CN106441321A - Vehicle positioning device, vehicle positioning method and navigation device - Google Patents
Vehicle positioning device, vehicle positioning method and navigation device Download PDFInfo
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- CN106441321A CN106441321A CN201510484680.3A CN201510484680A CN106441321A CN 106441321 A CN106441321 A CN 106441321A CN 201510484680 A CN201510484680 A CN 201510484680A CN 106441321 A CN106441321 A CN 106441321A
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- vehicle
- parking
- current location
- parking lot
- parking stall
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention provides a vehicle positioning device, a vehicle positioning method and a navigation device. According to the invention, the current position of a vehicle is determined through a map matching mode of correcting the current position of the vehicle by map matching processing and a parking mode of correcting the current position of the vehicle without map matching processing. Under the circumstance of judging that the vehicle is about to enter a parking space, the map matching mode is switched to the parking mode, the detected current position of the vehicle is corrected without map matching processing, thus avoiding false correction of the vehicle's current position, and improving the detection precision of the vehicle's current position. That is to say, under the circumstance of judging that the vehicle is about to enter a parking space, map matching processing to the vehicle is not needed, however the mode is switched to the parking mode to locate the current actual position of the vehicle.
Description
Technical field
The present invention relates to vehicle locating device, vehicle positioning method and guider, more particularly, to it is directed to
Enter the vehicle locating device of vehicle after car park areas, vehicle positioning method and guider.
Background technology
In recent years, driving vehicle is guided so that driver is easy to the guider arriving at
Constantly popularize, be extensively configured in various vehicles.In general, guider is for up in road
The vehicle sailed, such as from GPS (global positioning system) satellite reception framing signal, by map
Join and process the current location revising vehicle, and guided to driving vehicle according to the current location of vehicle.
With the continuous development of airmanship, an urgent demand guider can not only be to up in road
The vehicle sailed guides, but also can be to the vehicle being in such as car park areas outside road
Guide.For this reason, requiring guider can obtain the current of the vehicle being in car park areas
Position.
In the past, guider cannot receive satellite positioning signal sometimes in car park areas, and
The road data in car park areas cannot be obtained.Therefore, vehicle enter car park areas after,
If carrying out map match process, it is possible to be modified to the current location of vehicle inaccurate on the contrary
Position.
For above-mentioned situation it is proposed that guider stops after vehicle is detected and entering car park areas
The technology that only map match is processed.For example, patent document 1 discloses that and be judged as that meeting automobile enters
In the case of condition in the specific regions such as parking lot, stop map matching treatment, and will be passed through oneself
The position that standby navigation elements obtain is directly as the current location of this vehicle.
But, pass through in stopping map matching treatment to provide the current location of navigation this vehicle of acquisition for oneself
In the case of, due to providing the error of navigation sensor for oneself, the positioning precision of the current location of this vehicle declines.
In the case of just stopping map matching treatment after vehicle as described in Patent Document 1 enters parking lot, from
The error of standby navigation sensor is constantly accumulated with the traveling of vehicle, leads to positioning precision to decline to a great extent.
Particularly in large parking lot, the decline of positioning precision is particularly evident.
Process to repair it is proposed that also continuing with map match in car park areas for above-mentioned situation
The technology of the current location of positive vehicle.For example, patent document 2 discloses that a kind of current location calculates dress
Put, storing record in the recording medium has the cartographic information of the road data representing parking lot, this ground
The position having the vehicle in parking lot may travel, the profile in parking lot is recorded as road in figure information
Data.Mated with the road data of cartographic information by the current location being measured measurement mechanism
To obtain the candidate of vehicle location, and reliability highest candidate is set as showing candidate, thus
In the case that vehicle travels on parking lot, will not error hiding to neighbouring road, and can match and stop
Parking lot.Region thereby, it is possible to reliably travel on to vehicle outside the roads such as parking lot judges.
According to above-mentioned technology, by obtaining the road data in car park areas, and in car park areas
Proceed map match to process to revise the current location of vehicle, improve the current location of this vehicle
Positioning precision.
But, in the above prior art, after vehicle enters car park areas, finally sail parking stall into
When, process to revise the current location of vehicle due to proceeding map match, lead to the current of vehicle
Position is corrected on the road to car park areas, and cannot be positioned exactly on that vehicle is actual to be sailed into
Parking stall.
Patent documentation 1：Japanese Unexamined Patent Publication 2001-330455A
Patent documentation 2：Japanese Unexamined Patent Publication 2001-116570A
As described above, in above-mentioned various prior arts, all exist vehicle enter car park areas it
Technical problem that when particularly sailing parking stall afterwards into, positioning precision declines to a great extent, cause the user is very big
Puzzlement.
Content of the invention
The present invention is in view of above-mentioned technical problem of the prior art, it is intended that providing to enter in vehicle
The vehicle locating device of positioning precision, vehicle positioning method can be improved after entering car park areas and lead
Boat device.
In order to achieve the above object, the present invention provides a kind of vehicle locating device, possesses by map
Join and process the map match pattern that the current location of vehicle is modified and do not processed by map match
The car-parking model that the current location of vehicle is modified is it is characterised in that is possessed：Position detection part,
The current location of detection vehicle；Mode detection portion, to being presently at described map match pattern still
It is in described car-parking model to be detected；Parking lot information obtaining section, obtains stop related to parking lot
Car pool information；Judging part, is being detected as being currently at map match pattern by described mode detection portion
In the case of, current location according to the vehicle being detected by described position detection part and by described parking lot
The parking lot information that information acquiring section obtains, judges whether vehicle to be ready entering stopping in described parking lot
Parking stall；And switch control portion, it is being judged as that vehicle to be ready entering described parking stall by described judging part
In the case of, it is described car-parking model from described map match pattern switching.
