JP6627135B2 - Vehicle position determination device - Google Patents

Description

  The present invention relates to a position determination device, and particularly to a vehicle position determination device used in a vehicle.

  In recent years, the development of an automatic cruise control system for automatically controlling the output, steering, and braking of a vehicle has been promoted. Such an automatic traveling control system controls the automatic traveling of the vehicle based on, for example, high-accuracy map information and detection information output from a plurality of sensors that detect the traveling environment and the position of the host vehicle.

  2. Description of the Related Art In general, satellite navigation that determines a position by receiving positioning signals transmitted from a plurality of satellites is widely used to determine a vehicle position. However, in satellite navigation, a positioning signal cannot be stably received depending on a traveling environment such as a tunnel, an underpass, or between a group of buildings, so that the vehicle position may not be accurately determined.

  In order to compensate for such a decrease in the accuracy of position determination by satellite navigation, for example, an image of a road marking drawn on a traveling road and specifying the position on the high-accuracy map where the road marking exists can be used. (Patent Document 1) may be used together.

  The method disclosed in Japanese Patent Application Laid-Open No. H11-157572 discloses, for example, information obtained from a captured image of a plurality of rectangular unit lines constituting a broken white line drawn on a traveling road, and information of the unit line shown in a high-precision map. By comparing the information with the information, it is determined which unit number of the identification number shown in the high-accuracy map corresponds to the captured unit line, and the own vehicle position is determined from the result of the identification. According to such a method, even when the accuracy of the positioning signal by the satellite navigation is reduced, the position of the own vehicle can be accurately determined from the captured image.

  However, for example, when some of the unit lines cannot be clearly recognized due to dirt or damage, or depending on the environment in which the unit lines are recognized (for example, at night, under rain, in direct sunlight, or under the illumination of headlights of oncoming vehicles). However, some unit lines may be unrecognized or erroneously recognized. For this reason, only the configuration disclosed in Patent Literature 1 does not necessarily correctly recognize the unit line forming the broken white line. In some cases, the vehicle position could not be determined accurately.

JP 2015-114126 A

  From such a background, it is desired to realize a vehicle position determination device that correctly recognizes the order of unit lines forming a broken white line drawn on a road and determines the position of the own vehicle with high accuracy.

One aspect of the present invention is to detect a start point position and / or an end point position of a dashed mark drawn on a road, and store the detected start point position and / or end point position in a mark start position stored in a map storage unit. And / or a vehicle position determination device that determines the position of the vehicle based on the mark by comparing with the end point position, when the target is detected , the position of the detected target and the target stored in the map storage means. The position of the vehicle based on the target is determined from the position of the vehicle, and when the position of the vehicle based on the target is different from the position of the vehicle based on the mark, the position of the vehicle is determined based on the position of the vehicle based on the target. To fix .
According to another aspect of the present invention, a vehicle position for detecting a position of a vehicle based on a mark by detecting a dashed mark drawn on a road and comparing the mark with a mark stored in a map storage means. When the target is detected by the determination device, the result of the determination of the position of the vehicle based on the mark is corrected to the result of the determination of the position of the vehicle based on the target .
According to another aspect of the present invention, before Symbol target object is a target object in proximity to the broken line-shaped mark, the position of the vehicle is stored in association with the target object in the map storage means that it is determined based on reference to amendments location of the mark the position of the mark.
According to another aspect of the invention, the other target is at least one of a road sign and a road sign.

It is a block diagram showing composition of a vehicle provided with a vehicle position judging device concerning an embodiment of the present invention. 1 is an example of a captured image of a traveling environment by a vehicle imaging device including a vehicle position determination device according to an embodiment of the present invention. It is a flowchart which shows the procedure of the process which determines the vehicle position which the vehicle position determination apparatus which concerns on embodiment of this invention performs.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a vehicle position determining device mounted on a vehicle is shown as an example of a vehicle position determining device according to the present invention. However, the configuration of the vehicle position determining device according to the present invention is not limited to this, and is widely used. The present invention can also be applied to a case where it is mounted on a general moving body.

