JP2009115588A - In-vehicle apparatus for detecting running route - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To exactly determine a route on which a vehicle has run. <P>SOLUTION: A location estimating part 115 outputs an estimated location (X, Y) for the estimation of a location where the vehicle travels based on the information of a GPS receiver 111, an acceleration sensor 112, a speed sensor 113 and a gyro 114. A map matching part 116 performs map matching processing, referring to road information stored in a storage part 117, and outputs a map-matched location (mX, mY). A buffering correction part 200 determines whether the route on which the map-matched location (mX, mY) lies is correct or not based on the route (R) and a nodal point (J) of the road information, and in the case that the route is determined erroneously, performs correction in which location data on the map-matched location (mX, mY) lying on the erroneously determined route are replaced by the location information on the nodal point (J) located at an entrance of the latest route. Thereby the traveling route can be detected exactly. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

The present invention relates to a vehicle-mounted device for detecting a travel route.
More specifically, in the present invention, when a route on which the vehicle has traveled is obtained by performing map matching processing using the estimated position obtained based on data from a GPS receiver or the like and road information, The present invention is devised so that the travel route can be accurately determined while having a simple configuration in terms of hardware and software.

As an automatic toll collection system on a toll road, there is a wireless toll collection system. This wireless toll collection system performs vehicle recognition, authentication, and settlement by communicating between a base station installed at a toll gate on a toll road and an in-vehicle device mounted on a vehicle (automobile). is there.
By using such a wireless toll collection system, it is possible to pass through the toll gate non-stop and cashless.

  Further, a GPS road billing system that uses the GPS (Global Positioning System) and detects a vehicle position, a travel route, and a travel distance as a next system of the wireless toll collection system is being studied.

  In this GPS road billing system, radio waves transmitted from GPS satellites are received by a GPS receiver provided in the vehicle-mounted device. The GPS receiver detects the travel position of the vehicle based on the received radio wave, starts charging when the vehicle enters a charging area (for example, a specific city area), and ends when the vehicle leaves the charging area To do. At this time, when the vehicle is traveling in the billing area, the vehicle position, travel route, and travel distance are detected.

  When the vehicle enters the billing area, the in-vehicle device starts recording the travel route. When the vehicle exits the billing area, it calculates the travel distance from the travel route, charges the billing information, and sends the billing information to the billing center. To do.

In such a GPS road billing system, it is possible to eliminate a toll gate (gate facility) that was necessary in a conventional wireless toll collection system.
This GPS road billing system is intended to limit the traffic volume by imposing a charge on vehicles flowing into the city and to reduce congestion in the city.

FIG. 7 is an explanatory diagram showing an image of the GPS road billing system.
The vehicle 01 shown in FIG. 7 includes a vehicle-mounted device including a GPS receiver, a GPS antenna, and various sensors. This on-vehicle device is capable of estimating the position of the vehicle 01 every moment when the GPS receiver receives radio waves transmitted from a plurality of GPS satellites 02.
Further, when the radio wave transmitted from the GPS satellite 2 cannot be received and GPS positioning cannot be performed, for example, when the vehicle 01 is traveling in a tunnel, the travel distance and travel are performed using a self-supporting sensor (distance sensor or azimuth sensor). The current position information is estimated from the previous position information detected by the GPS receiver based on the travel distance and travel direction detected by a self-supporting sensor.

  The vehicle-mounted device mounted on the vehicle 01 obtains and records a route from the position estimation coordinates for billing when the vehicle 01 enters the billing area 03. When the vehicle 01 leaves the billing area 03, the travel distance is obtained from the route, billing is performed, and billing information is transmitted to the billing center 04.

  Next, the vehicle-mounted device will be described with reference to FIG. The vehicle-mounted device 10 includes a GPS receiver 11, an acceleration sensor 12, a vehicle speed sensor 13, a gyro 14, a position estimation unit 15, a map matching unit 16, a storage unit 17, and a billing processing unit 18. ing.

The GPS receiver 11 receives a radio wave transmitted from a GPS satellite via a GPS antenna (not shown), measures a position, and outputs position information.
The acceleration sensor 12 detects an acceleration along the traveling direction of the vehicle and outputs an acceleration signal.
The vehicle speed sensor 13 detects the vehicle speed of the vehicle and outputs a vehicle speed signal.
The gyro 14, which is an orientation sensor, detects the traveling direction of the vehicle and outputs a traveling direction signal.

