JP2001289653A - Present position calculator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a present position calculator capable of calculating the position at a high accuracy by receiving information of ETC toll collection by DSRC communications during running where a public road and a tollway run in parallel or running out of roads such as parking areas. SOLUTION: The present position of a vehicle is calculated by a GPS signal inputting means 5 in a place where GPS signals are receivable from GPS satellites. But some positional error results, if done by this operation only, and hence the present running position is accurately calculated by calculating the position, using the distance calculated from a vehicle speed sensor and the azimuth calculated from an azimuth sensor in a sensor input means 4 and using information of map data stored on a memory medium 1. DRC communication means 7 used for the ETC toll collection and toll collections, etc., at parking areas, drive-throughs, etc., are provided to more accurately calculate the present position.

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 for calculating a current position of a moving object, and more particularly, to an ETC (automatic toll collection system using narrow-area communication) for ETC toll collection by DSRC communication (dedicated narrow-area communication). (Communication), the accuracy of the current position can be improved, and further, the accuracy of the current position outside the toll road and the toll road can be improved.

[0002]

2. Description of the Related Art Conventionally, as an apparatus capable of calculating a current position of a vehicle traveling on a road, for example, Japanese Unexamined Patent Publication No.
A navigation device described in 3-148115 is known. The current position calculation device in the navigation device calculates the current position of the moving object based on the travel distance measured by the vehicle speed sensor and the azimuth measured by the angular velocity sensor, the azimuth sensor, and the like. The travel distance is obtained, for example, by multiplying a pulse output according to the rotation of the tire by a certain coefficient, and the azimuth is obtained, for example, by integrating outputs of an angular velocity sensor such as a gyro.

As a technique for correcting the position of the host vehicle with the aim of improving the position detection accuracy, for example, Japanese Patent Laid-Open No.
There is known a technique for correcting the position of a vehicle based on information obtained from an ETC toll collection system installed on a toll road, as described in Japanese Patent No. 271075. In the above publication, when information relating to ETC toll collection is communicated, it is determined that the vehicle is traveling on a toll road, and the road reliability of roads other than the toll road that will be traveling at present is reduced, The position of the road with the highest road reliability after the correction is corrected as the currently running road. Therefore, for example, on a road where a toll road and a general road run side by side, by receiving the information of ETC toll collection, the position of the toll road is corrected, and the position accuracy can be improved. .

[0004]

However, in the above-mentioned conventional current position calculating device, when ETC toll collection data is received, it is considered that the possibility of traveling is low because only the road reliability is operated. The possibilities on open roads will not disappear. During driving, 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. Is wrong, the reliability of general roads is higher than that of toll roads, and general road candidates may be displayed.

[0005] When there are a plurality of toll roads,
Since the information of ETC toll collection is not used for calculating the reliability of each toll road, a correct position cannot always be calculated. Further, since the position in the traveling direction is not corrected, the position error in the traveling direction is not corrected even if the road is obtained correctly.

[0006] Also, in general, an ETC toll collection system generally includes a vehicle-mounted device mounted on a vehicle and a roadside device provided at the tollgate when the vehicle passes through the tollgate on a toll road. This means that automatic toll collection is achieved by exchanging data with the other. By adopting the DSRC communication system, not only on toll roads, but also on parking lots and drive-throughs, etc. It is also possible to apply to business such as toll collection, and therefore, when information on ETC toll collection is received at a parking lot or the like, there is a possibility that an incorrect position on a toll road is displayed.

The present invention solves such a conventional problem. In particular, the present invention is applied to a case where the vehicle is driven on a road where a general road and a toll road run side by side, or when the vehicle is driven off a road such as a parking lot. It is an object of the present invention to provide a current position calculating device capable of calculating a position with high accuracy by receiving information of ETC fee collection by communication.

[0008]

In order to achieve the above object, a current position calculating device according to a first aspect of the present invention stores information in D
A communication means for communicating by SRC is provided, and the communication means includes a position correcting means for correcting a position when information is communicated by DSRC. With this configuration, the position can be calculated with high accuracy.

[0009] The present position calculating device in the second invention is
In order to achieve the above object, the present position calculating device according to claim 1, further comprising a map data including altitude information and a three-dimensional position correcting means for correcting a position including altitude direction. It is a characteristic. With this configuration, the position can be calculated with high accuracy including the altitude direction.

[0010] According to a third aspect of the present invention, there is provided a current position calculating device.
In order to achieve the above object, in the current position calculation device according to claim 1, in particular, a three-dimensional position correction for correcting a position including map information including upper and lower information of the elevated and a position including information of upper and lower of the elevated. It is characterized by having means. With this configuration, it is possible to calculate the position with high accuracy including up and down of the elevated.

[0011] According to a fourth aspect of the present invention, there is provided a current position calculating device.
In order to achieve the above object, there is provided a communication means for communicating information by DSRC, and an out-of-road determining means for judging that the information is not on a road when the information is communicated by DSRC. It was done. With this configuration, the position can be calculated with high accuracy even when the vehicle is outside the road.

