JP3401997B2 - Vehicle running direction calculation device - Google Patents
Vehicle running direction calculation deviceInfo
- Publication number
- JP3401997B2 JP3401997B2 JP14602695A JP14602695A JP3401997B2 JP 3401997 B2 JP3401997 B2 JP 3401997B2 JP 14602695 A JP14602695 A JP 14602695A JP 14602695 A JP14602695 A JP 14602695A JP 3401997 B2 JP3401997 B2 JP 3401997B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- road
- traveling
- azimuth
- estimated position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Description
【０００１】[0001]
【産業上の利用分野】本発明は、車両の位置、方位及び
周囲の地図情報を表示する車載用ナビゲーションシステ
ムに使用される車両走行方位算出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling direction calculation device used in an on-vehicle navigation system for displaying the position, direction and surrounding map information of a vehicle.
【０００２】[0002]
【従来の技術】従来の車載用ナビゲーション装置におい
ては、振動ジャイロや光ファイバジャイロのような角速
度を検出するジャイロを使用して車両の角速度を検出
し、検出した角速度を積分することによって、車両の走
行方位を算出していた。同時に、車両のタイヤの回転速
度を検出する車速パルスのパルス数を計数し、予め定め
た１パルス当たりの走行距離を計数されたパルス数に掛
けることにより、走行距離を算出していた。そして、こ
れら車両の走行方位及び走行距離から車両が走行した軌
跡を求め、走行軌跡と道路地図データの形状の一致する
ところに整合させて推定位置を算出する。或いは、算出
した走行距離に従って、推測位置を走行方位の一致する
道路上を移動させていき、推定位置とするなどして、車
両の現在推定位置を求めていた。この時、振動ジャイロ
や光ファイバジャイロの検出した角速度に誤差がある
と、車両の走行方位の誤差が増大し、実際の進行方位が
推定できないという問題があった。2. Description of the Related Art In conventional vehicle-mounted navigation devices, a gyro that detects an angular velocity, such as a vibration gyro or an optical fiber gyro, is used to detect the angular velocity of the vehicle, and the detected angular velocity is integrated to detect the angular velocity of the vehicle. I was calculating the running direction. At the same time, the number of vehicle speed pulses for detecting the rotation speed of the tire of the vehicle is counted, and the traveling distance is calculated by multiplying the counted number of pulses by a predetermined traveling distance per pulse. Then, the locus traveled by the vehicle is obtained from the traveling direction and the traveling distance of the vehicle, and the estimated position is calculated by matching the traveling locus and the shape of the road map data. Alternatively, the current estimated position of the vehicle is obtained by moving the estimated position on the road having the same traveling direction according to the calculated traveling distance and using the estimated position as the estimated position. At this time, if there is an error in the angular velocity detected by the vibration gyro or the optical fiber gyro, the error in the traveling direction of the vehicle increases, and the actual traveling direction cannot be estimated.
【０００３】そこで、推定した現在位置の道路方位と角
速度を積分して求めた走行方位との方位差を求め、方位
差に予め定めた割合を乗じた方位分走行方位を修正する
方法や、道路方位に走行方位を合わせるなどの修正方法
が提案されている。また、ＧＰＳ受信機が算出した方位
データを使用して、道路方位データを使用した場合と同
様に、走行方位を修正する方法が提案されている。これ
らの中には、所定区間の方位差の平均値を求め、この平
均値を使用して方位修正を行うものもある。Therefore, a method for obtaining a heading difference between a road heading at the current estimated position and a traveling heading obtained by integrating angular velocity, and correcting the heading for the heading by multiplying the heading difference by a predetermined ratio, or a road Correction methods such as adjusting the traveling direction to the direction have been proposed. Further, there is proposed a method of correcting the traveling azimuth by using the azimuth data calculated by the GPS receiver as in the case of using the road azimuth data. Among these, there is also one that obtains an average value of the orientation difference in a predetermined section and uses the average value to perform orientation correction.
【０００４】これらの方法によつて、角速度に誤差があ
った場合でも、走行方位の誤差の増大を抑え、走行方位
の精度を上げることができる。According to these methods, even if there is an error in the angular velocity, it is possible to suppress an increase in the error in the traveling direction and improve the accuracy in the traveling direction.
【０００５】[0005]
【発明が解決しようとする課題】しかし、従来の方法で
は、例えばＧＰＳ受信機で測定した道路方位データに局
所的に比較的大きな誤差が生じ、推定した位置が誤差を
持ち、修正対象とする道路方位が誤っていることがあ
る。このために、修正時の修正量或いは方位差に対する
修正率を大きくすると、方位修正によってかえって走行
方位が誤った方向を向いてしまう事態が発生するため
に、小量・少率の修正しかできず、角速度誤差が比較的
大きいジャイロ或いは角速度センサを使用する場合に
は、方位修正量が走行方位誤差の発生量に追い付くこと
ができず、車両の走行方位の推定ができなくなるという
問題が生じる。However, in the conventional method, for example, a relatively large error locally occurs in the road direction data measured by the GPS receiver, the estimated position has an error, and the road to be corrected is The orientation may be wrong. For this reason, if the correction amount at the time of correction or the correction ratio for the heading difference is increased, the traveling heading may turn to the wrong direction due to the heading correction, so only a small amount or small ratio can be corrected. However, when a gyro or an angular velocity sensor with a relatively large angular velocity error is used, the amount of heading correction cannot keep up with the amount of running heading error, and the running heading of the vehicle cannot be estimated.
【０００６】本発明は、このような従来の問題を解決す
るものであり、ジャイロ或いは角速度センサに、所定の
角速度誤差が存在しても、車両の走行方位を高精度で推
定可能な車両走行方位算出装置を提供することを目的と
する。The present invention solves such a conventional problem. The vehicle traveling direction capable of accurately estimating the traveling direction of the vehicle even if the gyro or the angular velocity sensor has a predetermined angular velocity error. An object is to provide a calculation device.
【０００７】[0007]
【課題を解決するための手段】前記目的を達成するため
に、本発明の車両走行方位算出装置は、車両走行時の角
速度を積分して車両の走行方位を算出する車両走行方位
算出手段と、車両の走行速度を積分して車両の走行距離
を算出する車両走行距離算出手段と、道路データを格納
する道路データ格納手段と、前記車両走行距離算出手段
が算出した走行距離に基づいて、前記道路データ格納手
段から取込んだ道路データに対応する道路上で、車両の
現在推定位置を移動させる道路上位置移動手段と、車両
の現在推定位置を移動させる道路に交差点或いは分岐点
があると、交差点或いは分岐点前後で、前記車両走行方
位算出手段が算出した方位の方位差に基づいて、交差点
或いは分岐点通過後に現在推定位置を移動させる道路を
選択する移動道路選択手段と、車両の走行方位と車両の
推定位置が存在する道路の方位との方位差に基づいて、
車両の走行方位を修正する走行方位修正手段とを有し、
車両走行方位算出装置に対して、前記道路データ格納手
段から取込んだ車両の現在推定位置前後の道路の直線部
分の長さを算出する直線道路長算出手段と、該直線道路
長算出手段が算出した前記道路の直線部分の長さに基づ
いて、車両の走行方位の修正量を変更して、前記走行方
位修正手段に車両の走行方位の修正を行わせる制御手段
とが設けられていることを特徴とするものである。 In order to achieve the above-mentioned object, a vehicle traveling azimuth calculating device of the present invention comprises a vehicle traveling azimuth calculating means for integrating a angular velocity during traveling of a vehicle to calculate a traveling azimuth of the vehicle. Based on the traveling distance calculated by the vehicle traveling distance calculating means, the vehicle traveling distance calculating means for calculating the traveling distance of the vehicle by integrating the traveling speed of the vehicle, the road data storing means for storing the road data, On the road corresponding to the road data fetched from the data storage means, an on-road position moving means for moving the current estimated position of the vehicle and an intersection or a branch point on the road for moving the current estimated position of the vehicle, Alternatively, a moving road that selects a road to which the current estimated position is moved after passing through an intersection or a junction based on the orientation difference between the azimuths before and after the junction and calculated by the vehicle traveling azimuth calculating means. And-option unit, based on the orientation difference between the orientation of the road estimated position of the traveling azimuth and the vehicle of the vehicle is present,
Possess a travel azimuth correcting means for correcting the travel azimuth of the vehicle,
For the vehicle traveling direction calculation device,
Straight part of the road before and after the current estimated position of the vehicle captured from the step
Straight road length calculating means for calculating the length of a minute, and the straight road
Based on the length of the straight part of the road calculated by the length calculation means
Change the amount of correction of the vehicle's running direction to
Control means for causing the position correction means to correct the traveling direction of the vehicle
And are provided.