  The position estimation unit 15 outputs position information measured by the GPS receiver 11 as estimated positions X and Y when positioning by the GPS receiver 11 is possible. The estimated positions X and Y are output at predetermined intervals.

On the other hand, when the positioning by the GPS receiver 11 becomes impossible, the position estimation unit 15 obtains the position based on the acceleration signal or the velocity signal and the traveling direction signal, and the obtained position is obtained. Are output as estimated positions X and Y.
That is, in order to make the acceleration sensor 12 and the speed sensor 13 function as a distance sensor, distance information obtained by integrating the acceleration signal twice, or distance information obtained by integrating the speed signal once, and the gyro 14 are obtained. The travel distance and travel direction are calculated based on the travel direction signal. Further, a relative movement position starting from the position immediately before the time when positioning cannot be performed by the GPS receiver 11 is obtained, and the relative movement position is output as estimated positions X and Y. The estimated positions X and Y are output at predetermined intervals.

The storage unit 17 stores map data. As the map data, only road information is stored, and information such as buildings and toll gates is not included.
As road information, in addition to position information along each road, it is set for each node (node) such as a route R (R1, R2, R3... Rn) set for each road (link) or an intersection or a corner. Nodes J (J1, J2, J3... Jn) are stored.

  The map matching unit 16 performs a map matching process using the estimated positions X and Y and the road information stored in the storage unit 17. That is, the position on the road closest to the positions indicated by the estimated positions X and Y is output as the map matching positions mX and mY. The map matching positions mX and mY are output at predetermined intervals.

  The charging processing unit 18 starts recording the map matching positions mX and mY output one after another from the map matching unit 16 when the vehicle enters the charging area. When the vehicle leaves the billing area, the travel distance is obtained based on the travel route obtained from the map matching positions mX and mY, and the billing information is transmitted to the billing center.

Note that the configuration of the vehicle-mounted device 10 shown in FIG. 8 is basically the same as the vehicle-mounted car navigation device that is currently widely used, and there are common points in the functions that are realized, but the following points are different.
1) In the car navigation system, because the purpose is driver navigation, the vehicle-mounted device for car navigation needs to display the position of the host vehicle on the map in real time.
On the other hand, it is important for the vehicle-mounted device 10 in the GPS road billing system to correctly determine the distance and route, and real-time display is not required.
2) Since the vehicle-mounted device 10 in the GPS road billing system is required to be reduced in cost for its purpose of use, the data capacity that can be held is limited to a small amount compared to the car navigation device. Therefore, it is desirable that only road information (position information along the road, route R, node J) is retained, while information necessary only for navigation display such as terrain, buildings, and landmarks is not retained.

Japanese Patent Laid-Open No. 61-56910

  Incidentally, the map matching unit 16 shown in FIG. 8 selects a position on the road closest to the estimated positions X and Y, and outputs it as the map matching positions mX and mY. However, when the calculation error of the estimated positions X and Y is large May select the wrong road (route R).

  For example, as shown in FIG. 9, it is assumed that there are a road R1 and a road R2, and the vehicle actually travels on the road R1. In FIG. 9, triangles (Δ) indicate estimated positions X and Y, black circles (●) indicate map matching positions mX and mY, and R1 and R2 indicate routes indicating roads. Further, the estimated positions X and Y and the map matching positions mX and mY indicate that data having a larger number is later in time (data that is new in time).

In the case of FIG. 9, since the estimated positions (X1, Y1), (X2, Y2), (X3, Y3) are close to the route R1, the map matching positions (mX1, mY1), (mX2, mY2), ( mX3, mY3) are located on the route R1 indicating the road on which the vehicle is actually traveling.
However, since the estimated positions (X4, Y4) and (X5, Y5) are away from the route R1 and close to the route R2, the map matching positions (mX4, mY4) and (mX5, mY5) are located on the route R2. End up. That is, although the vehicle is actually traveling on the road indicated by the route R1, it is erroneously determined that the vehicle is traveling on the road indicated by the route R2.

  Such an erroneous determination of the travel route is particularly likely to occur after passing an intersection or a branch point.

  As described above, if it is erroneously determined that the vehicle is traveling on a route different from the route on which the vehicle is actually traveling, a correct traveling route cannot be obtained, and accurate charging cannot be performed. There's a problem. For this reason, there is a demand for reducing the selection of the wrong road (route) and improving the accuracy for obtaining the correct route.