[0012] According to a fifth aspect of the present invention, there is provided a current position calculating device.
In order to achieve the above object, a communication means for communicating information by DSRC, a toll road determining means for judging that the vehicle is on a toll road when the information is communicated by DSRC, and a toll road A feature is provided in that candidate means for deleting a candidate excluding a toll road when the judgment means judges that the vehicle is on a toll road is provided. With this configuration, when the vehicle is on a toll road, the position can be calculated with high accuracy.

[0013] According to a sixth aspect of the present invention, there is provided a current position calculating device.
In order to achieve the above object, communication means for communicating information by DSRC with a toll collection system installed on a toll road, and information communicated by the communication means when the information is communicated by DSRC. And a position correcting means for obtaining the information of the link ID from among the information and correcting the position based on the link ID. With this configuration, the position can be calculated with high accuracy from the information of the link ID.

According to a seventh aspect of the present invention, there is provided a current position calculating device,
In order to achieve the above object, between a toll collection system installed on a toll road, communication means for communicating information by DSRC, a storage medium having map data indicating a relationship between a tollgate number and a position, By means of the communication means,
When communication is performed by RC, there is provided a position calculating means for obtaining a position from the map data based on a tollgate number included in the communicated information. With this configuration, the position can be calculated with high accuracy from the tollgate number.

According to an eighth aspect of the present invention, there is provided a current position calculating device,
In order to achieve the above object, a communication means for communicating information by DSRC with a toll collection system installed on a toll road, map data including a position of a tollgate, and DSRC by the communication means. And a position correcting means for correcting the position of the tollgate in the map data when the communication is performed. With this configuration, the position can be calculated with high accuracy from the position of the tollgate.

According to a ninth aspect of the present invention, there is provided a current position calculating device,
In order to achieve the above object, a communication means for communicating information by DSRC with a toll collection system installed on a toll road, map data including a position of a tollgate, and DSRC by the communication means. And a candidate reliability operation means for operating the candidate reliability in accordance with the distance between the tollgate position and the candidate position in the map data when the communication is performed. With this configuration, the position can be calculated with high accuracy from the distance between the tollgate position and the candidate position.

According to a tenth aspect of the present invention, in order to achieve the above object, a current position calculating device communicates information by DSRC with a toll collection system installed on a toll road, and the communication device Information by DSRC
When the communication is performed by using the lane identification means, the lane judging means for judging the traveling lane based on the identifier indicating the lane is provided. With this configuration, the position can be calculated with high accuracy from the identifier indicating the lane.

According to an eleventh aspect of the present invention, there is provided a current position calculating device, comprising: a communication unit for communicating information by DSRC with a toll collection system installed on a toll road; Information by DSRC
And a candidate deleting means for deleting a candidate excluding a toll road when the communication is performed. With this configuration, when the vehicle is on a toll road, the position can be calculated with high accuracy.

According to a twelfth aspect of the present invention, in order to achieve the above object, a current position calculating device communicates information by DSRC with a toll collection system installed on a toll road, It is characterized by including candidate reliability calculating means for operating the reliability of the candidate based on the information on the presence or absence of the obtained billing. With this configuration, the position can be calculated with high accuracy from the information on the presence or absence of billing.

According to a thirteenth aspect of the present invention, in order to achieve the above object, a current position calculating device communicates information with a toll collection system installed on a toll road by DSRC, The present invention is characterized in that there is provided a candidate deleting means for deleting a candidate when there is a charge based on the obtained information on the presence or absence of the charge. With this configuration, the position can be calculated with high accuracy from the billing information.

According to a fourteenth aspect of the present invention, there is provided a current position calculating apparatus according to the eleventh aspect, wherein the present position calculating apparatus is provided on a main line when a candidate is present on a plurality of toll roads. And a reliability adding means for making the reliability of the candidate on the lamp higher than that of the candidate. With this configuration, the position can be calculated with high accuracy even on a toll road.

According to a fifteenth aspect of the present invention, in order to achieve the above object, a current position calculating device includes: a DSRC communication means for communicating information by DSRC with a toll collection system installed on a toll road; The entrance of the DSR
C. An entrance determining means for determining the exchange of information by the communication means, and a candidate reliability adding means for increasing the reliability of the candidate on the toll road based on the determination by the entrance determining means. is there. With this configuration, it is possible to calculate with high accuracy that the vehicle is on a toll road.

In order to achieve the above object, the present position calculation device according to the sixteenth invention provides a DSRC (dedicated narrow-area communication) for communicating information with a toll collection system installed on a toll road. Communication means, exit determination means for determining an exit of a toll road by exchanging information by the DSRC communication means, and candidate reliability addition means for increasing the reliability of a candidate on a general road based on the determination by the exit determination means It is characterized by having. With this configuration, it can be calculated that the vehicle is on a general road with high accuracy.

According to a seventeenth aspect of the present invention, in order to achieve the above object, a current position calculating device includes: a communication unit for communicating information by DSRC with a toll collection system installed on a toll road; A distance coefficient correcting means for correcting a distance coefficient from distance information based on DSRC (dedicated short range communication) communication between the toll collection system and the vehicle is provided. With this configuration, the position can be calculated with high accuracy by correcting the distance coefficient.

