Map generation system and mobile object
Provided are a map generation system and a mobile object configured so that the map accuracy of an occupancy grid map can be ensured while a memory capacity and an arithmetic processing load can be reduced. The map generation system includes a storage ( 27 ) configured to store, as detection information, a detection value obtained for each detection unit by a detection device ( 4 ) in chronological order, a map producer ( 23 ) configured to produce the occupancy grid map based on the detection information stored in the storage ( 27 ) and cause the storage ( 27 ) to store the occupancy grid map, and an influence ratio calculator ( 24 ) configured to calculate an influence ratio for the occupancy grid map for each piece of detection information stored in the storage ( 27 ). The map producer ( 23 ) sorts the detection information based on the influence ratio calculated by the influence ratio calculator ( 24 ) to produce the occupancy grid map.
1. A map generation system comprising:
a detection device configured to:
obtain a detection value for each of laser beams, the detection value indicating a distance to and a direction of objects at a periphery of a mobile object, the laser beams being emitted from a laser sensor that is mounted on the mobile object, and
generate pieces of detection information, each of the pieces of the detection information including the detection values collected at every predetermined cycle,
a map production device configured to produce an occupancy grid map based on the pieces of the detection information obtained by the detection device, the occupancy grid map being divided into multiple sections and representing a shape of the periphery of the mobile object,
a storage device configured to store the pieces of the detection information obtained by the detection device and store the occupancy grid map produced by the map production device; and
an influence ratio calculation device configured to calculate an influence ratio for each of the pieces of the detection information stored in the storage device, the influence ratio indicating a degree to which a corresponding piece of the detection information influences the occupancy grid map, wherein
the map production device remakes the occupancy grid map at a given timing based on the pieces of the detection information stored in the storage device,
when the map production device remakes the occupancy grid map, the influence ratio calculation device:
determines, per one of the sections of the occupancy grid map, a predetermined number of pieces of the detection information as being pieces of the detection information that contribute determination of a section value of the one of the sections, the predetermined number of pieces of the detection information being selected from one or more pieces of the detection information in a reverse chronological order, each of the one or more pieces of the detection information being associated with at least one of the laser beams that passes through or is reflected from the one of the sections; and
calculates, as the influence ratio for each of the pieces of the detection information, a weighted sum of a number of effective sections, each of the effective sections being a section in which the each of the pieces of the detection information contributes to the determination of the section value of the section, and
when the map production device remakes the occupancy grid map, the map production device reduces the pieces of the detection information stored in the storage device by deleting at least one of pieces of the detection information of which the influence ratio calculated by the influence ratio calculation device is less than a predetermined influence ratio threshold.
2. The map generation system according to claim 1 , further comprising:
an observed frequency calculation device configured to count, per one of the sections of the occupancy grid map, observed frequency representing the number of pieces of the detection information relevant to the one of the sections of the occupancy grid map, wherein
when the map production device remakes the occupancy grid map based on the pieces of the detection information stored in the storage device, the observed frequency calculation device:
selects one of the pieces of the detection information stored in the storage device in the reverse chronological order, the one of the pieces of the detection information including free sections and occupied sections, the free sections being sections through which at least one of the laser beams passes, the occupied sections being sections from which at least one of the laser beams is reflected;
increases, per one of the free sections, the observed frequency of the one of the free sections by one when the observed frequency of the one of the free sections is less than a predetermined observed frequency threshold, and increases, per one of the occupied sections, the observed frequency of the one of the occupied sections by one when the observed frequency of the one of the occupied sections is less than the predetermined observed frequency threshold; and
increases, per one of the free sections, an effective free section number when the observed frequency of the one of the free sections is less than the predetermined observed frequency threshold, and increases, per one of the occupied sections, an effective occupied section number when the observed frequency of the one of the occupied sections is less than the predetermined observed frequency threshold, the effective free section number indicating a number of the free sections that has the observed frequency less than the predetermined observed frequency threshold, the effective occupied section number indicating a number of the occupied sections that has the observed frequency less than the predetermined observed frequency; and
the influence ratio calculation device calculates, as the influence ratio for each of the pieces of the detection information, a weighted sum of the effective free section number and the effective occupied section number in the each of the pieces of the detection information.
3. The map generation system according to claim 2 , wherein
the map production device:
decreases logarithmic odds of one of the sections by one when the one of the sections is one of the free sections and has the observed frequency calculated by the observed frequency calculation device less than the predetermined threshold, and
increase logarithmic odds of one of the sections by one when the one of the sections is one of the occupied sections and has the observed frequency calculated by the observed frequency calculation device less than the predetermined threshold.
4. The map generation system according to claim 2 , wherein
the map production device:
decreases, regardless of the observed frequency calculated by the observed frequency calculation device, logarithmic odds of one of the sections by one when the one of the sections is one of the free sections, and
increase, regardless of the observed frequency calculated by the observed frequency calculation device, logarithmic odds of one of the sections by one when the one of the sections is one of the occupied sections.
5. The map generation system according to claim 1 , further comprising:
a coverage ratio calculation device configured to calculate, a coverage ratio between a total of influence ratios of all the pieces of the detection information stored in the storage device and a total of influence ratios of pieces of the detection information belonging to a group of a predetermined number of pieces of detection information,
wherein the map production device sets the influence ratio threshold such that the coverage ratio calculated by the coverage ratio calculation device is a predetermined value or more.
6. A mobile object comprising:
a movement device;
a detection device; and
a control device, wherein
the detection device configured to:
obtain a detection value for each of laser beams, the detection value indicating a distance to and a direction of objects at a periphery of a mobile object, the laser beams being emitted from a laser sensor that is mounted on the mobile object, and
generate pieces of detection information, each of the pieces of the detection information including the detection values collected at every predetermined cycle,
the control device includes:
a map production device configured to produce an occupancy grid map based on the pieces of the detection information obtained by the detection device, the occupancy grid map being divided into multiple sections and representing a shape of the periphery of the mobile object,
a storage device configured to store the pieces of the detection information obtained by the detection device and store the occupancy grid map produced by the map production device; and
an influence ratio calculation device configured to calculate an influence ratio for each of the pieces of the detection information stored in the storage device, the influence ratio indicating a degree to which a corresponding piece of the detection information influences the occupancy grid map, wherein
the map production device remakes the occupancy grid map at a given timing based on the pieces of the detection information stored in the storage device,
when the map production device remakes the occupancy grid map, the influence ratio calculation device:
determines, per one of the sections of the occupancy grid map, a predetermined number of pieces of the detection information as being pieces of the detection information that contribute determination of a section value of the one of the sections, the predetermined number of pieces of the detection information being selected from one or more pieces of the detection information in a reverse chronological order, each of the one or more pieces of the detection information being associated with at least one of the laser beams that passes through or is reflected from the one of the sections; and
calculates, as the influence ratio for each of the pieces of the detection information, a weighted sum of a number of effective sections, each of the effective sections being a section in which the each of the pieces of the detection information contributes to the determination of the section value of the section, and
when the map production device remakes the occupancy grid map, the map production device reduces the pieces of the detection information stored in the storage device by deleting at least one of pieces of the detection information of which the influence ratio calculated by the influence ratio calculation device is less than a predetermined influence ratio threshold.