outdoor point cloud.

However, the method of correcting the entire point cloud requires recreating the entire point cloud, which is not only troublesome, but also requires indoor survey points in some cases, resulting in a large amount of work, cost and time. there were.

Japanese Unexamined Patent Publication No. 2014-139780

An object of the present disclosure is to provide a map switching device that switches a first map, which is point cloud data used for automatic driving of a vehicle, to a second map, which is point cloud data that does not match the first map.

The map switching device according to the present disclosure is mounted on a personal mobility vehicle that is automatically driven.
The map switching device according to the present disclosure is
It has a first map used for automatic driving of the personal mobility vehicle and an overlapping area which is a partial area overlapping with a part of the first map, with respect to the first map. A map acquisition unit that acquires the second map used for the automatic driving, which is inconsistent with each other.
When it is detected that the personal mobility vehicle that is automatically driven using the first map is moving the overlap area from the overlap area toward the inside of the second map area. , A map switching unit that switches the map used for the automatic driving from the first map to the second map,
To prepare for.

According to the present disclosure, it is possible to provide a map switching device that switches a first map, which is point cloud data used for automatic driving of a vehicle, to a second map, which is point cloud data that does not match the first map.

In the figure of Embodiment 1, the figure which shows each apparatus mounted on PMV700. FIG. 6 is an external view of the PMV 700 in the figure of the first embodiment. FIG. 6 is a diagram of the first embodiment, and is a configuration diagram of an automatic operation system 1000 mounted on the PMV 700. FIG. 1 is a diagram showing an outdoor map 510 and an indoor map 620 in the figure of the first embodiment. FIG. 1 is a diagram showing a high-precision indoor map 520 after adjusting the point cloud constituting the indoor map 620 to an absolute position in the figure of the first embodiment. FIG. 1 is a diagram showing an overlapping region between the outdoor map 510 and the high-precision indoor map 520 in the figure of the first embodiment. FIG. 1 is an enlarged view of the entrance / exit A (510A) and the entrance / exit A (620A) of FIG. FIG. 1 is a diagram showing a state in which the PMV 700 moves into an actual room corresponding to the room map 620 by the route 701 in the figure of the first embodiment. FIG. 1 is a diagram showing a state in which the PMV 700 moves into an actual room corresponding to the room map 620 by the route 702 in the figure of the first embodiment. FIG. 1 is a diagram showing an outdoor map 510 and a high-precision indoor map 520 as a result of obtaining an ideal point cloud in the figure of the first embodiment. In the figure of Embodiment 1, the figure which shows the indoor map 520 which measured the room by using relative positioning. FIG. 6 is a conceptual diagram when entering and exiting from the doorway A in the figure of the first embodiment. FIG. 6 is a conceptual diagram when entering and exiting from the doorway B in the figure of the first embodiment. FIG. 6 is a conceptual diagram when entering and exiting from the entrance / exit C in the diagram of the first embodiment. FIG. 1 is a diagram showing map information 851, 852, 853, 854 of each floor of the building 800 in the figure of the first embodiment. The flowchart which shows the operation of the map switching part 112 in the figure of Embodiment 1. FIG.

In the description and drawings of the embodiments, the same elements and corresponding elements are designated by the same reference numerals. Descriptions of elements with the same reference numerals are omitted or simplified as appropriate. In the following embodiments, "part" may be appropriately read as "circuit", "process", "procedure", "processing" or "circuit Lee".
The PMV 700 will be described in the first embodiment below. The PMV700 includes vehicles such as electric wheelchairs, senior cars and electric strollers. The PMV 700 described below is in automatic operation.

Embodiment 1.
The automatic operation system 1000 of the first embodiment will be described with reference to FIGS. 1 to 16. The feature of the automatic operation system 1000 is the map switching device 100.

