CN100535602C - Navigation device and vehicle position determination method - Google Patents
Navigation device and vehicle position determination method Download PDFInfo
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- CN100535602C CN100535602C CNB2006101603020A CN200610160302A CN100535602C CN 100535602 C CN100535602 C CN 100535602C CN B2006101603020 A CNB2006101603020 A CN B2006101603020A CN 200610160302 A CN200610160302 A CN 200610160302A CN 100535602 C CN100535602 C CN 100535602C
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Abstract
The present invention provides a navigation device and a vehicle position determining method for enhancing map matching accuracy in a roundabout to prevent to the utmost a trouble that a vehicle position mark deviates from the roads of the roundabout. Based on an output signal of an angle sensor 5a for detecting a turning angle of a vehicle, the amount [theta] of change in the turning angle is found on the vehicle running in the roundabout to find a point B' as a matching point, the point B' giving an angle equal to the amount [theta] as a central angle -A'OB' of the roundabout. Map matching is performed not by using distance information detected by a distance sensor 5b but by using the amount [theta] to exclude the effect of the distance information on the map matching in the roundabout, making it possible to perform map matching accurately even in the roundabout where there is a large difference between road links and actual roads.
Description
Technical field
The present invention relates to guider and vehicle location is determined method, be particularly suitable for using in the guider that possesses the map match function, the vehicle position mark that described map match function will show according to the location position of self-discipline navigation method sensor is suitably proofreaied and correct to being presented on the road.
Background technology
Generally, in guider, read corresponding to the map datum of the current location of vehicle and be presented on the picture from recording medium.In addition, the regulation position on picture overlaps the vehicle position mark that shows that this parking stall of expression is put.And, by along with current location changes because of moving of vehicle, moving vehicle position mark on picture perhaps is fixed on vehicle position mark on the regulation position on the picture and makes near map datum rolling it etc., thus, make vehicle current where travel very clear.
In this guider, the current location of measuring vehicle is absolutely necessary.Therefore, use to carry range sensor on vehicle and angular transducer measuring vehicle relative position mensuration (self-discipline navigation method) and receive the electric wave that comes from a plurality of GPS (Global Positioning System, GPS) satellite transmission and the mensuration (satellite navigation method) of the absolute position of handling measuring vehicle by n dimension location practicability.
The vehicle location measurement of self-discipline navigation method is to use by the detected range information of range sensor with by the method for the angle information measuring vehicle position of the detected vehicle of angular transducer.In the method, though can the problem that can not carry out position measurement accurately be arranged, need carry out the treatment for correcting of map match etc. with lower cost measuring vehicle location.That is, in self-discipline navigation method, error is accumulated along with vehicle ', and vehicle position mark can depart from from the road of map.So, handle vehicle location and road data contrasted being corrected on the road by map match.
The method of map match has proposed a variety of.For example, pattern matching method and sciagraphy are arranged.The former pattern matching method is the driving trace (every the position and the orientation of regulation operating range) of preserving vehicle, obtain with the identical shaped map of this driving trace on road, make the method on the point of this vehicle position mark map match to this road.In addition, the latter's sciagraphy is to search putting the point on the road that obtains in projection under the defined terms by this parking stall of self-discipline navigation method sensor measurement and making the method for vehicle position mark map match to this aspect.
But,, have rotary (Roundabout: be also referred to as traffic circle road or roundabout, traffic circle point) mainly in one of roadnet that the America and Europe often sees.This rotary connects the cyclic path of sealing and a plurality ofly enters the road and a plurality of road of withdrawing from constitutes, and its size (maximum gauge and the road of cyclic path are wide) is miscellaneous.In such rotary, the situation that the error change of the rotary (driving trace) of the deterioration in accuracy of road data, reality and road line (road link) is big is more.Therefore, more by self-discipline navigation method measured vehicle position from the situation that the road of map datum departs from.
Though also carry out map match on such rotary, have following problem: in the past pattern matching method and the matching precision in the sciagraphy are relatively poor, can not vehicle position mark position correction successfully is more to the situation on the road of rotary.This be since the angle information of vehicle in travelling also service range information carry out map match, thereby on the rotary that has size (distance) to differ between road line and the real road, can not carry out location matches smoothly.
