阅读说明：本技术 标识器系统及运用方法 (Marker system and application method ) 是由 山本道治 长尾知彦 青山均 于 2018-06-04 设计创作，主要内容包括：本发明涉及一种标识器系统(1)的运用方法,该标识器系统(1)向车辆(3)侧提供表示铺设有磁性标识器(10)的位置的铺设位置信息,以使得能够实现利用磁性标识器(10)来辅助车辆(3)的驾驶的控制,在该运用方法中,将在执行辅助驾驶的控制的车辆(3)侧所测定的磁性标识器(10)的位置用作校正信息,来对表示铺设有磁性标识器(10)的位置的铺设位置信息进行校正,因此能够缓和铺设磁性标识器(10)时所要求的位置精度,能够抑制磁性标识器(10)的铺设成本。(The present invention relates to a method for operating a marker system (1), wherein the marker system (1) provides laying position information indicating a position at which a magnetic marker (10) is laid to a vehicle (3) side so as to enable control for assisting driving of the vehicle (3) by the magnetic marker (10), wherein the laying position information indicating the position at which the magnetic marker (10) is laid is corrected using, as correction information, the position of the magnetic marker (10) measured on the vehicle (3) side where the control for assisting driving is performed, whereby positional accuracy required when the magnetic marker (10) is laid can be alleviated, and the laying cost of the magnetic marker (10) can be suppressed.)

1. A method of using a marker system that provides laying position information indicating a position where a magnetic marker is laid to a vehicle side to enable control to assist driving of a vehicle with the magnetic marker, wherein,

in the method of use of the marker system,

the position of the magnetic marker measured on the vehicle side where the control for assisting the driving is performed is used as correction information to correct the laying position information of the magnetic marker.

2. The method of using a marker system of claim 1,

when the laying position information is provided to the vehicle side, information indicating the accuracy of the laying position information is provided in association with each other.

3. Method of use of a marker system according to claim 1 or 2,

the degree of correction of the paving position information varies depending on the position accuracy when the position of the vehicle is measured.

4. A marker system that provides laying position information indicating a position at which a magnetic marker is laid to a vehicle side to enable control to assist driving of a vehicle with the magnetic marker, wherein,

the marker system is provided with:

a storage device that stores the laying position information; and

and a processing circuit that acquires measurement position information indicating a position measured on a vehicle side that performs control for assisting the driving, and performs arithmetic processing for correcting the paving position information stored in the storage device using the position indicated by the measurement position information as correction information.

5. The marker system of claim 4,

the processing circuit changes the degree of correction of the paving position information according to the accuracy of the measurement position information.

6. The marker system of claim 4 or 5, wherein,

the marker system includes an information transmitting unit that selects laying position information indicating a position closest to a position indicated by the measurement position information from among the laying position information stored in the storage device, and returns the selected laying position information to a vehicle of a transmission source of the measurement position information.

7. The marker system of claim 6,

the storage means stores information indicating the accuracy of the paving position information in association with the paving position information,

the information transmitting unit returns information indicating the accuracy of the paving position information in association with the paving position information to a vehicle capable of executing two or more types of control as control for assisting the driving so that control can be switched according to the accuracy of the paving position information.

Technical Field

The present invention relates to a marker system using a magnetic marker laid on a road and a method for operating the marker system.

Background

Conventionally, a magnetic marker detection system for a vehicle is known, which detects a magnetic marker laid on a road by a magnetic sensor mounted on the vehicle (for example, see patent document 1). According to such a magnetic marker detection system, it is possible to realize automatic driving in addition to various driving aids such as automatic steering control using magnetic markers laid along a lane, lane departure warning, and the like.

Prior art documents

Patent document

Patent document 1: japanese patent laid-open publication No. 2005-202478

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional magnetic marker, there are the following problems. For example, in order to realize driving assistance such as lane departure warning and automatic steering control, a plurality of magnetic markers need to be laid at short intervals with high accuracy, which causes a problem that the laying cost is likely to increase.

The present invention has been made in view of the above-described conventional problems, and an object thereof is to provide a marker system and an operation method that can suppress the laying cost of a magnetic marker.

Means for solving the problems

One embodiment of the present invention is a method of using a marker system that provides laying position information indicating a position where a magnetic marker is laid to a vehicle side to enable control to assist driving of a vehicle using the magnetic marker, wherein,

in the method of use of the marker system,

the position of the magnetic marker measured on the vehicle side where the control for assisting the driving is performed is used as correction information to correct the laying position information of the magnetic marker.

One embodiment of the present invention is a marker system that provides laying position information indicating a position where a magnetic marker is laid to a vehicle side to enable control to assist driving of a vehicle with the magnetic marker, wherein,

the marker system is provided with:

a storage device that stores the laying position information; and

and a processing circuit that acquires measurement position information indicating a position measured on a vehicle side that performs control for assisting the driving, and performs arithmetic processing for correcting the paving position information stored in the storage device using the position indicated by the measurement position information as correction information.

Effects of the invention

According to the present invention, after the magnetic marker is laid, the accuracy of the laying position information can be improved by using the magnetic marker by a vehicle. Therefore, according to the present invention, the necessity of laying the magnetic marker at a predetermined position determined by design or the like with high accuracy can be reduced, and the cost required for laying can be reduced.

As described above, the marker system and the operation method according to the present invention are effective for suppressing the installation cost of the magnetic marker.

Drawings

FIG. 1 is a system diagram of a marker system.

Fig. 2 is a diagram showing a magnetic marker.

Fig. 3 is an explanatory view of the laying work.

Fig. 4 is a block diagram showing a structure on the vehicle side.

Fig. 5 is a front view showing a vehicle provided with a sensor unit for detecting a magnetic marker.

Fig. 6 is an explanatory diagram illustrating a change in the magnetic field measurement value in the traveling direction when the magnetic marker passes through the magnetic marker.

Fig. 7 is an explanatory diagram illustrating a distribution of the magnetic measurement values in the vehicle width direction obtained by the magnetic sensors Cn arranged in the vehicle width direction.

Fig. 8 is a block diagram showing the configuration of the server device.

Fig. 9 is an explanatory diagram of the action content of the marker system.

Fig. 10 is an explanatory diagram of correction information applied to the correction processing of the laying position information.

Detailed Description

Examples of the positioning means in the present invention include a gps (global positioning system) means for measuring an absolute position, and an imu (inertial Measurement unit) for measuring a relative position by inertial navigation. In particular, if positioning is performed by the rtk (real time kinematic) GPS or the like, the absolute position can be measured with high accuracy. However, GPS based on reception of GPS radio waves is not suitable for positioning in tunnels, roads between buildings, and the like. For example, even in a place such as a tunnel where reception of GPS radio waves is not suitable, positioning by inertial navigation is possible. Therefore, positioning means combining positioning by GPS and positioning by inertial navigation may be used.