JP2004145587A - Apparatus and method for estimating location of travelling vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus and a method for estimation the location of a travelling vehicle for accurately estimating the location of the travelling vehicle, without using a vehicle sensor. <P>SOLUTION: The apparatus comprises a vehicle speed measuring means 1101 for measuring vehicle speed; a location measuring means 1101 for measuring the presence location of the vehicle; an output control means 1107 for integrating or compressing the vehicle speed and the presence location of the vehicle; a first communication means 1104 for transmitting/receiving information via a communication path 13; a map database 1201 for storing the location information; a second communication means 1203 for transmitting/receiving the information to/from the first communication means via the communication path 13; and a vehicle location correcting means 1204 for estimating and correcting the travelling location of the vehicle, based on the vehicle speed transmitted from the vehicle speed measuring means 1101 and on the location information from the map database 1201. Accordingly, the present location of the travelling vehicle can be estimated accurately. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a traveling vehicle position estimation device and a traveling vehicle position estimation method for dynamically estimating and correcting the position of a traveling vehicle.
[0002]
[Prior art]
Conventionally, the traffic trajectory of a vehicle is obtained by measuring the traffic of the vehicle at a fixed position, and is obtained by measuring from traffic data collected using a beacon or an AVI sensor installed at the fixed position. I was There is also a method of collecting and obtaining traveled position information from GPS position information mounted on a vehicle-mounted device.
[0003]
As a conventional method for acquiring a vehicle travel locus and estimating a travel locus as described above, for example, a “traffic locus monitoring method and apparatus” is disclosed. This is based on provisional estimation of the time-series running trajectory of the vehicle from the information of the onboard equipment and the vehicle average speed data, signal parameters, passing time, etc., measured by vehicle sensors such as beacons arranged on the road, and This is a method of determining gender (for example, see Patent Document 1).
[0004]
[Patent Document 1]
JP-A-11-161894 (page 3, paragraph number 0010, page 4, paragraph numbers 0018 to 0026, FIG. 1)
[0005]
[Problems to be solved by the invention]
However, in the above-described related art, since the position of the vehicle can be measured only at the point where the vehicle sensor is installed, the position of the vehicle can be measured only at a limited point. Further, since the vehicle detectors are installed at intervals of several hundred meters to several kilometers, it is necessary to newly install a vehicle detector in order to increase the measurement interval, resulting in a problem in cost.
In addition, when a vehicle trajectory is obtained from GPS position information, measurement can be performed densely by transmitting a large number of position information, but there is a problem that transmission of a large number of position information to a base station increases communication cost. Was. Therefore, it is sufficient to transmit the position information at as large a time interval as possible. In that case, however, there is a problem that it is difficult to grasp the vehicle trajectory or the vehicle position between the transmissions of the position information.
[0006]
The present invention has been made in order to solve the above-mentioned conventional problems, and provides a traveling vehicle position estimating apparatus and method capable of accurately estimating the position of a traveling vehicle without using a vehicle sensor. .
[0007]
[Means for Solving the Problems]
A traveling vehicle position estimating device according to the present invention includes an in-vehicle device and a base station device provided in a vehicle, wherein the in-vehicle device measures a vehicle speed of the vehicle, and a position to measure a position of the vehicle. A measuring unit, an in-vehicle storage unit that records the vehicle speed and the position of the vehicle, an output control unit that integrates or compresses the information of the vehicle speed and the position of the vehicle so as to collectively transmit the information, and the base station device And a first communication unit for transmitting and receiving information via a communication path, wherein the base station apparatus transmits and receives information to and from the on-vehicle device via the communication path, and a map database storing position information. A second communication unit for performing, and a vehicle position correction unit for estimating and correcting the position of the vehicle based on the vehicle speed transmitted from the on-vehicle device and position information from the map database, It has a cormorant configuration. With this configuration, the in-vehicle device automatically measures the position and the vehicle speed of the traveling vehicle at predetermined intervals and provides them to the base station, and the base station determines the current position of the traveling vehicle from the vehicle speed and the vehicle position from the in-vehicle device. Can be estimated and corrected.