The present invention also provides a kind of vehicle positioning method, possesses to process by map match and vehicle is worked as
Map match pattern that front position the is modified and current location to vehicle is not processed by map match
The car-parking model being modified is it is characterised in that include：Position detecting step, detects working as of vehicle
Front position；Pattern detection step, to be presently at described map match pattern be in described in stop
Car pattern is detected；Parking lot information acquisition step, obtains the parking lot information related to parking lot；
Judge step, in the case of being detected as being currently at map match pattern by described pattern detection step,
Current location according to the vehicle being detected by described position detecting step and being taken by described parking lot information
Obtain the parking lot information that step obtains, judge whether vehicle to be ready entering the parking stall in described parking lot；
And switching control step, it is being judged as that vehicle to be ready entering described parking stall by described judgement step
In the case of, it is described car-parking model from described map match pattern switching.
Vehicle according to the invention positioner and vehicle positioning method, in the current location according to vehicle
In the case of being judged as that vehicle to be ready entering parking stall with parking lot information, by from map match pattern
Switch to car-parking model, the current location to the vehicle detecting is not processed by map match and repair
Just, thus the current location avoiding vehicle situation about being revised by mistake, increase the current location of vehicle
Accuracy of detection.That is, it is judged that go out vehicle to be ready entering parking stall, so without carrying out the ground to vehicle
Figure matching treatment, and it is to switch to car-parking model, the physical location current to vehicle positions.
Can also be in the following ways in the vehicle locating device of the present invention：Described position detection part exists
Under described car-parking model, described vehicle is detected by the navigator of providing for oneself carried in described vehicle
Current location.
It is possible to cannot receive accurately because the vehicle under car-parking model is typically in car park areas etc.
Satellite positioning signal region, the precision of vehicle location can be improved further by providing navigation for oneself.
Can also be in the following ways in the vehicle locating device of the present invention：Described judging part is meeting
All following conditions (1), to condition (3), are judged as that vehicle to be ready entering described parking
Position, condition (1)：Vehicle is in straight-going state；Condition (2)：The current location of vehicle is away from this parking
Position is in prescribed limit；Condition (3)：This parking stall can be used in stopping.
Judge thereby, it is possible to simplicity and exactly whether vehicle to be ready entering parking stall.Particularly stopping
In the case that parking stall can enter parking stall immediately close to after road in parking lot etc., turn inside diameter,
The accuracy of judgement can be improved further.
Can also be in the following ways in the vehicle locating device of the present invention：Described judging part is meeting
All following conditions (4), to condition (7), are judged as that vehicle to be ready entering described parking
Position, condition (4)：Vehicle is in straight-going state；Condition (5)：Stop to this from the current location of vehicle
When vertical line is made in each bar boundary line of parking stall, the intersection point that at least one vertical line meets this vertical line is located at boundary line
Interior and vertical line section from the current location of vehicle to this intersection point length is less than specific length；Condition (6)：
The direct of travel of vehicle is less than predetermined angular with the angle formed by vertical line meeting described condition (5)；Bar
Part (7)：This parking stall can be used in stopping.
Thereby, it is possible to judge whether vehicle to be ready entering parking stall exactly.Particularly parking stall with
In parking lot, road is separated by a distance or cannot directly sail into etc., cannot enter immediately after turn inside diameter
The accuracy of judgement in the case of entering parking stall, can be improved further.
Can also be in the following ways in the vehicle locating device of the present invention：In described position detection part
The current location of the vehicle detecting is in described parking lot, and described judging part is judged as described car
Be not just enter described parking stall in the case of, based on described map match pattern, by map
Matching treatment is modified to the current location of described vehicle.
Thus, also continue with map match after vehicle enters parking lot to process, such as by vehicle
Auto-matching is to road in nearest parking lot, it is possible to increase travel on vehicle road in parking lot
When positioning precision.And then, only when vehicle to be ready entering the parking stall in parking lot, by map
Joining process switching is car-parking model, improves vehicle and enters positioning precision during parking stall.By as above
Processing, having taken into account the positioning precision of vehicle road and parking stall both sides in parking lot, thus significantly carrying
High overall positioning precision in parking lot for the vehicle.
The vehicle that the above-mentioned various modes of the vehicle locating device of the present invention are readily adaptable for use in the present invention is fixed
Method for position, and obtain corresponding technique effect.
And, the present invention also provides a kind of guider, possesses any one car in above-mentioned various mode
Positioner.
According to the guider of the present invention, due to employing the positioning knot of the vehicle locating device of the present invention
Really, vehicle can be accurately positioned, it is to avoid the doubt of user.And then additionally it is possible to based on high-precision
The current location of the vehicle of degree generates path of navigation, avoids as far as possible causing to guide road due to Wrong localization
The inaccurate situation in footpath, it is possible to increase the accuracy of the path of navigation being generated.
Brief description
Fig. 1 is the structured flowchart of the vehicle locating device of the first embodiment of the present invention.
Fig. 2 is the flow chart of the vehicle positioning method of the first embodiment of the present invention.
Fig. 3 is the flow chart of a concrete example of the vehicle positioning method of the first embodiment of the present invention.