In addition, though for suppressed in rotary, to carry out map match make on the contrary this parking stall offset from undesirable condition, proposed in rotary, to stop the technology (for example with reference to Japanese documentation 1) of map match.But, in this Japanese documentation 1, in the technology of record,, have to guarantee that vehicle position mark necessarily is present in the problem on the road though can prevent the unnecessary position correction of rotary in travelling.
[Japanese documentation 1]: the spy opens the 2004-132922 communique.
In addition, following technology (for example with reference to Japanese documentation 2) has also been proposed: by carrying out the guiding of the disengaging path of rotary easily to the entering road and break away from angle between the road of rotary as angle gauge overlapping demonstration on map that vehicle anglec of rotation θ t calculated, will represent the residue anglec of rotation θ of the vehicle in the rotary with understanding.But, in these Japanese documentation 2 described technology, only show by residue anglec of rotation θ picture with vehicle, can not improve the precision of the map match in the rotary.
[Japanese documentation 2] spy opens flat 11-248479 communique.
Summary of the invention
The present invention makes in order to solve such problem, and purpose is to improve map match precision in the rotary, can prevent the undesirable condition that vehicle position mark departs from from the road of rotary as far as possible.
In order to solve above-mentioned problem, in the present invention, output signal according to the angular transducer of the anglec of rotation that detects vehicle, obtain the anglec of rotation variable quantity of the vehicle in circle point, travelling, with the central angle of the angle identical as the annular that on the road line of circle point, forms with this anglec of rotation variable quantity, with corresponding to an end of the arc on the annular of central angle as reference point, obtain the other end of determined arc at this moment, as the current vehicles position.
According to above-mentioned such the present invention who constitutes, different with in the past pattern matching method and sciagraphy, do not use the range information of vehicle, but utilize anglec of rotation variable quantity to carry out map match, so it is less influenced by the precision of road data, even between road line and real road, have in the rotary of big or small difference, also can carry out map match accurately.
Description of drawings
Fig. 1 is the figure that the vehicle location that is used for illustrating present embodiment is determined the summary of method.
Fig. 2 is the figure of structure example of the guider of expression present embodiment.
Fig. 3 is the process flow diagram that vehicle location that expression is undertaken by the vehicle location correction unit of present embodiment is determined the flow process handled.
Embodiment
Below, one embodiment of the present invention is described with reference to the accompanying drawings.Fig. 1 is the figure of summary that is used for illustrating the map-matching method of present embodiment.In addition, Fig. 2 is the figure of the one-piece construction example of the expression guider that is suitable for the present embodiment change map-matching method.At first, utilize Fig. 1 that the summary of the map-matching method (vehicle location is determined method) of present embodiment is described.
The map match of present embodiment is for example carried out every official hour Δ t.In Fig. 1 (a), VSP is the driving trace (actual road shape) of the vehicle in the rotary.Point A represents the vehicle location of a certain moment t, and some B represents the vehicle location in the moment (t+ Δ t) behind the stipulated time Δ t after this.Point A and some B represent the vehicle location (not being the position of inferring by map match) by self-discipline navigation method sensor measurement.
DR1 represents the vehicle heading of an A, and DR2 represents the vehicle heading of a B.θ is equivalent to " anglec of rotation variable quantity of vehicle " among the present invention, is to be equivalent to the vehicle heading DR1 of an A and the angle of the difference of the vehicle heading DR2 that puts B.When the map match handling part 15a of present embodiment described later carries out the map match processing in rotary, at first calculate the anglec of rotation variable quantity θ of vehicle.
In Fig. 1 (b), RDA is the road line of the cyclic path of expression rotary.In addition, as described later, the map datum of relevant rotary is connected to ring-type with about 20～30 road line and constitutes, and each road line is formed by straight lines.But,, the road line integral body of rotary is showed with curve here in order to understand easily explanation.