In the map matching unit in the car navigation device, as a technique for improving the performance of route determination, when passing through a toll gate, the position information is matched with the toll gate position on the map, or There is a method of recognizing surrounding buildings and correcting it by matching it with map information.
However, when such a method is adopted, information on the toll gate location, buildings, landmarks, etc. is stored in the storage unit, and building recognition and toll gate passage information for correcting the location in real time are stored. Sensors, processing devices, software, and the like necessary for recognition are required, resulting in a complicated system configuration and expensive equipment.
Therefore, it is not realistic to employ such a position correction technique for car navigation in an in-vehicle device for a GPS road billing system that requires a low price.

  In view of the above-described prior art, the present invention is a travel route detection that can accurately detect a travel route even after a vehicle has passed an intersection or a branch point while the system configuration is simple and inexpensive. The purpose is to provide a vehicle-mounted device.

The configuration of the present invention for solving the above problems is as follows.
A GPS receiver for measuring position by receiving radio waves transmitted from GPS satellites and outputting position information;
A travel distance detecting means for outputting travel distance information indicating the travel distance of the vehicle;
Traveling direction detection means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position can be measured by the GPS receiver, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position cannot be measured by the GPS receiver. A position estimation unit that obtains a movement position of the vehicle based on the movement distance information and the traveling direction information and periodically outputs the obtained position as an estimated position (X, Y);
Road information that stores position information along the road, a route (R) set for each road to distinguish each road, and a node (J) set for each intersection, branch point, or corner of the road is stored as information. A storage unit,
A map that periodically outputs the position on the road closest to the position indicated by the estimated position (X, Y) as the map matching position (mX, mY) using the estimated position (X, Y) and the road information Matching section;
A buffering correction unit that periodically outputs a corrected position (cX, cY) obtained by correcting the map matching position (mX, mY) using the map matching position (mX, mY) and the road information; And
The buffering correction unit
A storage unit for storing the map matching positions (mX, mY) sequentially input from the map matching unit;
A plurality of map matching positions (mX, mY) that are temporally older than the most recently input map matching position (mX, mY) were located on an old route that is the same route. When the map matching position (mX, mY) is located on a different route different from the old route, the other route is judged as a new route, and the vehicle is judged to have entered the new route.
When it is determined that the vehicle has entered the new route, a plurality of map matching positions (mX, mY) on the old route are fetched from the storage unit,
A route where a map matching position (mX, mY) that is temporally older than the map matching position (mX, mY) located on the old route is located with reference to the arrangement state of the route (R) indicated by the road information It is determined whether an old route exists between a certain old route and a new route. If an old route exists between an old route and a new route, the old route is the correct route. If it is determined that there is no old route between the old and new routes, the old route is determined to be the wrong route,
When it is determined that the old route is the correct route, the same position data as the plurality of map matching positions (mX, mY) is obtained without changing the position data of the plurality of map matching positions (mX, mY) on the old route. When a plurality of corrected positions (cX, cY) are output and it is determined that the old route is the wrong route, the position data of the plurality of map matching positions (mX, mY) on the old route are To the position data of the node (J) on the entrance side of the new route, and the corrected position (cX, cY) obtained by changing the position data to the position of the node (J) on the entrance side of the new route is output.

The configuration of the present invention is as follows.
A GPS receiver for measuring position by receiving radio waves transmitted from GPS satellites and outputting position information;
A travel distance detecting means for outputting travel distance information indicating the travel distance of the vehicle;
Traveling direction detection means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position can be measured by the GPS receiver, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position cannot be measured by the GPS receiver. A position estimation unit that obtains a movement position of the vehicle based on the movement distance information and the traveling direction information and periodically outputs the obtained position as an estimated position (X, Y);
Road information that stores position information along the road, a route (R) set for each road to distinguish each road, and a node (J) set for each intersection, branch point, or corner of the road is stored as information. A storage unit,
A map that periodically outputs the position on the road closest to the position indicated by the estimated position (X, Y) as the map matching position (mX, mY) using the estimated position (X, Y) and the road information Matching section;
A buffering correction unit that periodically outputs a corrected position (cX, cY) obtained by correcting the map matching position (mX, mY) using the map matching position (mX, mY) and the road information; And
The buffering correction unit
A storage unit for storing the map matching positions (mX, mY) sequentially input from the map matching unit;
A plurality of map matching positions (mX, mY) temporally older than the map matching position (mX, mY) immediately before the most recently input map matching position (mX, mY) Although it was located on the old route which is the same route, the latest map matching position (mX, mY) and the map matching position (mX, mY) immediately before this are the old route and Is located on a different and the same route, it is determined that the vehicle has entered the new route with this different route as the new route,
When it is determined that the vehicle has entered the new route, a plurality of map matching positions (mX, mY) on the old route are fetched from the storage unit,
A route where a map matching position (mX, mY) that is temporally older than the map matching position (mX, mY) located on the old route is located with reference to the arrangement state of the route (R) indicated by the road information It is determined whether an old route exists between a certain old route and a new route. If an old route exists between an old route and a new route, the old route is the correct route. If it is determined that there is no old route between the old and new routes, the old route is determined to be the wrong route,
When it is determined that the old route is the correct route, the same position data as the plurality of map matching positions (mX, mY) is obtained without changing the position data of the plurality of map matching positions (mX, mY) on the old route. When a plurality of corrected positions (cX, cY) are output and it is determined that the old route is the wrong route, the position data of the plurality of map matching positions (mX, mY) on the old route are To the position data of the node (J) on the entrance side of the new route, and the corrected position (cX, cY) obtained by changing the position data to the position of the node (J) on the entrance side of the new route is output.