Fig. 4 A, Fig. 4 B are the schematic diagrams of the effect of the concrete example of the first embodiment that the present invention is described.
Fig. 5 A, Fig. 5 B are to be used in the first embodiment illustrate the present invention judging whether vehicle is about to
Enter the schematic diagram of the usable condition of concrete mode 1 on parking stall.
Fig. 6 be the present invention first embodiment in for judging that whether vehicle to be ready entering parking stall
The flow chart of concrete mode 1.
Fig. 7 A, Fig. 7 B are to be used in the first embodiment illustrate the present invention judging whether vehicle is about to
Enter the schematic diagram of the usable condition of concrete mode 2 on parking stall.
Fig. 8 be the present invention first embodiment in for judging that whether vehicle to be ready entering parking stall
The flow chart of concrete mode 2.
Fig. 9 is to be used in the first embodiment illustrate the present invention judging whether vehicle to be ready entering stopping
The schematic diagram of the Rule of judgment of concrete mode 2 of position.
Figure 10 is the structured flowchart of the guider of second embodiment of the present invention.
Figure 11 is the schematic diagram of the background that the present invention is described.
Description of reference numerals：
100 car park areas；101 Entrances；102 EXITs；103 parking lot Nei Dao
Road；104 parking stalls；105 vehicles；106 current location labellings；1 vehicle locating device；11
Put test section；12 mode detection portions；13 parking lot information obtaining sections；14 judging parts；15 switchings
Control unit；1041st, the boundary line on 1042,1043,1044 parking stalls；107 projection lines (vertical line)；
108 direct of travels.
Specific embodiment
Below in conjunction with accompanying drawing, specific embodiment and concrete example, the present invention will be described in more detail.
Wherein, the description below is intended merely to the example conveniently understanding the present invention and enumerating, and is not used in and limits this
Bright scope.In a specific embodiment, the part of device can change, delete according to practical situation
Or add, the step of method can change, delete according to practical situation, add or change order.?
In accompanying drawing, size, direction etc. are only to be illustrated, and can be changed according to practical situation.
(rudimentary knowledge of the present invention and background)
First, before illustrating each embodiment of the present invention, the first brief description present invention's
Rudimentary knowledge and background.
In the prior art, guider etc. is when carrying out vehicle location, from gps satellite or vehicle
The navigator etc. of providing for oneself carried obtains framing signal, estimates the current location of vehicle based on framing signal.
For the current location of the vehicle of presumption, guider can be processed using map match and be modified,
And shown the current location of revised vehicle as final result, or for carrying out to vehicle
Guiding.
So-called map match is processed, and refers to determine the place of road that vehicle is travelled according to location data
Reason.Specifically, when the current location revising vehicle is processed by map match, such as base area
Road information included by diagram data, the current location of the vehicle being estimated based on framing signal is projected to
Projected position on the road parallel with vehicle traveling direction for the vehicle to be obtained on road, and by distance
The nearest projected position in current location of the vehicle based on framing signal presumption is as revised vehicle
Current location.Thereby, it is possible to be automatically matched to the position of vehicle on nearest road, thus improve
The precision of vehicle location.
But, when vehicle enters and finally sails parking stall into after car park areas, comprehend at map match
The technical problem of error hiding occurs.Figure 11 is the schematic diagram of the background that the present invention is described, shows parking
Situation in field areas 100.As shown in figure 11, vehicle can enter from Entrance 101 and stop
Field areas 100, and roll car park areas 100 away from from EXIT 102.In car park areas 100
In, vehicle can travel on road in parking lot 103, arrives at and dock at parking stall 104.Figure
The vehicle 105 having been enter into parking stall 104 is shown in 11.Now, if based on the map of acquiescence
Join pattern the current location of vehicle 105 is modified, then as described above, the position quilt of vehicle 105
It is automatically matched on road 103 in the nearest parking lot parallel with vehicle traveling direction, and conduct is worked as
Anteposition tagging 106 shows.So, the current location of vehicle 105 cannot be positioned exactly on vehicle
105 actual parking stalls 104 sailed into, positioning precision declines to a great extent, the very big puzzlement of cause the user.
(first embodiment)
Next, illustrating the first embodiment of the present invention for solving above-mentioned technical problem.
The vehicle locating device 1 of the first embodiment of the present invention is described first.Vehicle locating device 1 is used for really
Determine the current location of vehicle, for example, to be installed on the guider of vehicle.Certainly, vehicle locating device 1
As independent device, or other devices such as servomechanism of vehicle can also be installed on.Car
Positioner 1 allows hand over and processes, by map match, the ground that the current location to vehicle is modified
Figure match pattern and the parking mould by map match process, the current location of vehicle not being modified
Formula.Wherein, map match is processed as described above, referring to determine that vehicle is travelled according to location data
Road process.
Fig. 1 is the structured flowchart of the vehicle locating device of the first embodiment of the present invention, arrow therein
Head represents the direction of data transfer.As shown in figure 1, vehicle locating device 1 possess position detection part 11,
Mode detection portion 12, parking lot information obtaining section 13, judging part 14 and switch control portion 15.Below
Specifically illustrate.
