JP2001116570A - Present position calculating device, present position calculating method, and map data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a present position calculating device exactly judging that a vehicle travels on a place other than roads such as a parking space. SOLUTION: The present position calculating device; which comprises measuring means 5, 6, 8 for a vehicle position and a memory media 1 with map information stored, and then searches candidates of a vehicle position by matching a present position measured by the measuring means 5, 6, 8 to road data in map information to set a most reliable candidate as a display candidate; stores map information where road data showing a car park is recorded in the memory media 1. The present position can be matched to the parking space or a parking area with no mismatching to a nearby road when traveling on the car park or the parking area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a current position calculating device which is loaded on a moving body to calculate a current position of the moving body, a calculating method thereof, and map data used for the calculating method. Even when traveling on a road such as a car park, a correct position can be calculated.

[0002]

2. Description of the Related Art Conventionally, there is a current position calculating device as a device for calculating a current position of a vehicle traveling on a road. This current position calculation device calculates the current position of the moving object based on the traveling distance measured by the vehicle speed sensor and the azimuth measured by the angular velocity sensor, the azimuth sensor, and the like. The mileage is
For example, the pulse output according to the rotation of the tire,
The azimuth is obtained by multiplying a certain coefficient, and the azimuth is obtained by integrating outputs of an angular velocity sensor such as a gyro.

As a technique for calculating the current position, there is a map matching technique for correcting the calculated current position so as to match the road data, as described in Japanese Patent Application Laid-Open No. 63-148115. Since the vehicle usually travels on a road in many cases, the accuracy of the current position can be improved by the map matching technology.

[0004] Road data is generally composed of links and nodes, and points connecting the links are called nodes. FIG. 36 shows the format of the road data. The link information includes a road type, a toll flag, a one-way street, a tunnel flag, and the like, and the node information includes information such as latitude, longitude, altitude, and width.

Also, Japanese Patent Application Laid-Open No. 8-334346 discloses that at the time of matching, a plurality of candidates are created on the road, the most reliable candidate is determined from the candidates, and the less reliable candidate is deleted. A featured current position calculation device is shown.

This device estimates a current position of a vehicle as a virtual current position based on a traveling distance and an azimuth, compares the virtual current position with road data, and determines a candidate point of a current position on a road by its credibility. And a map matching means for calculating a candidate point having the highest reliability as the current position.

[0007] The map matching means also estimates the next virtual current position and calculates candidate points associated therewith. At this time, candidate points whose calculated reliability is lower than a threshold value are deleted.

If the candidate point on the road corresponding to the virtual current position outside the road is not found, the map matching means sets the virtual current position outside the road as a candidate and deletes the candidate outside the road. The threshold value used for determining whether or not to perform the setting is set so as to be more easily deleted than the candidate points on the road. The reliability of the candidate is calculated based on the distance to the road and the directional difference between the road azimuth and the vehicle azimuth.

Therefore, the current position on the road can be calculated with high accuracy, and candidates outside the road are more easily deleted than candidates on the road.
Even when returning to the road, the correct current position can be calculated.

[0010]

However, in the conventional current position calculating apparatus, the reliability of the candidate is determined based on the distance to the road and the azimuth difference between the road azimuth and the vehicle azimuth. When the vehicle travels on a road, if a road having a road direction similar to the traveling direction is nearby, there is a possibility that an erroneous determination is made as if the vehicle has entered the road.

For example, as shown in FIG. 37, when the vehicle turns left on the road 411 along the arrow 413 and enters the parking lot 412, there is an error in the distance in the traveling direction calculated by the current position calculating device. 38, it may be erroneously determined that the left road has been turned on the road in front. That is, FIG.
In spite of having entered the parking lot, there is a possibility that the road may be matched with the road in front because of the shortage of the distance. It should be noted that incorrect matching is referred to as erroneous matching.

[0012] When such erroneous matching occurs, when the vehicle patrols in the parking lot, the error is further enlarged in an attempt to match the position to the position on the road,
When the vehicle leaves the parking lot, there is a possibility that the vehicle will match the wrong position on the road.

The present invention solves such a conventional problem, and provides a current position calculating device capable of accurately determining that the vehicle is traveling off a road such as a parking lot. It is an object of the present invention to provide a current position calculation method and map data used in the method.