In order to achieve the above object, the present position calculating device according to the eighteenth aspect comprises communication means for communicating information by DSRC, and the communication means uses the information of the vehicle type received from the toll collection system. , A vehicle type determining means for determining a vehicle type such as a large car or a normal car, and a mark changing means for changing a mark of a current position in accordance with a result of the determination by the vehicle type determining means.
With this configuration, the vehicle position can be clearly read.

According to a nineteenth aspect of the present invention, in order to achieve the above object, the current position calculating device according to any one of claims 1 to 18, further comprising a beacon information receiving device, It is characterized by comprising reliability correction means for using information obtained by the toll collection system by DSRC communication means in preference to information received by the receiving device. With this configuration, the position can be calculated with high accuracy without competing with the input from the beacon information receiving device.

The map data used in the navigation device according to the twentieth aspect of the invention is characterized in that the map data is provided with a correspondence table of toll gate numbers and positions. With this configuration, the position can be calculated with high accuracy.

The map data used in the navigation device according to the twenty-first aspect is characterized by having a correspondence table of a business operator code and a flag indicating whether the vehicle is on a road or not. With this configuration, the position can be calculated with high accuracy.

[0029]

Embodiments of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to the following embodiments.

(First Embodiment) A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram schematically showing a current position calculating device according to the first embodiment of the present invention. FIG. 2 is a flowchart illustrating the operation of the first exemplary embodiment of the present invention.

First, in FIG. 1, a CD-ROM, a DV
A storage medium 1 composed of a D-ROM, a hard disk or the like stores map data of roads and facilities, and inputs map data of roads and facilities to the information processing means 3 via a storage medium input means 8.

The input means 2 is used when scrolling the display screen or selecting a menu on the screen, and inputs to the information processing means 3. The information processing means 3 includes a microcomputer or the like, and controls the entire apparatus.

The sensor input means 4 comprises a vehicle speed sensor for detecting the vehicle speed, a direction sensor for detecting the direction, a reverse sensor for determining whether the vehicle is moving forward or backward, and the like. Complement detection.

The GPS signal input means 5 calculates an absolute position based on a GPS signal from a GPS satellite, and inputs this to the information processing means 3. The output unit 6 is, for example, a display, and displays an output signal from the information processing unit 3.

The DSRC communication means 7 communicates information by DSRC (dedicated narrow-area communication), and is generally used for automatic toll collection on toll roads. It is also being applied to business such as toll collection in parking lots and drive-throughs.

The sensor input means 4 includes a vehicle speed sensor,
It is not necessary to prepare all of the direction sensor and the reverse sensor, and only the vehicle speed sensor and the direction sensor are sufficient for calculating the current position.

Next, how to calculate the position in the first embodiment will be basically described. The current position of the vehicle can be calculated by the GPS signal input means 5 in a place where a GPS signal can be received from a GPS satellite. However, various error factors cause a position error such as several tens of meters to more than 100 meters. Therefore, in the sensor input means 4, the distance calculated from the vehicle speed sensor, the azimuth calculated from the azimuth sensor, and the storage medium By calculating the position using the information of the map data stored in 1, the current running position is accurately calculated. Although such position calculation technology itself is not different from the technology already used in car navigation devices and the like, in the present invention, it is further used for collecting ETC fees and collecting fees in parking lots, drive-throughs, and the like. The provision of the DSRC communication means 7 allows the current position to be calculated with higher accuracy, which will be described later.

Next, the operation of the first embodiment for communicating information of ETC fee collection by DSRC will be described with reference to the flowchart of FIG. The current position calculation device of the present invention first calculates the current position by the same method as the car navigation as described above (Step S).
1). The position calculated by such a method is not always correct because it is affected by errors in sensors and maps.

For this reason, when the DSRC communication means 7 receives ETC fee collection information from outside (step S2)
In step S3, information on the current position is obtained from the ETC fee collection information (step S3), and the current position is corrected to that position (step S4). This correction of the current position is a feature of the invention of the first embodiment. The current position information is, for example, latitude and longitude information. Latitude and longitude are indices that can uniquely determine the current position in the world.
The information on the current position is not limited to the latitude and longitude, but may be any other information that can specify the current position.

Therefore, according to the first embodiment, when the information of the ETC toll collection is received by the DSRC, the information of the current position is obtained from the information, and the current position is corrected to the position. This has the effect that a more correct position can be calculated.

(Second Embodiment) In a second embodiment of the present invention, the storage medium 1 has map data including altitude information, and the position is corrected including the altitude direction. It is characterized in that three-dimensional position correction is performed by providing three-dimensional position correction means.

Next, the operation in the case of communicating the information of ETC toll collection by DSRC in the second embodiment will be described with reference to the flowchart of FIG. In the second embodiment, the position is calculated using the basic position calculation method as described in the first embodiment (step S21). Then, the DSRC communication means 7 receives E from the outside.
When the information of the TC charge collection is received (step S22), the information of the current position is obtained from the information of the ETC charge collection (step S23). If the information on the current position includes the information on the altitude (step S24), the current position is corrected in three dimensions including the altitude information (step S26).