*** Explanation of configuration ***

FIG. 1 shows each device mounted on the PMV700 used by the user 770.
FIG. 2 is an external view of the PMV 700.
FIG. 3 is a configuration diagram of an automatic operation system 1000 mounted on the PMV 700. FIG. 3 shows the connection relationship of each device mounted on the PMV700. FIG. 1 shows a state in which the PMV 700 is in automatic driving. The user 770 is riding on the PMV 700 during automatic driving with his arm resting on the arm 750. The PMV 700 is equipped with a map switching device 100, a detection information processing device 200, and an automatic operation control device 300. Further, the PMV 700 is equipped with a camera 201, a millimeter wave radar 202, a laser scanner 203, a positioning device 204, an inertial device 205, and a communication device 206. The camera 201, the millimeter wave radar 202, the laser scanner 203, the positioning device 204, the inertial device 205, and the communication device 206 are connected to the detection information processing device 200. The PMV700 may be equipped with a rider as a sensor for automatic driving.

As shown in FIG. 2, the PMV 700 includes a handle 710, four tires 720, a rearview mirror 730, a car 740, an armrest 750 and a terminal device 760. The terminal device 760 has a role as an output device in which the automatic operation system 1000 outputs information to the user 770 and an input device in which the user 770 inputs information to the automatic operation system 1000. The handle 710 is not used when the PMV700 is in automatic driving. The handle 710 is used when the user 770 manually operates.

<Automated driving system 1000>
As shown in FIG. 3, the automatic driving system 1000 includes a map switching device 100, a detection information processing device 200, and an automatic driving control device 300.
(1) The map switching device 100 switches the map used by the PMV 700 for automatic operation. The map switching device 100 will be described in detail in FIGS. 4 and later.
(2) Various sensors of the camera 201, the millimeter wave radar 202, the laser scanner 203, the positioning device 204, and the inertial device 205 are connected to the detection information processing device 200. Further, a communication device 206 is connected to the detection information processing device 200. The detection information processing device 200 integrates the detection information detected by various sensors. The camera 201 photographs the surroundings of the PMV 700. The millimeter wave radar 202 detects an object around the PMV 700. FIG. 2 shows the millimeter wave radar 202 on the front side of the PMV700 and on the left side in the traveling direction. In FIG. 2, the millimeter wave radar 202 is also present on the rear side of the PMV700 and on the right side in the traveling direction, but these are invisible. The laser scanner 203 can detect an object existing at 360 degrees around the PMV 700. The positioning device 204 calculates the receiving position of the positioning signal from the positioning signal received from the positioning satellite 780. The receiving position is the position of PMV700. The inertial device 205 detects the attitude of the PMV 700. The detection information detected by the camera 201, the millimeter wave radar 202, the laser scanner 203, the positioning device 204, and the inertial device 205 is integrated by the detection information processing device 200. This integrated detection information becomes the original data for generating the automatic operation information 209. The detection information processing device 200 transmits the position information of the PMV 700 to the map switching device 100, and receives the map information from the map switching device 100. The detection information processing device 200 generates the automatic operation information 209 for the automatic operation of the PMV 700, and transmits the automatic operation information 209 to the automatic operation control device 300. The automatic operation information 209 is generated by the detection information processing apparatus 200 based on the map information and the integrated detection information.
(3) The automatic operation control device 300 automatically operates the PMV 700 based on the automatic operation information 209. The map switching device 100 is mounted on the PMV 700, which is a moving body.

<Map switching device 100>
The map switching device 100 shown in FIG. 3 is a computer. The map switching device 100 includes a processor 110. In addition to the processor 110, the map switching device 100 includes other hardware such as a main storage device 120, an auxiliary storage device 130, and a communication interface 140. The processor 110 is connected to other hardware via the signal line 150 and controls the other hardware.