  First, the configuration of a vehicle including the vehicle position determination device according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a configuration of a vehicle 10 including a vehicle position determination device 100 according to the present embodiment.

  The vehicle 10 includes a vehicle position determination device 100 connected to the imaging device 120, an output signal from the vehicle position determination device 100, and a detection device (for example, a satellite positioning device 102, traveling parameter detection) that detects a surrounding environment of the vehicle. An automatic cruise control device 112 that controls the steering device 130, the driving device 132, and the braking device 134 based on detection signals from the device 103, the communication device 124, the distance measuring device 126, the radar 128, and the like.

  The satellite positioning device 102 is configured by a GNSS (Global Navigation Satellite System) receiver or the like, and receives a positioning signal including orbit information and time information of each satellite transmitted from a plurality of positioning satellites. The received positioning signal is output to the automatic cruise control device 112, and the CPU 114 in the automatic cruise control device 112 uses the orbit information of each satellite included in the positioning signal and the reception time of the positioning signal, etc. A vehicle position is detected.

  The traveling parameter detection device 103 includes a plurality of sensors that detect traveling parameters of the vehicle 10. For example, an orientation sensor 104 that detects the traveling orientation of the vehicle 10, an acceleration sensor 105 that detects the acceleration of the vehicle 10, It is composed of a vehicle speed sensor 106 for detecting a speed and the like.

  The direction sensor 104 is configured by a gyro sensor such as a MEMS (Micro Electro Mechanical Systems) gyro or an optical fiber gyro (FOG: Fiber Optic Gyroscope), and detects angular velocities of the vehicle 10 in three orthogonal axes directions. The detected angular velocity data is output to the automatic cruise control device 112, and the CPU 114 in the automatic cruise control device 112 integrates the input angular velocity data to calculate the amount of change in the azimuth of the vehicle 10; 10 traveling directions are estimated.

  As the acceleration sensor 105, for example, a MEMS (Micro Electro Mechanical Systems) acceleration sensor having a detection element unit of a capacitance detection method, a piezo resistance method, or a heat detection method can be used. Detect acceleration. The detected data is output to the automatic cruise control device 112, and the CPU 114 in the automatic cruise control device 112 estimates the acceleration, speed, azimuth, moving distance, and the like of the vehicle 10. The vehicle speed sensor 106 includes, for example, a vehicle speed pulse counter, and estimates the speed, the moving distance, and the like of the vehicle 10. As means for estimating the speed and position of the vehicle, for example, at least one of the acceleration sensor 105 and the vehicle speed sensor 106 may be provided.

  The communication device 124 performs wireless communication, connects to the external server 142 via the Internet or the like, receives the latest road structure map from the external server 142, updates the road structure map to the latest state, For example, receiving traffic information. Further, the communication device 124 has a communication function for a wireless LAN (Local Area Network) and accesses the Internet or the like via an access point of a nearby public wireless LAN, for example, near a vehicle such as a parking lot or a shopping center. Facility information can also be obtained.

  The distance measuring device 126 irradiates an object such as an obstacle or a vehicle in front of the vehicle 10 with pulsed laser light, and measures the time until the scattered light of the laser light returns to the object. It is composed of LIDAR (Laser Imaging Detection and Ranging) that measures the distance to an object. The distance measuring devices 126 are attached to a plurality of locations such as the front and side surfaces of the vehicle body.

  The radar 128 measures the distance to the preceding vehicle by transmitting and receiving, for example, the frequency of a millimeter wave while changing the frequency over time using a frequency modulated continuous wave (FMCW) method. The radar 128 is attached to, for example, a front surface of a vehicle body.

  The steering device 130 controls the traveling direction of the vehicle 10 and includes, for example, a rack and pinion type steering gear mechanism including a pinion provided at one end of a steering shaft and a rack provided on a steering gear box. And a motor connected to the pinion. The motor is driven to have the steering angle set by the automatic travel control device 112, and the steering of the vehicle 10 is controlled.