Steps S24 and S26 will be described in more detail. When altitude information is included in the information of ETC toll collection in DSRC, three-dimensional position information exists as information of the current position. Therefore, for example, if there are roads above and below the elevated road, the road under the elevated and the road on the elevated have the same latitude and longitude,
It can be distinguished by altitude information.

The three-dimensional position information including the altitude information included in the storage medium 1 is compared with the three-dimensional position information obtained from the information of the ETC toll collection by the DSRC, and the current position including the altitude is corrected. By doing so, for example, a road on an overpass and a road under an overpass can be distinguished. The correction of the current position in three dimensions is a feature of the invention in the second embodiment.

Therefore, according to the second embodiment, the map data including the altitude information is used in the storage medium, and when the information of the ETC toll collection is received by the DSRC, the altitude is included in the information. Since the current position information including the information is obtained and the current position is corrected in three dimensions, the present position can be correctly corrected even on a road that is difficult to determine in two dimensions, such as an elevated road. Having.

(Third Embodiment) A third embodiment of the present invention is characterized in that the storage medium 1 has map data including road data including information on upper and lower portions of an elevated road. Is what you do.

Next, the operation of the third embodiment in the case of communicating ETC fee collection information by DSRC will be described with reference to the flowchart of FIG. In the third embodiment, the position is calculated using the basic position calculation method in the same manner as described in the first embodiment (step S31). Then, the DSRC communication means 7 receives E from the outside.
When the information of the TC charge collection is received (step S32), the information of the current position is obtained from the information of the ETC charge collection (step S33). Then, when the information on the current position includes information on the upper and lower sides of the elevated road (step S34), the current position is corrected in three dimensions including on the elevated road and below the elevated road (step S36).

Steps S34 and S36 will be described in more detail. If the information of ETC toll collection by DSRC includes information on the upper and lower of an elevated road,
Three-dimensional position information is present as information on the current position. Therefore, when there are roads above and below the elevated road, the road under the elevated road and the road on the elevated road can be distinguished even if the two-dimensional positions are equal.

The three-dimensional position information including the information on the upper and lower sides of the elevated road included in the storage medium 1 is compared with the three-dimensional position information obtained from the information of the ETC toll collection by the DSRC, and the upper and lower sides of the elevated road are compared. By correcting the current position, including
The road on the overpass and the road under the overpass can be distinguished.
This correction of the current position in three dimensions is a feature of the invention of the third embodiment.

Therefore, according to the third embodiment, the storage medium 1 includes the map data including the upper and lower information of the elevated road, and when the information of the ETC toll collection is received by the DSRC, the information is stored. In order to obtain information on the current position including the information on the upper and lower sides of the elevated road from among the above, and to correct the current position in three dimensions, it is possible to correctly determine the current position even on roads that are difficult to distinguish in two dimensions, such as elevated roads. This has the effect that it can be modified.

(Fourth Embodiment) A fourth embodiment of the present invention will be described with reference to FIG. 1 and FIGS. FIG.
Has already been described, so that description is omitted. 5 and 6 are diagrams showing a situation when a vehicle enters a parking lot. FIG. 5 shows a state of a candidate in a conventional example, and FIG. 6 shows a state of a candidate in a fourth embodiment. It is.

In FIG. 5, reference numeral 401 denotes a traveling locus of the vehicle, and in this example, a right turn is shown. Also 402
Indicates road data in the map data, 403 indicates a parking lot, and 404 indicates a candidate created immediately after the vehicle turns right.

In the description of FIG. 6, FIG.
Only the parts that differ from the description will be described. In FIG. 6, reference numeral 405 denotes a transmission unit provided in a parking lot for transmitting information by DSRC. Transmission means 405 provided in the parking lot of the vehicle
When traveling near the vehicle, the transmission means 40 provided in the parking lot
5 and the DSRC communication means 7 of the vehicle shown in FIG.
Exchange information with DSRC. Reference numeral 406 denotes a temporary current position outside the road data 402.

FIGS. 7 and 8 show an example of a part of the business code table. In FIG. 7, 411
Is a table showing the company code and the presence or absence of operation management of the off-road facilities. In FIG. 7, the presence / absence of the operation management of the off-road facility is represented by presence or absence, but can be represented by a flag or a variable. In FIG. 8, reference numeral 412 denotes a table showing the company code and the operation management content. In FIG. 8, the operation management contents are described as toll roads and parking lots, but can be expressed by flags and variables.

In describing the fourth embodiment of the present invention, a related art example will be described with reference to FIGS. Using the sensor input unit 4 and the GPS signal input unit 5, a temporary current position is calculated. The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8.

A vehicle display candidate is created on a road around the temporary current position. Then, the reliability of the vehicle display candidate is calculated based on the distance to the road and the azimuth difference between the road azimuth and the vehicle azimuth. Regarding the reliability, a case where the reliability of the vehicle display candidate is high is expressed as a high reliability. When there are a plurality of vehicle display candidates, a vehicle display candidate point having the highest reliability is set as a display candidate. If the reliability of all the candidates for vehicle display is lower than a certain value, it is determined that there are no candidates for vehicle display on the road, and the temporary current position outside the road is set as a display candidate. Set.