[0014]

Therefore, according to the present invention, a vehicle position measuring means and a storage medium storing map information are provided, and the current position measured by the measuring means is matched with the road data of the map information. In a current position calculating device that obtains a candidate for a vehicle position and sets a candidate with the highest reliability as a display candidate, map information in which road data indicating a parking lot is recorded is stored in a storage medium.

A communication device for receiving road data indicating a parking lot is provided, and matching is performed using road data of map information stored in a storage medium and road data received by the communication device.

[0016] The outer shape of the parking area or service area is recorded as road data, and map information in which road data is recorded between the parking area or service area and the expressway is stored in a storage medium.

[0017] The present invention further includes a vehicle position measuring means and a storage medium storing map information. The present position measured by the measuring means is matched with the road data of the map information to obtain a vehicle position candidate. In the current position calculating method of the current position calculating device for setting the highest candidate as a display candidate, map information in which road data indicating a parking lot is recorded is stored in a storage medium, and the vehicle is located at a location where the information indicating the parking lot exists. When the azimuth changes, the reliability of the candidates on the road obtained by the matching is reduced.

The map data is configured to have a parking lot, a parking area or a service area as road data.

Therefore, when the vehicle is traveling in a parking lot or a parking area, the vehicle can be matched to a parking lot or a parking area without erroneous matching to a nearby road.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) As shown in FIG. 1, a current position calculating device according to a first embodiment comprises: a first storage medium 1 for storing map data of roads and facilities; A signal processing device 2 for processing data in the storage medium 1, a display 9 having a display screen, an input device 3 used for scrolling the screen or selecting a menu on the screen, and a vehicle speed sensor 5 for detecting a vehicle speed. , A direction sensor 6 for detecting a direction, a reverse sensor 6 for determining whether the vehicle is moving forward or backward, and a GPS for calculating an absolute position.
It comprises a receiver 8 and a CPU 4 for controlling the entire device.

The first storage medium 1 has a CD_ROM, a DV
A D_ROM, a hard disk, or the like is used. This first
The storage medium 1 stores map data in which places where the vehicle can run in the parking lot are recorded as road data. Although the interior of the parking lot is not a road, the part where the vehicle moves does not usually change, so it is possible to create road data assuming that the part where the vehicle actually travels is the road.

FIG. 4 shows the data structure of this road data. Example 1 shows a case where a place where the vehicle can run outside the road, such as inside a parking lot, is stored as road data (“outside road data A”). Example 2 shows a case in which the road data of Example 1 is included and a flag indicating “outside the road” is included as link information. Example 3 shows a case where the road data of Example 1 is included and a flag indicating “outside the road” is included as node information. The off-road flag is set to, for example, 0 for a normal road and 1 for an off-road such as inside a parking lot.

FIG. 2 schematically shows a parking lot. 20
1 indicates a road, 202 indicates an outline of a parking lot, and 203 indicates a parking space for parking a vehicle. Therefore, the space other than the range 203 represented by the lane is a space in which the vehicle can travel.

FIG. 3 shows road data of the parking lot shown in FIG. Reference numeral 211 denotes road data of the road 201, and reference numeral 213 denotes road data in the parking lot 202. In the map data of the first storage medium 1, road data 213 of the parking lot is recorded as road data (“outside road data A”) of FIG.

Next, the operation of the current position calculating device of the first embodiment will be described.

The current position of the vehicle can be calculated by the GPS receiver 8 in a place where GPS can be received. However, various error factors may cause an error such as several tens of meters to more than one hundred meters. Therefore, by using the distance calculated from the vehicle speed sensor 5, the azimuth calculated from the azimuth sensor 6, and the map data stored in the storage medium 1, the accuracy of the position is improved, and the current traveling location can be more accurately determined. It has been calculated.

FIG. 7 shows a processing flow of the present position calculating device.

Step 1: A provisional current position is calculated using information from the GPS receiver 8, the vehicle speed sensor 5, and the direction sensor 6.

Step 2: Map data around the temporary current position is read out from the first storage medium 1 via the signal processing device 2, and Step 3: Create a vehicle candidate on a road around the temporary current position. .