【０００８】[0008]
【０００９】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、前記道路データ格納手段か
ら取込んだ車両の現在推定位置前後の道路の曲折量を算
出する道路曲折量算出手段と、該走行方位修正手段が算
出した前記道路の曲折量に基づいて、車両の走行方位の
修正量を変更して、前記走行方位修正手段に車両の走行
方位の修正を行わせる制御手段とが設けられていること
を特徴とするものである。Similarly, in order to achieve the above-mentioned object, the present invention
Of vehicle travel azimuth calculation apparatus, prior SL before and after the current estimated position of the vehicle the taken from the road data storage means and the road bending amount calculating means for calculating the bending amount of the road, the road該走whereabouts position correcting means is calculated Control means for changing the correction amount of the traveling azimuth of the vehicle on the basis of the amount of bending and for causing the traveling azimuth correction device to correct the traveling azimuth of the vehicle are provided.
【００１０】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、車両の走行速度に基づい
て、車両の走行方位の修正量を変更して、前記走行方位
修正手段に車両の走行方位の修正を行わせる制御手段が
設けられていることを特徴とするものである。Similarly, in order to achieve the above object, the present invention
Vehicle travel azimuth calculation device, based on the traveling speed of the vehicles, by changing the correction amount of the running direction of the vehicle, and control means for causing the correction of the traveling direction of the vehicle is provided in the traveling azimuth modifying means It is characterized by being present.
【００１１】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、予め設定した所定期間の車
両の方位変化量を算出する方位変化量算出手段と、車両
の走行方位変化量に基づいて、車両の走行方位の修正量
を変更して、前記走行方位修正手段に車両の走行方位の
修正を行わせる制御手段とが設けられていることを特徴
とするものである。Similarly, in order to achieve the above object, the present invention
Vehicle travel azimuth calculating apparatus includes a direction change amount calculating means for calculating the orientation change amount of the vehicle in a predetermined period set pre Me, based on the running orientation change amount of the vehicle, to change the amount of correction of the traveling direction of the vehicle The control means for causing the traveling direction correction means to correct the traveling direction of the vehicle is provided.
【００１２】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、車両の現在推定位置周辺の
交差点数と道路数の少なくとも一方を算出する交差点・
道路数算出手段と、車両の現在推定位置周辺の交差点・
道路数に基づいて、車両の走行方位の修正量を変更し
て、前記走行方位修正手段に車両の走行方位の修正を行
わせる制御手段とが設けられていることを特徴とするも
のである。Similarly, in order to achieve the above-mentioned object, the present invention
Vehicle travel azimuth calculation device, intersections, for calculating at least one intersection number and the number of roads around the current estimated position of the vehicles
Road number calculation means and intersections around the current estimated position of the vehicle
Control means for changing the correction amount of the traveling azimuth of the vehicle based on the number of roads and for causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle are provided.
【００１３】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、前記道路データ格納手段か
ら道路種別データを取込む道路種別取得手段と、車両の
現在推定位置における道路の道路種別に基づいて、車両
の走行方位の修正量を変更して、前記走行方位修正手段
に車両の走行方位の修正を行わせる制御手段とが設けら
れていることを特徴とするものである。Similarly, in order to achieve the above object, the present invention
The vehicle traveling azimuth calculation device, before SL and road type acquisition means from the road data storage means taking the road type data, based on the type of the road at the current estimated position of the vehicle, change a correction amount of the running direction of the vehicle Further, the traveling direction correcting means is provided with control means for correcting the traveling direction of the vehicle.
【００１４】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、前記道路データ格納手段か
ら道路幅員データを取込む道路幅員取得手段と、車両の
現在推定位置における道路の道路幅員に基づいて、車両
の走行方位の修正量を変更して、前記走行方位修正手段
に車両の走行方位の修正を行わせる制御手段とが設けら
れていることを特徴とするものである。Similarly, in order to achieve the above object, the present invention
The vehicle traveling azimuth calculation device, before SL and road width acquisition unit for taking the road width data from the road data storage means, based on the current road width of the road at the estimated position of the vehicle, change a correction amount of the running direction of the vehicle Further, the traveling direction correcting means is provided with control means for correcting the traveling direction of the vehicle.
【００１５】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、衛星からの電波により、車
両に関する測定を行うＧＰＳ受信手段と、該ＧＰＳ受信
手段が測定した車両の走行方位に基づいて、車両の走行
方位の修正量を変更して、前記走行方位修正手段に車両
の走行方位の修正を行わせる制御手段とが設けられてい
ることを特徴とするものである。Similarly, in order to achieve the above object, the present invention
Vehicle travel azimuth calculation device, the radio waves from the satellites, a GPS receiving means for performing measurements on a vehicle, based on the traveling direction of the vehicle to which the GPS receiving section was measured, and changes the correction amount of the running direction of the vehicle The control means for causing the traveling direction correction means to correct the traveling direction of the vehicle is provided.
【００１６】同様に前記目的を達成するために、本発明
の車両走行方位算出装置は、前記道路データ格納手段か
ら道路情報の精度データを取込む道路精度取得手段と、
該道路精度取得手段が取込んだ精度データに基づいて、
車両の走行方位の修正量を変更して、前記車両走行方位
に車両の走行方位の修正を行わせる制御手段とが設けら
れていることを特徴とするものである。Similarly, in order to achieve the above-mentioned object, the present invention
The vehicle traveling azimuth calculation device, and a road accuracy acquiring means for taking the accuracy data of the road information from the previous SL road data storage means,
Based on the accuracy data captured by the road accuracy acquisition means,
And a control means for changing the correction amount of the traveling direction of the vehicle so as to correct the traveling direction of the vehicle.
【００１７】[0017]
【作用】本発明の車両走行方位算出装置では、車両走行
方位算出手段によって 車両走行時の角速度が積分され
て車両の走行方位が算出され、車両走行距離算出手段に
よって、車両の走行速度が積分されて車両の走行距離が
算出され、走行方位の算出が行われる。この場合、車両
走行距離算出手段が算出した走行距離に基づいて、道路
データ格納手段から取込まれた道路データに対応する道
路上で、道路上位置移動手段によって、車両の現在推定
位置が移動され、車両の現在推定位置を移動させる道路
に交差点或いは分岐点があると、移動道路選択手段によ
って、交差点或いは分岐点前後で、車両走行方位算出手
段が算出した方位の方位差に従って、交差点或いは分岐
点通過後に現在推定位置を移動させる道路が選択され
る。In the vehicle traveling azimuth calculating device of the present invention , the vehicle traveling azimuth calculating means integrates the angular velocity during traveling of the vehicle to calculate the traveling azimuth of the vehicle, and the vehicle traveling distance calculating means integrates the traveling speed of the vehicle. Then, the traveling distance of the vehicle is calculated, and the traveling direction is calculated. In this case, based on the traveling distance calculated by the vehicle traveling distance calculating means, the current estimated position of the vehicle is moved by the on-road position moving means on the road corresponding to the road data fetched from the road data storage means. If there is an intersection or a branch point on the road on which the current estimated position of the vehicle is to be moved, the moving road selection means determines the intersection or the branch point before and after the intersection or the branch point according to the bearing difference calculated by the vehicle running bearing calculation means. The road to which the current estimated position is moved after passing is selected.
【００１８】そして、走行方位修正手段によつて、車両
の走行方位と車両の推定位置が存在する道路の方位との
方位差に基づいて、車両走行方位算出手段が算出した車
両の走行方位が修正される。The traveling azimuth correcting means corrects the traveling azimuth of the vehicle calculated by the vehicle traveling azimuth calculating means on the basis of the azimuth difference between the traveling azimuth of the vehicle and the azimuth of the road on which the estimated position of the vehicle exists. To be done.
【００１９】そして、直線道路長算出手段によつて、道
路データ格納手段から取込んだ車両の現在推定位置前後
の道路の直線部分の長さが算出され、制御手段によっ
て、直線道路長算出手段が算出した道路の直線部分の長
さに基づいて、車両の走行方位の修正量が変更されて、
走行方位修正手段による車両の走行方位の修正が行われ
る。 Then , the straight road length calculating means calculates the length of the straight line portion of the road before and after the current estimated position of the vehicle fetched from the road data storing means, and the control means controls the straight road length calculating means. Based on the calculated length of the straight part of the road, the correction amount of the traveling direction of the vehicle is changed,
The traveling azimuth correcting means corrects the traveling azimuth of the vehicle.
【００２０】また、本発明の車両走行方位算出装置で
は、道路曲折量算出手段によって、道路データ格納手段
から取込んだ車両の現在推定位置前後の道路の曲折量が
算出され、制御手段によつて、走行方位修正手段が算出
した道路の曲折量に基づいて、車両の走行方位の修正量
が変更されて、走行方位修正手段による車両の走行方位
の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, the road bending amount calculating means, the current bending amount of the road before and after the estimated position of the vehicle the taken from the road data storage means is calculated The control means changes the correction amount of the traveling azimuth of the vehicle based on the amount of bending of the road calculated by the traveling azimuth correction means, and the traveling azimuth correction means corrects the traveling azimuth of the vehicle.