Rotary line RDA shown in driving trace VSP shown in the comparison diagram 1 (a) and Fig. 1 (b) as can be known, the precision of map datum is bad, the shape of rotary line RDA and the shape of driving trace VSP are inconsistent.Therefore, if former state is presented at vehicle position mark on the position (some A and some B) of driving trace VSP, then vehicle position mark can depart from from the road of map picture.So, need vehicle location be corrected on the rotary line RDA by map match.
In the present embodiment, followingly carry out this position correction.At first, after obtaining anglec of rotation variable quantity θ as described above, obtain the central point O of the annular that in rotary line RDA, forms.For example, according to the connected node table information (aftermentioned) that is included in the map datum, inspection is positioned at the longitude and latitude of all nodes on each end points of a plurality of road lines that constitute rotary line RDA, and the mean value of longitude and latitude peak and minimum point is obtained as the coordinate of central point O.
Then, will be reference point corresponding to the decision of the some A ' on the rotary line RDA of the some A on the driving trace VSP of vehicle.Corresponding to the reference point A ' of an A for example is the point of contact that enters line (not shown) and rotary line RDA to rotary.In the case, the vehicle heading DR1 (it is called the reference bearing) of some A both can be the orientation of being measured by angular transducer, also can be the direction of the 1st the road line of the rotary line RDA that is connected with reference point A '.
And then, obtain the some B ' that on rotary line RDA, forms the annular center angle ∠ A ' OB ' of the anglec of rotation variable quantity θ equal angular of obtaining like that with Fig. 1 (a).Promptly, make the reference point A ' on the rotary line RDA get the identical size with anglec of rotation variable quantity θ for an end of circular arc, the other end of this arc for the central angle ∠ A ' OB ' as some B ', the some B ' that obtains this moment is as current vehicles position (match point).
In addition, passing through the vehicle location (match point) in the moment (t+2 Δ t) behind the stipulated time Δ t again from a B ' also can be by obtaining with above same computing.At this moment, reference point both can be fixed on the A ' (end points that enters line that is connected with rotary line RDA), also can be a B ' (vehicle location of last time (match point)).Reference bearing when being reference point with an A ' is DR1, and the reference bearing when being reference point with a B ' is DR2.
Then, utilize Fig. 2 that the structure of the guider of the present embodiment that realizes above map-matching method is described.In Fig. 2, the 1st, system controller, the integral body of control guider.This system controller 1 is made of the microcomputer that possesses CPU, ROM, RAM etc. etc., carry out map and vehicle position mark describe handle, path of navigation search processing, map match processing etc.
The 2nd, the map storage medium of store map data for example is made of DVD (Digital VersatileDisk).In DVD2, store required various map datums such as map demonstration and route searching.In addition, use DVD2 as the storage medium of store map data here, but also can be with other storage mediums such as CD-ROM, hard disk, semiconductor memories.The 3rd, the DVD control part, control is read from the cartographic information of DVD2.
Here, the details that is recorded in the map datum among the DVD2 is described.To being recorded in the map datum among the DVD2, carry out differentiated control to the next other map of level of at length recording and narrating the narrow region to be called other unit of level from upper other map of level that is used for scanning the broad region.Each rank is that unit is cut apart with the rectangular area of being divided by the longitude and the latitude of regulation that is called " zoning ".The map datum of each zoning can be determined, read by specifying the zoning number.
In the map datum of each zoning, include by map show delineation unit that required various data constitute, the roadway element that constitutes by required data of various processing such as map match and route searching, route guidances and the cross-point cell that constitutes by the detailed data of point of crossing.
Above-mentioned roadway element includes about the information of the corresponding node of the point that intersects with a plurality of roads such as point of crossing and branch and information relevant and road corresponding lines such as road that will be connected between certain node on the road and another node of being adjacent or fare.That is, in this roadway element, include the connected node table of the detailed data of taking in all nodes and take in the line record of the detailed data of the line of determining by 2 adjacent nodes.
