Output device, control method, program and storage medium
An autonomous driving control unit 18 of an onboard device 1 acquires the positional accuracies in the travelling direction and the lateral direction of the vehicle, respectively. With reference to map DB 10 , the autonomous driving control unit 18 acquires normal line information indicative of the orientation of each feature. The autonomous driving control unit 18 outputs, to an electronic control device of the vehicle, control information for controlling the vehicle to increase the detection accuracy of a target feature which faces a direction, either the travelling direction or the lateral direction of the vehicle, whichever positional accuracy is lower.
1. An output device comprising:
a processor coupled to a memory storing instructions, the processor being configured to:
respectively acquire positional accuracies in a first direction and a second direction defined with respect to a travelling direction of a moving body;
acquire orientation information indicative of an orientation of each feature, the orientation information being included in map information;
determine a target feature, the target feature facing a direction, including one of the first direction or the second direction, which corresponds to a lower positional accuracy of the positional accuracies; and
output control information for controlling the moving body to increase a detection accuracy of the target feature.
2. The output device according to claim 1 , wherein, if an angle defined by the direction which corresponds to the lower positional accuracy and the orientation of the each feature is equal to or smaller than a predetermined angle, the processor is configured to determine that the each feature faces the direction which corresponds to the lower positional accuracy.
3. The output device according to claim 1 , wherein the map information includes information associated with a size of the each feature, and
wherein, if there is no feature which faces the direction corresponding to the lower positional accuracy, the processor is configured to determine, on a basis of the information associated with the size, the target feature whose detection accuracy is to be increased.
4. The output device according to claim 1 , wherein the processor is further configured to:
acquire an output of a detection device which detects the each feature in surroundings of the moving body; and
estimate a position of the moving body based on the output regarding the target feature outputted by the detection device and position information regarding the target feature included in the map information.
5. The output device according to claim 1 , wherein the processor is configured to output the control information:
for the moving body to move on a lane nearest to the target feature; or
for the moving body to move on a side near the target feature within a lane where the moving body is currently travelling.
6. The output device according to claim 1 , wherein the processor is configured to select the target feature from the each feature situated along a route of the moving body.
7. The output device according to claim 1 , wherein the processor is configured to select, from the each feature situated within a predetermined distance from the moving body as the target feature, such a feature with a smallest angle defined by the direction corresponding to the lower positional accuracy and the orientation of the each feature.
8. The output device according to claim 1 , wherein the processor is configured to select, from the each feature situated within a predetermined distance from the moving body, the target feature based on:
angles defined by the direction corresponding to the lower positional accuracy and the orientation of each of the features; and
degrees of suitability of the each feature as a detection target by a detection device which detects the each feature in surroundings of the moving body.
9. The output device according to claim 8 , wherein the processor is configured to select, as the target feature, a feature with the highest degree of the suitability from the each feature that angles defined by the direction corresponding to the lower positional accuracy and the orientation of the each feature is equal to or smaller than a predetermined angle.
10. A control method executed by an output device, the control method comprising:
respectively acquiring positional accuracies in a first direction and a second direction defined with respect to a travelling direction of a moving body;
acquiring orientation information indicative of an orientation of each feature, the orientation information being included in map information;
determining a target feature, the target feature facing a direction, including one of the first direction or the second direction, which corresponds to a lower positional accuracy of the positional accuracies; and
outputting control information for controlling the moving body to increase a detection accuracy of the target feature.
11. A non-transitory computer readable medium including instructions executed by an output device, the instructions comprising:
respectively acquiring positional accuracies in a first direction and a second direction defined with respect to a travelling direction of a moving body;
acquiring orientation information indicative of an orientation of each feature, the orientation information being included in map information;
determining a target feature, the target feature facing a direction, including one of the first direction or the second direction, which corresponds to a lower positional accuracy of the positional accuracies; and
outputting control information for controlling the moving body to increase a detection accuracy of the target feature.