The display candidates are finally displayed on the display of the output means 6 or the like. Therefore,
If the sensor error is large or if there is an error in the map data, the reliability of the candidate for vehicle display is not calculated correctly even though the vehicle is traveling on a place other than the road, and the vehicle is displayed on the road. There is a problem that the candidate is displayed.

On the other hand, the fourth embodiment of the present invention
This will be described with reference to the flowcharts of FIGS. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S41). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. Then, the reliability of the vehicle display candidate is calculated based on the distance to the road and the azimuth difference between the road azimuth and the vehicle azimuth (step S42).

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In step 43), the company code information is obtained from the ETC fee collection information (step S44). The company code information is a code for identifying a company involved in ETC fee collection. Then, when the company code information is included as the information indicating the current position, it is determined whether or not the company code indicates the outside of the road (step S45). As a criterion for the determination, for example, a table shown as 411 in FIG. 7 or 412 in FIG. 8 can be used.

When the company code indicates the outside of the road such as a parking lot or a drive-through, it is determined that there is no vehicle display candidate on the road, and the temporary current position outside the road is set as a display candidate. (Step S46). These display candidates are finally displayed on the display of the output unit 6 or the like. It is important that the company code includes information that can determine whether the company is a company related to roads or a company other than roads such as parking lot management. The code is not particularly limited to the company code, and any other code may be used as long as it includes information that can determine that the company or the building is other than a road.

That is, in the fourth embodiment, the information is stored in the DSR
The point is to communicate by C, obtain the business code from this information, and determine that it is not on the road, and the flow of processing is not limited to the flowchart of FIG.

Therefore, according to the fourth embodiment, DSRC communication means for communicating information by DSRC is provided, and the information is communicated by DSRC using the DSRC communication means, and it is determined whether or not the vehicle is on a road based on the company code. Therefore, there is an effect that the position can be accurately calculated without erroneous matching with a nearby road while traveling outside the road such as a parking lot.

(Fifth Embodiment) A fifth embodiment of the present invention will be described with reference to FIG. 1 and FIGS.
Since FIG. 1 has already been described, its description is omitted. FIG.
0 is a flowchart illustrating the operation of the fifth embodiment, and FIG. 11 is a diagram illustrating an example of candidate deletion. FIG.
In 501, 501 is a DS provided on the side of the road.
The transmitting means for transmitting by RC is shown. When the vehicle travels near the transmission means 501 provided on the side of the road, information is exchanged between the transmission means 501 provided on the side of the road and the DSRC communication means 7 provided on the vehicle by DSRC.

Reference numeral 502 denotes a toll road, and 503 denotes a general road. Reference numeral 504 denotes a vehicle display candidate on a toll road, and reference numeral 505 denotes a vehicle display candidate on a general road. Reference numeral 506 denotes a vehicle display candidate after exchanging information of ETC fee collection.

FIGS. 12 and 13 show a part of the table of the company code as an example. In FIG. 12, reference numeral 511 denotes a table indicating a company code and whether or not there is management of a toll road. In FIG. 12, the presence / absence of toll road operation management is represented by presence or absence, but can be represented by flags and variables. In FIG. 13, reference numeral 512 denotes a table showing a business code and operation management contents. In FIG.
Although the operation management contents are described as toll roads and parking lots,
It can be expressed by flags and variables.

The operation of the fifth embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S51). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. FIG.
In the example of FIG. 1, candidates for vehicle display of 504 and 505 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In step 52), the company code information is obtained from the ETC fee collection information (step S53). The company code information is a code for identifying a company involved in ETC fee collection. Then, when the company code information is included as the information indicating the current position, from the company code,
It is determined whether the road is a toll road (step S54). As a criterion for the determination, for example, 511 in FIG.
The table shown at 512 can be used.

If it is determined that the road is a toll road, the candidate other than the toll road is deleted (step S55). Therefore, in the example of FIG. 11, 506 is a candidate for vehicle display on a toll road.
Only exists. The candidates for the vehicle display are finally displayed on the display of the output unit 6 or the like. It is important that the company code includes information that can determine whether the road is a toll road or not. The code is not particularly limited to the business code, and any other code may be used as long as it includes information that can determine whether the road is a toll road.

That is, in the fifth embodiment, the information is stored in the DSR
The point is that communication is performed using C, a business code is obtained from this information, and it is determined that the vehicle is on a toll road. The flow of processing is not limited to the flowchart of FIG.

Therefore, according to the fifth embodiment, DSRC communication means for communicating information by DSRC is provided, and the information is communicated by DSRC by the DSRC communication means. Since it is possible to determine, even in a place where a toll road and a general road run side by side, it is possible to accurately determine that the road is a toll road.

(Sixth Embodiment) A sixth embodiment of the present invention will be described with reference to FIG. 1, FIG. 14, and FIG. Although FIG. 1 has already been described, detailed description thereof will be omitted, but the storage medium 1 is characterized in that the storage medium 1 has map data including link ID information. FIG. 14 is a flowchart illustrating the operation of the sixth embodiment.
FIG. 15 shows an example of position correction according to the sixth embodiment of the present invention.

