阅读说明：本技术 外界感测信息处理装置 (External sensing information processing device ) 是由 中田启明 村松彰二 于 2020-02-06 设计创作，主要内容包括：本发明提供一种外界感测信息处理装置,其在使用其他车辆检测到的物体的位置信息时抑制将物体的存在反映到自身车辆的地图上时的位置误差,而且验证该其他车辆的位置信息精度,视状况避免使用从该其他车辆提供的物体的位置信息,由此能抑制对先进安全系统或自动驾驶系统的警告或车辆控制的不良影响。在发送其他车辆或道路上设置的外界传感器所检测到的物体或标志的位置信息时,也检测并发送成为位置基准的环境地图的构成信息也就是物体(静止物)及标志的特征点的位置。自身车辆在接收到这些信息时,根据作为对象的物体或标志的位置信息和特征点的位置的相对位置关系以及自身车辆上掌握到的该特征点的位置来算出(修正)自身车辆的环境地图上的该物体或标志的位置。此外,其他车辆还发送其他车辆自己的位置信息,自身车辆根据接收到的其他车辆自己的位置信息与其他车辆上检测到的特征点的位置、自身车辆上掌握到的该特征点的位置的关系来确认其他车辆自己掌握到的该车辆的位置信息的误差,在该误差较大或者不稳定的情况下,避免使用来自该其他车辆的位置信息。(The present invention provides an external sensing information processing device which suppresses a position error when reflecting the presence of an object on a map of a host vehicle when using position information of the object detected by another vehicle, verifies the accuracy of the position information of the other vehicle, and avoids using the position information of the object provided from the other vehicle depending on the situation, thereby suppressing adverse effects on warning or vehicle control of an advanced safety system or an automatic driving system. When transmitting position information of an object or a marker detected by an external sensor provided on another vehicle or a road, the positions of feature points of the object (stationary object) and the marker, which are configuration information of an environment map serving as a position reference, are also detected and transmitted. When the host vehicle receives the information, the position of the object or the mark on the environment map of the host vehicle is calculated (corrected) based on the relative positional relationship between the positional information of the object or the mark as the target and the position of the feature point grasped by the host vehicle. The other vehicle transmits its own position information, and the own vehicle confirms an error in the own position information of the other vehicle grasped by the own vehicle from the relationship between the received own position information of the other vehicle and the positions of the feature points detected by the other vehicle and the position of the feature point grasped by the own vehicle, and avoids using the own position information of the other vehicle when the error is large or unstable.)

1. An external sensing information processing apparatus that performs position detection of an object or a marker existing outside a first moving object, comprising:

a reception function of receiving configuration information of an environment map serving as a position reference, which is extracted from sensing information of an external sensor mounted on a second mobile body or a stationary object;

a matching function that performs matching processing on the configuration information of the environment map obtained by the receiving function and the configuration information of the environment map obtained by the function provided in the sensing information processing device; and

and a correction function of correcting the positional information of the object or the marker existing outside, which is detected by an outside sensor mounted on the second moving object or the stationary object, using a matching result of the matching function.

2. The ambient-sensing information processing apparatus according to claim 1,

when the motion of the external sensor mounted on the second mobile body or the stationary object is stationary, the matching process of the configuration information of the environment map is performed once, and then the matching process of the configuration information of the environment map is stopped or the processing interval of the matching process of the configuration information of the environment map is extended before the motion of the external sensor mounted on the second mobile body or the stationary object occurs.

3. The ambient-sensing information processing apparatus according to claim 1,

in the case of receiving the sensing information of the external sensor mounted on the plurality of second moving bodies or stationary objects, when the first moving body approaches an intersection, the sensing information of the external sensor mounted on the second moving body or stationary object closest to the intersection in the direction toward the intersection collected on each road at the intersection is preferentially used.

4. The ambient-sensing information processing apparatus according to claim 3,

the sensing information of the external sensor mounted on the second moving body or the stationary object approaching the direction perpendicular to the direction of the first moving body is preferentially used.

5. The ambient-sensing information processing apparatus according to claim 1,

the matching process of the configuration information of the environment map is performed using the configuration information of the environment map serving as the position reference, which is extracted from the sensing information of the external sensor mounted on the first mobile body, that is, the position information of the reference feature point, or using the configuration information of the environment map serving as the position reference as the map data and the position information of the reference feature point existing in the map data.

6. An external sensing information processing apparatus that performs position detection of an object or a marker existing outside a first moving object, comprising:

a reception function of receiving configuration information of an environment map serving as a position reference and position information of a second moving object or a stationary object, which are extracted from sensing information of an external sensor mounted on the second moving object or the stationary object;

a matching function that performs matching processing on the configuration information of the environment map obtained by the receiving function and the configuration information of the environment map obtained by the function provided in the sensing information processing device;

a position calculating function of calculating a position of the second mobile object or the stationary object using a matching result of the matching function; and

and an error detection function that compares a calculation result of the position calculation function with the position information of the second mobile body or the stationary object obtained by the reception function, and thereby detects an error in the position of the second mobile body or the stationary object recognized by the second mobile body or the stationary object.

7. The ambient-sensing information processing apparatus according to claim 6,

the matching process of the configuration information of the environment map is performed using the configuration information of the environment map serving as the position reference, which is extracted from the sensing information of the external sensor mounted on the first mobile body, that is, the position information of the reference feature point, or using the configuration information of the environment map serving as the position reference as the map data and the position information of the reference feature point existing in the map data.

8. The ambient-sensing information processing apparatus according to claim 6,

the apparatus further includes a correction function of correcting the position information of the object or the marker present outside, which is detected by an external sensor mounted on the second moving body or the stationary object, using an error detection result of detecting an error in the position of the second moving body or the stationary object.

9. The ambient-sensing information processing apparatus according to claim 6,

and an error management function of managing an error detection result of detecting an error in the position of the second mobile body or the stationary object.

10. The ambient-sensing information processing apparatus according to claim 9,

the apparatus further includes a correction function of correcting position information of an object or a marker existing outside, which is detected by an outside sensor mounted on the second moving body or the stationary object, using an error in the position of the second moving body or the stationary object managed by the error management function.

11. The ambient-sensing information processing apparatus according to claim 6,

when the motion of the external sensor mounted on the second mobile body or the stationary object is stationary, the matching process of the configuration information of the environment map is performed once, and then the matching process of the configuration information of the environment map is stopped or the processing interval of the matching process of the configuration information of the environment map is extended before the motion of the external sensor mounted on the second mobile body or the stationary object occurs.

12. The ambient-sensing information processing apparatus according to claim 6,

in the case of receiving the sensing information of the external sensor mounted on the plurality of second moving bodies or stationary objects, when the first moving body approaches an intersection, the sensing information of the external sensor mounted on the second moving body or stationary object closest to the intersection in the direction toward the intersection on each road gathered at the intersection is preferentially processed.

13. The ambient-sensing information processing apparatus according to claim 12,

the sensed information of the external sensor mounted on the second moving body or the stationary object approaching the direction perpendicular to the direction of the first moving body is preferentially processed.

14. The ambient-sensing information processing apparatus according to claim 9,

the control device further includes a transmission function of transmitting information on the error in the position of the second moving object or stationary object managed by the error management function to the second moving object or stationary object.

15. The ambient-sensing information processing apparatus according to claim 9,

the control device further includes a selection function of, when receiving sensing information of an external sensor mounted on a plurality of the second moving bodies or stationary objects, confirming information of an error in a position of the second moving bodies or stationary objects managed by the error management function, and selecting the second moving bodies or stationary objects using the information of the error in the position.

Technical Field

The present invention relates to an external sensing information processing device, and more particularly, to an external sensing information processing device which constitutes an advanced safety system or an automatic driving system of a vehicle and detects or recognizes an object having an influence on the traveling of the vehicle by sensing an external condition by making full use of external sensing information other than the vehicle.

Background

In recent years, vehicles equipped with advanced safety systems that automatically perform a braking operation in an emergency in order to avoid a collision or reduce a loss at the time of collision have become widespread. Vehicles (autonomous vehicles) equipped with an autonomous driving system that enables the vehicle to autonomously move have also been realized at an experimental level or under limited conditions. In order to recognize a situation outside a vehicle, an advanced security system or an automatic driving system is generally equipped with an external sensor such as a camera, a radar, a laser range finder (Lidar), or a sonar, and a signal processing device that processes sensed data input from the external sensor to detect and recognize a surrounding object or situation. However, since there are objects that are difficult to detect by the external sensor of the host vehicle due to the surrounding situation or the distance from the vehicle, there is a method of using information acquired by an external sensor other than the host vehicle by communicating with a device installed on a road or the like or another vehicle in order to detect and recognize these objects. As a method for acquiring information using an external sensor of another vehicle, patent document 1 discloses the following method: the position information of the object detected by the other vehicle is acquired by communication, and the position of the other vehicle is detected by the external sensor of the own vehicle, so that the positional relationship between the own vehicle and the other vehicle is grasped, and the position information of the object detected by the other vehicle is converted into the position information of the own vehicle and used.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2018-81609

Disclosure of Invention

Problems to be solved by the invention

However, in the method disclosed in patent document 1, since the position of another vehicle needs to be confirmed by an external sensor of the host vehicle, the other vehicle can be observed from the host vehicle, and therefore, information of another vehicle that cannot be observed from the host vehicle cannot be used. There is also a method of transmitting the position of the other vehicle on the map recognized by the other vehicle itself from the other vehicle to the own vehicle so that the own vehicle acquires the position of the other vehicle, but the accuracy of determining the position on the map differs depending on the vehicle, and the position of the other vehicle on the map may not be accurate in some cases. Therefore, if the position of the other vehicle on the map transmitted by the other vehicle is directly used as a reference, the accuracy of the position information of the object detected by the other vehicle may be degraded, and it may be impossible to appropriately operate an advanced safety system or an automatic driving system that performs warning or vehicle control in accordance with the position of the object. For example, the calculation of the predicted time to collision with an obstacle becomes incorrect, and unnecessary sudden braking may be generated or braking is weak and it is difficult to avoid a collision. Further, since the position on the map is used, when the other vehicle deviates from the map of the own vehicle, if the position information of the object detected by the other vehicle with reference to the position of the other vehicle transmitted by the other vehicle is used and the object is directly placed on the map of the own vehicle in association with the other vehicle, the object may be placed on the map of the own vehicle in an offset manner, and as a result, the operation of the advanced safety system or the automatic driving system that performs warning or vehicle control may not be appropriately performed.