【００２１】また、本発明の車両走行方位算出装置で
は、制御手段によって、車両の走行速度に基づいて、車
両の走行方位の修正量が変更されて、走行方位修正手段
による車両の走行方位の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, the control means, based on the traveling speed of the vehicle, the correction amount of the running direction of the vehicle is changed, according to the travel direction correcting means The traveling direction of the vehicle is corrected.
【００２２】また、本発明の車両走行方位算出装置で
は、方位変化量算出手段によって、予め設定した所定期
間の車両の方位変化量が算出され、制御手段によって、
該走行方位変化量に基づいて、車両の走行方位の修正量
が変更されて、走行方位修正手段による車両の走行方位
の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, the square position change amount calculating means, orientation change amount of the vehicle for a predetermined period set in advance is calculated, by the control means,
The correction amount of the traveling azimuth of the vehicle is changed based on the traveling azimuth change amount, and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means.
【００２３】また、本発明の車両走行方位算出装置で
は、交差点・道路数算出手段によって、車両の現在推定
位置周辺の交差点数と道路数の少なくとも一方が算出さ
れ、制御手段によって、該車両の現在推定位置周辺の交
差点・道路数に基づいて、車両の走行方位の修正量が変
更されて、走行方位修正手段による車両の走行方位の修
正が行われる。In the vehicle traveling direction calculation apparatus of the present invention , the intersection / road number calculation means calculates at least one of the number of intersections and the number of roads around the current estimated position of the vehicle, and the control means. The correction amount of the traveling direction of the vehicle is changed based on the number of intersections / roads around the current estimated position of the vehicle, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２４】また、本発明の車両走行方位算出装置で
は、道路種別取得手段によって、道路データ格納手段か
ら道路種別データが取り込まれ、制御手段によつて、車
両の現在推定位置における道路の道路種別に基づいて、
車両の走行方位の修正量が変更されて、走行方位修正手
段による車両の走行方位の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, the road type acquisition means, road classification data is fetched from the road data storage means, Yotsute to the control means, the current estimated position of the vehicle Based on the road type of the road in
The correction amount of the traveling direction of the vehicle is changed, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２５】また、本発明の車両走行方位算出装置で
は、道路幅員取得手段によつて、道路データ格納手段か
ら道路幅員データが取込まれ、制御手段によって、車両
の現在推定位置における道路の道路幅員に基づいて、車
両の走行方位の修正量が変更されて、走行方位修正手段
による車両の走行方位の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, Yotsute the road width acquisition unit, captured the road width data from the road data storage means, the control means, the current estimate of the vehicle The correction amount of the traveling direction of the vehicle is changed based on the road width of the road at the position, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２６】また、本発明の車両走行方位算出装置で
は、ＧＰＳ受信手段により車両の走行方位データが測定
され、制御手段によって、ＧＰＳ受信手段により測定さ
れた車両の走行方位データに基づいて、車両の走行方位
の修正量が変更されて、走行方位修正手段による車両の
走行方位の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, G by PS receiving means is measured travel direction data of the vehicle, the control means, the travel direction data of the vehicle measured by the GPS receiver Based on the above, the correction amount of the traveling direction of the vehicle is changed, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２７】また、本発明の車両走行方位算出装置で
は、道路精度取得手段によって、道路データ格納手段か
ら道路精度データが取込まれ、制御手段によって、車両
の現在推定位置における道路精度データに基づいて、車
両の走行方位の修正量が変更されて、走行方位修正手段
による車両の走行方位の修正が行われる。 Further, <br/> the vehicle traveling direction calculating device of the present invention, the road accuracy acquiring unit, road precision data is taken from the road data storage means, the control means, the current estimated position of the vehicle The correction amount of the traveling direction of the vehicle is changed based on the road accuracy data, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２８】[0028]
［第１の実施例］本発明の第１の実施例を、図１及び図
２を参照して説明する。[First Embodiment] A first embodiment of the present invention will be described with reference to FIGS.
【００２９】図１は本実施例の構成を示すブロック図、
図２は本実施例の動作を示す説明図である。FIG. 1 is a block diagram showing the configuration of this embodiment,
FIG. 2 is an explanatory diagram showing the operation of this embodiment.
【００３０】本実施例は、図１に示すように、車両のタ
イヤの回転に応じて車速パルスを出力する車速センサ２
０１に、検出した車速パルスに基づいて、車両の走行距
離を算出する車両走行距離算出手段２０２が接続されて
いる。また、車両の旋回の角速度を検出するジャイロを
使用した角速度センサ２０３が設けられ、この角速度セ
ンサ２０３には、検出した角速度を積分して車両の走行
方位を算出する車両走行方位算出手段２０４が接続され
ている。In the present embodiment, as shown in FIG. 1, a vehicle speed sensor 2 for outputting a vehicle speed pulse according to the rotation of the tire of the vehicle.
01 is connected to a vehicle travel distance calculation means 202 for calculating the travel distance of the vehicle based on the detected vehicle speed pulse. Further, an angular velocity sensor 203 using a gyro that detects the angular velocity of the turning of the vehicle is provided, and the angular velocity sensor 203 is connected to a vehicle traveling direction calculation means 204 that integrates the detected angular velocity to calculate the traveling direction of the vehicle. Has been done.
【００３１】一方、道路データが格納された道路データ
格納手段２０５が設けられ、この道路データ格納手段２
０５と、車両走行距離算出手段２０２とが、道路データ
格納手段２０５から取込んだ道路データの道路上を、車
両の現在推定位置を移動させる道路上位置移動手段２０
５に接続されている。On the other hand, a road data storage means 205 for storing road data is provided, and this road data storage means 2 is provided.
05 and the vehicle travel distance calculation means 202 move the current estimated position of the vehicle on the road of the road data fetched from the road data storage means 205.
Connected to 5.
【００３２】車両走行方位算出手段２０４には、車両の
現在推定位置を移動させている道路に、交差点或いは分
岐点が存在すると、交差点或いは分岐点の前後で車両走
行方位算出手段２０４が算出した方位に基づいて、交差
点或いは分岐点通過後の現在推定位置を移動させる道路
を選択する移動道路選択手段２０７が接続され、この移
動道路選択手段２０７には、道路データ格納手段２０５
も接続されている。If an intersection or a branch point exists on the road that is moving the current estimated position of the vehicle, the vehicle traveling direction calculation means 204 calculates the directions calculated by the vehicle traveling direction calculation means 204 before and after the intersection or the branch point. On the basis of the above, the moving road selecting means 207 for selecting the road to move the current estimated position after passing through the intersection or the branch point is connected to the moving road selecting means 207.
Is also connected.
【００３３】道路上位置移動手段２０６と、移動道路選
択手段２０７とには、道路上位置移動手段２０６からの
位置移動データと、移動道路選択手段２０７からの選択
データに基づいて、車両の現在位置を推定する現在推定
位置算出手段２０８が接続されている。The on-road position moving means 206 and the moving road selecting means 207 have the current position of the vehicle based on the position moving data from the on-road position moving means 206 and the selected data from the moving road selecting means 207. The current estimated position calculation means 208 for estimating the current position is connected.
【００３４】道路データ格納手段２０５、車両走行方位
算出手段２０４及び現在推定位置算出手段２０８は、車
両の走行方位と現在推定位置が存在する道路の方位との
方位差に従って、車両の走行方位を修正する車両走行方
位修正手段２０９に接続され、車両走行方位修正手段２
０９には、車両走行方位修正手段２０９によって走行方
位が修正された車両の走行方位を算出する走行方位算出
手段２１０が接続されている。The road data storage means 205, the vehicle traveling azimuth calculating means 204, and the current estimated position calculating means 208 correct the traveling azimuth of the vehicle according to the azimuth difference between the traveling azimuth of the vehicle and the azimuth of the road on which the current estimated position exists. Connected to the vehicle traveling direction correcting means 209, and the vehicle traveling direction correcting means 2
09 is connected to a traveling azimuth calculating means 210 for calculating the traveling azimuth of the vehicle whose traveling azimuth is corrected by the vehicle traveling azimuth correcting means 209.
【００３５】このような構成の本実施例の動作を説明す
る。先ず、図２（ａ），（ｂ）に示す車両の現在推定位
置１０１は、道路１０３上を道路上板移動手段２０６の
動作によって移動する。道路１０３に交差点或いは分岐
点があった場合は、車両走行方位算出手段２０４が算出
した車両走行方位データ１０２に基づいて、移動道路選
択手段２０７が、どの道路上に現在推定位置を置くかの
判定をし、現在推定位置算出手段２０８によつて、車両
の現在位置が推定される。The operation of this embodiment having such a configuration will be described. First, the current estimated position 101 of the vehicle shown in FIGS. 2A and 2B moves on the road 103 by the operation of the road upper plate moving means 206. When there is an intersection or a branch point on the road 103, the moving road selecting means 207 determines on which road the current estimated position should be placed based on the vehicle traveling direction data 102 calculated by the vehicle traveling direction calculating means 204. Then, the current estimated position calculating means 208 estimates the current position of the vehicle.