Step 4: The reliability of the candidate is calculated based on the distance to the road and the azimuth difference between the road azimuth and the vehicle azimuth. Regarding this reliability, a case where the reliability as a candidate is high is expressed as a high reliability.

Step 5: If there are a plurality of candidates,
The candidate point with the highest reliability is set as a display candidate. If the reliability of all the candidates is lower than a certain value, it is determined that no candidate exists on the road, and the temporary current position outside the road is set as a display candidate. These display candidates are finally displayed on the display 9.

In order to calculate the current position in such a processing flow, when road data is not set in the parking lot 303 as in the conventional example shown in FIG. Create a candidate (Step 3)
Therefore, 304 candidates are created. Therefore, depending on the result of the calculation of the reliability (step 4), the candidate 304 may be displayed at the display position even when the vehicle enters the parking lot.

FIG. 6 shows a state of a candidate in the first embodiment. In this case, since road data also exists inside the parking lot, candidates 306 and 307 are created (step 3). Then, in the calculation of the reliability of the candidates (step 5), the reliability of the candidates 306 and 307 is calculated.
In the example of FIG. 6, since 307 is closer to the actual route 301 than to 306, the reliability is high, and 307 is set as the display position.

That is, the first embodiment is provided with a storage medium in which the range in which the vehicle can travel inside the parking lot is stored as road data, and it is important to create a candidate in the road data inside the parking lot. However, the flow of the matching process is not limited to the flowchart in FIG.

Therefore, according to the first embodiment, a place where the vehicle can travel in the parking lot is stored as road data. Therefore, when driving in the parking lot, the vehicle is mistaken for a nearby road. There is an effect that matching can be performed in a parking lot without performing matching.

The information of the parking lot is stored in the road data, and if it is determined that the matching road is the parking lot, the process of calculating the reliability may be changed. For example, when calculating the reliability of a candidate, the weight of the direction difference between the road direction and the vehicle direction can be made smaller than the weight based on the distance.

The present position calculating device includes a vehicle speed sensor 5, a direction sensor 6, a reverse sensor 6 as sensors.
And all of the GPS receivers 8 need not be connected.
For example, a combination of the vehicle speed sensor 5, the direction sensor 6, and the GPS receiver 8 may be used.

(Second Embodiment) The current position calculation device of the second embodiment acquires information on road data in a parking lot from outside.

As shown in FIG. 8, this device includes a communication device 20 for receiving road data in a parking lot from outside, and a second storage medium 21 contains road data in the parking lot. No map data is stored. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 9 shows an operation flow of this apparatus. Here, before creating a candidate (step 3), road data of a parking lot or a parking area is received using the communication device 20 (step 12). This road data can be handled in the same manner as the road data described in the first embodiment. Using the map data read in step 2 and the road data received in step 12, necessary candidates are created.

FIG. 10 illustrates the road data stored in the second storage medium 21 and the road data received using the communication device 20.

As described above, in the device of the second embodiment,
By providing a communication device that receives a place where a vehicle can run in the parking lot as road data, similar to the first embodiment, even when the vehicle is running off the road such as a parking lot or a parking area, a nearby road can be used. This has the effect that it is possible to match the parking lot without erroneous matching. Further, since road data such as a parking lot can be obtained from the outside by a communication device, there is an effect of suppressing an increase in the capacity of the storage medium and an effect of always obtaining new road data.

(Third Embodiment) A current position calculating device according to a third embodiment holds the outer shape of a parking lot as road data, and calculates the position of a vehicle entering the parking lot using this road data. I do.

As shown in FIG. 11, the apparatus includes a third storage medium 31 for storing map data and road data indicating a parking lot. Other configurations are the same as those of the first embodiment (FIG. 1).

When the parking lot has the shape shown in FIG. 2, the outer shape of the parking lot 202 is stored in the third storage medium 31 as road data 233 as road data of this parking lot, as shown in FIG. ing. This road data 233 can be created as long as the outer shape of the parking lot is known without knowing the state inside the parking lot. The data format of this map data is the same as in the first embodiment (FIG. 4).