The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an external sensing information processing device that suppresses a position error when reflecting the presence of an object on a map of a host vehicle when using position information of an object detected by another vehicle, verifies the accuracy of the position information of the other vehicle, and avoids using information of the other vehicle depending on the situation, thereby suppressing adverse effects on warning or vehicle control of an advanced safety system or an automatic driving system.

Means for solving the problems

In order to achieve the above object, an external sensing information processing apparatus according to the present invention is an external sensing information processing apparatus for detecting a position of an object or a marker existing outside a first moving object, the external sensing information processing apparatus including: a reception function of receiving configuration information of an environment map serving as a position reference, which is extracted from sensing information of an external sensor mounted on a second mobile body or a stationary object; a matching function that performs matching processing on the configuration information of the environment map obtained by the receiving function and the configuration information of the environment map obtained by the function provided in the sensing information processing device; and a correction function of correcting, using a matching result of the matching function, position information of an object or a mark existing outside and detected by an outside sensor mounted on the second moving body or the stationary object.

Further, an external sensing information processing apparatus according to the present invention is an external sensing information processing apparatus for detecting a position of an object or a marker existing outside a first moving object, the external sensing information processing apparatus including: a reception function of receiving configuration information of an environment map serving as a position reference extracted from sensing information of an external sensor mounted on a second mobile body or a stationary object and position information of the second mobile body or the stationary object; a matching function that performs matching processing on the configuration information of the environment map obtained by the receiving function and the configuration information of the environment map obtained by the function provided in the sensing information processing device; a position calculating function of calculating a position of the second mobile object or the stationary object using a matching result of the matching function; and an error detection function for comparing a calculation result of the position calculation function with the position information of the second mobile body or the stationary object obtained by the reception function, and thereby detecting an error in the position of the second mobile body or the stationary object recognized by the second mobile body or the stationary object.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, for example, when transmitting position information of an object or a marker detected by an external sensor mounted on another vehicle (an external sensor such as a camera installed on a road may be used), the position of a feature point of the object (stationary object) and the marker, which are configuration information of an environment map serving as a position reference, is detected and transmitted. When the host vehicle receives the information, the position of the object or the mark on the environment map of the host vehicle is calculated (corrected) based on the relative positional relationship between the positional information of the object or the mark as the target and the position of the feature point grasped by the host vehicle.

The other vehicle transmits its own position information, and the own vehicle confirms an error in the position information of the other vehicle grasped by the own vehicle from the relationship between the received own position information of the other vehicle and the positions of the feature points detected by the other vehicle and the position of the feature point grasped by the own vehicle, and avoids using the position information from the other vehicle when the error is large or unstable.

In this way, in the present invention, the position of the object or the marker detected by the external sensor mounted on the other vehicle is calculated based on the feature point detected by the external sensor mounted on the other vehicle, and therefore, even in a situation where the other vehicle or the like cannot be detected from the own vehicle, the detection result of the external sensor mounted on the other vehicle can be used. Further, since the position of the object or the marker detected by the external sensor mounted on the other vehicle is calculated with reference to the position of the feature point grasped by the host vehicle, the position accuracy when the position of the object or the marker detected by the external sensor mounted on the other vehicle is reflected on the map of the host vehicle is improved.

Further, since another vehicle unsuitable for use of position information can be detected by comparing the position of the other vehicle detected by the other vehicle itself with the position of the external sensor mounted on the other vehicle calculated by the own vehicle and grasping the position accuracy of the other vehicle, it is possible to suppress adverse effects on the operation of the advanced safety system or the automatic driving system by restricting the use of the position information of the detection object or the marker provided by the other vehicle and the position information of the other vehicle detected by the other vehicle itself.

Problems, configurations, and effects other than those described above will be apparent from the following description of the embodiments.

Drawings

Fig. 1 is an example of the situation of a vehicle mounted with the information processing device of embodiment 1.

Fig. 2 is a hardware configuration example of the information processing apparatus according to embodiment 1.

Fig. 3 shows an example of the configuration of functional blocks of the information processing apparatus (type FA) and the information processing apparatus (type EA) according to embodiment 1.

Fig. 4 is an example of an intersection where an intersection mark exists.

Fig. 5 is an example of a sign provided at an intersection.

Fig. 6 is an explanatory diagram of a method of processing position correction of an object detected by an information processing device mounted on another vehicle.

Fig. 7 is an example of the location information transmitted by the information processing apparatus (type FA).

Fig. 8 is an example of a bicycle identified by the information processing apparatus (type FA).

Fig. 9 is an example of an intersection provided with an intersection monitoring camera.

Fig. 10 shows an example of a functional block configuration of the information processing apparatus (type FB) and the information processing apparatus (type EB) according to embodiment 2.

Fig. 11 is an example of an intersection without an intersection mark.

Fig. 12 shows an example of the configuration of functional blocks of the information processing apparatus (type FB) and the information processing apparatus (type EC) according to embodiment 3.

Fig. 13 is an explanatory diagram of an object detected by an information processing device mounted on another vehicle and a position correction processing method of the other vehicle.

Fig. 14 shows an example of a situation in which a vehicle mounted with an information processing device for transmitting object information is present in front of a reference feature point.

Fig. 15 is an example of a situation in which a vehicle mounted with an information processing device that transmits object information recognizes a falling object after passing through a reference feature point.

Fig. 16 is a block diagram showing an example of the configuration of the information processing apparatus (type FD) and the information processing apparatus (type ED) according to embodiment 4.

Detailed Description

Hereinafter, an embodiment of an environment sensing information processing apparatus (hereinafter, may be simply referred to as an information processing apparatus) according to the present invention will be described with reference to the drawings.

[ example 1]

An application state of embodiment 1 of the present invention will be described with reference to fig. 1.

As shown in fig. 1, in the present embodiment, the 1 st external sensing information processing device 100A mounted on a certain vehicle 701 (hereinafter, sometimes referred to as a host vehicle) communicates with the 2 nd external sensing information processing device 300A mounted on a different vehicle 702 (hereinafter, sometimes referred to as another vehicle), and the recognition results of the external sensing by the 2 nd external sensing information processing device 300A are integrated to perform external recognition output (that is, position detection of an object or a mark existing outside the vehicle 701, or the like).

A configuration example of hardware according to embodiment 1 of the present invention, that is, a configuration example of hardware to which the 1 st environment-sensitive information processing device 100A and the 2 nd environment-sensitive information processing device 300A shown in fig. 1 are mounted will be described with reference to fig. 2.

As shown in fig. 2, the hardware on which the information processing apparatuses 100A and 300A of the present embodiment are mounted is composed of an ECU (Electronic Control Unit) 200 that performs main processing, and an external sensor module 237, a V2X antenna 242, and a GPS module 246 connected thereto. Further, a CAN bus 251 is connected to communicate with other ECUs. Instead of the CAN bus 251, another connection signal (such as an on-vehicle LAN) may be used, or these connection signals and the CAN bus 251 may be used together.

The ECU200 incorporates a microcomputer 210, a main storage 221, a flash memory 226, a CAN transceiver 231, a sensor interface 236, and a V2X module 241.

The microcomputer 210 is a device that executes software for realizing various functions, and exchanges information with a connected device and performs information processing in accordance with instructions of a program.

The flash memory 226 is used to hold software executed in the microcomputer 210 and data required by the microcomputer 210 and is also required to hold stored data when power is off.

The main storage device 221 is a storage device for temporarily storing data by operating software in the microcomputer 210, and generally uses a RAM (Random Access Memory).

The CAN transceiver 231 is a device mainly used for equalizing electrical characteristics when the microcomputer 210 communicates via the CAN bus 251. The sensor interface 236 is an interface through which the microcomputer 210 communicates with the external sensor module 237 mounted on the vehicle, and is a device for performing high-speed serial communication, for example.

The external sensor module 237 is a module in which an external sensor such as an in-vehicle camera and a function of converting a signal obtained by the external sensor into a signal corresponding to the sensor interface 236 are integrated. The external sensor module 237 may have a recognition function and the like.

Further, there is also a case where the sensor interface 236 prepared for connecting the external sensor module 237 to the microcomputer 210 is not used, and communication with the microcomputer 210 is performed via the CAN bus 251. Hereinafter, the external sensor module 237 including an external sensor for sensing (detecting) an external condition may be simply referred to as an external sensor.

The V2X module 241 is a device for the microcomputer 210 to communicate with other vehicles or devices on the road, and is a device for wireless communication by connecting the V2X antenna 242, which is a V2X communication antenna, to the outside of the ECU 200.