Position detection part 11 is used for detecting the current location of vehicle, can be by special position detection part
Part is realized, or detects that program is realized by computing device position.Position detection part 11 can be by defending
Star navigator fix, according to the framing signal being received by GNSS (GPS) receiver
To detect the current location of vehicle.GNSS for example includes GPS (global positioning system), Galileo
The various alignment system such as alignment system, Beidou satellite navigation system.In addition, position detection part 11 also may be used
To position by providing navigation for oneself, working as of vehicle, is detected by the navigator of providing for oneself carried in vehicle
Front position.Provide navigator for oneself as carry in vehicle, for example, include vehicle heading sensor, car
The sensors such as velocity sensor, can be used in detecting the absolute position of vehicle.Wherein, vehicle heading
Sensor for example includes gyroscope etc., and the direct of travel that can detect vehicle is for detecting the current of vehicle
Position.And, position detection part 11 in conjunction with above-mentioned satellite navigation and can also provide navigation for oneself, for example, exist
Adopt satellite navigation during the framing signal that can receive satellite, and the positioning of satellite cannot received
Using providing navigation for oneself during signal.
Mode detection portion 12 examines to being presently at map match pattern and being in car-parking model
Survey, can be realized by special mode detection part, or pass through computing device mode detection program
Realize.Map match pattern is to be processed for the car being detected by position detection part 11 by map match
The pattern that is modified of current location, the such as road information included by data according to the map, will
The current location of the vehicle being detected by position detection part 11 projects to obtain vehicle in road on road
On projected position, and the nearest projected position in current location of the vehicle that distance is detected is as repairing
The current location of the vehicle after just.In addition, car-parking model is not processed for by position by map match
Put the pattern that the current location of the vehicle that test section 11 detects is modified, such as by position detection part
The current location of the vehicle detected by 11 is directly used as the current location of vehicle.
Parking lot information obtaining section 13 is used for obtaining the parking lot information related to parking lot.In this parking
Field includes parking stall, and parking lot information also comprises the information related to the parking stall in this parking lot.
Wherein, the map datum that parking lot information obtaining section 13 both can be able to utilize from vehicle locating device 1
Middle acquirement parking lot information is it is also possible to independently obtain parking lot information with map datum.In addition, stopping
The data communication function that car pool information obtaining section 13 can also be possessed by it is real-time from outside server
Or periodically obtain parking lot information.Wherein, parking lot information both can have been included in map datum
Obtain it is also possible to independently obtain from outside with map datum from outside.Parking lot information for example includes
Represent information of boundary line on the information of road 103 and expression parking stall etc. in parking lot, can be true
Determine position or angle of the boundary line on parking stall etc., so that the current location with reference to vehicle judges that vehicle is
No it to be ready entering this parking stall.In addition, parking lot information can also include other genus representing parking stall
Property such as information in center, area, direction etc..
Judging part 14 in the case of being detected as being currently at map match pattern by mode detection portion 12,
Current location according to the vehicle being detected by position detection part 11 and by parking lot information obtaining section 13
The parking lot information obtaining, judges whether vehicle to be ready entering the parking stall in this parking lot.Judging part 14
Can be realized by special judgement part, or be realized by computing device determining program.Judging part
14 when judging whether vehicle to be ready entering this parking stall, both can according to the current location of vehicle with stop
Relation between parking stall, such as position relationship or angular relationship are it is also possible to current location according to vehicle
The current state in the parking lot that the current state of the vehicle being reflected or parking lot information are reflected.Separately
Outward, judging part 14 can also be further introduced into other information, the speed for example representing vehicle or traveling side
To vehicle traveling information etc. for judging.
Switch control portion 15 be judged as by judging part 14 vehicle be about to enter parking stall in the case of,
It is car-parking model from map match pattern switching.Switch control portion 15 can be by special switching control
Part is realized, or is realized by computing device changeover program.In switch control portion 15 in above-mentioned situation
Lower by map match pattern switching be car-parking model after, vehicle locating device 1 does not carry out map match
Process, and for example the current location of the vehicle detected by position detection part 11 is directly used as vehicle
Current location.
According to the first embodiment of the invention vehicle locating device 1, in the current location according to vehicle
In the case of being judged as that vehicle to be ready entering parking stall with parking lot information, by from map match pattern
Switch to car-parking model, the current location to the vehicle detecting is not processed by map match and repair
Just, thus the current location avoiding vehicle situation about being revised by mistake, increase the current location of vehicle
Accuracy of detection.That is, it to be ready entering parking stall by judging vehicle, so without carrying out to vehicle
Map match process, and be to switch to car-parking model, the physical location current to vehicle positions.
Then the vehicle location performed by vehicle locating device 1 of the first embodiment of the explanation present invention
Method.Fig. 2 is the flow chart of the vehicle positioning method of the first embodiment of the present invention.As Fig. 2 institute
Show, the vehicle positioning method of the present invention include position detecting step S11, pattern detection step S12,
Parking lot information acquisition step S13, judge step S14 and switching control step S15.In position inspection
Survey in step S11, position detection part 11 detects the current location of vehicle.In pattern detection step S12
In, mode detection portion 12 is detected to being presently at map match pattern and being in car-parking model.
In parking lot information acquisition step S13, obtain the parking lot information related to parking lot.Judging
In step S14, judging part 14 is being detected as being currently at map match by pattern detection step S12
In the case of pattern, current location according to the vehicle being detected by position detecting step S11 and by stopping
The parking lot information that car pool information acquisition step S13 obtains, judges whether vehicle to be ready entering this parking
The parking stall of field.In switching control step S15, by judging that step S14 is judged as that vehicle is about to
In the case of entering above-mentioned parking stall, switch control portion 15 is car-parking model from map match pattern switching.