In the connected node table,, include the information such as number of nodes, connected node record of attribute mark, the connection of standard longitude, latitude, the node of node respectively to each node that exists.The standard longitude of node, latitude represent with the zoning to be that the longitudinal of benchmark, latitudinal row are to the position.Whether the attribute mark of node is whether the point of crossing node label of crossover node and expression are to be in the adjacent node sign of the borderline node of other zoning etc. to constitute by this node of expression.Having with this node is under the situation of line of an end of line, and the number of nodes of connection represents to constitute the quantity of node of the other end of each line.In the connected node record, the line number of line bar quantity is shown, this line number is to be the number of each line of an end with this node.
In addition, in line record, each line that exists is included the information such as cost, road attribute sign, road category sign of distance, the line of line ID, node number 1,2, line respectively.Line ID represents the code each line given in order to determine road.The number of 2 nodes that node number 1,2 expression determines to be positioned at the two ends of line uses it when the direction of performance line.The distance expression of line is corresponding to the actual range of the real road of this line.
The cost of line is the easness that travels with this line of numeric representation, as path of navigation suitable degree is quantized.This cost for example considers the length of road and the road is wide, road category, legal limit, right-hand rotation and left-hand rotation, traffic rules, mix situation etc. and set.The road attribute sign is represented the various attributes of relevant this line.For example, represent that whether this line is that attribute, this line of the part of rotary is the single file path or the attribute of duplicate rows path etc.The road category sign represents that the real road corresponding to this line is the expressway or the kind of Ordinary Rd.
The 4th, operation board is by formations such as remote controllers (telepilot) or touch panels.This operation board 4 possesses the various executive components (button and operating rod etc.) that are used for making the occupant that system controller 1 is set various information (for example destination of route guidance), carried out various operations (for example picture rolling and map retrieval, amplification/dwindle, path of navigation search etc.), will export to system controller 1 corresponding to the signal of the mode of operation of executive component.
The 5th, self-discipline navigation method sensor possesses relative orientation sensor (angular transducer) 5a such as vibration compass of the anglec of rotation that detects vehicle and every the range sensor 5b of 1 pulse of regulation operating range output.Self-discipline navigation method sensor 5 is exported to system controller 1 by relative position and orientation that these angular transducers 5a and range sensor 5b detect vehicle with this information.
The 6th, display device, according to view data from system controller 1 output, the cartographic information of this car periphery is shown with vehicle position mark and various road signs etc., or on this map, show driving trace and path of navigation, or show cross-point amplifying pattern when approaching near the guiding point of crossing of path of navigation in the position of vehicle.This display device 6 possesses lcd controller 21, video-ram (V-RAM) 22, read-out control part 23 and LCD24.
Then, the detailed structure to system controller 1 describes.The 11st, the map datum memory buffer is used for the interim map datum of reading from DVD2 of preserving.The 12nd, the map read-out control part carries out the control when DVD2 reads map datum.The information of the vehicle current location after this map read-out control part 12 is handled from vehicle location correction unit 15 input map match will comprise that the map datum of the specialized range of this vehicle current location is read and is kept at the map datum memory buffer 11 from DVD2.
The 13rd, the path of navigation generating unit is used the map datum be kept in the map datum memory buffer 11, and search links the path of navigation of cost minimum from origin to destination, stores the data of the path of navigation after this search.The data of this path of navigation are to store the position of each node accordingly with each node from origin to destination and represent whether each node is the data of the point of crossing distinguishing mark of point of crossing.
This path of navigation generating unit 13 also utilizes the data of the path of navigation of above-mentioned storage to produce the data of describing of path of navigation.Promptly, from the path of navigation data of above-mentioned storage, read selectively and be included in this and be depicted in path of navigation data in the map area among the V-RAM22 constantly, with the overlapping path of navigation more slightly emphasized with the different specified color of other road described of map image.In addition, in the time of in this car approaches apart from the guiding point of crossing predetermined distance that is positioned at path of navigation the place ahead, cross-point amplifying pattern data according to the rules, the derivation graph picture and the output of the guiding point of crossing during generation is approaching.
The 14th, the vehicle position azimuth calculating part, relative position and bearing data according to this car of exporting from self-discipline navigation method sensor 5 calculate this absolute parking stall and put (supposition vehicle location) and vehicle heading.