The GPS module 246 connected to the microcomputer 210 is a device for the microcomputer 210 to obtain the current time and the current position. The GPS module 246 receives radio waves from GPS satellites by using a built-in antenna, and analyzes received signals by using an LSI to obtain a position and time.

The information processing apparatuses 100A and 300A according to the present embodiment are configured as shown in fig. 2 in terms of hardware because the difference in function is the difference in software operating in the microcomputer 210, the difference in processing capability of the microcomputer 210, the difference in capacity of the main storage 221 and the flash memory 226 for storing and processing software and data, the difference in the external sensor module 237, and the like.

An example of the configuration of the functional blocks in embodiment 1 of the present invention will be described with reference to fig. 3. The 1 st outside world sensing information processing device 100A mounted on a vehicle (host vehicle) 701 in fig. 1 corresponds to the information processing device (type EA)100A in fig. 3, and the 2 nd outside world sensing information processing device 300A mounted on a vehicle (other vehicle) 702 in fig. 1 corresponds to the information processing device (type FA)300A in fig. 3.

The information processing apparatus (type FA)300A includes: a time management unit B331 that manages the time of the entire apparatus; a vehicle position detection unit B301 having a function equivalent to a navigation system equipped with a GPS or the like, and acquiring a position and an orientation of a vehicle equipped with the device on a map; an external sensor connection part B322 that acquires sensing information of an external sensor B321 that senses a condition of the outside by communication; a recognition processing unit B341 that detects a mark such as an object, a figure, or a character existing outside from the sensing information acquired from the outside sensor B321 via the outside sensor connection unit B322, and recognizes the position and the orientation relative to each other with the outside sensor B321 as a reference, including the mark; a reference feature point extraction processing unit B311 that extracts feature points (hereinafter referred to as reference feature points) of stationary objects and markers that are configuration information of the surrounding environment map and that can be used as a reference of positions on the map, from the result of recognition by the recognition processing unit B341; and a communication processing unit B351 that communicates with the information processing apparatus (type EA)100A mounted on a different vehicle.

The time management unit B331 has the following functions: for example, if the error is suppressed to within 1 millisecond by synchronizing with the time information of the GPS every 1 hour at maximum, and if the accuracy cannot be ensured due to the failure to acquire the time information of the GPS for a long time or the like, the error is notified to each component of the information processing apparatus (type FA)300A or to another information processing apparatus that receives the information from the information processing apparatus (type FA)300A via the communication processing unit B351. In addition, in the case of using the GPS, the time management unit B331 may share the GPS signal reception function with the vehicle position detection unit B301.

The external sensor B321 is assumed to use a camera, a laser range finder, a millimeter wave radar, an ultrasonic sensor (sonar), or the like, but may be another sensor as long as it can sense an external situation. The external sensor B321 adds a sensing timing (sensing timing) when sensing information is output.

When integrating the external sensing results of various external sensors, the sensing time is important to correct the position change of each object due to the time, but since the additional sensing time is used in another information processing apparatus, if the time accuracy is ensured, it is necessary to notify the other information processing apparatus of the fact when the time accuracy is not ensured.

The position and orientation of the vehicle on the map and the timing of acquiring them acquired by the vehicle position detection unit B301, the acquisition timing of the result of recognition and the sensed information for recognition by the recognition processing unit B341, and the information of the feature point detected by the reference feature point extraction processing unit B311 are transmitted to another information processing apparatus (that is, the information processing apparatus (type EA)100A) via the communication processing unit B351.

The recognition result of the recognition processing unit B341 includes the type of the recognized object (may be unknown if the type is unknown) and the position information of the object. It is preferable that the relative position with reference to the external sensor B321 is included in the position information, but if information necessary for calculating the relative position is included in the information transmitted from the communication processing unit B351, the position information may be a relative position on coordinates managed in the environment map of the information processing device (type FA)300A or a position using longitude and latitude. For example, if the position information in the coordinate system is set to match the direction of the vehicle with the reference point of the vehicle on which the information processing device (type FA)300A is mounted as the origin, the relative position with respect to the external sensor B321 can be calculated using the information of the position and direction of the external sensor B321 in the coordinate system. When the position information is longitude and latitude, there are reference position and orientation information (for example, information acquired by the vehicle position detection unit B301 and information of the vehicle attachment position and orientation of the external sensor B321) used to calculate the longitude and latitude, and therefore, a relative position with respect to the external sensor B321 can be calculated from these pieces of information.

The recognition processing unit B341 has an external recognition output B391 in the form of an output (value) for using the recognition result in the interior of the vehicle in which the information processing apparatus (type FA)300A is mounted. By using the external world recognition output B391, the vehicle mounted with the information processing apparatus (type FA)300A can use the processing result of the recognition processing section B341, for example, in the control of the advanced driving assistance function and the like.

The information processing apparatus (type EA)100A includes: a time management unit a131 that manages the time of the entire apparatus; a vehicle position detection unit a101 having a function equivalent to a navigation system equipped with a GPS or the like, and acquiring a position and a direction of a vehicle equipped with the device on a map; an external sensor connection part a122 that acquires sensing information of an external sensor a121 that senses a condition of the outside through communication; a recognition processing unit a141 that detects a mark such as an object, a figure, or a character existing outside from the sensing information acquired from the outside sensor a121 via the outside sensor connection unit a122, and recognizes a relative position and orientation based on the outside sensor a121, including the relative position and orientation; a reference feature point extraction processing unit a111 that extracts, from the result of recognition by the recognition processing unit a141, a reference feature point that serves as configuration information of a surrounding environment map and can be used as a reference for a position on the map; and a communication processing unit a151 that communicates with an information processing apparatus (type FA)300A mounted on a different vehicle.

The time management unit a131 has the following functions: for example, if the error is suppressed to within 1 millisecond by synchronizing with the time information of the GPS every 1 hour at maximum, and if the accuracy cannot be ensured due to the failure to acquire the time information of the GPS for a long time or the like, the error is notified to each component of the information processing apparatus (type EA) 100A. In addition, in the case of using the GPS, the time management unit a131 may share the GPS signal reception function with the vehicle position detection unit a 101.

The external sensor a121 is assumed to use a camera, a laser range finder, a millimeter wave radar, an ultrasonic sensor (sonar), or the like, but may be another sensor as long as it can sense an external situation. The external sensor a121 additionally performs sensing (sensing timing) when outputting the sensing information.

The information processing apparatus (type EA)100A further includes a reference feature point matching process unit 161, a position correction process unit a171, and a recognition result integration process unit 181 in order to use information obtained from the information processing apparatus (type FA)300A using the communication process unit a 151.

The reference feature point matching process unit 161 performs association (matching process) between the reference feature point extracted by the reference feature point extraction process unit a111 and the reference feature point extracted by the reference feature point extraction process unit B311 obtained by the communication process unit B351, taking into account the position and orientation obtained by the vehicle position detection unit a101 and the position and orientation obtained by the vehicle position detection unit B301 obtained by the communication process unit a 151.

In this association (matching process), first, the same object or mark existing at substantially the same position is associated, and the association of the feature points included in the object or mark is performed in consideration of the positional relationship between the feature points and the orientation of the external sensor of each information processing apparatus.

The position on the surrounding environment map is calculated using the position and orientation information of the feature point acquired by the recognition processing unit a141 and extracted as the reference feature point by the reference feature point extraction processing unit a111 and the position and orientation information of the vehicle acquired from the vehicle position detection unit a 101. This position is passed to the position correction processing unit a171 as the position of the reference feature point recognized by the information processing device (type EA)100A on the surrounding environment map.

The position information of the reference feature point obtained from the information processing device (type FA)300A via the communication processing unit a151 is also given to the position correction processing unit a171 as the position information of the reference feature point recognized by the information processing device (type FA) 300A. It is preferable that the position information from the information processing apparatus (type FA)300A further include information on the relative position with reference to the external sensor B321.

The position correction processing unit a171 corrects the position information of the reference feature point recognized by the information processing device (type FA)300A obtained via the communication processing unit a151 and the other recognized objects (in other words, the object or the mark existing outside and detected by the outside sensor B321). In this correction, the position identified by the information processing apparatus (type EA)100A and the position identified by the information processing apparatus (type FA)300A obtained from the reference feature point matching processing unit 161 (described in detail later) are used for the same reference feature point. The corrected position information is delivered to the recognition result integration processing unit 181 together with information of the recognized object corresponding to the position.

When information, such as vehicle speed information, which can determine the stop of the vehicle on which the information processing device (type FA)300A is mounted is obtained from the information processing device (type FA)300A, it is also considered that after the time for which the shaking of the vehicle is considered to have subsided after the vehicle stops becomes a situation in which it can be considered that the external sensor B321 has come to rest, the calculation of the position on the environment map is performed once for the reference feature point obtained from the information processing apparatus (type FA)300A, and thereafter, before the external sensor B321 starts moving as the vehicle starts moving (specifically, before the external sensor B321 is confirmed to move), the association (matching process) of the reference feature points is fixed, and the association (matching process) of the reference feature points in the reference feature point matching process unit 161 is omitted (stopped), thereby reducing the processing load of the reference feature point matching process unit 161. Alternatively, it is also conceivable that the reference feature point association in the reference feature point matching processing unit 161 is not completely omitted and the frequency (processing interval) of association is made longer than the average time.