This current position calculating device operates in accordance with the flow of FIG. 7, as in the first embodiment. At this time,
When road data is not set in the parking lot, FIG.
As described in the above, the candidate 304 is created on the nearby road 302, and depending on the result of the calculation of the reliability, the candidate 304 on the road may be displayed at the display position despite entering the parking lot. is there. However, in this embodiment, as shown in FIG.
Are created (step 3). Then, in the calculation of the reliability of the candidates (step 5), the reliability of the candidates 336 and 337 is calculated. In the example of FIG. 13, the reliability of 337 is higher than that of 336, and 337 is set as the display position.

That is, the point of the third embodiment is to use a storage medium that stores the outline of the parking lot as road data in addition to the map information. The flow of the matching process is limited to the flowchart of FIG. I am not doing it.

Therefore, according to the third embodiment, the vehicle travels outside the road, such as a parking lot or a parking area, by including a storage medium storing the outline of the inside of the parking lot as road data in addition to the map information. In this case, it is possible to match a parking lot without erroneous matching to a nearby road, and further, compared to the configuration of the first embodiment,
It is not necessary to investigate a place where the vehicle can run in the parking lot, and if only the information on the outer shape of the parking lot is investigated, the road data can be maintained.

(Fourth Embodiment) The current position calculating device of the fourth embodiment holds a rectangular shape created inside the outer shape of a parking lot as road data, and uses this road data to store the rectangular shape in the parking lot. Calculate the position of the vehicle to enter.

This device, as shown in FIG. 14, includes a fourth storage medium 41 for storing map data and road data of the parking lot. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 15 shows road data 243 of the parking lot 202 when the parking lot has the shape of FIG.
Has the rectangular shape created inside the outer shape of the road as road data 243. The road data 243 of the parking lot is held in the fourth storage medium 41 together with the road data of the road. This road data 243 can be created as long as the outer shape of the parking lot is known, without knowing the state inside the parking lot. Further, in the road data 243, the position of the road data is closer to the trajectory where the vehicle is actually expected to travel, as compared with the case where the outer shape of the parking lot is road data. The data format of the map data is the first embodiment (FIG. 4)
Is the same as

FIG. 16 shows that the vehicle candidates following the route 331 and turning right into the parking lot 333 are road data 34 of the parking lot 333.
It shows a state formed above 5 (347) and above road 332 (346). As a result of calculating the reliability of these candidates, the candidate 347 is set as the display position.

That is, the fourth embodiment is provided with a storage medium in which a rectangle inside the outer shape of the parking lot is stored as road data, and the point is that a candidate is also created in the road data inside the parking lot. However, the flow of the matching process is not limited to the flowchart of FIG.

Therefore, according to the fourth embodiment, since the rectangle inside the outer shape of the parking lot is created as road data, the trajectory on which the vehicle actually travels is different from the invention of the third embodiment. , And the position accuracy is improved. Also, in this case, it is not necessary to investigate a place where the vehicle can travel in the parking lot. If only the information on the outer shape of the parking lot is investigated, road data can be created inside the parking lot.

(Fifth Embodiment) The current position calculating device of the fifth embodiment includes, as road data of a parking lot, data of a node indicating an entrance and exit of the parking lot, and data of a link extending from the entrance and exit into the parking lot. And the position of the vehicle entering the parking lot is calculated using the road data.

As shown in FIG. 17, the apparatus has a fifth storage medium 51 for storing map data and road data of the parking lot. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 18 shows road data 243 of the parking lot 202 when the parking lot has the shape shown in FIG.
And a link data indicating connection road data 254 connected to the node 253.

The road data of the parking lot is stored in the fifth storage medium 51 together with the road data of the road. The road data of the parking lot can be created as long as the entrance of the parking lot is known without knowing the state inside the parking lot.

FIG. 19 shows the data structure of this road data. The link 254 is included in the link as “external road link A” as shown in the example 51, and the node 25
3 is included in the node as “node A outside road” as shown in Example 52, the link information has a flag indicating “outside the road” as shown in Example 53, and the node information is Example 54.
Has a flag indicating “outside the road” as shown in FIG.

FIG. 20 shows that a vehicle candidate following the route 351 and turning right into the parking lot 353 is the road data 35 of the parking lot 353.
It shows a state formed above 5 (357) and above road 352 (356). When the reliability of these candidates is calculated, the candidate 357 is higher. Furthermore, since the candidate 357 is on the road data 355 and has information indicating that it is inside the parking lot, it can be determined that the candidate 357 exists in the parking lot. As a result, the position of the candidate 337 is set as the display position.