The configuration of the present invention is as follows.
In the on-vehicle device for detecting the travel route,
It further has a billing processing unit for obtaining a travel distance based on a travel route obtained from a correction position (cX, cY) output from the buffering correction unit and performing a billing process.

  According to the present invention, the map matching position obtained by map matching the estimated position is determined by referring to the route R and the node J of the road information to determine whether the position indicated by the map matching position is on the correct route, If it is in the wrong route, the position information is corrected. As a result, determination of an incorrect road (route) can be reduced, the estimated position can be corrected on the correct route, and the correct route can be obtained.

  In addition, the storage unit of the vehicle-mounted device for detecting the travel route holds only road information (position information along the road, route R, node J), and is used for navigation display such as terrain, buildings, landmarks, and the like. Since only necessary information is not held, the data capacity can be reduced, the hardware and software can be simplified, and the cost can be reduced.

  The best mode for carrying out the present invention will be described below in detail based on examples.

FIG. 1 shows an in-vehicle device 100 for detecting a travel route according to a first embodiment of the present invention.
This in-vehicle device 100 includes a GPS receiver 111, an acceleration sensor 112, a vehicle speed sensor 113, a gyro 114, a position estimation unit 115, a map matching unit 116, a storage unit 117, a charging processing unit 118, a buffer A ring correction unit 200 is provided.

The GPS receiver 111 receives a radio wave transmitted from a GPS satellite via a GPS antenna (not shown), measures the position, and outputs position information.
The acceleration sensor 112 detects the acceleration along the traveling direction of the vehicle and outputs an acceleration signal.
The vehicle speed sensor 113 detects the vehicle speed of the vehicle and outputs a vehicle speed signal.
The gyro 114, which is an orientation sensor, detects the traveling direction of the vehicle and outputs a traveling direction signal.

  The position estimation unit 115 outputs position information measured by the GPS receiver 111 as estimated positions X and Y when positioning by the GPS receiver 111 is possible. The estimated positions X and Y are output at predetermined intervals.

On the other hand, when the positioning by the GPS receiver 111 becomes impossible, the position estimation unit 115 obtains the position based on the acceleration signal or the velocity signal and the traveling direction signal, and the obtained position is obtained. Are output as estimated positions X and Y.
That is, in order to cause the acceleration sensor 112 and the speed sensor 113 to function as distance sensors, the distance information obtained by integrating the acceleration signal twice, or the distance information obtained by integrating the speed signal once and the traveling direction signal. Based on the obtained traveling direction signal, the moving distance and the traveling direction are calculated. Further, a relative movement position starting from a position immediately before the time when positioning cannot be performed by the GPS receiver 111 is obtained, and the position is output as estimated positions X and Y. The estimated positions X and Y are output at predetermined intervals.

The storage unit 117 stores map data. As the map data, only road information is stored, and information such as buildings and toll gates is not included.
As road information, in addition to position information along each road, a route R (R1, R2, R3... Rn) set for each road to distinguish each road (link), intersections and branch points A node J (J1, J2, J3... Jn) set for each node in order to distinguish nodes such as corners and corners is stored.

  In other words, the in-vehicle device 100 for detecting a travel route applied to the GPS road billing system is required to be reduced in cost for its purpose of use, so that the data capacity that can be held is limited to a small amount compared to the car navigation device. Only road information (position information along the road, route R, node J) is held, and information necessary only for navigation display such as terrain, buildings, and landmarks is not held. As a result, the data capacity is reduced and the hardware and software are simplified.