Vehicle positioning method shown in Fig. 2 for example can be realized by the idiographic flow shown in Fig. 3.
Fig. 3 is the flow chart of a concrete example of the vehicle positioning method of the first embodiment of the present invention.With
Under specifically illustrate.
In step s 200, position detection part 11 is for example by the satellite based on GPS location signal
Navigate and to detect the current location of vehicle.Wherein, being possible in vehicle entrance car park areas etc. cannot
After receiving the region of accurate GPS location signal, preferably led by being equipped on providing for oneself of this vehicle
Boat equipment is detecting the current location of vehicle.
In step s 201, mode detection portion 12 judges that being in map match pattern still stops mould
Formula.Here, when vehicle travels on road, typically adopting map match pattern, to improve vehicle
Positioning precision.And, the map datum that vehicle locating device 1 is utilized includes car park areas
Interior road information, even if therefore detect after vehicle enters car park areas, i.e. in step S200
The current location going out vehicle is in parking lot, also continues to using map match pattern, working as vehicle
Front position is revised to road in the parallel parking lot of the nearest direct of travel with vehicle.
In the case of being judged as in step s 201 being in map match pattern, execution step S202,
Parking lot information obtaining section 13 obtains the parking lot information related to parking lot.Next, execution step
S203, judging part 14 judges the current location of vehicle and parking lot information whether illustrate vehicle be about to into
Enter parking stall.Concrete determination methods with regard to step S203 are not construed as limiting, for example can be according to parking lot
Relation between interior road and parking stall takes the circumstances into consideration to change.
In the case of being judged as that in step S203 vehicle to be ready entering parking stall, execution step S204,
Map match pattern switching is car-parking model by switch control portion 15.Next, in step S205,
Do not carry out map match process, and will be direct for the current location of the vehicle detected by position detection part 11
Current location as vehicle.Here, because vehicle is in parking lot, therefore by providing navigation for oneself
Gyroscope is for example directly utilized to position.In addition, being judged as being in the feelings of car-parking model in step S202
Under condition, also execute above-mentioned steps S205.
In addition, be judged as in step S203 vehicle be not just enter parking stall in the case of, execution
Step S206, maintains map match pattern.Next, in step S207, by map match
Process and the current location of vehicle be modified, for example by the current location of vehicle revise to nearest with
On the parallel road of direct of travel (including road in parking lot).
After step S205, S207, execution step S208, the current location conduct of output vehicle
The positioning result of vehicle.Here, the positioning result of vehicle both can be shown in for example as video data
Carry on the display that the guider of vehicle locating device 1 possesses it is also possible to as positioning number
Export to other devices according to from vehicle locating device 1.
According to the first embodiment of the invention above-mentioned concrete example, can not only obtain the first embodiment party
The above-mentioned technique effect of formula, but also it is obtained in that technique effect beneficial as follows.
That is, under car-parking model, position detection part 11 by vehicle carry provide for oneself navigator Lai
The current location of detection vehicle.Vehicle under car-parking model is typically in car park areas etc. and is possible to no
Method receives the region of accurate satellite positioning signal, can improve vehicle further by providing navigation for oneself
The precision of positioning.
And, the current location of the vehicle detecting in position detection part 11 is in parking lot, and sentences
Disconnected portion 14 be judged as vehicle be not just enter described parking stall in the case of, based on map match pattern,
Process the current location to vehicle by map match to be modified.Thus, enter parking lot in vehicle
Also continue with map match afterwards to process, such as by vehicle Auto-matching to nearest parking lot Nei Dao
Lu Shang, it is possible to increase positioning precision when vehicle travels on road in parking lot.And then, only in car
Be about to enter parking lot in parking stall when, by map match process switching be car-parking model, improve
Vehicle enters positioning precision during parking stall.By being processed as above, take into account vehicle in parking lot
Road and the positioning precision of parking stall both sides, thus it is fixed that vehicle entirety parking lot in is greatly improved
Position precision.
The effect above below in conjunction with the concrete example of brief description first embodiment.Fig. 4 A, Fig. 4 B
It is the schematic diagram of the effect of the concrete example of the first embodiment that the present invention is described, car park areas 100
Construction identical with Figure 11, therefore not to repeat here.In addition, observing for convenience, vehicle 105 simplifies
Represent for rectangle frame.As shown in Figure 4 A, enter parking place in vehicle 105 from Entrance 101
Behind domain 100, along in parking lot, road 103 travels.Now, maintain map match pattern, pass through
Map match processes the current location to the vehicle 105 detecting and is modified, by the position of vehicle 105
Put Auto-matching to road in parking lot 103, and show (arrow as current location labelling 106
Represent the direction of headstock institute direction).Afterwards, as shown in Figure 4 B, in vehicle 105 via in parking lot
During road 103 parking stall 104 to be docked at, it is car-parking model from map match pattern switching, directly
Using the current location of the vehicle detecting 105 as vehicle positioning result, and as current location mark
Note 106 display.According to Fig. 4 A, Fig. 4 B, the above-mentioned concrete example of first embodiment is taken into account
The positioning precision of vehicle road and parking stall both sides in parking lot.
(for judging whether vehicle to be ready entering the concrete mode on parking stall)
For the ease of understanding the present invention, below enumerate for judging whether vehicle to be ready entering parking stall
Concrete mode.As described above, judge in the present invention vehicle whether to be ready entering parking stall be not limited to following
Concrete mode, can take the circumstances into consideration to change according to the different situations on road in parking lot and parking stall.