[0008]
The traveling vehicle position estimating device according to the present invention has a configuration in which the position measuring means measures the position of the vehicle at predetermined position measurement intervals. With this configuration, position information can be collected at predetermined intervals.
[0009]
The traveling vehicle position estimating device according to the present invention has a configuration in which the vehicle speed measurement means measures the vehicle speed at a vehicle speed measurement time interval shorter than the predetermined position measurement interval. With this configuration, a plurality of vehicle speeds can be collected at vehicle speed measurement time intervals shorter than a predetermined position measurement interval.
[0010]
The traveling vehicle position estimating device according to the present invention, wherein the output control means integrates or compresses the vehicle speed measured between the position of the vehicle and the position measurement interval or the vehicle speed at a fixed number, and It has a configuration for batch transmission to the base station. With this configuration, it is possible to transmit a plurality of vehicle speed information in one communication, so that the communication load can be reduced and the communication cost can be reduced.
[0011]
In the traveling vehicle position estimating device according to the present invention, the vehicle position correction means obtains a section length between two points defining the position measurement interval from the map database, and measures the section length at an arbitrary measurement interval between the two points. The difference between the section length and the sum of the traveling distances determined from the vehicle speed and the arbitrary measurement interval, and the absolute value of the difference between the average speed between the two points and the vehicle speed measured between the two points And the position correction information is created from the sum of the absolute values and the travel distance. With this configuration, the current position of the traveling vehicle can be accurately estimated from the vehicle speed and the position information transmitted from the on-vehicle device in accordance with the position information.
[0012]
The traveling vehicle position estimating method according to the present invention, in an in-vehicle device provided in the vehicle, measures and stores the vehicle speed of the vehicle, measures and stores the position of the vehicle, and calculates the vehicle speed and the position of the vehicle. Integrated or compressed so as to be transmitted collectively, transmitted via a communication path, and the base station device receives the vehicle speed and the position of the vehicle from the vehicle-mounted device via the communication path, and transmits the vehicle speed and the vehicle position from the vehicle-mounted device. The position of the vehicle is estimated and corrected based on the vehicle speed and the position information from the map database. With this configuration, the in-vehicle device can automatically measure the position and the vehicle speed of the traveling vehicle at predetermined intervals and provide the same to the base station. The current position of the traveling vehicle can be estimated and corrected.
[0013]
The traveling vehicle position estimation method according to the present invention has a configuration in which the position of the vehicle is measured at a predetermined position measurement interval. With this configuration, position information can be collected at predetermined intervals.
[0014]
The traveling vehicle position estimation method according to the present invention has a configuration in which the vehicle speed is measured at a vehicle speed measurement time interval shorter than the predetermined position measurement interval. With this configuration, a plurality of vehicle speeds can be collected at vehicle speed measurement time intervals shorter than a predetermined position measurement interval.
[0015]
The traveling vehicle position estimating method according to the present invention integrates or compresses the vehicle speed measured during the position measurement interval and the vehicle speed or a fixed number of vehicle speeds and collectively transmits the vehicle speed to the base station device. It has a configuration to transmit. With this configuration, it is possible to transmit a plurality of vehicle speed information in one communication, so that the communication load can be reduced and the communication cost can be reduced.
[0016]
The traveling vehicle position estimating method according to the present invention obtains a section length between two points defining the position measurement interval from the map database, and calculates the vehicle speed measured at an arbitrary measurement interval between the two points and the arbitrary measurement. The difference between the sum of the travel distances obtained from the intervals and the section length, the absolute value of the difference between the average speed between the two points and the vehicle speed measured between the two points, and the sum of the absolute values And the travel distance and the position correction information are created. With this configuration, the in-vehicle device can automatically measure the position and the vehicle speed of the traveling vehicle at predetermined intervals and provide the same to the base station. The current position of the traveling vehicle can be estimated and corrected.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
First, an example of a configuration of a traveling vehicle position estimation device according to an embodiment of the present invention will be described with reference to a block diagram. The traveling vehicle position estimating device according to the present embodiment includes an in-vehicle device 11 mounted on a vehicle and a base station device 12 installed on a base station. In this description, the in-vehicle device 11 will be described as an example of an on-vehicle car navigation system, and the base station device 12 will be described as a computer.