【００３６】車両走行方位修正手段２０９では、車両走
行方位データ１０２と道路データ格納手段２０５から取
り込んだ道路１０３の道路方位データとの方位差を求
め、得られた方位差データに修正率を乗じた値を修正量
として演算し、車両走行方位算出手段２１０が演算され
た修正量データに基づいて、車両の走行方位１０４を演
算する。この手順を道路上を走行しながら繰り返すこと
によって、車両走行方位の方位誤差の発生を抑えてい
る。この時、車両の現在位置の求め方としては、走行距
離と走行方位から走行軌跡を求め、最も走行軌跡と道路
形状が一致する場所を現在推定位置としてもよく、方位
の修正量として予め定められた修正量を使用してもよ
い。The vehicle running azimuth correcting means 209 obtains the azimuth difference between the vehicle running azimuth data 102 and the road azimuth data of the road 103 fetched from the road data storage means 205, and the obtained azimuth difference data is multiplied by the correction rate. The value is calculated as the correction amount, and the vehicle traveling direction calculation means 210 calculates the traveling direction 104 of the vehicle based on the calculated correction amount data. By repeating this procedure while traveling on the road, the occurrence of heading error in the vehicle heading is suppressed. At this time, as a method of obtaining the current position of the vehicle, a traveling locus may be obtained from the traveling distance and the traveling azimuth, and a location where the traveling locus and the road shape are most coincident may be set as the current estimated position, which is predetermined as a correction amount of the azimuth. Modified amounts may be used.
【００３７】このようにして、本実施例によると、角速
度に検出誤差が存在しても、車両の高精度の走行方位の
算出が可能になる。As described above, according to this embodiment, even if there is a detection error in the angular velocity, it is possible to calculate the traveling direction of the vehicle with high accuracy.
【００３８】［第２の実施例］本発明の第２の実施例
を、図３を参照して説明する。[Second Embodiment] A second embodiment of the present invention will be described with reference to FIG.
【００３９】図３は本実施例の構成を示すブロック図で
ある。本実施例は、図３に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データに基づいて、直線道路
長を算出する直線道路長算出手段３０１が接続されてい
る。FIG. 3 is a block diagram showing the configuration of this embodiment. As shown in FIG. 3, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. The straight road length calculating means 301 for calculating the straight road length based on the stored data of is connected.
【００４０】そして、本実施例では、車両走行方位修正
手段２０９が、直線道路長算出手段３０１からの道路長
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In the present embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the road length data from the straight road length calculating means 301 to change the traveling direction of the vehicle. It has the function of making corrections.
【００４１】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００４２】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を直線道路長算出手段３０１が算出
した現在推定位置がある道路の直線部分の長さの関数と
して算出する。例えば、車両走行方位データ１０２と道
路１０３の方位との方位差を求め、求めた方位差に直線
部分の長さを予め定めた値で除した値を乗じて方位修正
量を求める。ここで、道路の直線部分の長さとしては、
現在推定位置の前後の道路の曲折点の間の距離が算出さ
れる。この場合、道路の曲折角度が予め定めた値に満た
ない場合には、直線と見做される。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction means 209 calculates the azimuth correction amount as a function of the length of the straight line portion of the road having the current estimated position calculated by the straight road length calculation means 301 when calculating the azimuth correction amount. For example, the azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by the value obtained by dividing the length of the straight line portion by a predetermined value. Here, as the length of the straight part of the road,
The distance between the turning points of the road before and after the current estimated position is calculated. In this case, when the bend angle of the road is less than a predetermined value, it is regarded as a straight line.
【００４３】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路の直線部分の長
さが長いほど、方位修正量或いは修正率を高くすると、
角速度誤差が大きくても、速やかに方位誤差増大分を修
正することが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment of, the longer the straight line portion of the road, the higher the direction correction amount or correction rate,
Even if the angular velocity error is large, it is possible to promptly correct the increased azimuth error.
【００４４】［第３の実施例］本発明の第３の実施例
を、図４を参照して説明する。[Third Embodiment] A third embodiment of the present invention will be described with reference to FIG.
【００４５】図３は本実施例の構成を示すブロック図で
ある。本実施例は、図４に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データから、道路曲折量を算
出する道路曲折量算出手段４０１が接続されている。FIG. 3 is a block diagram showing the configuration of this embodiment. As shown in FIG. 4, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. A road turn amount calculation means 401 for calculating the road turn amount from the stored data of is connected.
【００４６】そして、本実施例では、車両走行方位修正
手段２０９が、道路曲折量算出手段４０１からの曲折量
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in this embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the bending amount data from the road bending amount calculating means 401 to determine the traveling direction of the vehicle. It has the function of making corrections.
【００４７】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００４８】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路曲折量算出手段４０１が算出
した現在推定位置がある道路の前後の曲折量の関数とし
て算出する。例えば、車両走行方位データ１０２と道路
１０３の方位との方位差を求め、求めた方位差に予め定
めた値を、道路曲折量で除した値を乗じて方位修正量を
求める。ここで、道路の曲折量としては、現在推定位置
の前後の所定距離間の道路の方位の最も離れた道路間の
方位差を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the amount of bend before and after the road having the current estimated position calculated by the road bend amount calculation unit 401 when calculating the amount of azimuth correction. For example, the azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by a value obtained by dividing the predetermined value by the road bend amount. Here, as the amount of bend of the road, the heading difference between the furthest roads of the road headings for a predetermined distance before and after the current estimated position is obtained.
【００４９】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路の曲折量の大き
いほど、方位修正量或いは修正率を低くすると、誤った
方位への修正量を少なくすることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, if the direction correction amount or the correction ratio is decreased as the road bend amount is larger, the correction amount to the wrong direction can be reduced.
【００５０】［第４の実施例］本発明の第４の実施例
を、図５を参照して説明する。[Fourth Embodiment] A fourth embodiment of the present invention will be described with reference to FIG.
【００５１】図５は本実施例の構成を示すブロック図で
ある。本実施例は、図５に示すように、すでに図１を参
照して説明した第１の実施例に対して、車速センサ２０
１と車両走行方位修正手段２０９間に、車両の走行速度
を検出する走行速度検出手段５０１が接続されている。FIG. 5 is a block diagram showing the configuration of this embodiment. As shown in FIG. 5, this embodiment is different from the first embodiment already described with reference to FIG.
1 and the vehicle traveling direction correcting means 209, a traveling speed detecting means 501 for detecting the traveling speed of the vehicle is connected.
【００５２】そして、本実施例では、車両走行方位修正
手段２０９が、走行速度検出手段５０１からの走行速度
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In this embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the traveling speed data from the traveling speed detecting means 501 to correct the traveling direction of the vehicle. Has the function of performing.
【００５３】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００５４】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を走行速度検出手段５０１が算出し
た車両の走行速度の関数として算出する。例えば、車両
走行方位データ１０２と道路１０３の方位との方位差を
求め、求めた方位差に走行速度を予め定めた所定値で除
した値を乗じて方位修正量を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the traveling speed of the vehicle calculated by the traveling speed detection unit 501 when calculating the azimuth correction amount. For example, the azimuth difference between the vehicle running azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by a value obtained by dividing the traveling speed by a predetermined value.
【００５５】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、走行速度が大きいほ
ど方位修正量或いは修正率を高くすると、角速度誤差が
大きくても、速やかに方位誤差増大分を修正することが
可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, if the azimuth correction amount or the correction rate is increased as the traveling speed increases, the increase in the azimuth error can be promptly corrected even if the angular velocity error is large.
【００５６】［第５の実施例］本発明の第５の実施例
を、図６を参照して説明する。[Fifth Embodiment] A fifth embodiment of the present invention will be described with reference to FIG.
【００５７】図６は本実施例の構成を示すブロック図で
ある。本実施例は、図６に示すように、すでに図１を参
照して説明した第１の実施例に対して、車両走行方位算
出手段２０４と車両走行方位修正手段２０９との間に、
車両走行方位算出手段２０４からの走行方位データか
ら、方位変化量を算出する方位変化量算出手段６０１が
接続されている。FIG. 6 is a block diagram showing the configuration of this embodiment. As shown in FIG. 6, this embodiment is different from the first embodiment already described with reference to FIG. 1 between the vehicle traveling azimuth calculating means 204 and the vehicle traveling azimuth correcting means 209.
An azimuth change amount calculating means 601 for calculating the azimuth change amount from the running azimuth data from the vehicle running azimuth calculating means 204 is connected.