In FIG. 15, reference numeral 601 denotes transmission means provided on the side of the road for transmitting information by DSRC. When the vehicle travels near the transmitting means 601 provided on the roadside, information is transmitted between the transmitting means 601 provided on the roadside and the DSRC communication means 7 provided on the vehicle.
Interact with C. 602 and 603 are roads, and 604 and 605 are candidates for displaying vehicles on the road.

The operation of the sixth embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S61). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. FIG.
In the example of 5, vehicle display candidates 604 and 605 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
62) contains VICS from the ETC fee collection information.
The link ID information is obtained (step S63). The VICS link ID is information for identifying a road on which a fixed station (a system for transmitting ETC toll collection information) is installed, and can roughly specify a current position. For example, the signal of an optical beacon or a radio beacon includes VICS
A link ID is included, as disclosed in Japanese Patent Application Laid-Open No. H11-281381.
In the technology described in the publication, the current position is determined using the VICS link ID.

Also in the present invention, the system for transmitting the information of ETC fee collection by DSRC is assumed to transmit VICS link ID information in the future.
The current position is calculated correctly using the information of (1). The VICS link ID obtained from the ETC fee collection information is compared with the link ID included in the storage medium 1 to specify the position (step S64). Then, the current position is corrected to the specified position (step S65).

That is, in the sixth embodiment, the information is stored in the DSR
C, the point is to obtain the link ID from this information and to correct the current position to the position where the link ID included in the storage medium exists. The processing flow is limited to the flowchart of FIG. I am not doing it.

Therefore, according to the sixth embodiment, DSRC communication means for communicating information by DSRC is provided. The DSRC communication means communicates information by DSRC, obtains link ID information, and stores it in a storage medium. Since the current position can be corrected to the location where the included link ID exists, there is an effect that the current position can be accurately calculated.

(Seventh Embodiment) A seventh embodiment of the present invention will be described with reference to FIG. 1 and FIGS.
Although FIG. 1 has already been described, detailed description will be omitted, but only the storage medium 1 is characterized by having map data including information indicating the relationship between the toll gate number and the position. FIG.
Are also described in the above-described sixth embodiment, and a description thereof will be omitted. FIG. 16 is a flowchart for explaining the operation of the seventh embodiment, and FIG. 17 is an example of a table showing the relationship between tollgate numbers and positions.

In FIG. 17, reference numeral 710 denotes an example of a table showing the relationship between the tollgate number and the position, where the latitude and longitude are set as the position. However, the position information is not limited to latitude and longitude, but may be a link ID or the like. Any information that can clarify the location of the tollgate is acceptable.

The operation of the seventh embodiment will be described with reference to FIGS.
7 will be described. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S71). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. FIG.
In the example of 5, vehicle display candidates 604 and 605 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In step 72), information on the tollgate number is obtained from the information on the ETC toll collection (step S73). The tollgate number is an identification number of the tollgate, and can specify the tollgate. The tollgate number is also called a tollgate ID or the like.

In the present invention, using the tollgate number,
Calculate the current position correctly. The toll gate number obtained from the ETC toll collection information is compared with the toll gate number included in the storage medium 1. If the same toll gate number exists (step S74), the toll gate number is displayed at the position indicated by the toll gate. The current position is corrected (step S75).

That is, in the seventh embodiment, the information is stored in the DSR
C, the point is to obtain the tollgate number from this information, and to correct the current position to the position where the tollgate number included in the storage medium exists. It is not limited to.

Therefore, according to the seventh embodiment, DSRC communication means for communicating information by DSRC is provided, and the information is communicated by DSRC by the DSRC communication means to obtain the information of the tollgate number, and the storage medium Since the current position can be corrected to a place where the tollgate number included in the information exists, there is an effect that the current position can be accurately calculated.

(Eighth Embodiment) An eighth embodiment of the present invention will be described with reference to FIG. 1, FIG. 15, and FIG.
Although FIG. 1 has already been described, detailed description thereof will be omitted. However, the feature is that the storage medium 1 has map data including information indicating the position of each tollgate. FIG.
Are also described in the sixth embodiment, and a description thereof will be omitted. FIG. 18 is a flowchart illustrating the operation of the eighth embodiment.

The operation of the eighth embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S81). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. FIG.
In the example of 5, vehicle display candidates 604 and 605 are created.

Then, when the DSRC communication means of the vehicle receives ETC fee collection information from outside (step S8).
In 2), since it can be determined that the vehicle has passed the tollgate, the information indicating the position of the tollgate stored in the storage medium 1 is searched,
Select the tollgate closest to the temporary current location (step S
83). Then, the current position is corrected to the position of the tollgate. (Step S84).

If there is no information indicating the position of the tollgate near the tentative current position, the current position is corrected as a condition for correcting the current position so that the position is not corrected to the wrong tollgate far away. The current position is corrected only when the difference between the position and the position retrieved from the storage medium 1 is equal to or smaller than a certain value.

That is, in the eighth embodiment, the information is stored in the DSR
In the case of communication by C, the point is to search for the tollgate closest to the current position from the storage medium and correct the current position to the position of the tollgate.
It is not necessarily limited to the flowchart of FIG.