The 15th, the vehicle location correction unit possesses map match handling part 15a, the 15b of condition judgment portion, the 15c of processing controls portion and driving trace storage part 15d.Driving trace storage part 15d will store as driving trace every vehicle location and the vehicle heading of stipulated time Δ t according to the data from 14 outputs of vehicle position azimuth calculating part.
Map match handling part 15a utilizes and to read into the map datum in the map datum memory buffer 11 and to be stored in driving trace data among the driving trace storage part 15d (the supposition vehicle location that is calculated by vehicle position azimuth the calculating part 14 and data of vehicle heading), per stipulated time or regulation operating range carry out map match to be handled, and the traveling-position of this car is carried out position correction to the road of map datum.
Particularly, map match handling part 15a obtains the anglec of rotation variable quantity θ of the vehicle that travels according to by the signal of vehicle position azimuth calculating part 14 according to the absolute vehicle heading of Δ t of per stipulated time of the output of angular transducer 5a calculating in rotary.Then, angle that will be identical with this anglec of rotation variable quantity θ is as the central angle ∠ A ' OB ' of the annular that forms on rotary line RDA, obtain the other end B ' of the arc of when being reference point, determining, as current vehicles position (match point) with an end A ' corresponding to the arc on the annular of this central angle ∠ A ' OB '.Like this, map match handling part 15a possesses the function as vehicle angles variable quantity operational part of the present invention and vehicle location operational part.
Whether the 15b of condition judgment portion is according to the data of the supposition vehicle location that is read out the map datum in the map datum memory buffer 11 and is calculated by vehicle position azimuth calculating part 14, judge that this parking stall is put to be in the rotary.Particularly, the existing road line of road attribute sign put to(for) this parking stall of being calculated by vehicle position azimuth calculating part 14 judges whether to preserve the rotary attribute information, under the situation of preserving, is judged as this parking stall and puts and be in the rotary.
The 15b of condition judgment portion puts under the situation about being in the rotary being judged as this parking stall, carries out following (a)～(d) such judgement again.
(a), judge that rotary is one-way trip road or opposing traffic road according to the road attribute sign.
(b) data are obtained the maximum radius of rotary according to the map, judge whether this maximum radius is more than the 1st threshold value Th1 (for example 30 meters).Can calculate the maximum radius of rotary according to the longitude and latitude of all nodes of each end points that is positioned at a plurality of road lines that constitute rotary line RDA.
(c) data are obtained the least radius of rotary according to the map, judge whether this least radius is below the 2nd threshold value Th1 (for example 150 meters).Also can calculate the least radius of rotary according to the longitude and latitude of all nodes of each end points that is positioned at a plurality of road lines that constitute rotary line RDA.
(d) data are obtained the maximum radius and the least radius of rotary according to the map, judge that whether this maximum radius is that the regulation of least radius is doubly below (for example 1.5 times).
Like this, the 15b of condition judgment portion possesses the function as opposing traffic judging part of the present invention, maximum radius operational part, least radius operational part, radius operational part.
The 15c of processing controls portion only puts under the situation about being in the rotary being judged as this parking stall by the 15b of condition judgment portion, and control map match handling part 15a is so that it uses the map match of anglec of rotation variable quantity θ to handle.The 15c of processing controls portion is judging that this parking stall puts not under the situation in rotary, and control map match handling part 15a handles so that its any one or two kinds of methods based on general pattern matching method and sciagraphy are carried out map match.
In addition, the 15c of processing controls portion control map match handling part 15a, even so that put under the situation about being in the rotary being judged as this parking stall by the 15b of condition judgment portion, under the situation of following (A)～(D), do not use the map match of anglec of rotation variable quantity θ to handle yet, handle and carry out map match based on any one or two kinds of methods of general pattern matching method and sciagraphy.Like this, the 15c of processing controls portion constitutes control part of the present invention.
(A) be judged as rotary by the 15b of condition judgment portion when being the opposing traffic road.
(B) be that the 1st threshold value Th1 is when following (when rotary is too small) in the maximum radius that is judged as rotary by the 15b of condition judgment portion.
