Marker system
A marker system ( 1 ) including a sensor array ( 21 ) for detecting a magnetic marker laid in a road, a tag reader ( 34 ) which acquires marker position information indicating a laying position of the magnetic marker, an IMU ( 22 ) which estimates a relative position of a vehicle by inertial navigation calculation, and a control unit ( 32 ) which performs an arithmetic process for identifying a position of the vehicle based on the laying position of the detected magnetic marker, and also identifies the position of the vehicle after passage over the magnetic marker based on a relative position of the vehicle estimated by the IMU ( 22 ), thereby allowing stable identification of its own vehicle position without being affected by surrounding environment.
1. A drive assist system for a vehicle, the drive assist system comprising:
a magnetic sensor provided to the vehicle to detect a plurality of magnetic markers laid in a road; and
processing circuitry configured to
acquire marker position information indicating each laying position of the plurality of magnetic markers;
identify an absolute position of the vehicle based on a detection result of a magnetic marker of the plurality of magnetic markers by the magnetic sensor and the marker position information;
estimate a relative position of the vehicle from a reference position by inertial navigation calculation using inertial information of the vehicle; and
perform a drive assistance of the vehicle based on the estimated relative position of the vehicle, wherein
the processing circuitry continuously estimates the relative position of the vehicle, without stopping a process of the inertial navigation calculation, while updating the reference position with the absolute position of the vehicle identified in response to a detection of the magnetic marker every time the magnetic marker is detected during a traveling of the vehicle,
(1) in response to the magnetic sensor detecting a first magnetic marker of the plurality of magnetic markers, the processing circuitry identifies a first absolute position of the vehicle based on a first laying position indicated by a corresponding piece of the marker position information,
(2) after passage over the first magnetic marker and before arriving at a second magnetic marker of the plurality of magnetic markers, which is adjacent to the first magnetic marker, the processing circuitry identifies the absolute position of the vehicle using a combination of the first absolute position and a first relative position of the vehicle from the first absolute position, the first relative position being estimated using the inertial information of the vehicle,
(3) in response to the magnetic sensor detecting the second magnetic marker after detecting the first magnetic marker, the processing circuitry
identifies a second absolute position of the vehicle based on a second laying position indicated by another corresponding piece of the marker position information,
calculates an absolute position shift amount between the first absolute position and the second absolute position of the vehicle, and
calculates, as an estimation error of the position of the vehicle, a difference between the absolute position shift amount and the first relative position of the vehicle, and
(4) after passage over the second magnetic marker, the processing circuitry estimates a second relative position of the vehicle from the second absolute position by suppressing the calculated estimation error, and performs the drive assistance of the vehicle based on the second relative position.
2. The marker system in claim 1 , wherein the processing circuitry estimates the relative position of the vehicle by using an azimuth of the vehicle identified in response to detection of at least the first and the second magnetic markers arranged along a direction of which an absolute azimuth is known.
3. The marker system in claim 1 , wherein the processing circuitry receives the marker position information wirelessly transmitted by a transmitter provided correspondingly to the magnetic marker.
4. The marker system in claim 3 , wherein the processing circuitry wirelessly supplies electric power to a wireless tag retained by the magnetic marker using the transmitter, and receives the marker position information wirelessly transmitted by the wireless tag in response to operation.
5. The marker system in claim 1 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
6. The marker system in claim 2 , wherein the processing circuitry receives the marker position information wirelessly transmitted by a transmitter provided correspondingly to the magnetic marker.
7. The marker system in claim 6 , wherein the processing circuitry wirelessly supplies electric power to a wireless tag retained by the magnetic marker using the transmitter, and receives the marker position information wirelessly transmitted by the wireless tag in response to operation.
8. The marker system in claim 2 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
9. The marker system in claim 3 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
10. The marker system in claim 6 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
11. The marker system in claim 4 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
12. The marker system in claim 7 , wherein the system includes a memory which stores the marker position information, and
the processing circuitry acquires the marker position information by referring to information stored in the memory.
13. The marker system in claim 1 , wherein
the first magnetic marker and the second magnetic marker are arranged along a direction of which an absolute azimuth is known with a marker span which is a predetermined spacing,
the processing circuitry is configured to identify an absolute azimuth of the vehicle by identifying an angular deviation of an azimuth of the vehicle with respect to the direction of which the absolute azimuth is known by using a lateral shift amounts with respect to the first magnetic marker and the second magnetic marker and the marker span, and
the processing circuitry is configured to estimate the relative position by using at least an estimation value of the azimuth of the vehicle, identifies an azimuth error which is a difference of the estimation value of the azimuth of the vehicle with respect to the absolute azimuth of the vehicle and estimates the relative position of the vehicle by the arithmetic process of suppressing the azimuth error.
14. The marker system in claim 1 , wherein
the first magnetic marker and the second magnetic marker are arranged along a direction of which an absolute azimuth is known with a marker span which is a predetermined spacing,
the processing circuitry is configured to identify an actual speed of the vehicle based on a time from a timing when the vehicle passes over the first magnetic marker to a timing when the vehicle arrives at the second magnetic marker, and
the processing circuitry is configured to estimate the relative position by using at least an estimation value of a speed of the vehicle, identifies a speed error which is a difference of the estimation value of the speed of the vehicle with respect to the actual speed of the vehicle and estimates the relative position of the vehicle by the arithmetic process of suppressing the speed error.