System for correcting an object position location relative to a vehicle based on a sensor remote from the vehicle
An outside sensing information processing device for suppressing adverse influence on warning of an advanced vehicle safety system. The vehicle safety system receives position information of an object detected by another vehicle or a road, the positions of feature points of a stationary object, and configuration information of an environmental map. When the system receives the information, the position of the object on the environmental map is calculated. Another vehicle also transmits position information of itself. The present vehicle checks an error of the position information of the vehicle detected by the other vehicle from the position information of the another vehicle and the relation of the position of a feature point detected by the another vehicle and the position of the feature point detected by the present vehicle. In the case where the error is large or unstable, use of the position information from the other vehicle is avoided.
1. An outside sensing information processing device detecting position of an object or a visually perceivable feature of an object existing on the outside of a first moving object, comprising:
a receiving function of receiving configuration information of an environmental map as a position reference, which is extracted from sensing information by an outside sensor mounted in a second moving object or a stationary object;
a matching function matching between configuration information of the environmental map obtained by the receiving function and configuration information of an environmental map obtained by the function of the sensing information processing device;
a correcting function, by using a matching result of the matching function, correcting position information of the object or the visually perceivable feature of the object existing on the outside detected by the outside sensor mounted in the second moving object or the stationary object;
a time managing function time synchronizing the outside sensing information processing device with the outside sensor mounted in the second moving object or the stationary object;
wherein when motion of an outside sensor mounted in the second moving object or the stationary object stops, an interval of the process of matching the configuration information of the environmental map is made longer stopped, until the outside sensor mounted in the second moving object or the stationary object starts moving.
2. The outside sensing information processing device according to claim 1 , wherein in the case of receiving sensing information by outside sensors mounted in a plurality of second moving objects or stationary objects, when the first moving object approaches an intersection, the sensing information by the outside sensor mounted in the second moving object or stationary object facing towards the intersection and closest to the intersection in each of roads gathered at the intersection is used.
3. The outside sensing information processing device according to claim 2 , wherein the sensing information obtained by the outside sensor mounted in the second moving object or stationary object oriented in a direction orthogonal to the orientation of the first moving object is used.
4. The outside sensing information processing device according to claim 1 , wherein the matching process of configuration information of an environmental map is performed by
using position information of a reference feature point as configuration information of an environmental map as the position reference, which is extracted from sensing information obtained by the outside sensor mounted in the first moving object, or
having, as map data, configuration information of an environmental map as the position reference and using position information of a reference feature point existing in the map data.
5. An outside sensing information processing device detecting position of an object or a visually perceivable feature of an object existing on the outside of a first moving object, comprising:
a receiving function of receiving configuration information of an environmental map as a position reference, which is extracted from sensing information obtained by an outside sensor mounted in a second moving object or a stationary object and position information of the second moving object or the stationary object;
a matching function of matching configuration information of the environmental map obtained by the receiving function to configuration information of an environmental map obtained by the function of the sensing information processing device;
a position calculating function of calculating the position of the second moving object or the stationary object by using a matching result of the matching function;
an error detecting function of detecting an error of a position of the second moving object or the stationary object recognized by the second moving object or the stationary object by comparing a calculation result of the position calculating function and position information of the second moving object or the stationary object obtained by the receiving function;
a time managing function time synchronizing the outside sensing information processing device with the outside sensor mounted in the second moving object or the stationary object;
wherein when motion of an outside sensor mounted in the second moving object or the stationary object stops an interval of the process of matching the configuration information of the environmental map is made longer until the outside sensor mounted in the second moving object or the stationary object starts moving.
6. The outside sensing information processing device according to claim 5 , wherein the matching process of the configuration information of the environmental map is performed by
using position information of a reference feature point as configuration information of an environmental map as the position reference, which is extracted from sensing information obtained by the outside sensor mounted in the first moving object, or
having, as map data, configuration information of an environmental map as the position reference and using position information of a reference feature point existing in the map data.
7. The outside sensing information processing device according to claim 5 , further comprising a correcting function of correcting position information of the object or visually perceivable feature of the object existing on the outside detected by an outside sensor mounted in the second moving object or the stationary object by using an error detection result of detection of an error of the position of the second moving object or stationary object.
8. The outside sensing information processing device according to claim 5 , further comprising an error managing function of managing an error detection result of detecting an error of position of the second moving object or the stationary object.
9. The outside sensing information processing device according to claim 8 , further comprising a correcting function of correcting position information of the object or visually perceivable feature of the object existing on the outside detected by an outside sensor mounted in the second moving object or the stationary object by using an error of the position of the second moving object or the stationary object managed by the error managing function.
10. The outside sensing information processing device according to claim 5 , wherein in the case of receiving sensing information obtained by outside sensors mounted in a plurality of second moving objects or stationary objects, when the first moving object approaches an intersection, the sensing information by the outside sensor mounted in the second moving object or the stationary object facing towards the intersection and closest to the intersection in each of roads gathered at the intersection is processed.
11. The outside sensing information processing device according to claim 10 , wherein the sensing information obtained by the outside sensor mounted in the second moving object or stationary object oriented in a direction almost orthogonal to the orientation of the first moving object is processed.
12. The outside sensing information processing device according to claim 8 , further comprising a transmitting function of transmitting information of an error of the position of the second moving object or the stationary object managed by the error managing function to the second moving object or the stationary object.
13. The outside sensing information processing device according to claim 8 , further comprising a selecting function, in the case of receiving sensing information obtained by outside sensors mounted in a plurality of second moving objects or stationary objects, of checking information of an error of the position of the second moving object or the stationary object managed by the error managing function and selecting the second moving object or the stationary object using the information of the position error.