  The drive device 132 includes, for example, one or both of an engine and a motor, and includes an ECU (Electronic Control Unit) for controlling the engine and / or the motor. The ECU controls the driving of the vehicle 10 by controlling the output of the engine and / or the motor based on the set value output by the automatic traveling control device 112.

  The braking device 134 adjusts the braking force of each wheel of the vehicle 10 and includes, for example, a brake actuator, and the brake actuator of each wheel operates based on a set value output by the automatic traveling control device 112. The braking of the vehicle 10 is controlled.

  The automatic cruise control device 112 includes a CPU (Central Processing Unit) 114 as a signal processing device, a ROM (Read Only Memory) in which a program is written, and a RAM for temporarily storing data such as high-accuracy map information and route information. (Random Access Memory) The vehicle is configured by a computer having a storage device 116 and the like, and is determined by at least one of the satellite positioning device 102, the traveling parameter detection device 103, and the vehicle position determination device 100 described later. Based on the position information of the ten and the detection information output from the detection devices such as the communication device 124, the distance measuring device 126, and the radar 128, the traveling operation device including the steering device 130, the driving device 132, the braking device 134, and the like. Determine the output signal to

  The CPU 114 of the automatic traveling control device 112 controls the vehicle 10 according to a control mode (for example, an automatic driving mode or a manual driving mode) selected by a user of the vehicle 10. For example, when the automatic driving mode is selected, the CPU 114 of the automatic driving control device 112 outputs the detection result output from each detection device during driving and the road structure which is the high-precision map information stored in the storage device 116. Based on the map, for example, the future state of the vehicle 10 in a predetermined section is predicted to optimize the traveling trajectory of the vehicle 10, and a plurality of operations are performed so that the optimized traveling trajectory can be executed in the predetermined section. By generating an action plan composed of processes (for example, deceleration / acceleration of the vehicle, change / maintenance of the lane), the vehicle 10 is automatically driven by sequentially executing operation processes according to the action plan.

  Note that, even when the automatic driving mode is selected, the CPU 114 detects the abnormality or the problem in the detection device such as the imaging device 120 or the operation device such as the steering device 130, and thus, the automatic driving mode is selected. It outputs a signal instructing to stop some or all of the functions. In the case of a device of the vehicle 10 that has received the signal, for example, a car navigation system mounted on a vehicle, a message is displayed on the screen or a notification that the whole or a part of the driving operation is to be transferred to the driver of the vehicle 10 through a speaker, and the driver manually operates the device. If it is not possible to prompt driving or shift to manual driving by the driver, the vehicle 10 is promptly and automatically moved to a nearby safe place and stopped, or some automatic driving (for example, only the steering function by the steering device 130 is performed). ) Or forcibly stop the automatic operation function.

  Further, the CPU 114 of the automatic travel control device 112 determines the position of the own vehicle based on the position information of the vehicle 10 determined by at least one of the satellite positioning device 102, the travel parameter detection device 103, and the vehicle position determination device 100 described below. A map matching function for specifying is provided, and the positional relationship between the position information and, for example, a lane link (or a road link) in the high-precision map of the road structure map stored in the storage device 116 is compared. Is determined, the detection result is corrected to an appropriate position, and the current position of the vehicle 10 is finally determined.

  Note that the current position of the vehicle 10 finally determined by the CPU 114 is used for running control of the vehicle 10 and is output to a display device 110 including a display using a liquid crystal panel or the like, and is displayed on the display device 110. Along with the map displayed on the screen, the current position and azimuth of the vehicle 10 and the route from the current position to the destination are displayed. As the display device 110, for example, a display screen of a mobile terminal device such as a navigation device mounted on the vehicle 10 or a smartphone owned by the user can be used.

  As the storage device 116, for example, a solid state drive (SSD: Solid State Drive) including a semiconductor memory such as a NAND flash memory, a magnetoresistive memory such as an MRAM (Magnetoresistive Random Access Memory), or a hard disk drive (HDD: Hard Disk) Drive) can be used. Further, a plurality of storage units can be used together (for example, a flash memory and an HDD are used together) depending on the application. Each storage means can be properly used according to the situation.