[0018]
In FIG. 1, a vehicle speed measuring unit 1101 for measuring a vehicle speed and a current position coordinate and time obtained by receiving a radio wave from a satellite or the like at a predetermined position measurement interval are measured on a vehicle-mounted device 11 side. Position measuring means 1102, in-vehicle storage means 1103 for recording position information and vehicle speed information V (i), communication means 1104 for transmitting and receiving information to and from base station apparatus 12, and a predetermined position measurement interval (for example, when the sensor is A position recording unit 1105 for acquiring position information including the current position coordinates and the acquisition time from the position measuring unit 1102 at an existing interval or an arbitrary time and recording the positional information in the in-vehicle storage unit 1103 in time series, and a vehicle speed at an arbitrary vehicle speed measurement time interval. The vehicle speed information V (i) is obtained from the measuring unit 1101 and is recorded in the vehicle-mounted storage unit 1103 in a time-series manner. By integrating or compress and vehicle speed information V (i) between the position information and the position information, and an output control unit 1107 to perform batch transmission to the base station apparatus 12 through the communication unit 1104.
[0019]
Further, the base station apparatus 12 includes a map database 1201 corresponding to one-to-one positional coordinates, a base station storage unit 1202 for recording information, a communication unit 1203 for transmitting / receiving information to / from the vehicle-mounted device 11, and two points. Sum of the travel distance D (i) (see [Equation 1]) obtained from the section length D of the position information of the vehicle and the vehicle speed (vehicle speed information) V (i) and the measurement interval Δt at an arbitrary point measured during the interval. D ′, the absolute value ΔV (i) of the difference between the average speed V between the two pieces of position information and the vehicle speed V (i) measured therebetween, The position correction information D ′ (i) is created from the sum ΔV of the values ΔV (i), the average speed V, the vehicle speed V (i), and the traveling distance D (i) (see [Equation 3]). A vehicle position correcting unit 1204 that records in a time series in the base station storage unit 1202 is provided.
[Formula 1]
D (i) = V (i) × Δt
[Formula 2]
e = DD '
[Equation 3]
D ′ (i) = (e × ΔV (i) / ΔV) + D (i)
As described above, the travel distance D (i) is calculated from the vehicle speed V (i), and the difference e from the section length D is estimated, whereby the position correction information D ′ at each point between the two position intervals is estimated. (I) can be created.
[0020]
Next, with reference to the flowchart of FIG. 2, the operation of correcting the position of the traveling distance D (i) according to one embodiment of the present invention will be described.
First, the vehicle position correcting unit 1204 obtains a section length D and a travel time T between two pieces of position information from the map database 1201 (step S2001). The vehicle position correcting means 1204 obtains the travel distance D (i) of each point between the two pieces of position information from the vehicle speed V (i) between the two pieces of position information (described later) and the vehicle speed measurement time (step S2002). ). The vehicle position correcting means 1204 obtains the total sum D 'of the calculated traveling distances D (i) (step S2003). The vehicle position correcting means 1204 obtains a difference e between the sum D 'of the traveling distance D (i) and the section length D between the two pieces of position information (step S2004). If the difference e between the sum D 'of the traveling distances D (i) calculated in step S2004 and the section length D between the two pieces of position information is 0, the result is no and the process proceeds to the standby state (step S2005). If the difference e between the total sum D 'of the traveling distances D (i) and the section length D between the two pieces of position information is other than 0, the result is YES, and the process proceeds to step S2006. The vehicle position correcting means 1204 calculates the average speed V from the travel time T and the section length D between the two pieces of position information (step S2006). The vehicle position correction means 1204 obtains the total sum ΔV of the absolute value ΔV (i) of the difference between the vehicle speed V (i) and the average speed V between the two pieces of position information (step S2007). The vehicle position correcting means 1204 calculates the sum ΔV of the absolute value ΔV (i) of the difference between the vehicle speed V (i) and the average speed V between the two pieces of position information and the vehicle speed V (i) and the average speed V. The position correction information D ′ is obtained from the absolute value ΔV (i) of the difference, the difference e between the sum D ′ of the traveling distance D (i) and the section length D between the two pieces of position information, and the traveling distance D (i). (I) is created (step S2008). The vehicle position correction means 1204 records the position correction information D '(i) in the base station storage means 1202 at each point along the time series (step S2009).
