To perform efficient vehicle control according to accuracy of sensor position calibration.SOLUTION: A sensor position calibration apparatus 100 comprises: a mobile object information acquisition unit 111 which acquires a self-position measured by a reference mobile object 220 which moves in a movement area; a mobile object measurement unit 112 which measures a position of the reference mobile object 220 on the basis of observation information of a camera 210; a calibration unit 113 which calibrates position information of the camera 210 by using the self-position, a measurement position which is a measured position, and an estimation position which is a position in the movement area calculated on the basis of the position information of the camera 210; a calibration error calculation unit 114 which calculates an error between a second estimation position calculated on the basis of the measurement position and the position information of the camera 210 after calibration and the self-position; a reliability map generation unit 115 which generates a reliability map 121 showing the reliability of position measurement in the movement area by using the camera 210 on the basis of the error; and a mobile object control unit 116 which controls movement of the reference mobile object 220 by using the reliability map 121.SELECTED DRAWING: Figure 1

    【課題】センサ位置較正の精度に応じた効率的な車両制御を行う。【解決手段】センサ位置較正装置100は、移動エリアを移動する基準移動体220が測定した自己位置を取得する移動体情報取得部111と、カメラ210の観測情報に基づいて基準移動体220の位置を計測する移動体計測部112と、自己位置と、計測された位置である計測位置およびカメラ210の位置情報を基に算出された移動エリアにおける位置である推定位置とを用いて、カメラ210の位置情報を較正する較正部113と、計測位置および較正後のカメラ210の位置情報を基に算出された第2推定位置と、自己位置との誤差を算出する較正誤差算出部114と、誤差に基づいて、カメラ210を用いた移動エリア内の位置計測の信頼度を示す信頼度マップ121を生成する信頼度マップ生成部115と、信頼度マップ121を用いて基準移動体220の移動を制御する移動体制御部116とを備える。【選択図】図1


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    Title :

    SENSOR POSITION CALIBRATION APPARATUS AND SENSOR POSITION CALIBRATION METHOD


    Additional title:

    センサ位置較正装置およびセンサ位置較正方法


    Contributors:

    Publication date :

    2024-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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