The recognition result integration processing unit 181 integrates the recognition result recognized by the recognition processing unit a141 and the recognition result on the information processing device (type FA)300A side obtained from the position correction processing unit a171 into an environment map, and outputs the environment map as an external recognition output a 191. The recognition result integration processing unit 181 also uses the output of the vehicle position detection unit a101 in order to convert the relative position of the recognized object recognized by the external sensor a121 into a position on the map by the recognition processing unit a 141.

The recognition result integration processing unit 181 reflects the position of the vehicle on which the information processing device (type FA)300A is mounted on the environment map using the position and orientation of the vehicle on the map acquired by the vehicle position detection unit B301 obtained via the communication processing unit a 151. The recognition result integration processing unit 181 also reflects the position of the vehicle on which the information processing device (type FA)300A is mounted, if possible, in the environment map using the position information corrected by the position correction unit a 171. For example, when the information processing device (type FA)300A provides the relationship between the position and the orientation of the external sensor B321 and the point indicating the vehicle position, and the position of the reference feature point is a relative position from the external sensor B321, the information processing device (type FA)300A is mounted on the vehicle, and the position of the vehicle is calculated and corrected to the coordinates of the environment map managed by the recognition result integration processing unit 181.

When the recognition result integration processing unit 181 integrates various types of position information to create an environment map, it also corrects a positional deviation caused by a difference in sensing time. To realize this, the recognition result integration processing unit 181 determines a reference time at the time of creating the environment map, performs interpolation or extrapolation based on a time-series change in the position information of each object, and arranges each object at an estimated position at the reference time.

In order to facilitate correction of the positional deviation due to the time difference in the recognition result integration processing unit 181, it is also conceivable to determine the velocity vectors of the objects detected by the external sensor a121 and the external sensor B321 or the recognition processing unit a141 and the recognition processing unit B341 and transmit these pieces of information to the recognition result integration processing unit 181. By performing the position correction based on the velocity vector, information usable for estimating a position change at the time of the detected object increases, and improvement of the position estimation accuracy at the reference time can be expected. Further, if the accuracy of position estimation is improved with the time change, it is also considered to use the accuracy improvement amount for suppressing the frequency of receiving information from the information processing apparatus (type FA) 300A.

It is also conceivable to reduce the computational processing load of the position correction processing unit a171 and the recognition result integration processing unit 181 by excluding the motion from the position calculation processing after the motion is detected again or before a predetermined period of time elapses after the object that can be determined to be stationary from the velocity vector is reflected once on the environment map.

The external recognition output a191 which is an output of the recognition result integration processing unit 181 is used for, for example, determination and control necessary for an advanced driving assistance function or an automatic driving function, including the position, type, and time-series change of each object and a velocity vector included in the input information, from the created environment map.

The communication processing unit a151 has a determination information input a195 for inputting a result of determination processing constituting the advanced driving assistance function or the automatic driving function. The purpose of this input is as follows: for example, when the determination process results in the implementation of a sudden brake, the sudden brake is implemented and transmitted from the communication processing unit a151 to an information processing device of a vehicle in the vicinity together with the position of the vehicle on which the information processing device (type EA)100A is mounted and identification information (license plate information and the like). The information processing device of the vehicle that has received the information determines whether or not the information is information from a vehicle traveling ahead based on the relative position and the identification information, and requests a determination function constituting an advanced driving assistance function or an automatic driving function to start braking if the information is information from a vehicle traveling ahead, thereby suppressing the risk of rear-end collision with the vehicle ahead.

The feature points extracted as the reference feature points by the reference feature point extraction processing unit B311 of the information processing device (type FA)300A and the reference feature point extraction processing unit a111 of the information processing device (type EA)100A include corners of various marks (stop lines, marks indicating intersections, lane lines, and the like) on a road, a portion of a specific signboard closest to the ground, and the center of a pole at the base of the pole on which the mark is provided, and even other feature points may be any points as long as they are the reference points for determining the position on the map.

With reference to fig. 4 to 6, how the position information of the object or the like obtained from the information processing apparatus (type FA)300A is corrected in (the position correction processing unit a171 of) the information processing apparatus (type EA)100A will be described.

Fig. 4 shows a situation where there is a wall 791, an intersection with poor line of sight. Inside the crossing are a crossing marker 751, a1 st stop-line 753, a 2 nd stop-line 755. Further, indicia are provided showing the root 754 of the 1 st strut where the 1 st indicia is provided and the root 756 of the 2 nd strut where the 2 nd indicia is provided. Further, as a reference feature point for explanation, an intersection mark feature point 752 which is a feature point of an intersection mark 751 is shown.

Fig. 5 shows an example of the 2 nd sign set at the intersection. The marking plate 725 is attached to the support post 727, and has a root portion 756 of the 2 nd support post 727 serving as a reference characteristic point and a portion 723 (here, a portion attached to the support post 727) of the marking plate 725 closest to the ground. The identifier is contemplated to be a "stop" identifier, but may be other identifiers. However, depending on the shape of the marker plate 725, it may be difficult to specify the portion 723 of the marker plate 725 closest to the ground, and in addition, it is considered that the strut 727 is bent due to an accident or the like, and therefore, the base portion 756 of the 2 nd strut 727 is more preferable as the reference feature point than the portion 723 of the marker plate 725 closest to the ground.

At the intersection shown in fig. 4, the 1 st vehicle 701 having the information processing device (type EA)100A mounted thereon, the 2 nd vehicle 702 having the information processing device (type FA)300A mounted thereon, and the bicycle 731 are approaching the intersection. Further, a 3 rd vehicle 703 runs behind the 1 st vehicle 701.

It is assumed that the accuracy of the vehicle position detection unit B301 of the information processing device (type FA)300A is poor and the orientation of the 2 nd vehicle 702 has an error. Under the influence of this error, the information processing apparatus (type FA)300A is in the following state: the intersection mark 751 is recognized as an intersection mark 761 in which a positional deviation occurs, the intersection mark feature point 752 is recognized as an intersection mark feature point 762 in which a positional deviation occurs, the 2 nd stop line 755 is recognized as a 2 nd stop line 765 in which a positional deviation occurs, the root 756 of the 2 nd strut is recognized as a root 766 of the 2 nd strut in which a positional deviation occurs, and the bicycle 731 is recognized as a bicycle 732 in which a positional deviation occurs. That is, the information processing device (type FA)300A transmits information corresponding to the recognition result affected by the error from the communication processing unit B351 to the information processing devices of the vehicles present in the periphery.

The surrounding environment map 900 recognized by the information processing device (type EA)100A includes A1 st vehicle 901 on the environment map based on the own vehicle position information detected by the vehicle position detecting unit a101, a 2 nd vehicle 902 on the environment map based on the position information supplied from the information processing device (type FA)300A, an intersection mark 951 on the environment map and an intersection mark feature point 952 on the environment map at which the position is obtained by the recognition processing and the vehicle position detection processing of the information processing device (type EA) 100A. There is a bicycle 931 on the environment map based on the position information subjected to the position correction in the position correction processing unit a 171. These positions are actually the results of correcting the positional deviation due to the time difference by the recognition result integration processing unit 181.

Fig. 6 shows a method of the position correction processing. For ease of explanation, the description will be given with the positional change due to the difference in time omitted. That is, the description will be given in terms of a state at a certain time, and the process of correcting the influence of the elapse of time is performed on each value as necessary.

The vector a601 represents the relative position of the external sensor B321 to the intersection marking feature point 762 where the positional deviation occurs, and the vector B602 represents the relative position of the external sensor B321 to the bicycle 732 where the positional deviation occurs. That is, the vector a601 and the vector B602 correspond to position vectors fixed in a three-dimensional orthogonal coordinate system in a certain orientation with the external sensor B321 as the origin and the orientation of the external sensor B321 as the reference.

By subtracting the vector a601 from the vector B602, a vector X604 indicating the relative position from the intersection marker feature point 762 where the positional deviation occurs to the bicycle 732 where the positional deviation occurs can be obtained.

The vector X604 is independent of the position and orientation of the ambient sensor B321, and therefore can be considered to be the same as the vector value representing the relative position from the intersection marker feature point 752 (where no positional deviation occurs) to the bicycle 731. Therefore, by adding the vector X604 to the position of the intersection marker feature point 952 on the environment map, the position with the intersection marker feature point 952 on the environment map as a reference point can be calculated. In addition, in the addition of the vector X604, the vector X is converted as appropriate so as to conform to the coordinate system of the environment map, and then the vector X is added.

The calculated position is used as the position correction result of the position correction unit a171, whereby the position of the bicycle 931 on the environment map can be determined. In this processing, the positions of the vector a601 and the intersection marker feature point 952 on the environment map serve as correction parameters, and the position of the bicycle 732 with positional deviation shown by the vector B602 is corrected.

Since the vector X604 is a vector indicating the relative position from the intersection marker feature point 762 where the positional deviation occurs to the bicycle 732 where the positional deviation occurs, the position of the bicycle 732 where the positional deviation occurs may be calculated using the position recognized by each information processing device (type FA)300A instead of the vector a601 and the vector B602. However, when the difference is calculated from the relative position information from the external sensor output from the external sensor B321, that is, the relative position information from the external sensor output from the same external sensor, such as the vector a601 and the vector B602, there is an advantage that the influence of the installation deviation of the external sensor in the vehicle, the influence of the vehicle vibration, and the like can be cancelled. In addition, when the calculation is performed using the vector a601 and the vector B602, the position of the vehicle 702 on which the information processing device (type FA)300A is mounted is not dependent, and therefore, the position information of the vehicle 702 is not required.