[0021]
With reference to the graph of FIG. 3, a description will be given of the estimated position of the traveling vehicle at the traveling distance D (i) according to the embodiment of the present invention. In the graph of FIG. 3, the horizontal axis represents time, and the vertical axis represents distance. Now, it is assumed that the travel distance obtained from the vehicle speed V (i) and the vehicle measurement time interval Δt at an arbitrary point i is D (i), and the sum of the travel distances D (i) is D ′. Let V be the average speed obtained from the section length D between the two pieces of position information and the travel time T. The difference between the sum D 'of the traveling distances D (i) and the section length D between the two pieces of position information is represented by e. The absolute value of the difference between the average speed V and the vehicle speed V (i) is defined as ΔV (i), and the absolute value ΔV (i) of the difference between the vehicle speed V (i) and the average speed V between the two pieces of position information is calculated. The sum is ΔV, and the position correction information is D ′ (i).
[0022]
A line 301 is obtained by drawing the travel time T calculated in step 2001 of FIG. 2 on the horizontal axis. A line 302 is obtained by drawing the section length D calculated in step S2001 in FIG. 2 on the vertical axis. The intersection of the line 301 and the line 302 and the origin indicate the position information of two points. A line 303 indicates the total sum D 'of the traveling distances D (i) obtained from [Equation 1] in step S2003 in FIG. 2, and a thin line connecting the intersection of the line 301 and the line 303 from the origin is shown in step S2002 in FIG. Is connected to the traveling distance D (i) obtained by The difference between the line 302 and the line 303 is the difference e between the sum D 'of the traveling distances D (i) obtained from [Equation 2] in step S2004 of FIG. 2 and the section length D between the two pieces of position information. The bold line connects the position correction information D '(i) obtained from [Equation 3] in step 2008 of FIG. 2, and connects the intersection of the line 301 and the line 302 with the origin. The arrow in the coordinates indicates the distance corrected at the correction point. If the difference e between the sum of the traveling distances D (i) and the section length D between the two pieces of position information is a negative value, correction is made for a portion where the position correction information does not become 0 or less. The calculation method at that time can be calculated in the same manner as when the difference e between the sum D 'of the traveling distances D (i) and the section length D between the two pieces of position information is positive. Further, when the sum D ′ calculated in step S2007 of FIG. 2 is 0, the same calculation can be performed.
[0023]
In the present embodiment, the in-vehicle device 11 has been described as an example of a car navigation system, but may be applied to various devices using a network. The network corresponding to the vehicle-mounted device 11 may be a public or private network for wireless connection. Further, in the present embodiment, the base station device 12 has been described using a computer as an example. However, the base station device 12 may be applied to various devices using a network. The network corresponding to the base station device 12 may be any network such as a public, private, wired, or wireless connection destination.
[0024]
The position recording unit 1105 in the present embodiment can collect and accumulate position information at predetermined position measurement intervals, and thereby collect and accumulate position information at predetermined intervals.
The vehicle speed recording means 1106 of the present invention collects and accumulates the vehicle speeds V (i) at vehicle measurement time intervals smaller than the position measurement intervals of the position information, so that a plurality of vehicle speeds V between the two pieces of position information are obtained. (I) can be collected.
[0025]
The output control unit 1107 in the present embodiment integrates or compresses the vehicle speed between the position information and the position information of the two points or every arbitrary number of position information, and performs batch transmission to the base station through the communication unit 1104. Accordingly, a large amount of vehicle speed can be transmitted in one communication, so that the communication load can be reduced and the communication cost can be reduced.