【００５８】そして、本実施例では、車両走行方位修正
手段２０９が、方位変化量算出手段手段６０１からの方
位変化量データに基づいて、車両の走行方位の修正量を
変更して、車両の走行方位の修正を行う機能を有してい
る。In this embodiment, the vehicle traveling azimuth correcting means 209 changes the traveling azimuth correction amount of the vehicle based on the azimuth variation amount data from the azimuth variation calculating means 601 to drive the vehicle. It has the function of correcting the azimuth.
【００５９】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００６０】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を方位変化量算出手段６０１が算出
した車両の方位変化量の関数として算出する。例えば、
車両走行方位データ１０２と道路１０３の方位との方位
差を求め、求めた方位差に予め定めた値を方位修正量で
除した値を乗じて方位修正量を求める。ここで、車両の
方位修正量としては、一定時間前までの方位で最も離れ
た走行方位間の方位差を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the azimuth change amount of the vehicle calculated by the azimuth change amount calculation unit 601 when calculating the azimuth correction amount. For example,
The azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by a value obtained by dividing a predetermined value by the azimuth correction amount. Here, as the azimuth correction amount of the vehicle, the azimuth difference between the most distant travel azimuths in the azimuth until a predetermined time is obtained.
【００６１】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、車両の走行方位変化
量が大きいほど、方位修正量或いは修正率を低くする
と、誤った方位への修正量を少なくすることが可能にな
る。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, the larger the traveling azimuth change amount of the vehicle is, the lower the azimuth correction amount or the correction rate is, so that the correction amount to the wrong azimuth can be reduced.
【００６２】［第６の実施例］本発明の第６の実施例
を、図７を参照して説明する。[Sixth Embodiment] A sixth embodiment of the present invention will be described with reference to FIG.
【００６３】図７は本実施例の構成を示すブロック図で
ある。本実施例は、図７に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データから、交差点数及び道
路数を算出する交差点数道路数算出手段７０１が接続さ
れている。FIG. 7 is a block diagram showing the configuration of this embodiment. As shown in FIG. 7, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. An intersection number road number calculation means 701 for calculating the number of intersections and the number of roads from the stored data is connected.
【００６４】そして、本実施例では、車両走行方位修正
手段２０９が、交差点数道路数算出手段７０１からの交
差点数及び道路数データに基づいて、車両の走行方位の
修正量を変更して、車両の走行方位の修正を行う機能を
有している。In this embodiment, the vehicle traveling direction correction means 209 changes the amount of correction of the traveling direction of the vehicle based on the number of intersections and the number of roads data from the number of intersections road number calculation means 701 to change the vehicle traveling direction. It has a function to correct the traveling direction of.
【００６５】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００６６】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を交差点数道路数算出手段７０１が
算出した車両の現在位置周囲の交差点数或いは道路数の
関数として算出する。例えば、車両走行方位データ１０
２と道路１０３の方位との方位差を求め、求めた方位差
に交差点数を予め定めた値で除した値を乗じて方位修正
量を求める。ここで、車両の現在推定位置周囲の交差点
数としては、現在推定位置からの距離が一定距離以内の
交差点の数を計数する。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the number of intersections or the number of roads around the current position of the vehicle calculated by the number of intersections road number calculation unit 701 when calculating the amount of correction of the azimuth. For example, the vehicle traveling direction data 10
The azimuth difference between 2 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by the number of intersections divided by a predetermined value. Here, as the number of intersections around the current estimated position of the vehicle, the number of intersections within a certain distance from the current estimated position is counted.
【００６７】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、周辺の交差点数或い
は道路数が多いほど、方位修正量或いは修正率を低くす
ると、誤った方位への修正量を少なくすることが可能に
なる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, as the number of intersections or the number of roads in the vicinity increases, the azimuth correction amount or the correction rate is lowered, so that the correction amount for an incorrect azimuth can be reduced.
【００６８】［第７の実施例］本発明の第７の実施例
を、図８を参照して説明する。[Seventh Embodiment] A seventh embodiment of the present invention will be described with reference to FIG.
【００６９】図８は本実施例の構成を示すブロック図で
ある。本実施例は、図８に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の道路データから道路種別データを
取込む道路種別取得手段８０１が接続されている。FIG. 8 is a block diagram showing the structure of this embodiment. As shown in FIG. 8, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. A road type acquisition unit 801 for taking in road type data from the road data is connected.
【００７０】そして、本実施例では、車両走行方位修正
手段２０９が、道路種別取得手段８０１からの道路種別
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In the present embodiment, the vehicle traveling direction correcting means 209 corrects the traveling direction of the vehicle by changing the correction amount of the traveling direction of the vehicle based on the road type data from the road type acquiring means 801. Has the function of performing.
【００７１】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００７２】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路種別取得手段８０１が取得し
た道路種別に基づいて変更する。例えば、道路種別が高
速道路、国道などの主要道路を示す場合には方位修正量
を増やし、その他の道路の場合には方位修正量を減ら
す。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 changes the azimuth correction amount based on the road type acquired by the road type acquisition unit 801 when the correction amount of the azimuth is calculated. For example, if the road type indicates a main road such as a highway or a national road, the direction correction amount is increased, and if the road type is any other road, the direction correction amount is decreased.
【００７３】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路種別が高速道路
或いは国道、県道などの主要道路である場合には、方位
修正量或いは修正率を高くして、角速度誤差が大きくて
も、速やかに方位誤差増大分を修正することが可能にな
り、その他の道路種別の場合には、方位修正量或いは修
正率を低くして、誤った方位への方位修正量を低く抑え
ることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment of, when the road type is a highway or a main road such as a national road or a prefectural road, the azimuth correction amount or the correction rate is increased to promptly increase the angular velocity error. It is possible to correct the increase in azimuth error, and in the case of other road types, it is possible to reduce the azimuth correction amount or the correction rate to suppress the azimuth correction amount to the wrong azimuth.
【００７４】［第８の実施例］本発明の第８の実施例
を、図９を参照して説明する。[Eighth Embodiment] An eighth embodiment of the present invention will be described with reference to FIG.
【００７５】図９は本実施例の構成を示すブロック図で
ある。本実施例は、図９に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両幅員取得手段９０１間に、道路データ
格納手段２０５に格納された道路データから、道路幅員
データを取込む道路幅員取得手段９０１が接続されてい
る。FIG. 9 is a block diagram showing the structure of this embodiment. As shown in FIG. 9, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle width acquisition means 901. A road width acquisition means 901 for taking in road width data from the stored road data is connected.
【００７６】そして、本実施例では、車両走行方位修正
手段２０９が、道路幅員取得手段９０１からの道路種別
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in this embodiment, the vehicle traveling azimuth correcting unit 209 changes the amount of correction of the traveling azimuth of the vehicle based on the road type data from the road width acquisition unit 901 to correct the traveling azimuth of the vehicle. Has the function of performing.
【００７７】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００７８】とのような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路幅員取得手段９０１が取込ん
だ道路幅員に基づいて変更する。例えば、道路幅員が予
め定めた値以上であれば方位修正量を増やし、予め定め
た値以下であれば、方位修正量を減少する。The operation of this embodiment having the above configuration will be described. The vehicle traveling azimuth correction unit 209 changes the azimuth correction amount based on the road width acquired by the road width acquisition unit 901 when calculating the correction amount of the azimuth. For example, if the road width is greater than or equal to a predetermined value, the direction correction amount is increased, and if the road width is less than or equal to the predetermined value, the direction correction amount is decreased.
【００７９】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路幅員が大きいほ
ど方位修正量或いは修正率を高くすることにより、角速
度誤差が大きくても、速やかに方位誤差増大分を修正す
ることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, by increasing the azimuth correction amount or the correction rate as the road width increases, it becomes possible to quickly correct the increase in the azimuth error even if the angular velocity error is large.
【００８０】［第９の実施例］本発明の第９の実施例
を、図１０を参照して説明する。[Ninth Embodiment] A ninth embodiment of the present invention will be described with reference to FIG.
【００８１】図１０は本実施例の構成を示すブロック図
である。本実施例は、図１０に示すように、すでに図１
を参照して説明した第１の実施例に対して、衛星の電波
から車両に関する測定を行うＧＰＳ受信機１００１が設
けられ、ＧＰＳ受信機１００１には、ＧＰＳ受信機１０
０１からのデータに基づいて、車両の方位を算出するＧ
ＰＳ方位算出手段１００２が接続され、ＧＰＳ方位算出
手段１００２は、車両走行方位修正手段２０９に接続さ
れている。FIG. 10 is a block diagram showing the configuration of this embodiment. As shown in FIG. 10, this embodiment is already shown in FIG.
In contrast to the first embodiment described with reference to FIG. 1, a GPS receiver 1001 for measuring the vehicle from satellite radio waves is provided, and the GPS receiver 1001 includes the GPS receiver 10
G to calculate the direction of the vehicle based on the data from 01
The PS azimuth calculation means 1002 is connected, and the GPS azimuth calculation means 1002 is connected to the vehicle traveling azimuth correction means 209.