The map switching device 100 includes a map acquisition unit 111 and a map switching unit 112 as functional elements. The functions of the map acquisition unit 111 and the map switching unit 112 are realized by the map switching program 101. The map acquisition unit 111 has a first map used for automatic operation of the PMV and an overlap area which is a partial area that overlaps with a part of the area of the first map, and the map acquisition unit 111 has an overlap area with respect to the first map. Obtain an inconsistent second map used for autonomous driving. The map in use used for autonomous driving is called a first map, and the map used for autonomous driving in place of the first map is called a second map. When the map switching unit 112 detects that the PMV that is automatically operated using the first map is moving from the overlap area to the inside of the second map area, the automatic operation is performed. The map used for is switched from the first map to the second map.

The processor 110 is a device that executes the map switching program 101. The map switching program 101 is a program that realizes the functions of the map acquisition unit 111 and the map switching unit 112. The processor 110 is an IC (Integrated Circuit) that performs arithmetic processing. Specific examples of the processor 110 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

The main storage device 120 stores the data volatilely. Specific examples of the main storage device 120 are SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory). The main storage device 120 holds the calculation result of the processor 110.

The auxiliary storage device 130 stores the data non-volatilely. A specific example of the auxiliary storage device 130 is an HDD (Hard Disk Drive). Further, the auxiliary storage device 130 is a portable recording medium such as an SD (registered trademark) (Secure Digital) memory card, a NAND flash, a flexible disk, an optical disk, a compact disc, a Blu-ray (registered trademark) disk, and a DVD (Digital Versaille Disk). There may be. The auxiliary storage device 130 stores a map switching program 101, a plurality of outdoor maps 510, and a plurality of indoor maps 620.

The communication interface 140 is a communication port for the processor 110 to communicate with other devices. A detection information processing device 200 is connected to the communication interface 140.

The processor 110 loads the map switching program 101 from the auxiliary storage device 130 into the main storage device 120, and reads and executes the map switching program 101 from the main storage device 120. The map switching device 100 may include a plurality of processors that replace the processor 110. These plurality of processors share the execution of the map switching program 101. Each processor is a device that executes the map switching program 101, like the processor 110. The data, information, signal values and variable values used, processed or output by the map switching program 101 are stored in a register or a cache memory in the main storage device 120, the auxiliary storage device 130, or the processor 110.

It is a program that causes a computer to execute each process, each procedure or each process in which the "part" of the map switching program 101, the map acquisition unit 111 and the map switching unit 112 is read as "process", "procedure" or "process". ..

Further, the map switching method is a method performed by the map switching device 100, which is a computer, executing the map switching program 101. The map switching program 101 may be stored in a computer-readable recording medium and provided, or may be provided as a program product.

*** Explanation of operation ***
FIG. 4 shows an outdoor map 510 and an indoor map 620. The outdoor map 510 is accurate in opposite position and orientation. The indoor map 620 is locally or relatively accurate, but has no absolute position and is not oriented correctly. The doorways A of the outdoor map 510 and the indoor map 620, and the doorways B of the outdoor map 510 and the indoor map 620 are the same. However, in the indoor map 620, the distance between the doorway A and the doorway B is wrong, and the direction of the doorway B with respect to the doorway A is also wrong.

Generally, the indoor map 620 is modified by adjusting the point cloud constituting the indoor map 620 to the absolute position.
FIG. 5 shows a high-precision indoor map 520 after the point clouds constituting the indoor map 620 are aligned with the absolute positions. The high-precision indoor map 520 is a map in which the point cloud of the indoor map 620 is aligned with the absolute position. The doorway A and the doorway B of the high-precision indoor map 520 correspond to the doorway A and the doorway B of the outdoor map 510, and the high-precision indoor map 520 is correctly connected to the outdoor map 510. However, in the method of modifying the indoor map 620 to the high-precision indoor map 520, all of the point clouds constituting the indoor map 620 must be modified. As a result of all modifications of the point cloud, the high-precision indoor map 520 has a shape change with respect to the indoor map 620. Modifying the indoor map 620 to the high-precision indoor map 520 is a heavy work load.