  The map matching unit 116 performs map matching processing using the estimated positions X and Y and the road information stored in the storage unit 117. That is, the position on the road closest to the positions indicated by the estimated positions X and Y is output as the map matching positions mX and mY. The map matching positions mX and mY are output at predetermined intervals.

The buffering correction unit 200 corrects the map matching positions mX and mY and outputs the corrected correction positions cX and cY. The correction positions cX and cY are output at predetermined intervals.
Although details of the correction processing by the buffering correction unit 200 will be described later, by performing this correction, the route can be accurately determined even after the vehicle passes through an intersection or a branch point.

  The charging processing unit 118 starts recording the correction positions cX and cY periodically output one after another from the buffering correction unit 200 when the vehicle enters the charging area. Then, when the vehicle leaves the billing area, the travel distance is obtained based on the travel route obtained from the corrected positions cX and cY (charge calculation according to the travel distance is performed) and billing information ( The calculated charge is sent to the billing center.

  Here, the configuration of the functional part and the correction processing operation in the buffering correction unit 200 will be described with reference to FIG. 2 and FIG.

The buffering correction unit 200 includes a memory 201 and a correction unit 210.
The correction unit 210 includes a new route determination function unit 211, a capture function unit 212 that captures a map matching position in the old route, and a correction function unit 213 that corrects the map matching position in the captured old route.
Each of the functional units 211, 212, and 213 is a functional unit that performs calculation / determination by software. In FIG. 2, these are illustrated in a block diagram.

  Further, in each of the functional units 211, 212, and 213, a route R (R1, R2, R3... Rn) and an intersection node J (J1, J2, J3... Jn) stored in the storage unit 117 are stored. Is captured.

Map matching positions mX and mY periodically output from the map matching unit 116 are input to the memory 201 and captured.
Note that the memory 201 has a predetermined memory capacity, and when data of map matching positions mX and mY exceeding the memory capacity is newly input, data of the oldest map matching positions mX and mY is input. Is erased, and newly inputted data of map matching positions mX and mY are stored.

The new route determination function unit 211 receives the map matching positions mX, mY (for example, (mX1, mY1), (mX2, mY2), (mX3, mY3), ( By comparing mX4, mY4), (mX5, mY5)...) with the route R (R1, R2, R3... Rn) of the map data (road information) stored in the storage unit 117. Determine if the vehicle was on a new route.
Specifically, a plurality of map matching positions mX, mY that are temporally older than the most recently input map matching positions mX, mY are located on a certain route (referred to as “old route”). However, if the latest map matching positions mX and mY are located on a different route different from the old route, this different route is judged as a new route, and the vehicle is judged to have entered the new route. To do.

  When the new route determination function unit 211 determines that the vehicle has entered the new route, the import function unit 212 takes in a plurality of map matching positions mX and mY on the old route and sends them to the correction function unit 213.

  The correction function unit 213 takes in a plurality of map matching positions mX and mY on the old route sent from the import function unit 212, corrects them, and outputs the corrected correction positions cX and cX.

The correction method is as follows.
1) First, the correction function unit 213 regards the new route as indicating the correct route. That is, it is considered that the vehicle is located at the position indicated by the latest map matching positions mX and mY on the new route.
2) Next, the correction function unit 213 refers to the arrangement state of the route R indicated by the road information, and the map matching positions mX and mY that are temporally older than the map matching positions mX and mY located on the old route. It is determined whether an old route exists between a route where this is located (referred to as “old and old route”) and a new route.
If an old route exists between the old and new routes and the new route, it is determined that the old route is the correct route.
On the other hand, if the old route does not exist between the old and new routes, it is determined that the old route is the wrong route.
3) When the correction function unit 213 determines that the old route is the correct route, the plurality of map matching positions mX and mY are not changed without changing the position data of the plurality of map matching positions mX and mY on the old route. A plurality of correction positions cX, cY (cX = mX, cY = mY) having the same position data are output.
On the other hand, when the correction function unit 213 determines that the old route is the wrong route, the position data of the plurality of map matching positions mX and mY on the old route are converted into the position data of the node J on the entrance side of the new route. The modified positions cX and cY are output by changing the position data to the position of the node J on the entrance side of the new route.

  Here, a specific correction operation in the buffering correction unit 120 will be described using a specific example of the map matching positions mX and mY and the map data (route data R).

  In the example of FIG. 3A, the latest map matching positions mX5, mY5 are located on the route R3, and a plurality of map matching positions (mX2, mY2), (mX3, mY3) that are temporally older on the old route R2. , (MX4, mY4) and map matching positions mX1, mY2 are located on the old and old route R1.