(C) be that the 2nd threshold value Th2 is when above (when rotary is excessive) at the least radius that is judged as rotary by the 15b of condition judgment portion.
(D) the maximum radius that is judged as rotary by the 15b of condition judgment portion be the regulation of least radius when doubly above (rotary be not just circle, it is lopsided greatly the time).
The 16th, the vehicle position mark generating unit, input is suitably carried out vehicle current location after the figure matching treatment by vehicle location correction unit 15, produces and is used for being shown in the locational vehicle position mark of being obtained by map match handling part 15a of this car.The 17th, the map depiction control part, according to the vehicle position mark of describing data and being produced by vehicle position mark generating unit 16 of the path of navigation that is kept at map datum in the map datum memory buffer 11, is produced by path of navigation generating unit 13 etc., the map that generates the vehicle location periphery is presented at map image data required on the display device 6 with vehicle position mark and path of navigation etc.These vehicle position mark generating units 16 and map depiction control part 17 constitute display control unit of the present invention.
The map image data that generated by map depiction control part 17 are kept among the V-RAM22 by lcd controller 21 temporarily.Read-out control part 23 is controlled reading from the map image data of V-RAM22.That is, will be kept among the V-RAM22 by the map image data that map depiction control part 17 generates, the map image data by read-out control part 23 is read 1 picture are presented in the display frame of LCD24 temporarily.
Then, to as the vehicle location of guider of stating the present embodiment of formation confirm that action describes.Fig. 3 is the process flow diagram that vehicle location that expression is undertaken by vehicle location correction unit 15 is determined the flow process handled.Whether in Fig. 3, the 15b of condition judgment portion is according to the current location of the vehicle that is calculated by vehicle position azimuth calculating part 14 and be stored in map datum in the map datum memory buffer 11, judge that this parking stall is put to be in the rotary (step S1).
Here, judging that this parking stall puts not under the situation in rotary, the 15c of processing controls portion control map match handling part 15a handles so that its any one or two kinds of methods based on general pattern matching method and sciagraphy are carried out map match.Thus, map match handling part 15a carries out map match processing (step S10) based on any one or two kinds of methods of general pattern matching method and sciagraphy.
On the other hand, put under the situation in rotary being judged as this parking stall, the 15b of condition judgment portion also according to the road attribute mark that is included in the map datum that is stored in the map datum memory buffer 11, judges whether this rotary is opposing traffic road (step S2).Here, judging that rotary is under the situation of opposing traffic road, map match handling part 15a carries out map match by any one or two kinds of methods of pattern matching method and sciagraphy and handles (step S10) according to the control of the 15c of processing controls portion.
On the other hand, not the opposing traffic road, promptly be under the situation of one-way trip road being judged as rotary, the latitude and longitude information of each node during the 15b of condition judgment portion also writes down according to the connected node that is included in map datum, calculate the maximum radius of this rotary, judge whether the maximum radius of rotary is the 1st threshold value Th1 above (step S3).Here, in the maximum radius of judging rotary not under the situation more than the 1st threshold value Th1, map match handling part 15a carries out map match by any one or two kinds of methods of pattern matching method and sciagraphy and handles (step S10) according to the control of the 15c of processing controls portion.
On the other hand, under the maximum radius that is judged as rotary is situation more than the 1st threshold value Th1, the 15b of condition judgment portion also calculates the least radius of this rotary according to the latitude and longitude information of each node in the connected node record that is included in map datum, judge whether the least radius of rotary is the 2nd threshold value Th2 following (step S4).Here, at the least radius that is judged as rotary not under the situation below the 2nd threshold value Th2, map match handling part 15a carries out map match by any one or two kinds of methods of pattern matching method and sciagraphy and handles (step S10) according to the control of the 15c of processing controls portion.
On the other hand, under the least radius that is judged as rotary is situation below the 2nd threshold value Th2, the 15b of condition judgment portion also judge the maximum radius of the rotary that in step S3, calculates whether be the least radius that in step S4, calculates regulation doubly below (step S5).Here, in the maximum radius that is judged as rotary is under the situation of regulation more than doubly of least radius, map match handling part 15a carries out map match by any one or two kinds of methods of pattern matching method and sciagraphy and handles (step S10) according to the control of the 15c of processing controls portion.