  In addition, the storage device 116 stores a program executed by the CPU 114, temporary storage data such as route information, and a road structure map used in automatic driving of the vehicle. The road structure map is a high-accuracy map, and includes data on the position, size, and shape of each part constituting the road. For example, a road curb, a target provided on the road (for example, a sign, a signal, Drawings (lanes, stop lines, pedestrian crossings) painted on the road surface of the road, along with numerical data indicating the position and shape of each part of the road such as telephone poles and poles with an error of about several centimeters Etc.) (shape, lane type, lane width).

  In the road structure map, a road shape is expressed by, for example, a road link indicating a center line of a road or a lane link indicating a center line of a lane. For example, an actual road or lane is indicated by an extending direction of the road link or the lane link. Are shown.

  Next, the configuration of the vehicle position determination device 100 according to the present embodiment will be described. The vehicle position determination device 100 analyzes the captured image output from the imaging device 120 and compares the analysis result with the information on the road structure map stored in the storage device 116 to determine the position of the vehicle 10. judge.

  The imaging device 120 is, for example, a camera including an optical element such as a lens and a solid-state imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) sensor, and is attached, for example, on the back side of a room mirror or near the upper end of a windshield. Then, other vehicles, pedestrians, obstacles, signs, road surfaces, and the like around the vehicle 10 are constantly imaged. The imaging device 120 of the present embodiment is, for example, a stereo camera composed of two left and right cameras attached to the rear side of the room mirror so as to face forward in the traveling direction, and the two cameras are at the same timing. A common area in front of the vehicle 10 is photographed to obtain a stereo image.

  The vehicle position determination device 100 analyzes the stereo images acquired by the imaging device 120, and for example, positions, sizes, types, and the like of road signs such as white lines drawn on roads and road signs such as information display boards. Is determined. Specifically, in the stereo image, after a processing range in which an image recognition process is performed is determined, image recognition such as pattern matching is performed in the processing range, and a portion where an object is present is extracted. Further, the vehicle position determination device 100 converts the coordinate values of the stereo image and the parallax data into coordinate values in a three-dimensional space around the width direction, the length direction, and the height direction of the vehicle 10. Then, the distance information in the real space is calculated, and for example, the relative position of the extracted target object and the vehicle 10 in the real space is estimated. However, the imaging device 120 may be constituted by one camera. In addition, the vehicle position determination device 100 can be configured by a CPU (not shown) as a signal processing device and a ROM and a RAM (not shown) as storage devices.

  Further, when the target imaged by the imaging device 120 is a target such as a road sign or a road sign, the vehicle position determination device 100 detects the start position and / or the end point position of the target, for example. By matching the detected start point position and / or end point position with information such as the start point position and / or end point position of the target stored in the road structure map stored in the storage device 116, the road structure map is displayed. Can be detected with high accuracy.

  As the target for image recognition, for example, a plurality of rectangular unit lines constituting a dashed white line drawn on the road surface can be used, for example, by counting the number of the unit lines By specifying the traveling position on the road, the position of the vehicle 10 on the road structure map can be accurately determined. However, for example, depending on the environment in which the unit line is recognized (e.g., at night, in rainy weather, etc.), some of the plurality of unit lines constituting the broken white line are unrecognized or erroneously recognized, and the position of the vehicle 10 is determined. An error may occur in the determination.

  For example, FIG. 2 illustrates a captured image of the front of the vehicle 10 captured by the imaging device 120, and illustrates a rear portion of the vehicle 230 preceding the vehicle 10. Further, on the road surface in front of the vehicle 10, a mark composed of a dashed white line defining a lane is drawn, and as a plurality of unit lines, three unit lines LD5 to LD7 drawn on both sides of the traveling lane, respectively. , RD5 to RD7 are shown. In the unit lines LD5 to LD7 and RD5 to RD7, the numbers indicate the order of the unit lines arranged with the first unit line at the start position of the broken white line as 1, and indicate the order of LD5 to LD7, RD5 to RD5. Each of the RDs 7 indicates the fifth to seventh unit lines from the first unit line.