That is, in the fifth embodiment, the point is to use a storage medium storing information on the entrance and exit of the parking lot as road data, and the flow of the matching process is limited to the flowchart of FIG. Not in translation.

Therefore, according to the fifth embodiment, unlike the first embodiment, it is not necessary to investigate a place where the vehicle can travel in the parking lot, and only the information of the entrance of the parking lot is investigated. This has the effect that road data can be maintained.

(Sixth Embodiment) The current position calculating device of the sixth embodiment holds only the data of the node indicating the entrance and exit of the parking lot as the road data of the parking lot, and uses this road data. Calculate the position of the vehicle entering the parking lot.

As shown in FIG. 21, this device has a sixth storage medium 61 for storing map data and road data of this parking lot. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 22 shows road data of the parking lot 202 when the parking lot has the shape shown in FIG. 2, and consists only of node data indicating the point 253 at the entrance of the parking lot 202.

The road data of the parking lot is stored in the sixth storage medium 61 together with the road data of the road. The road data of the parking lot can be created as long as the entrance of the parking lot is known without knowing the state inside the parking lot.

FIG. 23 shows the data structure of this road data. The node 253 is included in the node as “outside road node A”, as shown in Example 61, and the node information is
As shown in Example 62, the flag indicating “outside the road” is provided.

FIG. 25 shows an operation flow of the present position calculating device. The operations from Step 1 to Step 4 are the same as Steps 1 to 4 in the operation flow of the first embodiment (FIG. 7), a candidate point is created on the road data, and the reliability of the candidate is calculated. You.

Step 461: Next, the current position calculating device determines whether or not the current position is near the entrance. If the present position is near the entrance, step 462: monitors for a change in direction. 463: The reliability of the created candidate is calculated again, instead of the reliability calculation processing that reduces the reliability of the candidate on the road. Step 5: Display candidates are set based on the result.

Therefore, as shown in FIG. 24, when the vehicle follows the route 361 and makes a right turn to enter the parking lot, a candidate for a nearby road is created (step 3).
A candidate 366 is created above. However, if the current location is near the entrance (step 461), the change of direction is monitored (step 462). Re-calculate the reliability of the created candidate (step
463). Therefore, the reliability of the candidates on the road is reduced assuming that the possibility of being in the parking lot is higher than that on the road. As a result, since the reliability of all the candidates is lower than a certain value, it is determined that no candidate exists on the road, and the virtual current position in the parking lot outside the road is displayed as a candidate.

That is, in the sixth embodiment, the point is to use a storage medium in which information on the entrance and exit of a parking lot is stored as road data and to monitor a change in direction.
The flow of the matching process is not limited to the flowchart in FIG.

Therefore, according to the sixth embodiment, unlike the first embodiment, it is not necessary to investigate a place where the vehicle can travel in the parking lot, and only the information on the entrance of the parking lot is investigated. This has the effect that road data can be maintained.

(Seventh Embodiment) A current position calculating device according to a seventh embodiment holds road data for storing a road facing a parking lot, and uses the road data to store a road in a parking lot. Calculate the position of the vehicle to enter.

As shown in FIG. 26, this device includes a seventh storage medium 71 for storing the road data. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 27 shows road data 271 for storing information on the parking lot 202 when the parking lot has the shape shown in FIG. The road data 271 is road data of a road facing a parking lot, and stores data indicating that the road is a parking lot.

The road data of this parking lot is held in the seventh storage medium 71 together with other road data. This road data can be created as long as the entrance of the parking lot is known without knowing the state inside the parking lot.

FIG. 28 shows the data structure of this road data. The road data 271 is, as shown in Example 57,
The link data is included in the link data as “outside road link A”, and has a flag indicating “outside road” as shown in Example 72 as the link information.

FIG. 30 shows an operation flow of the current position calculating device. The operations from Step 1 to Step 4 are the same as Steps 1 to 4 in the operation flow of the first embodiment (FIG. 7), a candidate point is created on the road data, and the reliability of the candidate is calculated. You.

Step 471: Next, the current position calculating device determines whether or not the road data near the current position is a road facing the parking lot. If the road data is a road facing the parking lot, the step 472: bearing Step 473: Change the reliability calculation process to reduce the reliability of the candidates on the road, and calculate the reliability of the created candidate again. Step 5: Display candidates are set based on the result.