【００８２】そして、本実施例では、車両走行方位修正
手段２０９が、ＧＰＳ方位算出手段１００１からのＧＰ
Ｓ方位データに基づいて、車両の走行方位の修正量を変
更して、車両の走行方位の修正を行う機能を有してい
る。Then, in this embodiment, the vehicle traveling azimuth correcting means 209 makes the GP from the GPS azimuth calculating means 1001.
It has a function of correcting the traveling direction of the vehicle by changing the correction amount of the traveling direction of the vehicle based on the S direction data.
【００８３】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００８４】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、車両走行方位データ１０２とＧＰＳ方位算出手
段１００２が算出したＧＰＳ方位との方位差に基づい
て、車両の走行方位の修正量を変更して、車両の走行方
位の修正を行っている。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 changes the amount of correction of the traveling azimuth of the vehicle based on the azimuth difference between the vehicle traveling azimuth data 102 and the GPS azimuth calculated by the GPS azimuth calculation unit 1002 when calculating the azimuth correction amount. Then, the traveling direction of the vehicle is corrected.
【００８５】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、方位誤差増大を早期
に修正し、誤った方位への修正を抑えることが可能にな
る。Thus, according to this embodiment, the first
In addition to the effect obtained in the above embodiment, it becomes possible to quickly correct the increase in the azimuth error and suppress the correction to the wrong azimuth.
【００８６】［第１０の実施例］本発明の第１０の実施
例を、図１１を参照して説明する。[Tenth Embodiment] A tenth embodiment of the present invention will be described with reference to FIG.
【００８７】図１１は本実施例の構成を示すブロック図
である。本実施例は、図１１に示すように、道路データ
格納手段２０５と車両走行方位修正手段２０９との間
に、道路データ格納手段２０５に格納された道路データ
から、道路精度データを取込む道路精度取得手段１１０
３が接続されている。FIG. 11 is a block diagram showing the structure of this embodiment. In the present embodiment, as shown in FIG. 11, the road accuracy that takes in road accuracy data from the road data stored in the road data storage means 205 between the road data storage means 205 and the vehicle traveling direction correction means 209. Acquisition means 110
3 is connected.
【００８８】そして、本実施例では、車両走行方位修正
手段２０９が、道路精度取得手段１００３からの道路精
度データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in the present embodiment, the vehicle traveling azimuth correcting means 209 changes the traveling azimuth of the vehicle based on the road accuracy data from the road accuracy obtaining means 1003 to correct the traveling azimuth of the vehicle. Has the function of performing.
【００８９】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The structure of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００９０】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路精度取得手段１１０３から取
得した道路精度に基づいて算出する。例えば、道路情報
が予め定めた値以上であれば、方位修正量を増やし、予
め定めた値以下であれば、方位修正量を減らす。道路精
度としては、道路データの作成に使用された原図の縮尺
が使用される。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount based on the road accuracy acquired from the road accuracy acquisition unit 1103 when the correction amount of the azimuth is calculated. For example, if the road information is a predetermined value or more, the azimuth correction amount is increased, and if it is less than the predetermined value, the azimuth correction amount is decreased. As the road accuracy, the scale of the original map used to create the road data is used.
【００９１】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路精度が高いほど
方位修正量或いは修正率を高くすることにより、角速度
誤差が大きくても、速やかに方位誤差増大分を修正する
ことが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, by increasing the azimuth correction amount or the correction rate as the road accuracy is higher, it is possible to quickly correct the increase in the azimuth error even if the angular velocity error is large.
【００９２】[0092]
【発明の効果】本発明によると、車両走行方位算出手段
により、車両走行時の角速度が積分されて車両の走行方
位が算出され、車両走行距離算出手段により、車両の走
行速度が積分されて車両の走行距離が算出され、車両走
行距離算出手段が算出した走行距離に基づいて、道路デ
ータ格納手段から取込まれた道路データに対応する道路
上で、道路上位置移動手段により、車両の現在推定位置
が移動され、車両の現在推定位置を移動させる道路に交
差点或いは分岐点があると、移動道路選択手段により、
交差点或いは分岐点前後で、車両走行方位算出手段が算
出した方位の方位差に基づいて、交差点或いは分岐点通
過後に現在推定位置を移動させる道路が選択され、走行
方位修正手段により、車両の走行方位と車両の推定位置
が存在する道路の方位との方位差に従って、車両の走行
方位が修正されるので、車両の高精度の走行方位の算出
が可能になり、直線道路長算出手段により、道路データ
格納手段から取込んだ車両の現在推定位置前後の道路の
直線部分の長さが算出され、制御手段によって、直線道
路長算出手段が算出した道路の直線部分の長さに基づい
て、車両の走行方位の修正量が変更されて、走行方位修
正手段による車両の走行方位の修正が行われるので、道
路の直線部分の長さが長いほど、方位修正量或いは修正
率を高くすると、角速度誤差が大きくても、速やかに方
位誤差増大分を修正することが可能になる。According to the present invention, the vehicle traveling azimuth calculating means integrates the angular velocity during traveling of the vehicle to calculate the traveling azimuth of the vehicle, and the vehicle traveling distance calculating means integrates the traveling speed of the vehicle. The traveling distance of the vehicle is calculated, and based on the traveling distance calculated by the vehicle traveling distance calculating means, the current position of the vehicle is estimated by the on-road position moving means on the road corresponding to the road data fetched from the road data storing means. When the position is moved and there is an intersection or a branch point on the road on which the current estimated position of the vehicle is moved, the moving road selection means
The road to which the current estimated position is moved after passing the intersection or the branch point is selected based on the heading difference between the directions before and after the intersection or the branch point calculated by the vehicle running heading calculation unit, and the traveling direction of the vehicle is selected by the traveling direction correction unit. and in accordance with the orientation difference between the orientation of the road estimated position of the vehicle is present, since the traveling direction of the vehicle is corrected, the calculation of the traveling direction of the high-accuracy vehicle Ri is capable Na, by a linear road length computing means, road The length of the straight line portion of the road before and after the current estimated position of the vehicle acquired from the data storage means is calculated, and the control means calculates the length of the straight line portion of the road based on the length of the straight road portion calculated by the straight road length calculation means. Since the correction amount of the traveling azimuth is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the longer the straight line portion of the road, the higher the azimuth correction amount or the correction rate becomes. Even speed error is large, rapidly it becomes possible to correct the azimuth error increment.
【００９３】[0093]
【００９４】また、本発明によると、道路曲折量算出手
段により、道路データ格納手段から取込んだ車両の現在
推定位置前後の道路の曲折量が算出され、制御手段によ
つて、走行方位修正手段が算出した道路の曲折量に基づ
いて、車両の走行方位の修正量が変更されて、走行方位
修正手段による車両の走行方位の修正が行われるので、
道路の曲折量の大きいほど、方位修正量或いは修正率を
低くすると、誤った方位への修正量を少なくすることが
可能になる。 [0094] According to the present invention, the road bending amount calculating means, the bent amount of the current before and after the estimated position road vehicles taken-from the road data storage means is calculated, Yotsute to the control means, the travel azimuth modification Since the correction amount of the traveling azimuth of the vehicle is changed based on the amount of bending of the road calculated by the means, the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means.
If the azimuth correction amount or the correction ratio is reduced as the amount of bend in the road is increased, the correction amount for an incorrect azimuth can be reduced.
【００９５】また、本発明によると、制御手段によっ
て、車両の走行速度に基づいて、車両の走行方位の修正
量が変更されて、走行方位修正手段による車両の走行方
位の修正が行われるので、走行速度が大きいほど方位修
正量或いは修正率を高くすると、角速度誤差が大きくて
も、速やかに方位誤差増大分を修正することが可能にな
る。 [0095] According to the present invention, the control means, based on the traveling speed of the vehicle, is changed correction amount of the running direction of the vehicle, since the modification of the traveling direction of the vehicle is performed by the running azimuth modifying means By increasing the azimuth correction amount or the correction rate as the traveling speed increases, it is possible to quickly correct the increase in the azimuth error even if the angular velocity error is large.
【００９６】また、本発明によると、方位変化量算出手
段により、予め設定した所定期間の車両の方位変化量が
算出され、制御手段によって、該走行方位変化量に基づ
いて、車両の走行方位の修正量が変更されて、走行方位
修正手段による車両の走行方位の修正が行われるので、
車両の走行方位変化量が大きいほど、方位修正量或いは
修正率を低くすると、誤った方位への修正量を少なくす
ることが可能になる。 [0096] According to the present invention, the square position change amount calculating means, orientation change amount of the vehicle for a predetermined period set in advance is calculated by the control means, based on該走whereabouts position change amount, the traveling direction of the vehicle Since the correction amount of is changed and the traveling direction of the vehicle is corrected by the traveling direction correcting means,
If the azimuth correction amount or the correction rate is lowered as the traveling azimuth change amount of the vehicle is large, the correction amount to the wrong azimuth can be reduced.
