SENSOR CALIBRATION DEVICE AND SENSOR CALIBRATION PROGRAM PRODUCT

• US 20200132462A1
• Filed: 12/24/2019
• Published: 04/30/2020
• Est. Priority Date: 07/18/2017
• Status: Abandoned Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: SHIBATA, Shunsuke, IMANISHI, Masayuki, SAMMA, Norio, HATO, Takeshi, KAWASHIMA, Takeshi, TAKEMORI, Daisuke, BANNO, Hiroto, IGUCHI, Sei
• Application Number:
  US16/726,419
• Publication Number:
  US 20200132462A1
• Time in Patent Office: Days
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A sensor calibration device acquires a measured value of an attitude of a vehicle based on an output of an attitude sensor, acquires vehicle speed information indicating a traveling speed of the vehicle, acquires map information on a road on which the vehicle travels, and sets a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to a reference position indicated in the map information.

Claims

1. A sensor calibration device comprising a control circuit configured to:

acquire a measured value of an attitude of a vehicle based on an output of an attitude sensor;

acquire vehicle speed information indicating a traveling speed of the vehicle;

acquire map information on a road on which the vehicle travels; and

set a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to a reference position indicated in the map information.

2. The sensor calibration device according to claim 1, wherein the control circuit is further configured to:

acquire the measured values indicating a pitch, a roll, and a yaw of the vehicle based on the output of the attitude sensor; and

acquire three-dimensional map information including information on latitude, longitude, and altitude.

3. The sensor calibration device according to claim 1, wherein the control circuit is further configured to:

acquire the measured value indicating a yaw of the vehicle based on the output of the attitude sensor, and

acquire two-dimensional map information including information on latitude and longitude.

4. The sensor calibration device according to claim 1, wherein the control circuit is further configured to:

select the calculated position corresponding to the reference position; and

search for the calibration value to minimize an error between the calculated position that is selected and the reference position.

14. The sensor calibration device according to claim 1, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value measured by the attitude sensor while the vehicle is accelerating and decelerating.

15. The sensor calibration device according to claim 14, wherein the control circuit is further configured to set the calibration value by using the measured value in a period in which a change range of the traveling speed indicated by the vehicle speed information falls within a threshold.

16. The sensor calibration device according to claim 14, wherein the control circuit is further configured to:

acquire acceleration information indicating an acceleration of the vehicle; and

exclude, from an object used for setting the calibration value, the measured value in a period in which an absolute value of the acceleration indicated by the acceleration information exceeds a threshold.

17. The sensor calibration device according to claim 1, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value measured by the attitude sensor in a period in which the vehicle passes through an unevenness of a road surface.

18. The sensor calibration device according to claim 17, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value in a period in which a time derivative value of the calculated position exceeds a threshold.

19. The sensor calibration device according to claim 17, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value in a period in which a differential value of the calculated position over time exceeds a threshold.

20. The sensor calibration device according to claim 1, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value in a period in which a variance value of the calculated position exceeds a threshold.

5. A sensor calibration device comprising a control circuit configured to:

acquire a measured value of an attitude of a vehicle based on an output of an attitude sensor;

acquire vehicle speed information indicating a traveling speed of the vehicle;

identify a positioning position of the vehicle based on a positioning signal received from a positioning satellite; and

set a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to the positioning position identified by the position identification section.

6. A sensor calibration device comprising a control circuit configured to:

acquire a measured value of a displacement of a vehicle based on an output of an attitude sensor;

acquire vehicle speed information indicating a traveling speed of the vehicle;

acquire altitude information on a road on which the vehicle travels; and

set a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to a reference position indicated in the altitude information.

7. The sensor calibration device according to claim 6, wherein

the altitude information acquisition section acquires map information including the altitude information, and

the calibration value setting section sets the calibration value to cause the calculated position to come close to the reference position using the altitude information based on the map information.

8. The sensor calibration device according to claim 6, wherein the control circuit is further configured to:

acquire the altitude information based on a positioning signal received from a positioning satellite, and

set the calibration value to cause the calculated position to come close to the reference position using the altitude information based on the positioning signal.

9. The sensor calibration device according to claim 6, wherein the control circuit is further configured to:

acquire the altitude information based on a gradient value of a road surface of the road on which the vehicle travels, and

set the calibration value to cause the calculated position to come close to the reference position using the altitude information based on the gradient value.

10. The sensor calibration device according to claim 6, wherein the control circuit is further configured to set the calibration value with exclusion of the measured value measured by the attitude sensor while the vehicle is traveling on a curve.

11. The sensor calibration device according to claim 10, wherein the control circuit is further configured to exclude, from an object used for setting the calibration value, the measured value in a period in which a steering angle of the vehicle or a centrifugal force acting on the vehicle exceeds a threshold.

12. The sensor calibration device according to claim 10, wherein the control circuit is further configured to exclude, from an object used for setting the calibration value, the measured value in a period in which a transverse gradient of a road surface of the road on which the vehicle travels exceeds a threshold.

13. The sensor calibration device according to claim 10, wherein the control circuit is further configured to exclude, from an object used for setting the calibration value, the measured value in a period in which a longitudinal gradient of a road surface of the road on which the vehicle travels exceeds a threshold.

21. A sensor calibration program product stored in a non-transitory tangible storage medium and causing at least one processor to function as:

a measured value acquisition section that acquires a measured value of an attitude of a vehicle based on an output of an attitude sensor;

a vehicle speed acquisition section that acquires vehicle speed information indicating a traveling speed of the vehicle;

a map information acquisition section that acquires map information of a road on which the vehicle travels; and

a calibration value setting section that sets a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to a reference position indicated in the map information.

22. A sensor calibration program product stored in a non-transitory tangible storage medium and causing at least one processor to function as:

a measured value acquisition section that acquires a measured value of an attitude of a vehicle based on an output of an attitude sensor;

a vehicle speed acquisition section that acquires vehicle speed information indicating a traveling speed of the vehicle;

a position identification section that identifies a positioning position of the vehicle based on a positioning signal received from a satellite; and

a calibration value setting section that sets a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to the positioning position identified by the position identification section.

23. A sensor calibration program product stored in a non-transitory tangible storage medium and causing at least one processor to function as:

a measured value acquisition section that acquires a measured value of a displacement of a vehicle based on an output of an attitude sensor;

a vehicle speed acquisition section that acquires vehicle speed information indicating a traveling speed of the vehicle;

an altitude information acquisition section that acquires altitude information of a road on which the vehicle travels; and

a calibration value setting section that sets a calibration value applied to the measured value to cause a calculated position of the vehicle calculated based on the vehicle speed information and the measured value to come close to a reference position indicated in the altitude information.