Therefore, as shown in FIG. 29, when the vehicle follows the route 371 and turns right to enter the parking lot, a candidate is created on a nearby road (step 3).
A candidate 376 is created above. If the road data near the current location has information indicating that the road faces the parking lot (step 471), the change in the direction is monitored (step 472), and it can be determined that the vehicle has entered the parking lot. If there is a change in orientation, the reliability of the created candidate is calculated again (step 473). As a result, since the reliability of all the candidates is lower than a certain value, it is determined that no candidate exists on the road, and the virtual current position 377 in the parking lot outside the road is displayed as a candidate.

That is, in the seventh embodiment, the point is to use a storage medium storing road data indicating that the road faces the parking lot and to monitor a change in azimuth. Is not limited to the flowchart of FIG.

Therefore, according to the seventh embodiment, unlike the first embodiment, it is not necessary to investigate a place where a vehicle can run in the parking lot, and only the information of the road facing the parking lot is investigated. This has the effect that road data can be maintained.

(Eighth Embodiment) The current position calculation device of the eighth embodiment holds road data indicating a parking area or a service area of an expressway, and uses this road data to store a parking area or a service area. The position of the vehicle entering the vehicle is calculated.

This device includes an eighth storage medium 81 for storing the road data, as shown in FIG. Other configurations are the same as those of the first embodiment (FIG. 1).

FIG. 32 shows an actual parking area or service area 282 and an expressway 281. FIG.
3 shows road data of the road and the parking area shown in FIG. In FIG. 33, 283 is road data on the main line, and 284 and 285 are road data of a parking area or a service area. The point here is that road data 284 is provided between the road data 283 and the road data 285 of the parking area. That is,
Road data exists between a main line such as an expressway and a parking area. The data format of map data is
This is the same as the first embodiment (FIG. 4).

Next, the operation of the eighth embodiment will be described with reference to FIGS. 34 and 35. FIG. 34 shows the state of the candidate 384 in the conventional example, and FIG. 35 shows the state of the candidate 384 in the eighth embodiment. In FIG. 34, 381 indicates road data on the main line, and 382 indicates road data on the parking area. 383 indicates a running locus, and 384 indicates created candidates. In FIG. 35, 385 is road data on the parking area, and 386 is road data existing between the main line and the parking area. In the conventional example, in the case of a running locus as indicated by 383, there is a possibility that an incorrect matching is made to a road on the main line. However, in the eighth embodiment, since the road data 386 exists between the main line and the parking area, there is no erroneous matching with the road on the main line.

That is, the point of the eighth embodiment is that road data is created between the main line of the highway and the parking rear or service area. The flow of the matching process is described in the flowchart of FIG. It is not limited to.

Therefore, according to the eighth embodiment, when the vehicle enters the parking area or the service area while traveling on the highway, it does not cause erroneous matching with the main line.
This has the effect of being able to match within the area.

[0089]

As is clear from the above description, the present position calculating device and the present position calculating method of the present invention have road data indicating a parking lot as map information.
When traveling in the parking lot, it is possible to perform matching in the parking lot without mistakenly matching with a nearby road.

Further, in a device for acquiring road data indicating a parking lot from a communication device, an increase in the capacity of a storage medium can be suppressed, and new road data can always be obtained.

Further, in the device using the outline of the parking lot as road data indicating the parking lot, it is not necessary to investigate a place where the vehicle can run in the parking lot. Road data can be maintained.

Further, in a device in which a rectangle inside the outline of the parking lot is used as road data indicating the parking lot, road data can be prepared from the outline of the parking lot. In addition, compared to the case where the outer shape is road data, the shape is closer to the locus on which the vehicle actually runs, and the positional accuracy is improved.

Further, in a device for setting road data indicating a parking lot at a doorway of a parking lot or on a road facing the parking lot, it is necessary to prepare road data by investigating a position at which the entrance or exit of the parking lot is in contact with the road. Can be.