【００９７】また、本発明によると、交差点・道路数算
出手段により、車両の現在推定位置周辺の交差点数と道
路数の少なくとも一方が算出され、制御手段によって、
該車両の現在推定位置周辺の交差点・道路数に基づい
て、車両の走行方位の修正量が変更されて、走行方位修
正手段による車両の走行方位の修正が行われるので、周
辺の交差点数或いは道路数が多いほど、方位修正量或い
は修正率を低くすると、誤った方位への修正量を少なく
することが可能になる。 [0097] According to the present invention, the exchange satin road speed calculating means, at least one of the intersection number of the current estimated position near the number road of the vehicle is calculated by the control means,
The correction amount of the traveling direction of the vehicle is changed based on the number of intersections / roads around the current estimated position of the vehicle, and the traveling direction of the vehicle is corrected by the traveling direction correction means. The larger the number is, the lower the azimuth correction amount or the correction ratio is, the smaller the correction amount for the wrong azimuth can be.
【００９８】また、本発明によると、道路種別取得手段
により、車両の現在推定位置の道路種別データが取込ま
れ、制御手段によつて、車両の現在推定位置における道
路の道路種別に基づいて、車両の走行方位の修正量が変
更されて、走行方位修正手段による車両の走行方位の修
正が行われるので、道路種別が高速道路或いは国道、県
道などの主要道路である場合には、方位修正量或いは修
正率を高くして、角速度誤差が大きくても、速やかに方
位誤差増大分を修正することが可能になり、その他の道
路種別の場合には、方位修正量或いは修正率を低くし
て、誤った方位への方位修正量を低く抑えることが可能
になる。 [0098] According to the present invention, the road class acquisition means, road type data of the current estimated position of the vehicle is taken, Yotsute to the control means, based on the type of the road at the current estimated position of the vehicle Since the correction amount of the traveling direction of the vehicle is changed and the traveling direction of the vehicle is corrected by the traveling direction correcting means, when the road type is a highway or a main road such as a national road or a prefectural road, the direction correction is performed. By increasing the amount or correction rate, it is possible to quickly correct the increase in heading error even if the angular velocity error is large.For other road types, lower the heading correction amount or correction rate. , It is possible to suppress the amount of azimuth correction to an incorrect azimuth to a low level.
【００９９】また、本発明によると、道路幅員取得手段
により、車両の現在推定位置の道路幅員データが取込ま
れ、制御手段によって、車両の現在推定位置における道
路の道路幅員に基づいて、車両の走行方位の修正量を変
更されて、走行方位修正手段による車両の走行方位の修
正が行われるので、道路幅員が大きいほど方位修正量或
いは修正率を高くすることにより、角速度誤差が大きく
ても、速やかに方位誤差増大分を修正することが可能に
なる。 [0099] According to the present invention, the road width acquisition unit, road width data of the current estimated position of the vehicle is taken by the control means, based on the road width of the road at the current estimated position of the vehicle, the vehicle Since the correction amount of the traveling azimuth is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the larger the road width is, the higher the azimuth correction amount or the correction rate is. Therefore, it becomes possible to promptly correct the increase in the azimuth error.
【０１００】また、本発明によると、ＧＰＳ受信手段に
より車両の走行方位データが測定され、制御手段によっ
て、ＧＰＳ受信手段により測定された車両の走行方位デ
ータに基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われるので、車両の方位誤差増大を早期に修正し、誤っ
た方位への修正を抑えることが可能になる。 [0101] According to the present invention, is measured travel direction data of the vehicle by G PS receiver, by the control means, based on the travel direction data of the measured vehicle by GPS receiving means, the correction of the traveling direction of the vehicle Since the amount is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the increase in the azimuth error of the vehicle can be corrected early and the correction to the wrong azimuth can be suppressed.
【０１０１】また、本発明によると、道路精度取得手段
によって、道路データ格納手段から道路精度データが取
込まれ、制御手段によって、車両の現在推定位置におけ
る道路精度データに基づいて、車両の走行方位の修正量
が変更されて、走行方位修正手段による車両の走行方位
の修正が行われるので、道路精度が高いほど方位修正量
或いは修正率を高くすることにより、角速度誤差が大き
くても、速やかに方位誤差増大分を修正することが可能
になる。 [0102] According to the present invention, the road accuracy acquiring unit, road precision data is taken from the road data storage means, the control means, based on the road-precision data at the current estimated position of the vehicle, the traveling of the vehicle Since the correction amount of the azimuth is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the azimuth correction amount or the correction rate is increased as the road accuracy is higher, so that the angular velocity error can be promptly increased. It is possible to correct the increase in azimuth error.
【図１】本発明の第１の実施例の構成を示すブロック図FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention.
【図２】（ａ），（ｂ）同実施例の動作を示す説明図2A and 2B are explanatory views showing the operation of the embodiment.
【図３】本発明の第２の実施例の構成を示すブロック図FIG. 3 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.
【図４】本発明の第３の実施例の構成を示すブロック図FIG. 4 is a block diagram showing a configuration of a third exemplary embodiment of the present invention.
【図５】本発明の第４の実施例の構成を示すブロック図FIG. 5 is a block diagram showing a configuration of a fourth exemplary embodiment of the present invention.
【図６】本発明の第５の実施例の構成を示すブロック図FIG. 6 is a block diagram showing a configuration of a fifth exemplary embodiment of the present invention.
【図７】本発明の第６の実施例の構成を示すブロック図FIG. 7 is a block diagram showing a configuration of a sixth exemplary embodiment of the present invention.
【図８】本発明の第７の実施例の構成を示すブロック図FIG. 8 is a block diagram showing the configuration of a seventh embodiment of the present invention.
【図９】本発明の第８の実施例の構成を示すブロック図FIG. 9 is a block diagram showing the configuration of an eighth embodiment of the present invention.
【図１０】本発明の第９の実施例の構成を示すブロック
図FIG. 10 is a block diagram showing the configuration of a ninth embodiment of the present invention.
【図１１】本発明の第９の実施例の構成を示すブロック
図FIG. 11 is a block diagram showing a configuration of a ninth embodiment of the present invention.
２０１ 車速センサ ２０２ 車両走行距離算出手段 ２０３ 角速度センサ ２０４ 車両走行方位算出手段 ２０５ 道路データ格納手段 ２０６ 道路上位置移動手段 ２０７ 移動道路選択手段 ２０８ 現在推定位置算出手段 ２０９ 車両走行方位修正手段 ２１０ 車両走行方位算出手段 ３０１ 直線道路長算出手段 ４０１ 道路曲折量算出手段 ５０１ 走行速度検出手段 ６０１ 方位変化量算出手段 ７０１ 交差点数道路数算出手段 ８０１ 道路種別取得手段 ９０１ 道路幅員取得手段 １００１ ＧＰＳ受信機 １００２ ＧＰＳ方位算出手段 １００３ 道路精度取得手段 201 vehicle speed sensor 202 vehicle mileage calculation means 203 Angular velocity sensor 204 Vehicle traveling azimuth calculation means 205 Road data storage means 206 means for moving on the road 207 Moving road selection means 208 Current estimated position calculation means 209 Vehicle traveling direction correction means 210 Vehicle Driving Direction Calculation Means 301 Straight road length calculation means 401 Road bend amount calculation means 501 traveling speed detection means 601 Direction change calculation means 701 Number of intersections Road number calculation means 801 Road type acquisition means 901 Road width acquisition means 1001 GPS receiver 1002 GPS azimuth calculation means 1003 Road accuracy acquisition means
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) G01C 21/00 G01S 5/02 G08G 1/0969 G09B 29/10 Front page continuation (58) Fields surveyed (Int.Cl. 7 , DB name) G01C 21/00 G01S 5/02 G08G 1/0969 G09B 29/10
Claims (9)
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、前記道路データ格納手段から取込んだ車両の現
在推定位置前後の道路の直線部分の長さを算出する直線
道路長算出手段と、該直線道路長算出手段が算出した前
記道路の直線部分の長さに基づいて、車両の走行方位の
修正量を変更して、前記走行方位修正手段に車両の走行
方位の修正を行わせる制御手段とが設けられていること
を特徴とする車両走行方位算出装置。1. A vehicle traveling azimuth calculating means for integrating the angular velocity during traveling of the vehicle to calculate a traveling azimuth of the vehicle, and a vehicle traveling distance calculating means for integrating a traveling speed of the vehicle to calculate a traveling distance of the vehicle. Based on the road data storage means for storing road data and the travel distance calculated by the vehicle travel distance calculation means, the current estimated position of the vehicle is calculated on the road corresponding to the road data fetched from the road data storage means. a road on position moving means for moving the, if there is an intersection or branch point on the road to move the current estimated position of the vehicle, the intersection or the branching of the bearing pre-Symbol vehicle travel azimuth calculating means is calculated
Stagnation based on orientation difference before and after the estimated position of the intersection or a moving road selecting means for selecting a road to move the currently estimated position after the <br/> branching point passage, the travel direction and the vehicle of the vehicle is present based on the orientation difference between the orientation of the road, run the vehicle to have a a traveling azimuth correction means for correcting the travel azimuth of the vehicle
A line azimuth calculation device, comprising:
On the other hand, the current state of the vehicle imported from the road data storage means
A straight line that calculates the length of the straight part of the road before and after the current estimated position
Before calculating the road length calculation means and the straight road length calculation means
Based on the length of the straight part of the road,
The amount of correction is changed and the vehicle travels to the traveling direction correction means.