Fig. 5 A, Fig. 5 B are to be used in the first embodiment illustrate the present invention judging whether vehicle is about to
Enter the schematic diagram of the usable condition of concrete mode 1 on parking stall.Fig. 5 A, Fig. 5 B show parking
Position 104 is close to the situation of road in parking lot 103.In this case, as shown by arrows in FIG.,
Vehicle 105 can enter parking stall 104 after turning immediately.In such a situation it is preferred to be suitable for such as
Lower explanation for judging that whether vehicle to be ready entering the concrete mode 1 on parking stall.
Fig. 6 be the present invention first embodiment in for judging that whether vehicle to be ready entering parking stall
The flow chart of concrete mode 1.As shown in fig. 6, in step S301, judging part 14 judges vehicle
Whether turn.Step S301 be judged as vehicle be not turning, i.e. vehicle be in straight trip shape
In the case of state, execution step S302, judge whether the current location of vehicle is in rule away from this parking stall
Determine in scope.Here, for example vehicle is approximately a point, when each bar border of this point and parking stall
When beeline between the scope that line is surrounded is less than defined threshold, it is judged as the current location of vehicle
It is in prescribed limit away from this parking stall.This defined threshold can according to practical situation be chosen for 1m or
The arbitrary distance such as 2m.Wherein, in the case that the point that vehicle is approximately is located in the scope of parking stall,
It is considered that distance is 0, also it is judged as that the current location of vehicle is in prescribed limit away from this parking stall.
It is judged as that the current location of vehicle is in prescribed limit away from this parking stall in step s 302
In the case of, execution step S303, judge whether this parking stall can be used in stopping.Here, for example stopping
The parking space information that car pool information is comprised reflects whether this parking stall is idle or whether pre- by other people
Order, in the case of not subscribed in the parking stall free time and by other people, be judged as that this parking stall can be used in stopping
Car.In addition, judging whether parking stall can be used in stopping it is also possible to further contemplate by parking lot information
The other factors such as the size on parking stall representing.It is judged as that this parking stall can be used in step S303
In the case of parking, it is judged as that vehicle to be ready entering this parking stall in step s 304.
In addition, being judged as that in step S301 vehicle is being turned or judged in step s 302
Current location for vehicle is not to be in prescribed limit away from this parking stall or be judged as in S303
In the case that this parking stall cannot be used for stopping, it is judged as that vehicle is not just to enter in step S305
This parking stall.
According to above-mentioned for judging that whether vehicle to be ready entering the concrete mode 1 on parking stall, can easy and
Judge whether vehicle to be ready entering parking stall exactly.Particularly on parking stall close to parking lot Nei Dao
In the case of parking stall being entered immediately after road etc., turn inside diameter, judgement can be improved further
Accuracy.
Fig. 7 A, Fig. 7 B are to be used in the first embodiment illustrate the present invention judging whether vehicle is about to
Enter the schematic diagram of the usable condition of concrete mode 2 on parking stall.Fig. 7 A, Fig. 7 B show vehicle
The situation on parking stall 104 cannot be immediately entered after 105 turnings.For example, in fig. 7, parking stall
104 is separated by a distance with road in parking lot 103, and vehicle needs to continue traveling one after turning
Set a distance could enter parking stall 104.In addition, in figure 7b, although parking stall 104 and parking lot
Interior road 103 is close, but need in advance in parking lot road 103 roll away from, and continue to travel certain
Parking stall 104 could be entered after distance.In such a situation it is preferred to be suitable for as described below be used for sentencing
Whether disconnected vehicle to be ready entering the concrete mode 2 on parking stall.
Fig. 8 be the present invention first embodiment in for judging that whether vehicle to be ready entering parking stall
The flow chart of concrete mode 2.Fig. 9 is to be used in the first embodiment illustrate the present invention judging vehicle
Whether it to be ready entering the schematic diagram of the Rule of judgment of concrete mode 2 on parking stall.As shown in figure 8,
In step S401, judging part 14 judges whether vehicle turns.It is judged as car in step S401
Be not turn, in the case that i.e. vehicle is in straight-going state, execution step S402, judge car
Whether the projection line and the nearest boundary line on parking stall between is less than specific length.
With regard to the judgement of step S402, describe in detail with reference to Fig. 9.As shown in figure 9, parking stall 104
There are four boundary lines 1041,1042,1043 and 1044, nearest boundary line is away from vehicle 105
Boundary line 1041.Vehicle 105 (being approximately a point) is projected to this nearest boundary line 1041,
Obtain the projection line 107 between the nearest boundary line 1041 on vehicle 105 and parking stall.Here, sentencing
Whether the length of this projection line 107 disconnected is less than specific length, and this specific length can be according to practical situation
Take the circumstances into consideration to set, for example, it can be set to being the random lengths such as 2m.
The above-mentioned judgement of step S402 for example can be set up based on following conditions：Current from vehicle 105
To when making vertical line in each bar boundary line 1041～1044 on parking stall 104, at least one vertical line meets for position
The intersection point of this vertical line be located in boundary line and vertical line section from the current location of vehicle to this intersection point length
Less than specific length.In fig .9, from the current location of vehicle 105 to each bar side on parking stall 104
When vertical line (projection line) is made in boundary line 1041～1044, the vertical line of only oriented boundary line 1041,1043
Intersection point is located in boundary line, and the intersection point to the vertical line of boundary line 1042,1044 is located at prolonging of boundary line
On long line.Among the current location of vehicle 105 is to the vertical line of boundary line 1041,1043, if there are
The length of the vertical line section (from the line segment to intersection point for the current location of vehicle 105) of either one is less than regulation
Length, then be judged as in step S402 vehicle 105 and parking stall 104 nearest boundary line it
Between projection line be less than specific length.