Here, the case where the position of the bicycle 732 existing in a blind spot position (having a positional deviation) as viewed from the 1 st vehicle 701 mounting the information processing device (type EA)100A due to the presence of the wall 791 is corrected using the intersection mark feature point 762 having a positional deviation, is exemplified, and other identification objects (the intersection mark 761, the intersection mark feature point 762, the 2 nd stop line 765, and the base 766 of the 2 nd pillar) can be corrected in the same manner.

The environment map 900 does not reflect the 3 rd vehicle 703 traveling behind the 1 st vehicle 701, but when the 3 rd vehicle 703 has a function of notifying the own vehicle position to another vehicle or when an external sensor for monitoring the rear is provided in the 1 st vehicle 701, the presence of the 3 rd vehicle 703 can be reflected on the environment map 900 based on these information.

When the 1 st vehicle 701 makes a determination to activate the emergency brake based on the environment map 900, the information (together with the determination information input a 195) is transmitted from the communication processing unit a 151. The 3 rd vehicle 703 can receive the information, and when the information is found to be information from the vehicle 701 in front of the own vehicle, the 3 rd vehicle 703 starts decelerating, and sudden braking of the 1 st vehicle 701 can be prevented.

Fig. 7 shows an example of the reference feature point and the position information of the detection object transmitted from the information processing apparatus (type FA) 300A.

In fig. 7, the position information number 11 is a serial number in the series of reference feature points and position information of the detection object transmitted from the information processing apparatus (type FA)300A, and is assigned in the order of transmission from 1.

The sensor ID12 is an identification number of an external sensor used for detecting the position. The ambient sensor in the information processing apparatus (type FA)300A has only the ambient sensor B321, and therefore the sensor IDs 12 are all set to 1 in fig. 7, whereas in the case where the information processing apparatus has a plurality of ambient sensors, a unique number is assigned to each ambient sensor so that the sensor ID12 can distinguish the ambient sensor that has detected the position information. Since the external sensor needs to be distinguished when processing is performed using the coordinate system based on the position of the external sensor as described above, the sensor ID12 is required.

The longitude offset 13 and the latitude offset 14 represent the relative positions of the reference feature point and the detection object with respect to the external sensor with reference to the axes of longitude and latitude. As long as the location is other than the high-latitude location, the longitude and the latitude are considered to be orthogonal to each other in the relatively nearby area, and therefore, the axes of the longitude and the latitude may be used. In the case of indicating the position of an object having a width, for example, the position corresponding to the center of the width of the object is indicated.

The height offset 15 indicates the height of the reference feature point and the detection object with respect to the position of the road surface. In the case of indicating the height of an object having a height, for example, the height of the center of the object is indicated.

The object ID16 has information indicating whether it is a reference feature point or a detection object other than the reference feature point, and information including an identification number assigned to each of a block of a mark (a pattern or the like) or an object and an identification number assigned to each of feature points belonging to each of the block of the mark (the pattern or the like) or the object. As a specific example, as shown in intersection mark 761 at the lower part of fig. 7, an identification number (reference 1 in which "reference" 1 "is attached to" reference "indicating a reference feature point) is assigned to intersection mark 761 as a mark or an object having the reference feature point, and the identification numbers (ID1 to ID4) of the respective feature points in the mark or the object are further assigned. The object ID16 is an identification number indicating a combination of an identification number as a mark or an object and each feature point.

The category 17 indicates category information that is identified by the mark or the object recognized by the recognition processing unit B341. The category information is useful for behavior prediction in advanced driving assistance or automatic driving determination, and is therefore included in the transmission information. When the recognition processing unit B341 cannot determine the type but detects the presence of a certain mark or object, the type may be "unknown". However, even if "unknown", if it is possible to distinguish whether the object is a stationary object or a moving object, there is a case where motion/motion determination information is added as "unknown stationary object" or "unknown moving object".

The width 18 and the height 19 are information indicating the width and the height of the detected mark or object. Since the feature points including the reference feature point represent "points", the width and the height are both 0. For example, like the bicycle 732 shown in fig. 8, the width 18 and the height 19 correspond to the width 18 and the height 19 of a rectangle surrounding the object from the viewpoint of an external sensor that detects the object.

The reliability 20 represents the reliability of the presence and position information of each reference feature point and the detection object. The recognition processing is difficult to be always accurately performed, and thus the reliability is lowered until the recognition result is stabilized.

Further, the reliability is also lowered when a part of a mark such as a figure is worn, and the marked support 727 is deformed to affect the position of the feature point. The information processing apparatus (type EA)100A preferentially uses information with high reliability among the received information. The information processing apparatus (type EA)100A deals with this by acquiring a feature point having high reliability corresponding to only a high-reliability reference feature point that can be extracted by the reference feature point extraction processing unit a111, as a reference feature point, and the like.

When a plurality of highly reliable reference feature points can be used, the position of the object to be detected is corrected using 1 or more representative points. When a plurality of reference feature points are used, the corrected positions are calculated using the respective reference feature points, and the average position is obtained and used. In consideration of the processing load of the information processing apparatus (type EA)100A, it is not always necessary to use all the reference feature points, and it is also conceivable to put a limit on the maximum number of used reference feature points.

As for the position of the detection object, information of feature points corresponding to both ends of the width like the 3 rd feature point 51 and the 4 th feature point 52 shown in fig. 8 is also included in the transmitted information, if possible. This information corresponds to the position information of which position information numbers 11 are "6" and "7" in fig. 7. Since the width 18 and the height 19 are values from the viewpoint of the external sensor B321, they may be difficult to be used sufficiently depending on the orientation of the vehicle on which the information processing device (type EA)100A is mounted. If the position information is "point", the position in the three-dimensional space can be corrected and used as described with reference to fig. 6, and therefore, by transmitting the position information of the feature point corresponding to both ends of the width in addition to the coordinates of the center point of the width 18 or the height 19, it is possible to perform a countermeasure such as determination using the position of the feature point closest to the host vehicle on the receiving side, and it is easy to use the position information.

Further, it is also considered to add a velocity vector to the information of the detection object. In this case, for example, if the velocity vector is a relative velocity vector with respect to the external sensor B321, the velocity vector can be processed as a value indicating a temporal change of the vector B602 in the information processing device (type EA)100A and can be used for position correction with time shift in the recognition result integration processing unit 181.

In the present embodiment, for convenience, the description will be given on the premise that the 1 st environment-sensitive information processing device 100A and the 2 nd environment-sensitive information processing device 300A are basically mounted on a vehicle, but may be mounted on a moving body other than a vehicle, or the 2 nd environment-sensitive information processing device may be mounted on a stationary object installed on a road or the like. When mounted on a moving object or a stationary object other than a vehicle, the "vehicle" may be considered as "the object".

For example, as shown in fig. 9, an intersection monitoring camera 811 serving as an external sensor is installed in the intersection, and it is considered that the intersection monitoring camera 811 is equipped with a function corresponding to the information processing device (type FA) 300A. In this configuration, the vehicle position detection unit B301 may provide information on the installation position and orientation of the intersection monitoring camera 811 registered in advance. Even if the intersection monitoring camera 811 is a stationary object, there is a possibility that the position or orientation may be unexpectedly changed due to a typhoon, an earthquake, or the like, and the 1 st vehicle 701 can be prevented from being affected by such a change by using the configuration shown in fig. 3.

In this case, the processing of the information processing device (type EA)100A may be performed in the same manner as when the vehicle mounted with the information processing device (type FA)300A is stopped. That is, it is also considered that the processing load of the reference feature point matching processing unit 161 is reduced by calculating the position on the environment map once for the reference feature point obtained from the information processing apparatus (type FA)300A, then fixing the position on the environment map, and omitting (stopping) the association (matching processing) of the reference feature point in the reference feature point matching processing unit 161.

In the present embodiment, the respective processing units constituting the part of the contents displayed as the information processing apparatus may be configured to be attached in different forms and connected to each other. Further, the information processing apparatus (type EA)100A may also communicate with a plurality of information processing apparatuses (type FA)300A at the same time to integrate information and output the external world identification output a 191.

In the case of communication with a plurality of information processing apparatuses (type FA)300A (in other words, in the case of receiving the sensed information of a plurality of external sensors B321), the information processing apparatus (type EA)100A preferentially uses information (sensed information) from a vehicle (an external sensor mounted thereon) which is gathered on each road at an intersection to which the 1 st vehicle 701 mounting the information processing apparatus (type EA)100A is to approach, in the direction toward the intersection, and which is closest to the intersection on each road gathered at the intersection, for matching processing or the like. Information (sensing information) from a vehicle (an external sensor mounted on the vehicle) approaching a direction perpendicular to the direction of the 1 st vehicle 701 is preferentially used for matching processing and the like.

By using the information (sensing information) with such a priority, even when the information from all the information processing apparatuses (types FA)300A cannot be processed under the operation load and the communication destination has to be limited, the possibility that the position information of the object with high importance can be acquired is increased. This is because, when approaching an intersection, if a vehicle closest to the intersection is collected on each road at the intersection, the possibility of an obstacle existing ahead when sensing the intersection is low, and a blind spot due to the obstacle is likely to occur on a road intersecting the road as compared to the road on which the 1 st vehicle 701 is traveling.