Under the situation that the condition of above step S1～S5 is all passed through, map match handling part 15a is according to the processing of the 15c of processing controls portion, and the following map match of anglec of rotation variable quantity θ of using is handled.That is, map match handling part 15a at first sets reference point A ' (step S6).For example, to the moment t that rotary enters, will be defined as reference point A ' at vehicle to the point of contact that enters line and rotary line RDA of rotary.
Then, map match handling part 15a is stored in the vehicle location among the driving trace storage part 15d and the data of vehicle heading according to per stipulated time Δ t as driving trace, obtain the moment of moment t vehicle enter into the vehicle heading DR1 (for example being connected to the direction of the 1st road line of the rotary of reference point A ') of the place A of rotary and the moment (the t+ Δ t) automobile storage behind stipulated time Δ t after this vehicle heading DR2 poor of place B, as anglec of rotation variable quantity θ (step S7).
And then map match handling part 15a obtains the central point O (step S8) of the annular that is formed by rotary line RDA.For example, according to the connected node table information that is included in the map datum, inspection is positioned at the longitude and latitude of all nodes on each end points of a plurality of road lines that constitute rotary line RDA, with the mean value of the peak of longitude and latitude and the minimum point coordinate as central point O.
Then, map match handling part 15a obtains the some B ' (step S9) of the angle identical with the anglec of rotation variable quantity θ that obtains in step S7 as the annular center angle ∠ A ' OB ' that forms on rotary line RDA.That is, will be that an end of arc, the other end of this arc serve as that the central angle ∠ A ' OB ' that puts B ' gets the identical size with anglec of rotation variable quantity θ with the reference point A ' on the rotary line RDA, the some B ' that obtains this moment is as current vehicles position (match point).
After the processing of above-mentioned steps S9 or step S10, get back to step S1.Then, carry out map match by the processing of step S6～S9 during in vehicle is in rotary,, then carry out map match by the processing of step S10 if break away from from rotary.In addition, when as stating, obtaining the match point in the moment (t+2 Δ t) after a B ' passes through stipulated time Δ t again, in step S6, both reference point can be fixed as an A ', also can be a B '.
As above detailed description, according to present embodiment, obtain the anglec of rotation variable quantity θ of the vehicle in rotary, travelling, θ obtains current vehicles position (match point) according to this anglec of rotation variable quantity, so got rid of the influence that the coupling in the rotary is brought by the detected range information of range sensor 5b, even between road line and real road, have in the rotary of bigger difference, also can carry out map match accurately.
In addition, above-mentioned embodiment only is that the example of specializing when of the present invention is implemented in expression, does not limit ground in view of the above and explains technical scope of the present invention.That is, the present invention can implement with various forms under the situation that does not break away from its purport or its principal character.
Industrial applicibility
The present invention is adapted at possessing in the guider of map match function and uses described map match The suitable school of vehicle position mark that function will show according to the location position of self-discipline navigation method sensor Just for being presented on the road.
Claims (3)
1, a kind of guider possesses: angular transducer, the anglec of rotation of detection vehicle; Vehicle angles variable quantity operational part according to the output signal of above-mentioned angular transducer, is obtained the anglec of rotation variable quantity of the vehicle in travelling in circle point, it is characterized in that possessing:
The vehicle location operational part, the central angle of the annular that forms as road line with the angle identical by above-mentioned circle point with the anglec of rotation variable quantity of obtaining by above-mentioned vehicle angles variable quantity operational part, with corresponding to an end of the arc on the above-mentioned annular of above-mentioned central angle as reference point, obtain the other end of determined above-mentioned arc at this moment, as the current vehicles position;
Display control unit, data are carried out the picture demonstration to map according to the map, and, be controlled on the map that picture shows the current vehicles position display vehicle position mark of obtaining by above-mentioned vehicle location operational part.