[0026]
The vehicle position correcting means 1204 in the present embodiment calculates the difference e between the sum D 'of the traveling distance D (i) and the section length D between the two pieces of position information, and the vehicle speed V ( i) and the absolute value ΔV (i) of the difference between the average speed V and the average correction speed V, the vehicle speed V (i), and the traveling distance D (i). Is generated and recorded in the base station storage means 1202 in time series, so that the position of the traveling vehicle can be estimated from the vehicle speed V (i) transmitted from the vehicle-mounted device 11 and the two pieces of position information.
[0027]
In the traveling vehicle position estimating apparatus according to the present embodiment, position information is acquired at predetermined intervals by position recording means 1105, recorded in chronological order in on-vehicle storage means 1103, and vehicles are recorded at arbitrary time intervals by vehicle speed recording means 1106. The speed V (i) is acquired and recorded in the vehicle-mounted storage unit 1103 in time series, and the output control unit 1107 integrates or compresses the position information and the vehicle speed V (i) between the position information, and communicates through the communication unit 1104. The transmission is collectively transmitted to the base station 12, and the difference e between the sum D 'of the traveling distance D (i) and the section length D between the two pieces of position information is calculated by the vehicle position correcting means 1204 of the base station 12, and From the sum ΔV of the absolute value ΔV (i) of the difference between the vehicle speed V (i) and the average speed V between the position information, the average speed V, the vehicle speed V (i), and the traveling distance D (i) Position correction information D '(i) Is recorded in the base station storage means 1202 in time series. As described above, by transmitting the position information and the vehicle speed information recorded in the in-vehicle storage unit 1103 collectively, the communication cost and the communication load can be suppressed. As described above, the vehicle position can be accurately estimated from the vehicle speed V (i) and the vehicle measurement time between the position information of at least two points.
[0028]
In the traveling vehicle position estimating apparatus according to the present embodiment, position information is collected and stored at position measurement intervals by position recording means 1105, so that position information can be collected at predetermined intervals and stored in vehicle-mounted device 11. .
Further, in the traveling vehicle position estimating apparatus according to the present embodiment, the vehicle recording means 1106 collects and accumulates the vehicle speed V (i) at vehicle speed measurement time intervals shorter than the position measurement interval of the position information, thereby obtaining two points. A plurality of vehicle speeds V (i) can be collected between the pieces of position information.
[0029]
In the traveling vehicle position estimating apparatus according to the present embodiment, output control means 1107 integrates or integrates vehicle speed V (i) between position information and two points of position information, or at arbitrary or predetermined position information. By compressing and transmitting the data at once to the base station through the communication means 1104, it becomes possible to transmit many vehicle speeds V (i) in one communication, thereby reducing the communication load and reducing the communication cost. .
[0030]
Further, in the traveling vehicle position estimating device according to the present embodiment, vehicle position correcting means 1204 is obtained from section length D of two pieces of position information, vehicle speed V (i) measured therebetween, and the measurement interval. A difference e between the running distance D (i) and the total sum D ′, an absolute value ΔV (i) of a difference between the average speed V between the two pieces of position information and the vehicle speed V (i) measured therebetween, The position correction information D ′ (i) is created from the sum ΔV of the absolute values ΔV (i), the average speed V, the vehicle speed V (i), and the traveling distance D (i). By recording in chronological order, the position of the traveling vehicle can be estimated from the vehicle speed V (i) transmitted from the in-vehicle device 11 and the position information of the two points so as to accurately match the estimated position information.