For example, when switching from the outdoor map 510 to the indoor map 620, the indoor map 620 may be modified to the high-precision indoor map 520 because the map used for self-driving driving is moved from the outdoor to the indoor by automatic driving. The work load is heavy. Therefore, the map switching device 100 of the automatic operation system 1000 sets the position of the point cloud of the outdoor map 510 in the overlap region of the outdoor map 510 and the indoor map 620 to the position of the indoor map 620 in the overlap region corresponding to the position. Convert. This will be described below.

The point cloud of the indoor map 620 has a correct local relative positional relationship, but the accuracy of the map as a whole is not high, and the indoor map 620 does not have an absolute position. The orientation of the indoor map 620 is also incorrect. The indoor map 620 is a local coordinate system because it is not an absolute position.
FIG. 6 shows an overlapping region between the outdoor map 510 and the high-precision indoor map 520. The states of the outdoor map 510 and the indoor map 620 of FIG. 6 are the same as those of FIG. Regarding switching the map used for autonomous driving from the map in use to another map, the map switching device 100 focused on the entrance / exit which is the contact point between the outdoor map 510 and the high-precision indoor map 520. In FIG. 6, the outdoor point cloud and the indoor point cloud of the entrance / exit A partially overlap on both maps. Then, the conversion relationship between the position and the direction of the outdoor point cloud and the indoor point cloud of the entrance / exit A is defined. The same applies to the doorway B. Specifically, the entrance / exit A (510A) of the outdoor map 510 and the entrance / exit A (620A) of the indoor map 620 are in the same place, and the point cloud of the entrance / exit A (510A) and the entrance / exit A (620A) is a part. It overlaps. Overlapping means that the point clouds have different data values but are based on the same actual position. Similarly, the entrance / exit B (510B) of the outdoor map 510 and the entrance / exit B (620B) of the indoor map 620 are in the same place, and the point cloud of the entrance / exit B (510B) and the entrance / exit B (620B) is at least a part. It overlaps. In this example, it is assumed that all the point clouds at the entrance and exit are overwrapped. For example, when the PMV 700 for automatic driving enters the actual room corresponding to the indoor map 620 from the entrance / exit A, the map switching device 100 mounted on the PMV 700 at the entrance / exit A, which is an overlapping area, has the following (a). ) (B) (c) is executed. (A) The map switching unit 112 of the map switching device 100 converts the position of the PMV 700 from the position in the global coordinates to the position in the local coordinates. That is, the map switching unit 112 converts the position of the PMV 700 from the position at the entrance / exit A (510A) of the outdoor map 510 to the position at the entrance / exit A (620A). That is, the positions of the overlap areas of the first map and the second map are not aligned with each other, and the position of the overlap area of the first map is changed to the position of the overlap area of the second map. Positional transformation is defined. The map switching unit 112 converts the position of the PMV on the first map to the position on the second map using the definition of position conversion.
(B) The map switching unit 112 converts the direction of the PMV 700 from the direction in the global coordinates to the direction in the local coordinates. That is, the map switching unit 112 converts the direction of the PMV 700 from the direction at the entrance / exit A (510A) in the outdoor map 510 to the direction at the entrance / exit A (620A). That is, the first map and the second map do not match the directions of the overlapping areas of each other, and the direction from the position of the overlapping area of the first map to the direction of the overlapping area of the second map. The transformation is defined. The map switching unit 112 converts the direction of the PMV in the first map to the direction in the second map by using the definition of the direction conversion.
(C) The map switching unit 112 switches the first map in use to the second map. Here, the first map is the outdoor map 510 and the second map is the indoor map 620.

In the PMV 700, after the processes (a), (b), and (c) are performed, the automatic driving control device 300 performs automatic driving running based on the indoor map 620. Specifically, the detection information processing apparatus 200 generates automatic operation information 209 using the indoor map 620 which is the second map.

