Granted Patent B2

US 12,747,951 · App. 18/030,855 · Granted Sep 29, 2026

Inventors: Masami Suzuki (Saitama, JP); Masahiro Kato (Saitama, JP)

Assignees: PIONEER CORPORATION; PIONEER SMART SENSING INNOVATIONS CORPORATION

G01C21/28G01S17/89G01S17/931

Abstract

Claims (60)

1 . An information processing device comprising:

a processor coupled to a memory storing instructions for the processor to function as:

a point cloud map data acquisition unit configured to acquire point cloud map data which includes:

high reflection intensity map data that is point cloud data including points, on a reference plane, whose reflection intensity is equal to or larger than a first threshold value and which represents road marking paint; and

three-dimensional space map data that is point cloud data of features existing in a three-dimensional space;

a scan data acquisition unit configured to acquire scan data that is point cloud data measured by a lidar of a vehicle which receives reflected light of emitted light;

a scan data processing unit configured to:

generate, from the scan data, high reflection intensity scan data including points, on the reference plane, whose reflection intensity is equal to or larger than a second threshold value and which represents the road marking paint, wherein the scan data processing unit is configured to identify a peak reflection intensity from a histogram of the scan data and set the second threshold value based on the identified peak reflection intensity for each frame of the scan data,

generate the scan data or data obtained by filtering the scan data as three-dimensional space scan data;

a matching unit configured to perform:

a first matching between the three-dimensional space map data and the three-dimensional space scan data; and

a second matching between the high reflection intensity map data and the high reflection intensity scan data,

wherein the first threshold value is different from the second threshold value;

a position estimation unit configured to estimate a position of the vehicle based on results of the first matching and the second matching; and

a vehicle control unit configured to control the vehicle based on the estimated position.

2 . The information processing device according to claim 1 ,

wherein the matching unit is configured to perform the matching in one of the first matching and the second matching based on a Point to Point algorithm.

3 . The information processing device according to claim 1 ,

wherein the matching unit is configured to perform the first matching based on a Point to Plane algorithm and performs the second matching based on a Point to Point algorithm.

4 . The information processing device according to claim 1 ,

wherein the matching unit is configured to set weights for the first matching and the second matching based on:

a number of matched points of the three-dimensional space scan data in the first matching and

a number of matched points of the high reflection intensity scan data in the second matching.

5 . The information processing device according to claim 1 ,

wherein the reference plane includes a road surface.

6 . The information processing device according to claim 1 ,

wherein the scan data acquisition unit is configured to acquire the scan data measured by a sensor that receives the reflected light of the light emitted therefrom.

7 . The information processing device according to claim 1 ,

wherein the matching unit is configured to calculate a parameter for converting a coordinate system of the scan data into a coordinate system of the point cloud map data.

8 . The information processing device according to claim 1 ,

wherein the point cloud map data acquisition unit is configured to set the first threshold value based on a histogram of the point cloud map data in terms of the reflection intensity.

9 . The information processing device according to claim 1 ,

wherein the point cloud map data acquisition unit is configured to make a first histogram of reflection intensities of point cloud map data, which indicate a three-dimensional position and a reflection intensity for each point, and set the first threshold value based on the first histogram, and

wherein the scan data processing unit is configured to make a second histogram of the reflection intensities of the scan data, which indicate a three-dimensional position and a reflection intensity for each point, and set the second threshold value based on the second histogram.

10 . A control method executed by a computer, the control method comprising:

acquiring point cloud map data which includes:

high reflection intensity map data that is point cloud data including points, on a reference plane, whose reflection intensity is equal to or lamer than a first threshold value and which represents road marking paint; and

three-dimensional space map data that is point cloud data of features existing in a three-dimensional space,

acquiring scan data that is point cloud data measured by a lidar of a vehicle which receives reflected light of emitted light;

generating, from the scan data, high reflection intensity scan data including points, on the reference plane, whose reflection intensity is equal to or larger than a second threshold value and which represents the road marking paint, wherein the acquiring scan data includes identifying a peak reflection intensity from a histogram of the scan data and set the second threshold value based on the identified peak reflection intensity for each frame of the scan data;

generating the scan data or data obtained by filtering the scan data as three-dimensional space scan data; and

performing:

a first matching between the three-dimensional space map data and the three-dimensional space scan data; and

a second matching between the high reflection intensity map data and the high reflection intensity scan,

wherein the first threshold value is different from the second threshold value; and

estimating a position of the vehicle based on results of the first matching and the second matching; and

controlling the vehicle based on the estimated position.

11 . A non-transitory computer readable medium storing a program executed by a computer, the program causing the computer to:

acquire point cloud map data which includes:

high reflection intensity map data that is point cloud data including points, on a reference plane, whose reflection intensity is equal to or lamer than a first threshold value and which represents road marking paint; an

three-dimensional space map data that is point cloud data of features existing in a three-dimensional space,

acquire scan data that is point cloud data measured by a lidar of a vehicle which receives reflected light of emitted light;

generate, from the scan data, high reflection intensity scan data including points, on the reference plane, whose reflection intensity is equal to or larger than a second threshold value and which represents the road marking paint, wherein the acquiring scan data includes identifying a peak reflection intensity from a histogram of the scan data and set the second threshold value based on the identified peak reflection intensity for each frame of the scan data;

generate the scan data or data obtained by filtering the scan data as three-dimensional space scan data; and

perform:

a first matching between the three-dimensional space map data and the three-dimensional space scan data; and

a second matching between the high reflection intensity map data and the high reflection intensity scan,

wherein the first threshold value is different from the second threshold value; and

estimating a position of the vehicle based on results of the first matching and the second matching; and

controlling the vehicle based on the estimated position.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (33)