When road data is created between a main line of an expressway and a parking area or a service area, when the vehicle enters the parking area or the service area while traveling on the expressway, erroneous matching with the main line is performed. It is possible to match within the area without any.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of a current position calculation device according to a first embodiment of the present invention;

FIG. 2 shows an example of a parking lot according to the first embodiment of the present invention;

FIG. 3 shows an example of road data according to the first embodiment of the present invention;

FIG. 4 shows a data structure of road data according to the first embodiment;

FIG. 5 shows a state of a candidate in a conventional example,

FIG. 6 shows states of candidates according to the first embodiment of the present invention;

FIG. 7 is a flowchart of a current position calculation device according to the first embodiment of the present invention;

FIG. 8 is a schematic block diagram of a current position calculation device according to a second embodiment of the present invention;

FIG. 9 is a flowchart of a current position calculation device according to a second embodiment of the present invention;

FIG. 10 shows a data structure of road data according to the second embodiment;

FIG. 11 is a schematic block diagram of a current position calculation device according to a third embodiment of the present invention;

FIG. 12 shows an example of road data according to the third embodiment of the present invention;

FIG. 13 shows a state of a candidate according to the third embodiment of the present invention;

FIG. 14 is a schematic block diagram of a current position calculation device according to a fourth embodiment of the present invention;

FIG. 15 shows an example of road data according to the fourth embodiment of the present invention;

FIG. 16 shows candidate states according to the fourth embodiment of the present invention;

FIG. 17 is a schematic block diagram of a current position calculation device according to a fifth embodiment of the present invention;

FIG. 18 shows an example of road data according to the fifth embodiment of the present invention;

FIG. 19 shows a data structure of road data according to the fifth embodiment;

FIG. 20 shows a state of a candidate according to the fifth embodiment of the present invention;

FIG. 21 is a schematic block diagram of a current position calculation device according to a sixth embodiment of the present invention;

FIG. 22 shows an example of road data according to the sixth embodiment of the present invention;

FIG. 23 shows a data structure of road data according to the sixth embodiment;

FIG. 24 shows states of candidates according to the sixth embodiment of the present invention;

FIG. 25 is a flowchart of a current position calculation device according to a sixth embodiment of the present invention;

FIG. 26 is a schematic block diagram of a current position calculating device according to a seventh embodiment of the present invention;

FIG. 27 shows an example of road data according to the seventh embodiment of the present invention;

FIG. 28 shows a data structure of road data according to the seventh embodiment;

FIG. 29 shows candidate states according to the seventh embodiment of the present invention;

FIG. 30 is a flowchart of a current position calculation device according to a seventh embodiment of the present invention;

FIG. 31 is a schematic block diagram of a current position calculation device according to an eighth embodiment of the present invention;

FIG. 32 shows an example of a parking area according to the eighth embodiment of the present invention;

FIG. 33 shows an example of road data according to the eighth embodiment of the present invention;

FIG. 34 shows states of candidates in a conventional example,

FIG. 35 shows candidate states according to the eighth embodiment of the present invention;

FIG. 36 shows a data structure of road data in a conventional current position calculation device,

FIG. 37 shows an example of a trajectory that has entered a parking lot in a conventional current position calculation device when there is no error in the traveling direction;

