Self-position estimation accuracy verification method and self-position estimation system

Patent metadata

Field	Value
Publication number	US-11912290-B2
Application number	US-202117516107-A
Country	US
Kind code	B2
Filing date	Nov 1, 2021
Priority date	Jan 28, 2021
Publication date	Feb 27, 2024
Grant date	Feb 27, 2024

Abstract

A self-position estimation accuracy verification method includes a step of moving a mobile object to a first check point, a step of acquiring first check information, a step of starting a self-position estimation using the first check information as an initial value, a step of moving the mobile object to a second check point while continuing the self-position estimation, a step of acquiring second check information, and a step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and a position and a posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.

First claim

What is claimed is:

1. A self-position estimation accuracy verification method of verifying accuracy of self-position estimation that estimates a position and a posture of a mobile object on a map, a check point being a point at which the position and the posture of the mobile object on the map is specifiable by a self-position estimation system comprising at least one processor and a position specifying device, the position specifying device is an external device, when the mobile object is positioned, and a first check point and a second check point being any two check points that are different from each other from among a plurality of check points, the position specifying device being installed at each of the check points, the self-position estimation accuracy verification method comprising:
an initial step of moving the mobile object to the first check point;
a step of specifying a position and a posture of the mobile object positioned at the first check point on the map and acquiring first check information indicating specified information;
a step of starting the self-position estimation using the first check information as an initial value;
a step of moving the mobile object to the second check point while continuing the self-position estimation;
a step of specifying a position and a posture of the mobile object positioned at the second check point on the map and acquiring second check information indicating the specified information; and
a verification step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and the position and the posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.

2. The self-position estimation accuracy verification method according to claim 1 , further comprising:
in the verification step, when the deviation is equal to or higher than a predetermined threshold value, for sets of the first check point and the second check point, which are the same or different from each other, returning to the initial step and repeating each of the steps,
wherein when the deviation is equal to or higher than the predetermined threshold value and repetition is executed for the number of times equal to or higher than a predetermined number of times, the accuracy of the self-position estimation is determined to be lowered.

3. The self-position estimation accuracy verification method according to claim 1 , wherein, in the verification step, when the deviation is lower than a predetermined threshold value, the accuracy of the self-position estimation is determined to be normal.

4. A self-position estimation system which executes self-position estimation that estimates a position and a posture of a mobile object on a map, the self-position estimation system comprising:
at least one processor configured to execute:
a position specifying process for specifying the position and the posture of the mobile object on the map when the mobile object is positioned at any of a plurality of check points;
a self-position estimation process for executing the self-position estimation using the position and the posture of the mobile object on the map specified in the position specifying process as initial values; and
an estimation accuracy verification process for verifying accuracy of the self-position estimation in the self-position estimation process, wherein:

a first check point and a second check point are any two check points that are different from each other from among the plurality of check points;
first check information is information on the position and the posture of the mobile object on the map specified in the position specifying process when the mobile object is positioned at the first check point;
second check information is information on the position and the posture of the mobile object on the map specified in the position specifying process when the mobile object is positioned at the second check point;
estimation accuracy verification information is information on a position and a posture of the mobile object on the map estimated in the self-position estimation process when the mobile object is moved to the second check point after the self-position estimation is started using the first check information as the initial value in the self-position estimation process when the mobile object is positioned at the first check point;
in the estimation accuracy verification process, the at least one processor is configured to calculate a deviation between the position and the posture of the mobile object on the map indicated by the estimation accuracy verification information and the position and the posture of the mobile object indicated by the second check information on the map, and to verify the accuracy of the self-position estimation based on the deviation; and
the self-position estimation system further comprising a position specifying device, the position specifying device is an external device configured to specify the position and the posture of the mobile object, the position specifying device is installed at each of the check points.

5. The self-position estimation system according to claim 4 , wherein:
the estimation accuracy verification information and the second check information are sequentially given for each of a plurality of the same or different sets of the first check point and the second check point;
in the estimation accuracy verification process, the at least one processor is configured to:
sequentially determine, for the sequentially given estimation accuracy verification information and second check information, whether the deviation is lower than, or equal to or higher than a predetermined threshold value; and
determine, upon determining that the deviation is equal to or higher than the threshold value for the number of times equal to or higher than a predetermined number of times, that the accuracy of the self-position estimation is lowered.

6. The self-position estimation system according to claim 4 , wherein, in the estimation accuracy verification process, the at least one processor is configured to determine, upon determining that the deviation is lower than a predetermined threshold value, that the accuracy of the self-position estimation is normal.

7. The self-position estimation system according to claim 4 , wherein:
the external device includes a position specifying external sensor; and
the position specifying external sensor is a sensor configured to detect information for specifying the position and the posture of the mobile object on the map.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kamikado Kazuhiko
• Kawanai Taichi
• Abe Sadayuki
• Matsui Hideyuki

Classifications

• B60W50/0205 Primary

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G01C21/165 Primary

  combined with non-inertial navigation instruments · CPC title

• G05D1/0276

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title