  The new route determination function unit 211 determines that the latest map matching positions mX5 and mY5 are located on a different route R3 different from the old route R2, so that the route R3 is determined as a new route, and the vehicle has entered a new route. to decide.

  When the new route determination function unit 211 determines that the vehicle has entered the new route R3, the capturing function unit 212 has a plurality of map matching positions (mX2, mY2), (mX3, mY3), (mX4) on the old route R2. , MY4).

The correction function unit 213 determines that the old route R2 is an incorrect route because the old route R2 does not exist between the old and new routes R1 and R3.
Further, the correction function unit 213 uses the position data of the plurality of match matching data (mX2, mY2), (mX3, mY3), (mX4, mY4) on the old route R2 to the node J1 on the entrance side of the new route R3. The position data (J1X, J1Y) are changed, and the three corrected positions cX, cY having the changed position data (J1X, J1Y) are output.

Eventually, instead of the match matching data (mX2, mY2), (mX3, mY3), (mX4, mY4) located on the wrong old route R2, the node J1 on the entrance side of the new route R3 regarded as the correct route By outputting the corrected positions cX and cY, which are the position data (J1X, J1Y), an erroneous determination of the route is prevented.
FIG. 3B shows position data before correction (left column) and position data after correction (right column).

  In the example of FIG. 4A, the latest map matching positions mX15, mY15 are located on the route R13, and a plurality of map matching positions (mX12, mY12), (mX13, mY13) that are temporally older on the old route R12. , (MX14, mY14) and map matching positions mX11, mY12 are located on the old and old route R11.

  The new route determination function unit 211 determines that the latest map matching position mX15, mY15 is located on a different route R13 different from the old route R12, so that the route R13 is determined as a new route, and the vehicle has entered a new route. to decide.

  When the new route determination function unit 211 determines that the vehicle has entered the new route R13, the capturing function unit 212 has a plurality of map matching positions (mX12, mY12), (mX13, mY13), (mX14) on the old route R12. , MY14).

The correction function unit 213 determines that the old route R12 is an incorrect route because the old route R12 does not exist between the old and new routes R11 and R13.
Further, the correction function unit 213 uses the position data of the plurality of match matching data (mX12, mY12), (mX13, mY13), (mX14, mY14) on the old route R12, respectively, as the node J11 on the entrance side of the new route R13. The position data (J11X, J11Y) are changed, and the three corrected positions cX, cY corresponding to the changed position data (J11X, J11Y) are output.

Eventually, instead of the match matching data (mX12, mY12), (mX13, mY13), (mX14, mY14) located on the old old route R12, the node J11 on the entrance side of the new route R13 regarded as the correct route By outputting the corrected positions cX and cY, which are the position data (J11X, J11Y), an erroneous determination of the route is prevented.
FIG. 4B shows position data before correction (left column) and position data after correction (right column).

  In the example of FIG. 5A, the latest map matching positions mX25, mY25 are located on the route R23, and a plurality of map matching positions (mX22, mY22), (mX23, mY23) that are temporally old on the old route R22. , (MX24, mY24) are located, and map matching positions mX21, mY22 are located on the old and old route R21.

  The new route determination function unit 211 determines that the latest map matching position mX25, mY25 is on a different route R23 different from the old route R22, so that the route R23 is determined as a new route, and the vehicle has entered a new route. to decide.

  When the new route determination function unit 211 determines that the vehicle has entered the new route R23, the capturing function unit 212 has a plurality of map matching positions (mX22, mY22), (mX23, mY23), (mX24) on the old route R22. , MY24).

The correction function unit 213 determines that the old route R22 is an incorrect route because the old route R22 does not exist between the old and new routes R21 and R23.
Further, the correction function unit 213 uses the position data of the plurality of match matching data (mX22, mY22), (mX23, mY23), (mX24, mY24) on the old route R22 to the node J21 on the entrance side of the new route R23. The position data (J21X, J21Y) are changed, and the three corrected positions cX, cY corresponding to the changed position data (J21X, J21Y) are output.

Eventually, instead of the match matching data (mX22, mY22), (mX23, mY23), (mX24, mY24) located on the wrong old route R22, the node J21 on the entrance side of the new route R23 regarded as the correct route By outputting the corrected positions cX and cY, which are the position data (J21X and J21Y), the erroneous determination of the route is prevented.
FIG. 5B shows position data before correction (left column) and position data after correction (right column).