FIG. 7 is an enlarged view of the entrance / exit A (510A) and the entrance / exit A (620A) of FIG. Each position of the overlap region between the doorway A (510A) and the doorway A (620A) is repositioned by a conversion formula or a conversion table. In the case of the conversion formula, a conversion formula that adds a fixed value to the conversion by the rotation matrix can be considered as shown in the following formula 1. The conversion is performed by the map switching unit 112.
Rotation matrix transformation + fixed addition (Equation 1)
Since the orientation does not change depending on the location, the map switching unit 112 can convert using a fixed value. Once this transformation is done, the point cloud is switched from global coordinates to local coordinates. That is, the map switching unit 112 switches the outdoor map 510 to the indoor map 620.

In FIG. 7, (X ₁ , Y ₁ , Z ₁ ) is the position where the PMV 700 currently exists on the outdoor map 510. ( _{XL, Y L ,} Z _L ) indicate the same position on the indoor map 620. The arrow at the entrance / exit A (510A) indicates the north direction of the point cloud. When the angle θ1 is measured clockwise with respect to the north direction, θ1 = 0 is usually set in a highly accurate map having an absolute position such as the outdoor map 510.
When the _PMV700 is at the position (X1, Y1, Z1) of the entrance _/ exit _A (510A) and is in the traveling direction ω1, the traveling direction ωL of the PMV700 in the indoor map 620 is given by the following equation 2.
ωL = ω1-θ1 + θL (Equation 2)
(A) The map switching unit 112 replaces the traveling direction of the PMV 700 with ωL.
(B) The map switching unit 112 replaces the position (X ₁ , Y ₁ , Z ₁ ) with ( _{XL, Y L ,} Z _L ).
(C) The map switching unit 112 switches the map used for the automatic driving from the outdoor map 510 to the indoor map 620.

For position conversion, the correspondence of positions in the overlap area may be a table. However, since the corresponding positions in the overlap region are usually only rotated relatively, a rotation matrix conversion + a fixed value conversion formula may be used as described in (Equation 1) above. In FIG. 7, the posture is only the azimuth angle (Yaw angle) for easy understanding, but since there are actually a roll angle and a pitch angle, it is preferable to consider the traveling direction in three dimensions.

This method, that is, the method of switching from the first map to the second map by converting the position and orientation in the overlapping area, is not only the outdoor map 510 and the indoor map 620, which are the joints between the indoor and the outdoor, but also the indoor and the indoor. It can also be applied to the joints between indoors, outdoors and outdoors. The joint between indoors is a joint that occurs due to multiple measurements because the measurement area is wide and cannot be measured by one measurement. An example of this will be described later in FIG. The joint between the outdoor and the outdoor is, for example, a place where the system number is switched in the 19-system coordinate system of Japan.

FIG. 8 shows a state in which the PMV 700 moves to the actual room corresponding to the indoor map 620 by the route 701. As described above, at the entrance / exit A, the map switching unit 112 performs position conversion, directional conversion, and switching from the outdoor map 510 to the indoor map 620. This map switching does not modify the point cloud that forms the indoor map 620.
FIG. 9 shows a state in which the PMV 700 moves to the actual room corresponding to the indoor map 620 by the route 702. The conversion in FIG. 9 is the same as that in FIG.

<Automated driving after switching to indoor map 620>
The automatic driving of the PMV700 after the map used for the automatic driving is switched from the outdoor map 510 to the indoor map 620 is as follows. The automatic operation system 1000 of the PMV700 knows the position and orientation of the PMV700 on the indoor map 620. However, in the actual room corresponding to the indoor map 620, the automatic driving system 1000 cannot use the positioning using the positioning signal transmitted by the positioning satellite. Therefore, instead of positioning using the positioning signal transmitted by the positioning satellite, the automatic driving system 1000 calculates the position information of the PMV 700 by using a measurement sensor such as a camera 201, a millimeter wave radar 202, and an inertial device 205. .. The detection information processing apparatus 200 generates automatic operation information 209 by using this position information and the indoor map 620.