In addition, in the information processing apparatus (type EA)100A, if a function of notifying the guarantee status of the time accuracy of the time management unit a131 from the communication processing unit 151 to another information processing apparatus is added after the recognition processing unit a141, the reference feature point extraction processing unit a111, and the vehicle position detection unit a101 are connected to the communication processing unit 151, the function of the information processing apparatus (type FA)300A can be added to the information processing apparatus (type EA) 100A. In the vehicle equipped with the information processing device having such a configuration, the position information of the reference feature point and the object or the marker can be transmitted to both of the vehicles, and the position information of the object or the marker using another vehicle can be corrected in the other vehicle.

As described above, the information processing apparatus (type EA)100A of embodiment 1 includes: a receiving function (communication processing unit a151) of receiving configuration information (reference feature points) of an environment map serving as a position reference, which is extracted from sensing information of an external sensor B321 mounted on a second moving object or a stationary object (2 nd vehicle 702 or intersection monitoring camera 811); a matching function (reference feature point matching processing unit 161) for performing matching processing between the configuration information (reference feature points) of the environment map obtained by the reception function and the configuration information (reference feature points) of the environment map obtained by the functions (in this example, the external sensor a121, the reference feature point extraction processing unit a111, and the like mounted on the first mobile object (the 1 st vehicle 701)) included in the information processing device (type EA) 100A; and a correction function (position correction processing unit a171) for correcting, using a matching result of the matching function, position information of an object or a mark existing outside the first moving object (1 st vehicle 701) detected (sensed) by the external sensor B321 mounted on the second moving object or the stationary object (2 nd vehicle 702 or intersection surveillance camera 811).

According to embodiment 1, for example, when transmitting position information of an object or a marker detected by an external sensor (which may be an external sensor such as a camera installed on a road) mounted on (the information processing device (type FA)300A of) another vehicle, the position of a feature point of the object (stationary object) and the marker, which are configuration information of an environment map serving as a position reference, is also detected and transmitted. Upon receiving the information, the own vehicle (information processing device (type EA)100A) calculates (corrects) the position of the object or mark on the environment map of the own vehicle based on the relative positional relationship between the position information of the object or mark and the position of the feature point (reference feature point) grasped on the own vehicle.

As described above, in embodiment 1, the position of the object or the marker detected by the external sensor B321 mounted on the other vehicle is calculated from the feature point detected by the external sensor B321 mounted on the other vehicle, and therefore, even in a situation where the other vehicle or the like cannot be detected from the own vehicle, the detection result of the external sensor B321 mounted on the other vehicle can be used. Further, since the position of the object or the marker detected by the external sensor B321 mounted on the other vehicle is calculated with reference to the position of the feature point (reference feature point) grasped by the host vehicle, the position accuracy when the position of the object or the marker detected by the external sensor B321 mounted on the other vehicle is reflected on the map of the host vehicle is improved.

[ example 2]

An example of the configuration of the functional blocks in embodiment 2 of the present invention will be described with reference to fig. 10. The hardware configuration itself is substantially the same as that described with reference to fig. 2 in embodiment 1. The same reference numerals are given to parts having the same functions as in embodiment 1, and detailed description is omitted, and the following description focuses on differences.

First, the configuration of the information processing apparatus (type FB)300B will be explained. In the information processing apparatus (type FB)300B according to embodiment 2, a reference feature point map spectrum B318 is added to the configuration of the information processing apparatus (type FA)300A shown in embodiment 1, and the reference feature point extraction processing unit B311 is changed to a reference feature point selection processing unit B316.

The reference feature point map B318 is detailed map information (map data) including configuration information of the surrounding environment map and information of the identification ID, location, and type of the reference feature point that can be used as a position reference on the map. In the present embodiment in which the reference feature point map B318 is present, the reference feature point selection processing unit B316 performs determination based on the position and direction information of the vehicle obtained from the vehicle position detection unit B301, and selects a candidate reference feature point from the reference feature point map B318 and supplies the candidate reference feature point to the recognition processing unit B341.

When the recognition processing of the sensing information acquired by the external sensor B321 is performed via the external sensor connection portion B322, the recognition processing portion B341 performs recognition of the reference feature point based on the information supplied from the reference feature point selection processing portion B316. The recognition processing unit B341 knows in advance which vicinity can be recognized and the reference feature point is detected based on the information provided when performing the recognition processing, and therefore the efficiency of the recognition processing of the reference feature point is improved.

The position and orientation of the vehicle on the map acquired by the vehicle position detection unit B301 and the timing of acquiring them, the recognition result of the object or the reference feature point recognized by the recognition processing unit B341, and the acquisition timing of the sensing information for recognition are transmitted to the information processing device (type EB)100B via the communication processing unit B351.

The function of the time management unit B331 is the same as in embodiment 1.

Next, the configuration of the information processing apparatus (type EB)100B will be explained. In the information processing apparatus (type EB)100B of example 2, the reference feature point map spectrum a118 is added to the configuration of the information processing apparatus (type EA)100A shown in example 1, the reference feature point extraction processing unit a111 is changed to the reference feature point selection processing unit a116, and the reference feature point selection processing unit AB117 is added.

The reference feature point map spectrum a118 is detailed map information (map data) including configuration information of the surrounding environment map and information of the identification ID, location, and type of the reference feature point that can be used as a position reference on the map. In the present embodiment in which the reference feature point map a118 is present, the reference feature point selection processing unit a116 makes a determination based on the position and orientation information of the vehicle obtained from the vehicle position detecting unit a101, and selects a candidate reference feature point from the reference feature point map a118 and supplies the candidate reference feature point to the recognition processing unit a 141. The reference feature point selection processing unit AB117 determines the reference feature point from the position and direction information of the vehicle obtained from the vehicle position detecting unit B301 transmitted from the information processing device (type FB)300B, selects a candidate reference feature point from the reference feature point map spectrum a118, and supplies the candidate reference feature point to the reference feature point matching processing unit 161.

When the recognition processing of the sensing information acquired by the external sensor a121 is performed via the external sensor connection unit a122, the recognition processing unit a141 performs the recognition of the reference feature point based on the information supplied from the reference feature point selection processing unit a 116. The recognition processing unit a141 knows in advance which nearby recognition is performed and the reference feature point can be detected based on the information provided when performing the recognition processing, and therefore the efficiency of the recognition processing of the reference feature point is improved.

The recognition processing unit a141 feeds back the recognition result of the reference feature point to the vehicle position detecting unit a 101. This feedback makes it possible to correct the recognized reference feature point position so that it corresponds to the reference feature point map spectrum a118, and therefore, the recognition result of the vehicle or the recognition processing unit a141 can be reflected in the position based on the reference feature point map spectrum a 118.

The reference feature point matching processing unit 161 performs association (matching processing) between the reference feature point recognized by the information processing apparatus (type FB)300B and the reference feature point serving as a candidate supplied from the reference feature point selection processing unit AB 117. The reference feature point matching processing unit 161 sends the position correction processing unit a171 to which the position information in the reference feature point map a118 is added, together with the position information of the reference feature point recognized by the information processing device (type FB)300B side, for the reference feature point for which the association is obtained.

The position correction processing unit a171 corrects the positions of the detected object, mark, and feature point in the same manner as in the method described in embodiment 1 with reference to fig. 6. At this time, the result of subtracting the vector a601 from the vector B602 (see fig. 6) becomes the position of the reference feature point used for correction in the reference feature point map spectrum a 118. Unlike embodiment 1, the recognition result of the reference feature point by the recognition processing section a141 is not required in the correction of the position information of the object or the marker recognized by the information processing apparatus (type FB)300B side. That is, the information processing apparatus (type FB)300B and the information processing apparatus (type EB)100B do not need to recognize the same reference feature point.

Further, if the same identification ID is assigned to the same reference feature point in the reference feature point map a118 and the reference feature point map B318, the reference feature point matching processing unit 161 can also perform association only by the identification ID, and the matching processing of the reference feature points becomes easy.

The functions of the time management unit a131 and the recognition result integrated processing unit 181 are the same as those of embodiment 1.

The case where embodiment 2 is effective will be described with reference to fig. 11.

Fig. 11 shows a situation substantially similar to the intersection shown in fig. 4 in example 1, but without the intersection mark 751, the intersection mark feature point 752 cannot be obtained as the reference feature point. The 2 nd stop line 755, the root 756 of the 2 nd strut as another reference characteristic point, cannot be sensed from the outside world sensor a121 provided on the information processing apparatus (type EB) 100B. Therefore, in the configuration of embodiment 1, in this situation, the common reference feature point cannot be identified by the information processing device (type FA)300A and the information processing device (type EA)100A, and the information processing device (type EA)100A cannot correct the position information of the identification result of the information processing device (type FA) 300A.

On the other hand, in the configuration of example 2, regardless of the sensing of the external world sensor a121 provided in the information processing apparatus (type EB)100B, the position correction can be performed only if the 2 nd stop line 755 and the 2 nd base 756 of the pillar are present in the reference feature point map spectrum a118, and therefore, more cases are available than in example 1.

Further, the same as in embodiment 1 is true that the information processing device (type EB)100B is mounted on both the 1 st vehicle 701 and the 2 nd vehicle 702 by adding the function of the information processing device (type FB)300B, and can transmit the position information of the reference feature point and the object or the marker to both of them, and can correct the position information of the object or the marker using another vehicle on the other vehicle. Further, as in embodiment 1, the information processing apparatus (type EB)100B can communicate with a plurality of information processing apparatuses (type FB) 300B.