The projection line being judged as between the nearest boundary line on vehicle and parking stall in step S402 is little
In the case of specific length, execution step S403, judge direct of travel and the projection line direction of vehicle
Whether formed angle is less than predetermined angular.It has been dotted line shows the direct of travel 108 of vehicle in Fig. 9,
It is a with the angle formed by direction of projection line 107.In step S403, judge this angle a
Whether it is less than predetermined angular, this predetermined angular can take the circumstances into consideration to set according to practical situation, for example, can set
Be set to 30 degree etc. arbitrarily angled.
The above-mentioned judgement of step S403 for example can be set up based on following conditions：The direct of travel of vehicle with
Meet angle formed by the vertical line of above-mentioned steps S402 and be less than predetermined angular.In fig. 9, it is assumed that from car
105 current location meets the judgement of step S402, vehicle to the vertical line 107 of boundary line 1041
Direct of travel 108 be a with the angle of vertical line 107.
It is judged as that the direct of travel of vehicle and angle formed by projection line direction are less than in step S403
In the case of predetermined angular, execution step S404, judge whether this parking stall can be used in stopping.As
What judges whether parking stall can be used in parking and may be referred to above-mentioned concrete mode 1.In step s 404
Be judged as this parking stall can be used in stop in the case of, be judged as in step S405 vehicle be about to into
Enter this parking stall.
In addition, being judged as that in step S401 vehicle is being turned or judged in step S402
For the projection line between the nearest boundary line on vehicle and parking stall be not less than specific length or
It is judged as in S403 that the direct of travel of vehicle and angle formed by projection line direction are not less than predetermined angular,
Or in the case of being judged as that in S404 this parking stall cannot be used for stopping, sentence in step S406
Breaking as vehicle is not just to enter this parking stall.
According to above-mentioned for judging whether vehicle to be ready entering the concrete mode 2 on parking stall, can be exactly
Judge whether vehicle to be ready entering parking stall.Particularly in parking stall with parking lot, road is separated by necessarily
Distance or in the case of cannot directly sailing into etc., parking stall cannot being immediately entered after turn inside diameter, energy
Enough accuracys improving judgement further.
(second embodiment)
Next, illustrating second embodiment of the present invention.Second embodiment of the present invention
Guider 20 possesses the first embodiment of the present invention or the vehicle locating device of its concrete example, by car
The current location of vehicle determined by positioner is used for generating path of navigation or is used for showing.
The guider 20 of second embodiment of the invention is described below in conjunction with Figure 10.Figure 10 is this
The structured flowchart of the guider 20 of bright second embodiment, arrows show data transmission therein
Direction or the direction of user operation input.As shown in Figure 10, the navigation dress of second embodiment of the invention
Put 20 path of navigation that can generate current location to the destination from vehicle, possess first embodiment
Or the vehicle locating device 1 of its concrete example, map data storage part 21, user input portion 22, guiding
Coordinates measurement portion 23 and display part 24.Detailed description below.
Whether vehicle locating device 1 is as described above, to be ready entering parking stall switching map according to vehicle
Join pattern and car-parking model, to determine the current location of vehicle, and by the current location of vehicle export to
Path of navigation generating unit 23 and display part 24 etc..
Map data storage part 21 is for example by non-volatile memories such as ROM, flash memory, harddisk memories
Device is constituted, the map datum that storage guider 20 is utilized, and wherein can include vehicle locating device
1 parking lot information being utilized.
User input portion 22 is for example made up of physical button, touch screen or mike etc., accepts user behaviour
Make to obtain the various information such as destination information by user input, and export to path of navigation generating unit
23.
Path of navigation generating unit 23 is for example guided by special path of navigation generating unit or computing device
Path generation program realizing, according to the current location of the vehicle being determined by vehicle locating device 1, with
And the destination information from user input portion 22 input, stored in conjunction with map data storage part 21
Map datum, road information (information of road in parking lot can also be included) particularly therein, raw
Become the path of navigation of current location to the destination from vehicle, and export to display part 24.
Display part 24 is for example made up of display devices such as liquid crystal display or organic el display, can
Display to the user that the current location of the vehicle being determined by vehicle locating device 1, by path of navigation generating unit
The path of navigation of 23 generations and the map datum that stored by map data storage part 21 etc..
According to the guider 20 of second embodiment, due to employing first embodiment or it is concrete
The positioning result of the vehicle locating device 1 of example, can be accurately positioned to vehicle, it is to avoid user's
Feel uncertain.And then additionally it is possible to the current location based on high-precision vehicle generates path of navigation, as far as possible
Avoid causing the inaccurate situation of path of navigation due to Wrong localization, it is possible to increase the guiding road being generated
The accuracy in footpath.
The specific embodiment of the present invention and concrete example above by reference to brief description.Wherein, above theory
Bright specific embodiment and concrete example are only the specific examples of the present invention, for understanding the present invention, and
It is not used in restriction the scope of the present invention.Those skilled in the art being capable of technological thought pair based on the present invention
Specific embodiment and concrete example carry out the reasonable omission of various modifications, combination and key element, thus obtain
Mode be intended to be included within the scope of the present invention.