<Switching from indoor map 620 to outdoor map 510>
In the above, the switching from the outdoor map 510 to the indoor map 620 has been described. When the first map is the indoor map 620 and the second map is the outdoor map 510, it is the same as the switching from the outdoor map 510 to the indoor map 620. The formulas for the position conversion and the azimuth conversion are the opposite conversions. A case where the indoor map 620 is switched to the outdoor map 510 will be described with reference to FIG. It is assumed that the PMV 700 automatically drives on the route 703 and exists at the entrance / exit B (620B). The map switching unit 112 of the map switching device 100 knows that it is located at the entrance / exit B (620B) based on the position information received by the detection information processing device 200. The map switching unit 112 executes the following processes (a), (b), and (c).
(A) The map switching unit 112 converts the traveling direction of the PMV 700.
(B) The map switching unit 112 converts the position where the PMV 700 exists at the entrance / exit B (620B) into the position of the point cloud of the outdoor map 510.
(C) The map switching unit 112 switches the map used for the automatic driving from the indoor map 620 to the outdoor map 510.
(A) After the processes of (b) and (c), the automatic driving control device 300 performs automatic driving running based on the outdoor map 510.

A different example from FIG. 6 will be described with reference to FIGS. 10 to 14.
FIG. 10 assumes that the building 800 is surrounded by three roads 801, 802, 803, each of which has one doorway. FIG. 10 consists of an outdoor map 510 and a high-precision indoor map 520. FIG. 10 shows an outdoor map 510 and a high-precision indoor map 520 as a result of obtaining an ideal point cloud. However, in reality, absolute positioning is difficult in the room, so it is costly to create a point cloud as shown in FIG. Roads 801, 802, 803 show an absolutely positioned and accurate point cloud. Of the three entrances and exits, the three entrances and exits that are absolutely positioned on the road side have a point cloud with good accuracy. The three entrances and exits that are relative to each other on the indoor side have a point cloud with poor accuracy. The five white areas indicate the ideal indoor point cloud. The shaded area that slopes to the lower right, where the five ideal indoor point clouds are located, indicates a location where positioning is not possible. This is the part excluding the ideal indoor point cloud at 5 places and the entrance / exit at 3 places from the areas shown by Q1, Q2, Q3 and Q4.

FIG. 11 is an indoor map 620 that measures the room using relative positioning such as SLAM. The indoor map 620 is a point cloud. The indoor map 620 has an overlap region of the entrance / exit A (620A), the entrance / exit B (620B), and the entrance / exit C (620C) with respect to the outdoor map 510 of FIG. The doorway A (620A) overlaps with the doorway A (510A) of the road 801, the doorway B (620B) overlaps with the doorway B (510B) of the road 802, and the doorway C (620C) overlaps with the doorway C (510C) of the road 802. do. The point cloud in FIG. 11 is locally relatively correct, but the building 800 is distorted as a whole. Q1 to Q4 in FIG. 11 correspond to Q1 to Q4 in FIG. P1 to P8 in FIG. 11 correspond to P1 to P8 in FIG. As can be seen from Q1 to Q4 and P1 to P8, the point cloud in FIG. 11 is distorted with respect to FIG. 10. Further, in FIG. 11, the absolute relationship between the entrances and exits is also incorrect. The boundary surface of the building 800 exists, and the PMV 700 is controlled by the automatic operation system 1000 so as not to enter the building 800 except for the entrance / exit.

12 to 14 are concepts when entering and exiting from the entrances A, B, and C.
FIG. 12 is a conceptual diagram when entering and exiting from the entrance / exit A.
FIG. 13 is a conceptual diagram when entering and exiting from the entrance / exit B.
FIG. 14 is a conceptual diagram when entering and exiting from the entrance / exit C. Similar to the description of FIGS. 8 and 9, the map switching unit 112 can recognize that the PMV 700 is present at the entrance / exit, and whether the PMV 700 is going out of the building 800 or entering the building 800. Therefore, the position change, the direction change, and the map switching can be performed at any of the doorways A, the doorway B, and the doorway C, both when going out from the building 800 to the road and from the road into the building 800.