As described above, the information processing apparatus (type EB)100B of embodiment 2 includes: a receiving function (communication processing unit a151) of receiving configuration information (reference feature points) of an environment map serving as a position reference, which is extracted from sensing information of an external sensor B321 mounted on a second moving object or a stationary object (2 nd vehicle 702 or intersection monitoring camera 811); a matching function (reference feature point matching processing unit 161) for performing matching processing between the configuration information (reference feature points) of the environment map obtained by the reception function and the configuration information (reference feature points) of the environment map obtained by the functions (in this example, the configuration information of the environment map having a position reference as the map data, the reference feature point selection processing unit AB117 for selecting the reference feature points existing in the map data, and the like) provided in the information processing apparatus (type EB) 100B; and a correction function (position correction processing unit a171) for correcting, using a matching result of the matching function, position information of an object or a mark existing outside the first moving object (1 st vehicle 701) detected (sensed) by the external sensor B321 mounted on the second moving object or the stationary object (2 nd vehicle 702 or intersection surveillance camera 811).

This increases the number of available scenes in addition to the same operational effects as in example 1, and thus improves convenience.

[ example 3]

An example of the configuration of the functional blocks in embodiment 3 of the present invention will be described with reference to fig. 12. The hardware configuration itself is substantially the same as that described with reference to fig. 2 in embodiment 1. The same reference numerals are given to parts having the same functions as in embodiments 1 and 2, and detailed description is omitted, and the following description focuses on differences.

It should be noted that example 3 shown in fig. 12 is exemplified based on the configuration of example 2, but can be applied to the configuration of example 1 as well.

In this embodiment 3, the information processing apparatus (type FB)300B is the same as in embodiment 2.

The information processing apparatus (type FB)300B includes a vector C603 indicating a relative position of the external sensor B321 with respect to a position reference point 705 of the 2 nd vehicle 702 mounting the apparatus in the transmission information from the communication processing unit B351 (see fig. 13). The information processing apparatus (type FB)300B also includes identification information of the 2 nd vehicle 702 mounting the information processing apparatus (type FB)300B in the transmission information without fail.

The configuration of information processing apparatus (type EC)100C will be described. In the information processing apparatus (type EC)100C of embodiment 3, a position calculation unit 173 and a position error management unit 175 are added to the configuration of the information processing apparatus (type EB)100B shown in embodiment 2. The output of the reference feature point matching process unit 161 is also connected to the position calculation unit 173 instead of the position correction process unit a 171.

The position calculating unit 173 is a part that calculates the position of the position reference point 705 of the vehicle 702 on which the information processing device (type FB)300B is mounted, based on the output (matching result) of the reference feature point matching processing unit 161. This calculation method will be described with reference to fig. 13. Fig. 13 corresponds to the condition of the intersection of fig. 4.

A vector a601 representing the relative position from the external world sensor B321 to the reference feature point, that is, the intersection marker feature point 762 where the positional deviation occurs, and a vector C603 representing the relative position from the position reference point 705 of the vehicle 702 to the external world sensor B321 are transmitted from the information processing apparatus (type FB) 300B. Here, the coordinate systems serving as the reference for calculation of the vector a601 and the vector C603 are the same.

The position calculating unit 173 subtracts the vector a601 and the vector C603 from the position of the intersection marker feature point 752 corresponding to the intersection marker feature point 762 having the positional deviation, which is the reference feature point, supplied from the reference feature point matching processing unit 161 in the reference feature point spectrum a118, thereby calculating the position reference point 705 of the vehicle 702 corresponding to the reference feature point spectrum a 118.

The position error management unit 175 compares the position and orientation information of each vehicle transmitted from each vehicle with the position and orientation information of each vehicle output from the position calculation unit 173 for each vehicle on which the information processing device (type FB)300B is mounted, and manages the maximum value and the range of fluctuation in the latest fixed period, the average value, and the stability of the latest fixed period of the average value as errors. Then, when the maximum value of the difference or the size of the fluctuation is equal to or larger than a certain value and the stability of the average value is equal to or smaller than a certain value, the position error management unit 175 notifies the recognition result integration processing unit 181 that the information of the vehicle is not used. In other words, the positional error management unit 175 confirms the information of the positional error managed by the positional error management unit 175, and outputs the confirmation result to the recognition result integration processing unit 181, and the recognition result integration processing unit 181 selects a vehicle or the like that uses the information of the positional error based on the output from the positional error management unit 175. Further, the position error management unit 175 transmits the average value to the position correction processing unit a 171.

The position correction processing unit a171 corrects the position of the object or the like obtained from the information processing device (type FB)300B using the average value of the position errors obtained from the position error management unit 175, and sends the corrected value to the recognition result integration processing unit 181. However, in this case, when there is information that the associated reference feature point is acquired, the position of the object or the like may be corrected in the same manner as in embodiment 2.

In the case where there is no information that a relevant reference feature point is obtained, that is, in the example shown in fig. 13, the vector a601 is not obtained, correction using the average value of the position errors obtained from the position error management unit 175 is necessary. In this case, the position (the position of the position reference point 705) and the direction of the vehicle 702 transmitted from the vehicle 702 mounted with the information processing device (type FB)300B are corrected by the average value of the position errors obtained from the position error management unit 175 and used as references of the position and direction information, and the position of the bicycle 731 corresponding to the bicycle 732 in which the positional deviation occurs, that is, the corrected position is obtained by using the value obtained by adding the vector B602 and the vector C603.

The recognition result integration processing unit 181 performs substantially the same operation as in example 2. As described above, a function of not using information from the vehicle, which is instructed not to be used by the position error management unit 175, is added.

In embodiment 3, since the position error can be managed by the position error management unit 175 for each vehicle to which information is provided, a vehicle whose position information is considered to be incorrect can be detected, and the position information included in the identification information of the object or the marker obtained from the information processing device with insufficient accuracy can be ignored. Further, since the position error management unit 175 holds the average value of the position errors of the respective vehicles, even when there is no reference feature point at the time when the position correction is desired, the position correction can be performed using the held content.

For example, as shown in fig. 14, a case is assumed where a1 st vehicle 701 having an information processing device (type EC)100C is present behind a 2 nd vehicle 702 having an information processing device (type FB)300B mounted thereon, and a plurality of peripheral vehicles 711 are present around the first vehicle 701 and the peripheral vehicles. In the figure, 783 denotes a left lane line (dashed line), 785 denotes a right lane line (dashed line), and 773 denotes a 3 rd mark including a feature point. In this case, the information processing apparatus (type EC)100C calculates the position error of the 2 nd vehicle 702 using the 3 rd marker 773 including the feature point that becomes the reference feature point in front of the 1 st vehicle 701 and the 2 nd vehicle 702, and manages the position error in the position error management unit 175. Thereafter, as shown in fig. 15, when the 2 nd vehicle 702 notifies that the dropped object 781 is detected (recognized) at a location where the reference feature point cannot be detected by the 3 rd marker 773, the position of the dropped object 781 is transmitted as the dropped object 782 in which the positional deviation occurs due to the influence of the positional error of the 2 nd vehicle 702, the position of the left lane line (dashed line) 783 is transmitted as the left lane line (dashed line) 784 in which the positional deviation occurs, the position of the right lane line (dashed line) 785 is transmitted as the right lane line (dashed line) 786 in which the positional deviation occurs, and the information processing device (type EC)100C) of the 1 st vehicle 701 receives the information. In the configuration of embodiment 1 or embodiment 2, in such a situation, the position correction of the dropped object 781 cannot be performed without the position information of the reference feature point, but in the configuration of embodiment 3, the position correction of the dropped object 781 can be performed using the information calculated in the past and managed by the position error management unit 175.

Further, the same as in embodiment 2 is true that the information processing device (type EC)100C is mounted on both the 1 st vehicle 701 and the 2 nd vehicle 702 by adding the function of the information processing device (type FB)300B, and can transmit the position information of the reference feature point and the object or the marker to both of them, and can correct the position information of the object or the marker using another vehicle on the other vehicle. Further, as in embodiment 2, the information processing apparatus (type EC)100C can also communicate with a plurality of information processing apparatuses (type FB) 300B.

As described above, the information processing apparatus (type EC)100C according to embodiment 3 has the receiving function (communication processing unit a151), the matching function (reference feature point matching processing unit 161), and the correcting function (position correcting processing unit a171) as in embodiments 1 and 2.

Further, the information processing apparatus (type EC)100C of embodiment 3 has: a reception function (communication processing unit a151) for receiving configuration information (reference feature point) of an environment map serving as a position reference extracted from sensing information of an external sensor B321 mounted on a second mobile object or a stationary object (2 nd vehicle 702 or intersection monitoring camera 811) and position information of the second mobile object or the stationary object (2 nd vehicle 702 or intersection monitoring camera 811); a matching function (reference feature point matching processing unit 161) for performing matching processing between the configuration information (reference feature points) of the environment map obtained by the reception function and the configuration information (reference feature points) of the environment map obtained by the function provided in the information processing apparatus (type EC) 100C; a position calculating function (position calculating unit 173) for calculating the position of the second mobile object or the stationary object (the 2 nd vehicle 702 or the intersection monitoring camera 811) using the matching result of the matching function; and an error detection function (position error management unit 175) for comparing a calculation result of the position calculation function with position information of the second moving object or stationary object (the 2 nd vehicle 702 or the intersection monitoring camera 811) obtained by the reception function, thereby detecting an error in the position of the second moving object or stationary object (the 2 nd vehicle 702 or the intersection monitoring camera 811) recognized by the second moving object or stationary object (the 2 nd vehicle 702 or the intersection monitoring camera 811).