  In the example of FIG. 6A, the latest map matching positions mX35, mY35 are located on the route R33, and the old map matching positions (mX32, mY32), (mX33, mY33), ( mX34, mY34) are located, and map matching positions mX31, mY32 are located on the old and old route R31.

  The new route determination function unit 211 determines that the latest map matching position mX35, mY35 is located on a different route R33 different from the old route R32, so that the route R33 is determined as a new route, and the vehicle has entered a new route. to decide.

  When the new route determination function unit 211 determines that the vehicle has entered the new route R33, the capturing function unit 212 has a plurality of map matching positions (mX32, mY32), (mX33, mY33), (mX34) on the old route R32. , MY34).

The correction function unit 213 determines that the old route R32 is a correct route because the old route R32 exists between the old and new routes R31 and R33.
Further, the correction function unit 213 changes the position data of the plurality of match matching data (mX2, mY2), (mX3, mY3), (mX4, mY4) on the old route R2 to the position data without changing. The corrected positions cX and cY are output.

Eventually, the corrected positions cX and cY which are located on the correct old route R2 and have the same position data as the match matching data (mX2, mY2), (mX3, mY3) and (mX4, mY4) are output.
FIG. 3B shows position data before correction (left column) and position data after correction (right column). In this example, the position data is the same before and after correction.

  As described above, in this embodiment, it is possible to prevent an erroneous determination of a road (route), which is likely to occur after passing an intersection or a branch point, and to accurately determine the route on which the vehicle has traveled.

  In addition, the storage unit 117 of the on-vehicle device 100 for detecting the travel route applied to the GPS road billing system holds only road information (position information along the road, route R, node J), and includes terrain, buildings, Since information necessary only for navigation display such as landmarks is not retained, the data volume can be reduced, and the hardware and software can be simplified, resulting in low cost. Can be achieved.

  In the first embodiment, the new route determination function unit 211 of the buffering correction unit 200 has a plurality of map matching positions mX and mY that are temporally older than the most recently input map matching positions mX and mY. If the latest map matching position mX, mY was located on a different route different from the old route, although it was located on the same route (referred to as “old route”) The route is determined as a new route, and it is determined that the vehicle has entered a new route.

  In the second embodiment, instead of such a determination method, the new route determination function unit 211 applies the map matching positions mX and mY temporally previous to the most recently input map matching positions mX and mY. A plurality of map matching positions mX, mY that are older in time were located on a same route (referred to as “old route”), but the latest map matching positions mX, mY, and this If the previous map matching position mX, mY in time is located on the same different route different from the old route, this different route is judged as a new route, and the vehicle becomes a new route. Judging that it entered.

  In this manner, when the latest and the previous two map matching positions mX and mY are located on the same different route different from the old route, this different route is determined as the new route, and the vehicle Since it is determined that has entered a new route, the accuracy of determining that it has entered a new route is improved.

  Other configurations and operation functions are the same as those in the first embodiment.

It is a block diagram which shows the onboard equipment for driving | running | working route detection based on Example 1 of this invention. It is a block diagram which shows the buffering correction | amendment part used for the onboard equipment of Example 1. FIG. It is explanatory drawing which shows the specific correction operation | movement in a buffering correction part. It is explanatory drawing which shows the specific correction operation | movement in a buffering correction part. It is explanatory drawing which shows the specific correction operation | movement in a buffering correction part. It is explanatory drawing which shows the specific correction operation | movement in a buffering correction part. It is explanatory drawing which shows a GPS road billing system. It is a block diagram which shows the vehicle equipment for a driving | running route detection based on a prior art. It is explanatory drawing which shows the map matching method in a prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Onboard equipment 111 GPS receiver 112 Acceleration sensor 113 Vehicle speed sensor 114 Gyro 115 Position estimation part 116 Map matching part 117 Memory | storage part 118 Charge processing part 200 Buffering correction part 201 Memory 211 Judgment function part 212 Capture function part 213 Correction function part

Claims (3)