  Then, the vehicle position determination device 100 performs image recognition on each of the unit lines LD5 to LD7 and RD5 to RD7, and starts (LD6S, RD6S, LD7S, RD7S, etc.) and / or ends (LD5E, RD5E) each unit line. , LD5E, LD6E, etc.) and execute a process of specifying the position of each unit line.

  Here, assuming that LD5 and RD5 are not recognized for some reason among the unit lines LD5 to LD7 and RD5 to RD7, as a result, LD6 and RD6 are the fifth unit line, and LD7 and RD7 are the sixth unit line. If each line is erroneously recognized, an error corresponding to one cycle of the broken white line (corresponding to the distance from the start position LD6S of LD6 to the start position LD7S of LD7) occurs. If such erroneous recognition is repeatedly performed while the vehicle 10 is traveling, an error corresponding to a multiple of one cycle of the broken white line is accumulated, and the positional accuracy of the vehicle 10 is further deteriorated.

  In order to solve such a problem, the vehicle position determining apparatus 100 of the present embodiment not only determines the vehicle position by counting the number of unit lines forming a broken white line, but also determines the vehicle position closest to the unit line. In addition to detecting the target, the order of the unit lines arranged closest to the target is acquired from the road structure map stored in the storage device 116, and the order of the unit lines obtained by the acquired order and the count is obtained. The order is compared with the order and the difference is verified. If the two are different, the process of correcting the incorrect order obtained by the count in the order obtained from the road structure map is performed periodically or periodically. Has functions.

  Hereinafter, a specific vehicle position determination process executed by the vehicle position determination device 100 according to the present embodiment will be described with reference to a processing flowchart illustrated in FIG. Note that the processing shown in FIG. 3 is executed by a vehicle position determination device 100 including a CPU (not shown) serving as a signal processing device and a computer including a ROM and a RAM (not shown) serving as storage devices stored in the storage device. Is controlled by executing the program. This process is started, for example, when the user of the vehicle 10 starts the engine of the vehicle, and ends at the same time when the engine is stopped.

  First, in the present embodiment, the road surface and the surrounding environment in front of the vehicle 10 are imaged by the imaging device 120, and the process of recognizing the captured image is continuously executed in the vehicle position determination device 100 (S302, S304: No). Then, when the road surface display is detected (S304: Yes), it is determined whether or not the detected road surface display is a broken white line (S306).

  Here, when a mark other than the dashed white line is detected (S306: No), the vehicle position determination device 100 detects and detects the start point position and / or the end point position of the mark (S308). By comparing the start point position and the end point position with the information of the start point position and the end point position of the mark of the road structure map stored in the storage device 116, the position of the vehicle 10 on the road structure map is specified. Then, the specified vehicle position is used for traveling control of the vehicle 10 and is displayed together with the map on the display screen of the display device 110 (S310).

  On the other hand, when the road surface display detected in S304 is a mark composed of a dashed white line (S306: Yes), in the traveling environment in which the vehicle 10 travels, a target other than the white line, for example, a road surface A process (S312) of detecting a target such as another road sign or a road sign installed on the side of the road is executed.

  If another target is detected in S312 (S312: Yes), the position determination device 100 uses the unit line (hereinafter, referred to as “target position unit”) forming a broken white line closest to the other target. A process of detecting a “line” is performed (S316), and the road structure map stored in the storage device 116 is referred to.

  Here, the road structure map in the present embodiment is, for example, because a target and a target position unit line closest to the target are associated with each other. The order N of the arrangement of the target position unit lines close to the target (the number of the unit lines sequentially arranged with the first unit line at the start position of the broken white line as the first) is output. Thereby, the position of the vehicle passing through the target position unit line is specified on the road structure map and used for the traveling control of the vehicle 10, and is displayed together with the map on the display screen of the display device 110. (S318).