For example, in above-mentioned embodiment and concrete example, map datum and parking lot information are not limited to deposit
Storage is in the map data storage part 21 that guider 20 possesses it is also possible to by vehicle locating device 1
Or the data communication function that possessed by it of guider 20 is from outside server in real time or periodically
Obtain.Wherein, parking lot information both can include in map datum from outside obtain it is also possible to
Map datum independently obtains from outside.
For example, in above-mentioned embodiment and concrete example, the flow process of each method (such as Fig. 2, Fig. 3,
Flow process shown in Fig. 6, Fig. 8) both can continue repeatedly to execute it is also possible at intervals of set time with the cycle
Property execution, or with regulation trigger event for opportunity execute.As its specific executive mode, this
Skilled person can take the circumstances into consideration to set according to practical situation, is not construed as limiting in the present invention.
Claims (7)
1. a kind of vehicle locating device, is possessed and by map match process, the current location of vehicle is carried out
The map match pattern revised and by map match process, the current location of vehicle not being modified
Car-parking model is it is characterised in that possess：
Position detection part, the current location of detection vehicle；
Mode detection portion, is in described car-parking model to being presently at described map match pattern
Detected；
Parking lot information obtaining section, obtains the parking lot information related to parking lot；
Judging part, in the case that map match pattern is currently at by the detection of described mode detection portion,
Current location according to the vehicle being detected by described position detection part and being obtained by described parking lot information
The parking lot information that portion obtains, judges whether vehicle to be ready entering the parking stall in described parking lot；With
And
By described judging part, switch control portion, is being judged as that vehicle to be ready entering the situation on described parking stall
Under, it is described car-parking model from described map match pattern switching.
2. vehicle locating device as claimed in claim 1 it is characterised in that
Described position detection part, under described car-parking model, provides navigation for oneself by carry in described vehicle
Equipment is detecting the current location of described vehicle.
3. vehicle locating device as claimed in claim 1 it is characterised in that
Described judging part is meeting in the case that all following conditions (1) are to condition (3), is judged as
Vehicle to be ready entering described parking stall,
Condition (1)：Vehicle is in straight-going state；
Condition (2)：The current location of vehicle is in prescribed limit away from this parking stall；
Condition (3)：This parking stall can be used in stopping.
4. vehicle locating device as claimed in claim 1 it is characterised in that
Described judging part is meeting in the case that all following conditions (4) are to condition (7), is judged as
Vehicle to be ready entering described parking stall,
Condition (4)：Vehicle is in straight-going state；
Condition (5)：When vertical line is made to each bar boundary line on this parking stall in the current location of vehicle, extremely
The intersection point that a few vertical line meets this vertical line is located in boundary line and from the current location of vehicle to this intersection point
Vertical line section length be less than specific length；
Condition (6)：The direct of travel of vehicle is little with the angle formed by vertical line meeting described condition (5)
In predetermined angular；
Condition (7)：This parking stall can be used in stopping.
5. vehicle locating device as claimed in claim 1 it is characterised in that
It is in described parking lot in the current location of the vehicle that described position detection part detects, and institute
State judging part be judged as described vehicle be not just enter described parking stall in the case of, based on described
Figure match pattern, processes the current location to described vehicle by map match and is modified.
6. a kind of vehicle positioning method, is possessed and by map match process, the current location of vehicle is carried out
The map match pattern revised and by map match process, the current location of vehicle not being modified
Car-parking model is it is characterised in that include：
Position detecting step, the current location of detection vehicle；
Pattern detection step, is in described parking mould to being presently at described map match pattern
Formula is detected；
Parking lot information acquisition step, obtains the parking lot information related to parking lot；
Judge step, be detected as being currently at the feelings of map match pattern by described pattern detection step
Under condition, current location according to the vehicle being detected by described position detecting step and by described parking lot
The described parking lot information that information acquisition step obtains, judges whether vehicle to be ready entering described parking lot
In parking stall；And
By described judgement step, switching control step, is being judged as that vehicle to be ready entering described parking stall
In the case of, it is described car-parking model from described map match pattern switching.
7. a kind of guider, possesses the vehicle locating device any one of claim 1 to 5.
Priority Applications (1)
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| CN201510484680.3A CN106441321B (en) | 2015-08-07 | 2015-08-07 | Vehicle positioning device, vehicle positioning method and navigation device |
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|---|---|---|---|
| CN201510484680.3A CN106441321B (en) | 2015-08-07 | 2015-08-07 | Vehicle positioning device, vehicle positioning method and navigation device |
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| CN106441321B CN106441321B (en) | 2021-03-16 |
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| CN109029439A (en) * | 2017-06-12 | 2018-12-18 | 深圳市耀航信息技术有限公司 | The method of automatic label parking position |
| CN109141445A (en) * | 2018-04-02 | 2019-01-04 | 中山大学 | A kind of distribution Online Map matching process |
| CN109478069A (en) * | 2017-04-13 | 2019-03-15 | 松下电器产业株式会社 | The control method and electric vehicle of electric vehicle |
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| CN110488280A (en) * | 2019-08-29 | 2019-11-22 | 广州小鹏汽车科技有限公司 | A kind of modification method and device, vehicle, storage medium of parking stall profile |
| CN112927550A (en) * | 2019-12-06 | 2021-06-08 | 丰田自动车株式会社 | Automatic parking system |
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