A GPS receiver for measuring position by receiving radio waves transmitted from GPS satellites and outputting position information;
A travel distance detecting means for outputting travel distance information indicating the travel distance of the vehicle;
Traveling direction detection means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position can be measured by the GPS receiver, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position cannot be measured by the GPS receiver. A position estimation unit that obtains a movement position of the vehicle based on the movement distance information and the traveling direction information and periodically outputs the obtained position as an estimated position (X, Y);
Road information that stores position information along the road, a route (R) set for each road to distinguish each road, and a node (J) set for each intersection, branch point, or corner of the road is stored as information. A storage unit,
A map that periodically outputs the position on the road closest to the position indicated by the estimated position (X, Y) as the map matching position (mX, mY) using the estimated position (X, Y) and the road information Matching section;
A buffering correction unit that periodically outputs a corrected position (cX, cY) obtained by correcting the map matching position (mX, mY) using the map matching position (mX, mY) and the road information; And
The buffering correction unit includes:
A storage unit for storing the map matching positions (mX, mY) sequentially input from the map matching unit;
A plurality of map matching positions (mX, mY) that are temporally older than the most recently input map matching position (mX, mY) were located on an old route that is the same route. When the map matching position (mX, mY) is located on a different route different from the old route, the other route is judged as a new route, and the vehicle is judged to have entered the new route.
When it is determined that the vehicle has entered the new route, a plurality of map matching positions (mX, mY) on the old route are fetched from the storage unit,
A route where a map matching position (mX, mY) that is temporally older than the map matching position (mX, mY) located on the old route is located with reference to the arrangement state of the route (R) indicated by the road information It is determined whether an old route exists between a certain old route and a new route. If an old route exists between an old route and a new route, the old route is the correct route. If it is determined that there is no old route between the old and new routes, the old route is determined to be the wrong route,
When it is determined that the old route is the correct route, the same position data as the plurality of map matching positions (mX, mY) is obtained without changing the position data of the plurality of map matching positions (mX, mY) on the old route. When a plurality of corrected positions (cX, cY) are output and it is determined that the old route is the wrong route, the position data of the plurality of map matching positions (mX, mY) on the old route are To the position data of the node (J) on the entrance side of the new route, and output the corrected position (cX, cY) obtained by changing the position data to the position of the node (J) on the entrance side of the new path.
A vehicle-mounted device for detecting a traveling route. A GPS receiver for measuring position by receiving radio waves transmitted from GPS satellites and outputting position information;
A travel distance detecting means for outputting travel distance information indicating the travel distance of the vehicle;
Traveling direction detection means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position can be measured by the GPS receiver, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position cannot be measured by the GPS receiver. A position estimation unit that obtains a movement position of the vehicle based on the movement distance information and the traveling direction information and periodically outputs the obtained position as an estimated position (X, Y);
Road information that stores position information along the road, a route (R) set for each road to distinguish each road, and a node (J) set for each intersection, branch point, or corner of the road is stored as information. A storage unit,
A map that periodically outputs the position on the road closest to the position indicated by the estimated position (X, Y) as the map matching position (mX, mY) using the estimated position (X, Y) and the road information Matching section;
A buffering correction unit that periodically outputs a corrected position (cX, cY) obtained by correcting the map matching position (mX, mY) using the map matching position (mX, mY) and the road information; And
The buffering correction unit includes:
A storage unit for storing the map matching positions (mX, mY) sequentially input from the map matching unit;
A plurality of map matching positions (mX, mY) temporally older than the map matching position (mX, mY) immediately before the most recently input map matching position (mX, mY) Although it was located on the old route which is the same route, the latest map matching position (mX, mY) and the map matching position (mX, mY) immediately before this are the old route and Is located on a different and the same route, it is determined that the vehicle has entered the new route with this different route as the new route,
When it is determined that the vehicle has entered the new route, a plurality of map matching positions (mX, mY) on the old route are fetched from the storage unit,
A route where a map matching position (mX, mY) that is temporally older than the map matching position (mX, mY) located on the old route is located with reference to the arrangement state of the route (R) indicated by the road information It is determined whether an old route exists between a certain old route and a new route. If an old route exists between an old route and a new route, the old route is the correct route. If it is determined that there is no old route between the old and new routes, the old route is determined to be the wrong route,
When it is determined that the old route is the correct route, the same position data as the plurality of map matching positions (mX, mY) is obtained without changing the position data of the plurality of map matching positions (mX, mY) on the old route. When a plurality of corrected positions (cX, cY) are output and it is determined that the old route is the wrong route, the position data of the plurality of map matching positions (mX, mY) on the old route are To the position data of the node (J) on the entrance side of the new route, and output the corrected position (cX, cY) obtained by changing the position data to the position of the node (J) on the entrance side of the new path.
A vehicle-mounted device for detecting a traveling route. In claim 1 or claim 2,
An in-vehicle device for detecting a travel route, comprising: a charge processing unit that performs charge processing by determining a travel distance based on a travel route obtained from a correction position (cX, cY) output from the buffering correction unit. .

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