  In addition, when the target is not detected (S312: No), the process of repeatedly detecting the target (S314: No) is executed while the detected dashed white line does not reach the final end. On the other hand, when the dashed white line has reached the final end (S314: Yes), the process returns to S302, where the process of capturing the road surface and the surrounding environment and recognizing the captured image is continued.

  Next, the vehicle position determination device 100 sequentially counts unit lines that are successively imaged thereafter, based on the specified order N of the target position unit lines, and thereby displays each unit on the road structure map. A process for continuously determining the vehicle position corresponding to the position of the line is executed. Specifically, when the next unit line following the target position unit line is imaged (S320: Yes), 1 is added to the number N of the target position unit line and the next image line is captured. A process (S322) of calculating the order of the unit lines as N + 1 is performed, and a process (S324) of determining whether there is a target close to the next unit line is performed. Then, the process of updating the vehicle position to the position of the next unit line and displaying the vehicle position (S322) is executed. If the next unit line is not detected in S320, the process returns to S302, and the process of capturing and recognizing the road surface and the surrounding environment is continued.

  Here, the vehicle position determining apparatus 100 according to the present embodiment periodically determines whether or not the count results of continuously appearing unit lines are accurate (S324, S328, S330, S332). It has a function to execute. Specifically, in S324, it is determined whether or not the target is arranged close to the continuously appearing unit line, and if the target is arranged close to the unit line, That is, when the unit line is the target position unit line (S324: Yes), the road structure map stored in the storage device 116 is referred to, and the target position associated with the detected target is detected. A process (S328) of reading out the order n of the unit line is executed. Then, a process (S330) of comparing the order N of the target position unit lines obtained by counting the unit lines with the order n read from the road structure map is executed, and N and n match. If yes (S330: Yes), it is determined that the count is correct, and the process proceeds to S326. On the other hand, if N and n do not match, it is determined that the unit line count is incorrect, the count result N is corrected to the order n, and the process proceeds to S326. Will be done.

  For example, if the LD5 and RD5 are not recognized due to environmental factors and the LD7 and RD7 are erroneously counted as the sixth unit line as in the example shown in FIG. In the vehicle position determination device 100, the following processing is executed.

  In S324, a target such as the road sign 210 close to the unit line LD7 and / or the road sign post 220 close to the unit line RD7 is detected, and in S328, the target corresponding to the road sign 210 and / or the road sign post 220 is detected. The order n of the target position unit lines LD7, RD7 is read. Further, in S330, the read order n is compared with the erroneous count value N, and in S332, the erroneous count value N is corrected in order n (that is, the count value 6 is corrected to 7). ) Is done. Then, in S326, the position of the vehicle 10 is updated to the position of the corrected unit line, and the corrected vehicle position is displayed together with the map on the display screen of the display device 110.

  As described above, the vehicle position determination device 100 according to the present embodiment sequentially counts the numbers of the plurality of unit lines constituting the broken white line drawn on the road surface and specifies the position of the vehicle 10 on the road structure map. In executing the process, the target installed in the road environment is periodically detected, the counted order of the target position unit lines in the vicinity of the target, and the target position unit line in the road structure map. Has the function of correcting the counted order by comparing with the order. Therefore, even if the unit line is not recognized or is erroneously recognized, the vehicle position is periodically corrected to an accurate position, so that the accumulation of the position identification error corresponding to a multiple of the cycle of the broken white line is performed. Is prevented.

  In the present embodiment, when the vehicle 10 passes through the target line and the target position unit line, the process of modifying the count number of the unit line is executed, but the present invention is not limited to such an embodiment. For example, even when a target is detected at a distance from the current position of the vehicle 10, the order of the target position unit line corresponding to the target is specified from the road structure map, and the imaging device 120 From the analysis result of the stereo image captured by the method, the distance to the target position unit line and the number of unit lines arranged up to the target position unit line are calculated, and the target and the target position are calculated. It may be configured such that the order of the unit lines at the current position is corrected in advance before passing through the unit lines. According to such a method, since the vehicle position can be corrected earlier than the method of correcting when the vehicle 10 passes through the target and the target position unit line, a decrease in position accuracy is prevented beforehand. it can.