The information processing apparatus (type EC)100C according to embodiment 3 further includes a correction function (position correction processing unit a171) of correcting, using the error detection result, position information of an object or a mark existing outside the first moving object (1 st vehicle 701) detected by the external sensor B321 mounted on the second moving object or the stationary object (2 nd vehicle 702 or intersection surveillance camera 811).

Further, the information processing apparatus (type EC)100C of embodiment 3 further has an error management function (position error management section 175) of managing the error detection result, and further has: a correction function (position correction processing unit a171) for correcting position information of an object or a mark existing outside the first moving object (1 st vehicle 701) detected by the outside sensor B321 mounted on the second moving object or the stationary object (2 nd vehicle 702 or intersection monitoring camera 811) using the error in the position of the second moving object or the stationary object (2 nd vehicle 702 or intersection monitoring camera 811) managed by the error management function; and a selection function (recognition result integration processing unit 181) of confirming information of the error of the position of the second moving object or stationary object (the 2 nd vehicle 702 or intersection monitoring camera 811) managed by the error management function and selecting the second moving object or stationary object (the 2 nd vehicle 702 or intersection monitoring camera 811) using the information of the error of the position.

According to embodiment 3, in addition to the contents of embodiments 1 and 2 described above, the information processing device (type FB)300B of the other vehicle (i) transmits the position information of the other vehicle itself, and the information processing device (type EC)100C of the own vehicle (i) confirms an error in the position information of the other vehicle grasped by the other vehicle (i) itself based on the relationship between the received position information of the other vehicle and the position of the feature point (reference feature point) detected in the other vehicle and the position of the feature point (reference feature point) grasped in the own vehicle, and avoids using the position information from the other vehicle when the error is large or unstable.

As described above, in embodiment 3, in addition to the same operational effects as those of embodiments 1 and 2 described above, since another vehicle unsuitable for use of position information can be detected by comparing the position of the other vehicle detected by the other vehicle itself with the position of the external sensor B321 mounted on the other vehicle calculated by the own vehicle to grasp the position accuracy of the other vehicle, it is possible to suppress adverse effects on the operation of the advanced safety system or the automatic driving system by restricting the use of the position information of the detection object or the marker provided by the other vehicle and the position information of the other vehicle detected by the other vehicle itself.

[ example 4]

An example of the configuration of the functional blocks in embodiment 4 of the present invention will be described with reference to fig. 16. The hardware configuration itself is substantially the same as that described with reference to fig. 2 in embodiment 1. The same reference numerals are given to parts having the same functions as in embodiments 1, 2, and 3, and detailed description thereof is omitted, and the following description focuses on differences.

It should be noted that example 4 shown in fig. 16 is exemplified based on the configurations of examples 2 and 3, but can be applied to the configuration of example 1 as well.

In example 4, a part of the correction function of the positional information integrated in the information processing apparatus (type EC)100C on the side of receiving the positional information of the object or marker in example 3 is moved to the information processing apparatus (type FB)300B on the side of sending the positional information of the object or marker.

In the information processing apparatus (type FD)300D according to embodiment 4, a position correction processing unit B371 is added to the information processing apparatus (type FC)300C shown in embodiment 3. The position correction processing unit B371 corrects the information on the position and the orientation of the vehicle detected by the vehicle position detection unit B301, based on the deviation information (managed by the position error management unit 175) of the vehicle position where the information processing device (type FD)300D is mounted, which is sent from the information processing device (type ED) 100D.

In the information processing apparatus (type ED)100D, the position correction processing unit a171 is removed from the information processing apparatus (type EC)100C shown in embodiment 3, the position error management unit 175 and the communication processing unit a151 can exchange information bidirectionally, and the information of the position error managed by the position error management unit 175 can be transmitted to the information processing apparatus (type FB)300B side.

Since the information on the position and orientation of the vehicle detected by the vehicle position detecting unit B301 is corrected on the information processing device (type FD)300D side based on the position error information detected on the information processing device (type ED)100D side, the object position detection error can be suppressed, and therefore the necessity of the position correction processing in the information processing device (type ED)100D is reduced. Further, the following is also considered: since the position error information can be used on the information processing device (type FD)300D side, the information processing device (type FD)300D determines that there is a high possibility of a malfunction in the vehicle position detection unit B301 or the like when notification of a large error is received from a plurality of vehicles, and uses this for fault detection.

Further, even in the configuration of embodiment 4, it is considered that the information processing device (type FD)300D communicates with a plurality of vehicles equipped with the information processing device (type ED)100D, and as a result, the deviation information of the vehicle position from a vehicle equipped with one of the information processing devices (type ED)100D is ignored, and therefore, it is also considered that the information processing device (type ED)100D is also equipped with the position correction function (position correction processing unit a171) and that the position correction is performed regardless of the correction on the information processing device (type FD)300D side.

As described above, the information processing apparatus (type ED)100D of embodiment 4 has the receiving function (communication processing unit a151), the matching function (reference feature point matching processing unit 161), the position calculating function (position calculating unit 173), the error detecting function (position error managing unit 175), the error managing function (position error managing unit 175), and the like as in embodiment 3 described above, and also has the transmitting function (communication processing unit a151) of transmitting information of the error of the position of the second moving object or stationary object (2 nd vehicle 702 or intersection monitoring camera 811) managed by the error managing function to the second moving object or stationary object (2 nd vehicle 702 or intersection monitoring camera 811).

As a result, in addition to the same operational effects as those of embodiments 1, 2, and 3, the configuration of the information processing apparatus (type ED)100D can be simplified, and the reliability of the information processing apparatus (type FD)300D can be improved.

The present invention includes various modifications, and is not limited to the above-described embodiments. For example, the above-described embodiments are intended to explain the present invention in a manner that is easy to understand, and are not necessarily limited to all the configurations explained. Note that a part of the configuration of one embodiment may be replaced with the configuration of another embodiment, and the configuration of one embodiment may be added to the configuration of another embodiment. Further, addition, deletion, and replacement of another configuration may be performed on a part of the configuration of each embodiment.

Further, the above-described respective configurations, functions, processing units, processing means, and the like may be partially or entirely realized in hardware by designing them with an integrated circuit, for example. Each of the above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files for realizing the respective functions may be stored in a memory, a hard disk, a storage device such as ssd (solid State drive), or a recording medium such as an IC card, an SD card, or a DVD.

Further, the control lines and the information lines are shown as what is considered necessary for the description, and not necessarily all of the control lines and the information lines are shown in the product. In practice, it is believed that almost all of the components are connected to each other.

Description of the symbols

11 … location information number, 12 … sensor ID, 13 … longitude offset, 14 … latitude offset, 15 … altitude offset, 16 … object ID, 17 … type, 18 … width, 19 … height, 20 … reliability, 51 … 3 rd feature point, 52 … 4 th feature point, 100a … information processing device (type EA) (ambient sensing information processing device), 100B … information processing device (type EB) (ambient sensing information processing device), 100C … information processing device (type EC) (ambient sensing information processing device), 100D … information processing device (type ED) (ambient sensing information processing device), 101 … vehicle location detection unit a, 111 … reference feature point extraction processing unit a, 116 … reference feature point selection processing unit a, 117 … reference feature point selection processing unit AB, 118 … reference feature point map a, 121 … ambient sensor a, …, 122 … external sensor connecting unit a, 131 … time management unit a, 141 … recognition processing unit a, 151 … communication processing unit a, 161 … reference feature point matching processing unit, 171 … position correction processing unit a, 173 … position calculation unit, 175 … position error management unit, 181 … recognition result integration processing unit, 191 … external recognition output a, 195 … judgment information input a, 200 … ECU, 210 … microcomputer, 221 … main storage device, 226 … flash memory, 231 … CAN transceiver, 236 … sensor interface, 237 … external sensor module, 241 … V2X module, 242 … V2X antenna, 246 … GPS module, 251 … CAN bus, 300a … information processing device (type FA), 300B … information processing device (type FB), 300D … information processing device (type FD), 301 … vehicle position detection unit B, 311 … feature point extraction processing unit B, 316 a 316 … reference feature point selection processing unit B, and reference feature point selection processing unit B, 318 … reference feature point map B, 321 … external sensor B, 322 … external sensor connecting part B, 331 … time management part B, 341 … recognition processing part B, 351 … communication processing part B, 371 … position correction processing part B, 391 … external recognition output B, 601 … vector a, 602 … vector B, 603 … vector C, 604 … vector X, 701 … 1 st vehicle, 702 … nd 2 vehicle, 703 … rd 3 vehicle, 711 … peripheral vehicle, 723 … portion of marking panel nearest to ground, 725 … marking panel, 727 … pillar, 731 bicycle, … bicycle with position deviation, 751 … intersection mark, … intersection feature point, 753 … first stopping line, 754 … first 1 pillar root, 755 … second stopping line, 756 th 2 pillar root, … intersection mark, 752 … intersection feature point mark, 753 … deviation mark, … deviation mark, 765 … a 2 nd stop line with a position deviation, 766 … a 2 nd pillar root with a position deviation, 773 … logo, 781 … drop, 782 … a drop with a position deviation, lane line to the left of 783 …, lane line to the left of 784 … with a position deviation, lane line to the right of 785 …, lane line to the right of 786 … with a position deviation, 791 … wall, 811 … junction monitoring camera, 900 … environment map, 1 st vehicle on 901 … environment map, 2 nd vehicle on 902 … environment map, bicycle on 931 … environment map, junction mark on 951 … environment map, junction mark feature point on 952 … environment map.