A vehicle traveling azimuth calculation device, comprising: a control unit for correcting the azimuth.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、前記道路データ格納手段から取込んだ車両の現
在推定位置前 後の道路の曲折量を算出する道路曲折量算
出手段と、該走行方位修正手段が算出した前記道路の曲
折量に基づいて、車両の走行方位の修正量を変更して、
前記走行方位修正手段に車両の走行方位の修正を行わせ
る制御手段とが設けられていることを特徴とする車両走
行方位算出装置。 2. A vehicle traveling by integrating the angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, the current state of the vehicle imported from the road data storage means
Road bent amount calculation for calculating the bending amount of the road before and after standing estimated position
The output means and the song of the road calculated by the traveling direction correction means
Based on the folding amount, change the correction amount of the traveling direction of the vehicle,
Causes the traveling direction correcting means to correct the traveling direction of the vehicle.
And a control means for controlling the vehicle.
Row orientation calculator.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、車両の走行速度に基づいて、車両の走行方位の
修正量を変更して、前記走行方位修正手段に車両の走行
方位の修正を行わせる制御手段が設けられていることを
特徴とする車両走行方位算出装置。 3. A vehicle traveling by integrating the angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, based on the traveling speed of the vehicle,
The amount of correction is changed and the vehicle travels to the traveling direction correction means.
That there is a control means to correct the bearing
A characteristic vehicle traveling direction calculation device.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位 算出装置に
対して、予め設定した所定期間の車両の方位変化量を算
出する方位変化量算出手段と、車両の走行方位変化量に
基づいて、車両の走行方位の修正量を変更して、前記走
行方位修正手段に車両の走行方位の修正を行わせる制御
手段とが設けられていることを特徴とする車両走行方位
算出装置。 4. A vehicle traveling by integrating the angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, calculate the direction change amount of the vehicle for a predetermined period set in advance.
The direction change amount calculation means to be output and the direction change amount
Based on the
Control for making the line direction correction means correct the running direction of the vehicle
And a means for driving the vehicle.
Calculator.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、車両の現在推定位置周辺の交差点数と道路数の
少なくとも一方を算出する交差点・道路数算出手段と、
車両の現在推定位置周辺の交差点・道路数に基づいて、
車両の走行方位の修正量を変更して、前記走行方位修正
手段に車両の走行方位の修正を行わせる制御手段とが設
けられていることを特徴とする車両走行方位算出装置。 5. A vehicle traveling by integrating an angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
In contrast, the number of intersections and roads around the current estimated position of the vehicle
Intersection / road number calculation means for calculating at least one,
Based on the number of intersections and roads around the current estimated position of the vehicle,
Modify the travel direction of the vehicle by changing the correction amount of the travel direction.
Means for correcting the traveling direction of the vehicle.
A vehicle traveling azimuth calculation device characterized by being marked.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推 定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、前記道路データ格納手段から道路種別データを
取込む道路種別取得手段と、車両の現在推定位置におけ
る道路の道路種別に基づいて、車両の走行方位の修正量
を変更して、前記走行方位修正手段に車両の走行方位の
修正を行わせる制御手段とが設けられていることを特徴
とする車両走行方位算出装置。 6. A vehicle traveling by integrating an angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
That a moving road selecting means, estimated localization of the traveling direction and the vehicle of the vehicle
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, the road type data is stored from the road data storage means.
The road type acquisition means to be taken in and the current estimated position of the vehicle
Amount of correction of the vehicle's driving direction based on the road type of the road
To change the traveling direction of the vehicle to the traveling direction correcting means.
It is characterized in that a control means for making a correction is provided.
A vehicle traveling direction calculation device.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、前記道路データ格納手段から道路幅員データを
取込む道路幅員取得手段と、車両の現在推定位置におけ
る道路の道路幅員に基づいて、車両の走行方位の修正量
を変更して、前記走行方位修正手段に車両の走行方位の
修正を行わせる制御手段とが設けられていることを特徴
とする車両走行方位算出装置。 7. A vehicle traveling by integrating the angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, the road width data is stored from the road data storage means.
The road width acquisition method to be taken in and the current estimated position of the vehicle
Amount of correction of the vehicle's driving direction based on the road width of the road
To change the traveling direction of the vehicle to the traveling direction correcting means.
It is characterized in that a control means for making a correction is provided.
A vehicle traveling direction calculation device.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位 置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、衛星からの電波により、車両に関する測定を行
うＧＰＳ受信手段と、該ＧＰＳ受信手段が測定した車両
の走行方位に基づいて、車両の走行方位の修正量を変更
して、前記走行方位修正手段に車両の走行方位の修正を
行わせる制御手段とが設けられていることを特徴とする
車両走行方位算出装置。 8. A vehicle traveling by integrating an angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select a road to move the currently estimated position location after the branch point passing
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, measurement of the vehicle is performed using the radio waves from the satellite.
GPS receiving means and vehicle measured by the GPS receiving means
Change the correction amount of the vehicle's driving direction based on the driving direction of
Then, correct the traveling direction of the vehicle to the traveling direction correcting means.
And a control means for performing the control.
Vehicle traveling direction calculation device.
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、前記車両走行
方位算出手段が算出した方位の前記交差点或いは前記分
岐点前後での方位差に基づいて、前記交差点或いは前記
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有する車両走
行方位算出装置であって、前記車両走行方位算出装置に
対して、前記道路データ格納手段から道路情報の精度デ
ータを取込む道路精度取得手段と、該道路精度取得手段
が取込んだ精度データに基づいて、車両の走行方位の修
正量を変更して、前記車両走行方位に車両の走行方位の
修正を行わせる制御手段とが設けられていることを特徴
とする車両走行方位算出装置。 9. A vehicle traveling by integrating the angular velocity during traveling of the vehicle.
Vehicle traveling azimuth calculation means for calculating the row azimuth and traveling of the vehicle
Vehicle mileage calculated by integrating speed to calculate vehicle mileage
Calculation means and road data storage means for storing road data
And the mileage calculated by the vehicle mileage calculation means.
Based on the road data stored in the road data storage means,
The current estimated position of the vehicle on the road corresponding to
The on-road position moving means and the current estimated position of the vehicle are moved.
If there is an intersection or a branch point on the road to be driven, the vehicle will run
The intersection or the portion of the azimuth calculated by the azimuth calculation means
Based on the heading difference before and after the crossing point, the intersection or the
Select the road to move the current estimated position after passing the branch point
The moving road selection means, the traveling direction of the vehicle and the estimated position of the vehicle.
Based on the heading difference from the heading of the road on which the vehicle is located.
Vehicle traveling having traveling direction correcting means for correcting the traveling direction
A line azimuth calculation device, comprising:
On the other hand, the accuracy information of the road information is stored in the road data storage means.
Road accuracy acquisition means for capturing data and the road accuracy acquisition means
Based on the accuracy data captured by the
By changing the positive amount, the
It is characterized in that a control means for making a correction is provided.
A vehicle traveling direction calculation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14602695A JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14602695A JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08338733A JPH08338733A (en) | 1996-12-24 |
| JP3401997B2 true JP3401997B2 (en) | 2003-04-28 |
Family
ID=15398432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14602695A Expired - Fee Related JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3401997B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100369132B1 (en) * | 1999-12-30 | 2003-01-24 | 현대자동차주식회사 | Transit distance measure method in fail speed sensor |
| JP5120034B2 (en) * | 2008-04-07 | 2013-01-16 | トヨタ自動車株式会社 | Vehicle traveling direction estimation device |
| JP5275685B2 (en) * | 2008-05-26 | 2013-08-28 | パイオニア株式会社 | Mobile object information display device, mobile object information display method, etc. |
| JP5615596B2 (en) * | 2010-05-31 | 2014-10-29 | パイオニア株式会社 | Information display device, display method, display program, and recording medium |
-
1995
- 1995-06-13 JP JP14602695A patent/JP3401997B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08338733A (en) | 1996-12-24 |
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