FIG. 15 shows map information 851, 852, 853, 854 for each floor of the building 800. 15 is a diagram illustrating a case where map information is switched for each floor in the building 800 with reference to FIG. 15. Building 800 generally has the same floor shape even if the floor changes. However, indoor point clouds are usually acquired on each floor. Therefore, the orientation and the positional relationship are broken for each floor. Therefore, as shown in FIG. 15, map information having a different outer shape of the building 800 for each floor can be obtained. In Building 800, for PMV700, an elevator or escalator is required to move between floors. It can be said that this limiting condition has the same principle as the entrance / exit described in FIG. When moving between floors by elevator, the conversion method at the elevator entrance / exit can be defined for each floor. For example, when the PMV700 moves from the 1st floor to the 4th floor, position conversion, direction conversion, and map switching are performed at the entrance / exit between the 1st floor and the 4th floor. In this case, the elevator entrance / exit corresponding to the elevator hoistway is the overlap area. This is shown in FIG. 15 as elevator 810.

In the case of an escalator, it is not possible to move multiple floors at once, so the map switching unit 112 may switch map information one after another, such as from the first floor to the second floor and from the second floor to the third floor. Since the escalator has a floor and a floor adjacent to it, the escalator is an overlapping area. While the outdoor and indoor map data as described in FIG. 8 are absolute and relative, the PMV700 can be used with the same principle for relative and relative maps without correcting the point cloud. It shows that it is possible to move by automatic driving. In FIG. 15, as for the escalator, the escalator 821 can go from the first floor to the second floor, the escalator 822 can go from the second floor to the third floor, and the escalator 823 can go from the third floor to the fourth floor. In many cases, the entrance to the outside is only on the 1st floor, but here it is set to have an exit on the 4th floor as well. For example, when there is a corridor to the next building.

FIG. 16 is a flowchart showing the operation of the map switching unit 112. The operation of the map switching unit 112 is summarized with reference to FIG. Routes 701 and 703 of FIG. 8 will be described as an example. In step S11, the map switching unit 112 determines whether or not the PMV700 is at the doorway. The map switching unit 112 can make a determination based on the position information received from the detection information processing apparatus 200. If it is not at the doorway (NO in step S11), the process ends (step S20). If you are at the doorway (YES in step S11), the process proceeds to step S12.

In step S12, the map switching unit 112 determines whether or not the map switching unit 112 is heading from the outside to the inside. If heading indoors, the process proceeds to step S13A. This is the case of route 701. If not heading into the room, the process proceeds to step S13B. This is the case of route 703.

In step S13A, the map switching unit 112 selects an indoor map 620 having an overlap area with the outdoor map 510. The fact that the indoor map 620 has an overlapping area with respect to the outdoor map 510 is possessed by the auxiliary storage device 130, for example, in the form of a list. Maps such as the outdoor map 510 and the indoor map 620 are acquired by the map acquisition unit 111, and the map switching unit 112 selects the map acquired by the map acquisition unit 111.

In step S14A, the map switching unit 112 selects the doorway A (510A). In step S15A, the map switching unit 112 executes the position change and the direction change described in FIG. 7. In step S16A, the map switching unit 112 switches the outdoor map 510, which is the first map, to the indoor map 620, which is the second map. Since the position and direction at the entrance / exit A (510A) are converted to match the indoor map 620 in step S15A, the PMV 700 can carry out automatic driving using the indoor map 620. The process ends in step S20.

In step S13B, the map switching unit 112 selects the indoor map 620 and the outdoor map 510 having an overlapping area.