Therefore, according to the eighth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by the DSRC communication means, the toll booth closest to the current position from the storage medium is provided. Can be searched and the current position can be corrected to the position of the tollgate, so that there is an effect that the current position can be accurately calculated.

(Ninth Embodiment) Next, a ninth embodiment will be described. The ninth embodiment is a modification of the eighth embodiment, and is used when information is communicated by DSRC communication means. In addition, the toll booth location in the map data of the storage medium,
A candidate reliability operating means for measuring a distance from a candidate position on the vehicle display and operating the candidate reliability in accordance with the distance is provided.

That is, in the above-described eighth embodiment, as a condition for correcting the current position, only when the difference (distance) between the current position and the position searched from the storage medium is equal to or smaller than a certain value, the current position is corrected. However, in the ninth embodiment, the reliability of the vehicle display candidate is determined according to the distance between the toll gate position in the map data and the candidate position for vehicle display, for example, when the distance is small. By operating to increase the distance if it is present and to decrease the distance if the distance is large, the current position can be accurately calculated.

(Tenth Embodiment) A tenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 15, and FIG. Although FIG. 1 has already been described, detailed description will be omitted, but it is characterized in that the storage medium 1 has map data including information indicating lanes. FIG. 15 has also been described in the sixth embodiment, and a description thereof will be omitted. FIG.
Is a flowchart for explaining the operation of the tenth embodiment.

The operation of the tenth embodiment will be described with reference to FIGS.
9 will be described. The temporary current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S91). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position. FIG.
In the example of 5, vehicle display candidates 604 and 605 are created.

Then, when the DSRC communication means of the vehicle receives ETC fee collection information from outside (step S9)
In 2), information on an identifier indicating a lane is obtained from the information on ETC toll collection (step S93). The identifier indicating the lane is information that can specify the position of the lane on the road where the fixed station (the system for transmitting the information of ETC toll collection) is installed, and specifies the position of the currently running lane. can do. From the identifier indicating the lane obtained from the ETC toll collection information, the lane considered to be currently running is specified (step S94), and the current position is corrected to the position of the specified lane on the road (step S95). .

That is, in the tenth embodiment, the information is stored in the DS
When communicating by RC, the point is to obtain an identifier indicating a lane from the storage medium 1 and correct the current position to the position of the lane. The flow of processing is limited to the flowchart of FIG. is not.

Therefore, according to the tenth embodiment, DSRC communication means for communicating information by DSRC is provided, an identifier indicating a lane is obtained by the DSRC communication means, and the current position is set at the position of the lane on the road. Has the effect that the current position can be accurately calculated.

(Eleventh Embodiment) An eleventh embodiment of the present invention will be described with reference to FIG. 1, FIG. 11, and FIG. Since FIG. 1 has already been described, its description is omitted. FIG. 11 is a diagram illustrating an example of candidate deletion. However, in FIG. 11, reference numeral 501 denotes a transmission unit that is provided on a toll road and transmits information by DSRC. When the vehicle travels near the transmission means 501 provided on the toll road, information is exchanged by DSRC between the transmission means 501 provided on the toll road and the DSRC communication means 7 provided on the vehicle. . 502 is a toll road and 503 is a general road. Also,
504 is a candidate for vehicle display on a toll road, and 505 is a candidate for vehicle display on a general road. Reference numeral 506 denotes a vehicle display candidate after exchanging information of ETC fee collection. FIG. 20 is a flowchart illustrating the operation of the eleventh embodiment.

The operation of the eleventh embodiment will be described with reference to FIGS.
Description will be made using 0. Sensor input means 4 and GPS
The provisional current position is calculated using the signal input means 5 (step S101). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.
In the example of FIG. 11, vehicle display candidates 504 and 505 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In 102), since it can be determined that the road is a toll road, candidates excluding toll roads are deleted (step S103). Therefore, in the example of FIG. 11, 506 is a candidate for vehicle display on a toll road.
Only exists. The candidates for the vehicle display are finally displayed on the display of the output unit 6 or the like.

That is, in the eleventh embodiment, the information is stored in the DS
When communicating by RC, the point is to determine that the vehicle is on a toll road, and the flow of processing is not limited to the flowchart of FIG.

Therefore, according to the eleventh embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by the DSRC communication means, it is determined that the vehicle is on a toll road. Therefore, even in a place where a toll road and a general road run side by side, it is possible to accurately determine that the road is a toll road.

(Twelfth Embodiment) A twelfth embodiment of the present invention will be described with reference to FIGS. Since FIG. 1 has already been described, its description is omitted. FIG. 21 is a flowchart for explaining the operation of the twelfth embodiment.

The operation of the twelfth embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The provisional current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S111). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In 112), it is determined whether or not the information on the presence or absence of the charge is obtained (step S113). If the information on the charge is obtained, the calculation of the candidate reliability is performed by increasing or decreasing the reliability. The calculation is performed (step S115), but if the information indicating that there is no charge is obtained, the calculation of the candidate reliability is normally calculated without performing the adjustment operation (step S114), and the process returns.