2, guider as claimed in claim 1 possesses:
The opposing traffic judging part according to above-mentioned map datum, judges whether above-mentioned circle point is the opposing traffic road;
The maximum radius operational part according to above-mentioned map datum, is obtained the maximum radius of above-mentioned circle point; And
The least radius operational part according to above-mentioned map datum, is obtained the least radius of above-mentioned circle point,
This guider is characterised in that, and possesses:
Control part, only, be controlled to by above-mentioned vehicle angles variable quantity operational part and above-mentioned vehicle location operational part and obtain above-mentioned current vehicles position being that above-mentioned circle point is not the opposing traffic road and is more than the 1st threshold value and by the least radius that above-mentioned least radius operational part is obtained to be below the 2nd threshold value and by the maximum radius that above-mentioned maximum radius operational part is obtained to be the regulation of the least radius obtained of above-mentioned least radius operational part when doubly following by the maximum radius that above-mentioned maximum radius operational part is obtained by above-mentioned opposing traffic judgement section judges.
3, a kind of vehicle location is determined method, according to the output signal of the angular transducer of the anglec of rotation that detects vehicle, obtains the anglec of rotation variable quantity of the vehicle in travelling in circle point, it is characterized in that,
The central angle of the annular that forms as road line with the angle identical by above-mentioned circle point with above-mentioned anglec of rotation variable quantity, with corresponding to an end of the arc on the above-mentioned annular of above-mentioned central angle as reference point, obtain the other end of determined above-mentioned arc at this moment, as the current vehicles position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005331523A JP4651511B2 (en) | 2005-11-16 | 2005-11-16 | Navigation device and vehicle position determination method |
| JP331523/2005 | 2005-11-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1995920A CN1995920A (en) | 2007-07-11 |
| CN100535602C true CN100535602C (en) | 2009-09-02 |
Family
ID=38202569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101603020A Expired - Fee Related CN100535602C (en) | 2005-11-16 | 2006-11-16 | Navigation device and vehicle position determination method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4651511B2 (en) |
| CN (1) | CN100535602C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102313556B (en) * | 2010-07-01 | 2014-04-02 | 北京四维图新科技股份有限公司 | Method and device for matching paths on round island |
| JP5646980B2 (en) * | 2010-12-16 | 2014-12-24 | クラリオン株式会社 | Ambient condition monitoring device for vehicles |
| JP5831308B2 (en) * | 2012-03-13 | 2015-12-09 | アイシン・エィ・ダブリュ株式会社 | Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer program |
| JP5783093B2 (en) | 2012-03-13 | 2015-09-24 | アイシン・エィ・ダブリュ株式会社 | Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer program |
| CN103323016A (en) * | 2013-06-16 | 2013-09-25 | 苏州联讯达软件有限公司 | Navigation method and system of non-motor vehicle |
| WO2019003277A1 (en) * | 2017-06-26 | 2019-01-03 | 日産自動車株式会社 | Direction indictor control method and direction indicator control device |
| JP7114865B2 (en) * | 2017-09-04 | 2022-08-09 | 日産自動車株式会社 | VEHICLE POSITION DETECTION METHOD AND VEHICLE POSITION DETECTION DEVICE |
| JP6881369B2 (en) * | 2018-03-26 | 2021-06-02 | トヨタ自動車株式会社 | Vehicle position estimation device |
| CN113295173B (en) * | 2021-05-24 | 2023-08-29 | 安徽师范大学 | Map matching method for annular road section |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06231226A (en) * | 1993-02-05 | 1994-08-19 | Fujitsu Ltd | Device and method for setting three-dimensional position in compouter graphics device |
| JP3798546B2 (en) * | 1998-03-04 | 2006-07-19 | アルパイン株式会社 | Route guidance method at roundabout |
-
2005
- 2005-11-16 JP JP2005331523A patent/JP4651511B2/en not_active Expired - Fee Related
-
2006
- 2006-11-16 CN CNB2006101603020A patent/CN100535602C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1995920A (en) | 2007-07-11 |
| JP4651511B2 (en) | 2011-03-16 |
| JP2007139503A (en) | 2007-06-07 |
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