In step S14B, the map switching unit 112 selects the doorway B (620B). In step S15B, the map switching unit 112 executes the position conversion and the direction conversion described in FIG. 7. That is, the position and orientation of the PMV 700 at the entrance / exit B (620B) are converted so as to match the outdoor map 510. In step S16B, the map switching unit 112 switches the indoor map 620, which is the first map, to the outdoor map 510, which is the second map. Since the position and direction are converted to match the outdoor map 510 in step S15B, the PMV 700 can continue the automatic driving running by using the outdoor map 510. The process ends in step S20.

*** Explanation of the effect of Embodiment 1 ***

According to the first embodiment, it is possible to provide a map switching device that switches the first map, which is the point cloud data used for the automatic driving of the vehicle, to the second map, which is the point cloud data that does not match the first map. .. According to the map switching device 100, the cost can be reduced because the map with the point cloud data is not modified. Further, the position conversion and the direction conversion by the map switching device 100 are simple processes. Therefore, the map can be switched quickly and there is no need to add hardware.

Although the application of PMV has been described in the first embodiment, the automatic driving system 1000 can be applied to any moving body that automatically moves using a map.

100 map switching device, 111 map acquisition unit, 112 map switching unit, 101 map switching program, 110 processor, 120 main memory device, 130 auxiliary storage device, 140 communication interface, 200 detection information processing device, 201 camera, 202 mm wave radar , 203 Laser Scanner, 204 Positioning Device, 205 Inertivity Device, 206 Communication Device, 209 Automatic Driving Information, 300 Automatic Driving Control Device, 301 Automatic Driving Information, 510 Outdoor Map, 510A Doorway A, 510B Doorway B, 510C Doorway C, 520 High-precision indoor map, 620 indoor map, 620A doorway A, 620B doorway B, 620C doorway C, 700 PMV, 701,702 route, 710 handle, 720 tires, 730 back mirror, 740 basket, 750 armrest, 760 terminal device, 770 Users, 800 Buildings, 801,802,803 Roads, 810 Elevators, 821,822,823 Escalators, 851,852,853,854 Map Information, 1000 Automated Driving Systems.

Claims (4)

In the map switching device installed in the personal mobility vehicle that operates automatically
It has a first map used for automatic driving of the personal mobility vehicle and an overlapping area which is a partial area that overlaps with a part of the area of the first map, with respect to the first map. The acquisition unit that acquires the second map used for the automatic driving, which is inconsistent with each other,
When it is detected that the personal mobility vehicle that is automatically driven using the first map is moving the overlap area from the overlap area toward the inside of the second map area. , A map switching unit that switches the map used for the automatic driving from the first map to the second map,
A map switching device equipped with. The first map and the second map are
The position of the partial area and the position of the overlap area are not aligned, and
A position conversion from the position of the part of the region to the position of the overlap region is defined.
The map switching unit is
The map switching device according to claim 1, wherein the position of the personal mobility vehicle on the first map is converted to the position on the second map by using the definition of the position conversion. The first map and the second map are
The orientation of the partial region and the orientation of the overlapping region are not matched, and the orientation conversion from the orientation of the partial region to the orientation of the overlapping region is defined.
The map switching unit is
The map switching device according to claim 1 or 2, wherein the orientation of the personal mobility vehicle in the first map is converted into the orientation in the second map using the definition of the orientation conversion. For map switching devices, which are computers installed in self-driving personal mobility vehicles
It has a first map used for automatic driving of the personal mobility vehicle and an overlapping area which is a partial area that overlaps with a part of the area of the first map, with respect to the first map. And the acquisition process to acquire the second map used for the automatic operation, which is inconsistent with each other.
When it is detected that the personal mobility vehicle that is automatically driven using the first map is moving the overlap area from the overlap area toward the inside of the second map area. , The map switching process for switching the map used for the automatic driving from the first map to the second map,
Map switching program to execute.

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