[0031]
【The invention's effect】
The traveling vehicle position estimating apparatus according to the present invention is configured as described above, and in particular, is configured to estimate the traveling position of the vehicle based on the vehicle speed collected by the on-vehicle device and the position information of the predetermined position, so that the fixed position detection is performed. It is possible to estimate and correct the position of the traveling vehicle inexpensively and more densely in a free section without increasing the installation of containers.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a traveling vehicle position estimation device according to an embodiment of the present invention;
2 is a flowchart showing a procedure for generating position correction information as an operation of the traveling vehicle position estimation device shown in FIG. 1,
FIG. 3 is a graph showing a traveling vehicle estimated position obtained by the operation of the traveling vehicle position estimation device shown in FIG. 1;
[Explanation of symbols]
11 On-board unit-side running vehicle position estimating device 12 Base station unit-side running vehicle position estimating device 13 Communication path 1101 Vehicle speed measuring unit 1102 Position measuring unit 1103 On-board storage unit 1104 Communication unit 1105 Position recording unit 1106 Vehicle speed recording unit 1107 Output control Means 1201 Map database 1202 Base station storage means 1203 Communication means 1204 Vehicle position correction means 301 Travel time 302 calculated from two position information Section length 303 calculated from two position information 303 Travel distance calculated from vehicle speed Sum of

Claims (10)

The in-vehicle device includes a vehicle speed measurement unit that measures a vehicle speed of the vehicle, a position measurement unit that measures a position of the vehicle, the vehicle speed and the vehicle. On-vehicle storage means for recording the position of the vehicle, output control means for integrating or compressing the information of the vehicle speed and the position of the vehicle so as to collectively transmit the information, and transmission and reception of information to and from the base station apparatus via a communication path. And first communication means for performing
The base station device includes: a map database that stores position information; a second communication unit that transmits and receives information to and from the in-vehicle device via the communication path; and the vehicle speed and the map transmitted from the in-vehicle device. Vehicle position estimating means for estimating and correcting the position of the vehicle based on position information from a database. The running vehicle position estimating device according to claim 1, wherein the position measuring means measures the position of the vehicle at predetermined position measurement intervals. The traveling vehicle position estimating device according to claim 2, wherein the vehicle speed measuring means measures the vehicle speed at a vehicle speed measurement time interval shorter than the predetermined position measurement interval. The output control means integrates or compresses the vehicle speed measured between the position of the vehicle and the vehicle speed measured during the position measurement interval or the vehicle speed at a fixed number, and transmits the vehicle speed collectively to the base station. The traveling vehicle position estimating device according to claim 2 or 3, wherein: The vehicle position correction means obtains a section length between two points that determine the position measurement interval from the map database, and obtains a vehicle speed measured at an arbitrary measurement interval between the two points and the arbitrary measurement interval. A difference between the calculated sum of the traveling distance and the section length, an absolute value of a difference between an average speed between the two points and a vehicle speed measured between the two points, and a sum of the absolute values; The traveling vehicle position estimating device according to any one of claims 2 to 4, wherein position correction information is created from the traveling distance. In an in-vehicle device provided in the vehicle, the vehicle speed of the vehicle is measured and stored, the position of the vehicle is measured and stored, and the vehicle speed and the position of the vehicle are integrated or compressed so as to be transmitted collectively, and the communication is performed. Send over the road,
In the base station device, the vehicle speed and the position of the vehicle are received from the vehicle-mounted device via the communication path, and the position of the vehicle is determined based on the vehicle speed transmitted from the vehicle-mounted device and position information from a map database. And estimating and correcting the position of the traveling vehicle. 7. The running vehicle position estimating method according to claim 6, wherein the position of the vehicle is measured at a predetermined position measurement interval. The running vehicle position estimation method according to claim 7, wherein the vehicle speed is measured at a vehicle speed measurement time interval shorter than the predetermined position measurement interval. 8. The system according to claim 7, wherein the position of the vehicle and the vehicle speed measured during the position measurement interval or the vehicle speed at a fixed number are integrated or compressed and transmitted collectively to the base station device. Or the traveling vehicle position estimation method according to 8. The section length between two points that determine the position measurement interval is obtained from the map database, and the total sum of the travel distances obtained from the vehicle speed measured at an arbitrary measurement interval between the two points and the arbitrary measurement interval Position correction information from the difference between the distance and the section length, the absolute value of the difference between the average speed between the two points and the vehicle speed measured between the two points, the sum of the absolute values, and the travel distance. The traveling vehicle position estimating method according to any one of claims 7 to 9, wherein

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