  Further, in the present embodiment, in the road structure map used by the vehicle position determination device 100, the target is associated with the target position unit line of the dashed white line adjacent to the target, and the target is specified. Although the order of the target position unit lines is output only by performing the operation, it is not always necessary to associate the target with the target position unit line closest to the target. For example, when a target is specified, a unit line closest to the target may be specified on the road structure map based on the distance from the target or the like.

  Further, in the present embodiment, the timing for modifying the counting order is corrected in accordance with the cycle in which the target appears. However, the present invention is not limited to such an embodiment, and for example, a predetermined number of unit lines appear. The modification may be performed periodically at an arbitrary frequency, such as at the time when a predetermined number of targets appear, at the time when a predetermined number of targets appear, or when the vehicle travels a predetermined distance. If the modification timing is configured to be periodically executed, the burden on the CPU or the like of the vehicle position determination device 100 can be reduced, and a decrease in image processing speed can be prevented. Further, in the present embodiment, the target is detected by processing the image captured by the imaging device 120. However, the target may be detected using the ranging device 126 or the radar 128.

  As described above, the vehicle position determination device of the present invention detects the start point position and / or the end point position of the mark drawn on the road, and stores the detected start point position and / or end point position in the map storage unit. In a vehicle position determination device that determines the position of the vehicle by comparing the start position and / or the end point position of the mark to be performed, when the mark is a broken line, the position of another target is detected and the target is detected. Is periodically compared with the position of the target stored in the map storage means to determine the own vehicle position. Thereby, since the function of modifying the counting order is provided, even if the unit line is unrecognized or erroneously recognized, the vehicle position is periodically corrected to an accurate position, Accumulation of a position identification error corresponding to a multiple of the cycle of the broken white line can be prevented, and a decrease in position determination accuracy is prevented.

  It should be noted that the present invention is not limited to the above-described embodiment, and can be modified and used without departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... vehicle, 100 ... vehicle position determination apparatus, 102 ... satellite positioning apparatus, 103 ... traveling parameter detection apparatus, 104 ... azimuth sensor, 105 ... acceleration sensor, 106 ... Vehicle speed sensor, 112: automatic traveling control device, 114: CPU, 116: storage device, 108: CPU for update processing, 120: imaging device, 124: communication device, 126 ..Ranging device, 128 radar, 130 steering device, 132 drive device, 134 braking device, 142 external server, 210 road sign, 220・ Road sign pillar.

Claims (4)

Detecting the start point and / or end point position of the dashed mark drawn on the road and comparing the detected start point position and / or end point position with the start point position and / or end point position of the mark stored in the map storage means. By the above, in the vehicle position determination device that determines the position of the vehicle based on the mark ,
If a target is detected, the position of the vehicle based on the target is determined from the detected position of the target and the position of the target stored in the map storage means ,
When the position of the vehicle based on the target is different from the position of the vehicle based on the mark, the position of the vehicle is corrected to the position of the vehicle based on the target.
A vehicle position judging device characterized by the above-mentioned.   A vehicle position determination device that detects a dashed mark drawn on a road and compares the mark with a mark stored in a map storage unit to determine a position of a vehicle based on the mark.
  When a target is detected, the result of the determination of the position of the vehicle based on the mark is corrected to the result of the determination of the position of the vehicle based on the target.
  A vehicle position judging device characterized by the above-mentioned. Before SL target object is a target object in proximity to the broken line-shaped mark,
The position of the vehicle is determined based on the position of the mark that has been positively Fix with reference to the position of the mark associated with the target object stored in the map storage means,
Vehicle position determination apparatus according to claim 1 or 2. The target is at least one of a road sign and a road sign,
The vehicle position determination device according to claim 1.

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