FIG. 38 is an example of a trajectory that has entered a parking lot when there is an error in the traveling direction in the conventional current position calculation device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 first storage medium 2 signal processing device 3 input device 4 CPU 5 vehicle speed sensor 6 direction sensor 7 reverse sensor 8 GPS receiver 9 display 20 communication device 21 second storage medium 31 third storage medium 41 fourth storage medium 51 fifth Storage medium 61 Sixth storage medium 71 Seventh storage medium 81 Eighth storage medium 101 Line indicating the outline of the parking lot 102 Point indicating the entrance of the parking lot 103 Point indicating the exit of the parking lot 104 Road data 105 Candidate in the parking lot 106 Candidates on the road 111 Line indicating the outline of the parking lot 112 Road data 121 Line indicating the outline of the parking lot 122 Line indicating the rectangle inside the outline 123 Road data 201 Road 202 Outline of the parking lot 203 Parking space 211 Road data 213 Parking Road data in parking lot 233 Road data of parking lot 243 Road data of parking lot 253 Point of entrance 254 Connection road data 271 Road data storing parking lot information 281 Main line 282 Parking lot A 283 Road data on the main line 284 Road data between the main line and the parking area 285 Road data on the parking area 301 Travel trajectory 302 Road 303 Parking lot 304 Candidate 305 Road data in the parking lot 306 Candidate on the road data 307 Candidates on road data 331 Travel trajectory 332 Road 333 Parking lot 334 Candidates 335 Road data in parking lot 336 Candidates on road data 337 Candidates on road data in parking lot 345 Road data in parking lot 346 Candidates on road data 347 Parking Candidates on road data in the park 351 Travel locus 352 Road 353 Candidates for parking 354 Candidate 355 Connection road 356 Candidates on road data 357 Candidates on road data in the parking lot 361 Travel locus 362 Road 363 Parking lot 364 Candidate 365 Entrance point 366 Candidates on road data 371 Travel trajectory 372 Roads 373 Parking lot 374 Candidates 375 Road data storing parking lot information 376 Candidates on road data 377 Candidates on road data in the parking lot 381 Road data on main lines 382 Road data on parking areas 383 Driving trajectories 384 Candidates 385 Road data on parking areas 386 Road data between main lines and parking areas 411 Road data 412 Parking data Range 413 Vehicle trajectory 423 Vehicle trajectory with distance deviation 424 Vehicle trajectory without distance deviation

Claims (16)

[Claims] 1. A vehicle position measuring means, comprising: a storage medium storing map information; a current position measured by the measuring means is matched with road data of the map information to obtain a vehicle position candidate; A current position calculating device for setting the highest candidate as a display candidate, wherein map information in which road data indicating a parking lot is recorded is stored in the storage medium. 2. The current position calculation device according to claim 1, wherein the map information includes a recordable location of a vehicle in a parking lot as the road data. 3. The current position calculation device according to claim 1, wherein the outline of the parking lot is recorded as the road data in the map information. 4. The current position calculation device according to claim 1, wherein a rectangle surrounded by a parking lot is recorded as the road data in the map information. 5. The current position calculating device according to claim 1, wherein a node indicating an entrance and exit of a parking lot and a link connected to the node are recorded as the road data in the map information. . 6. The current position calculation device according to claim 1, wherein a node indicating an entrance of a parking lot is recorded as the road data in the map information. 7. The current location according to claim 1, wherein the map information is recorded as the road data by adding link information of a road facing a parking lot to information of a parking lot. Calculation device. 8. A vehicle position measuring means, and a storage medium storing map information, wherein a vehicle position candidate is obtained by matching a current position measured by the measuring means with road data of map information. A current position calculating device that sets the highest candidate as a display candidate, comprising: a communication device that receives road data indicating a parking lot;
A current position calculation device, wherein the matching is performed using road data of map information stored in the storage medium and road data received by the communication device. 9. The current position calculation device according to claim 8, wherein the communication device receives the road data indicating a place where a vehicle in a parking lot can run. 10. A vehicle position measuring means, and a storage medium storing map information, wherein a vehicle position candidate is obtained by matching a current position measured by said measuring means with road data of map information. In the current position calculating device that sets the highest candidate as the display candidate, the outline of the parking area or the service area is recorded as road data, and the road data is recorded between the parking area or the service area and the expressway. A current position calculating device, wherein the stored map information is stored in the storage medium. 11. A vehicle position measuring means, and a storage medium storing map information, wherein a current position measured by the measuring means is matched with road data of the map information to obtain a vehicle position candidate, and the reliability is determined. The current position calculating method of the current position calculating device for setting the highest candidate as the display candidate, wherein map information in which road data indicating a parking lot is recorded is stored in the storage medium, and a location where the information indicating the parking lot exists Wherein the reliability of the candidates on the road obtained by the matching is reduced when the direction of the vehicle changes. 12. As the road data indicating a parking lot,
12. The current position calculation method according to claim 11, wherein a node indicating an entrance of a parking lot is recorded in the map information. 13. As the road data indicating a parking lot,
The current position calculation method according to claim 11, wherein information indicating that the vehicle is a parking lot is added to link information of a road facing the parking lot, and the information is recorded in the map information. 14. Map data having a parking lot, a parking area or a service area as road data. 15. The map data according to claim 14, wherein the link information has a flag indicating the outside of the road. 16. The map data according to claim 14, wherein the node information has a flag indicating the outside of the road.