That is, the fact that the information indicating that there is a charge can be obtained means that the current position of the vehicle is outside the ETC toll collection facility,
For example, since it can be determined that the vehicle is in the vicinity of the toll road facility, the reliability is calculated in consideration of the billing, so that the vicinity of the toll road facility is determined to be a candidate to be displayed. 6 will be displayed on the display or the like.

That is, in the twelfth embodiment, the information
When communicating by RC, the point is to determine whether or not information on the presence or absence of charging has been obtained, and the flow of processing is not limited to the flowchart of FIG.

Therefore, according to the twelfth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by the DSRC communication means, charging is performed if information with charging is obtained. By calculating the reliability in consideration of the above, there is an effect that it is possible to accurately determine that the vicinity of a facility to be charged, for example, a toll road facility, a parking lot, a drive-through, etc., is the current position of the vehicle.

(Thirteenth Embodiment) A thirteenth embodiment of the present invention will be described with reference to FIGS. Since FIG. 1 has already been described, its description is omitted. FIG. 22 is a flowchart for explaining the operation of the thirteenth embodiment.

In FIGS. 1 and 22, a temporary current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S121). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from the outside (step S
In step 122, it is determined whether or not the user has been charged (step S12).
3) If the charge is made, the candidate other than the toll road is deleted (step S124). If the charge is not made, the calculation of the candidate reliability is normally calculated (step S12).
5) Then return.

That is, since it can be determined that the vehicle has been charged means that the current position of the vehicle is in the vicinity of an external ETC toll collection facility, for example, a toll road facility, the candidate other than the toll road is deleted to delete the toll road. The candidate near the facility is determined to be displayed, and the final vehicle display candidate is
The result is displayed on the display of the output means 6 or the like.

That is, in the thirteenth embodiment, the information is stored in the DS
When communicating by RC, the point is to determine whether or not the charge has been made.
It is not limited to the flowchart of FIG.

Therefore, according to the thirteenth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by this DSRC communication means, when charging is made, candidates other than toll roads are charged. Has the effect that it can be accurately determined that the vicinity of the toll road facility is the current position of the vehicle.

In the above description, toll road facilities have been described as an example, but facilities such as parking lots and drive-throughs may be used.

(Fourteenth Embodiment) A fourteenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 23, and FIG. Since FIG. 1 has already been described, its description is omitted.
FIG. 23 is a flowchart for explaining the operation of the fourteenth embodiment. In FIG. 24, reference numeral 2401 denotes a transmission unit provided on a toll road for transmitting information by DSRC. When the vehicle travels near the transmitting means 2401 provided on the toll road, the transmitting means provided on the toll road
2401 and the DSRC communication means 7 provided in the vehicle,
Exchange information with DSRC.

Reference numeral 2402 denotes a main toll road, reference numeral 2403 denotes a general road,
2407 is a ramp toll road. Reference numeral 2404 denotes a vehicle display candidate on a ramp, 2405 denotes a vehicle display candidate on a main road toll road, and 2406 denotes a vehicle display candidate on a general road. Reference numeral 2408 denotes a vehicle display candidate after exchanging information of ETC fee collection.

A fourteenth embodiment of the present invention will be described with reference to FIGS. Sensor input means 4 and GPS
The temporary current position is calculated using the signal input means 5 (step S131). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
In 132), it is determined whether or not the vehicle is on the toll road from the tollgate position described in the eighth embodiment described above (step S133). Next, it is determined whether a plurality of candidates are displayed on the toll road (step S134). If a plurality of candidates are displayed, the candidate reliability on the ramp is added to calculate the reliability (step S135). If a plurality of candidates are not displayed, the calculation of the candidate reliability is performed normally. Calculation (step S136) and return.

In other words, if the ramp is a road external to the main line and there are candidates for the main line and the ramp,
The display candidates are finally determined by adding the reliability of the candidates on the lamp. In the example of FIG. 24, only the vehicle display candidate 2408 on the lamp exists, so the final vehicle display candidate is displayed on the display of the output unit 6 or the like.

That is, in the fourteenth embodiment, the information
The point is that the reliability on the ramp is added on the premise that a plurality of candidates are displayed on the toll road when communicating by RC, and the flow of the processing is described in the flowchart of FIG. It is not a limitation.

Therefore, according to the thirteenth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by the DSRC communication means, a plurality of candidates on toll roads exist. Then, by adding the reliability of the candidates on the ramp and calculating the reliability, there is an effect that the current position of the vehicle can be accurately determined even if a plurality of candidates exist on the toll road.

(Fifteenth Embodiment) A fifteenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 25 and FIG. Since FIG. 1 has already been described, its description is omitted. FIG. 25 is a diagram showing an example of adding the candidate reliability. In FIG.
The transmitting means for transmitting by RC is shown. When the vehicle travels near the transmitting means 2501 provided on the toll road entrance, information is transmitted by DSRC between the transmitting means 2501 provided on the toll road entrance and the DSRC communication means 7 provided on the vehicle. Interact. 2502 is a toll road and 2503 is a general road. Reference numeral 2504 denotes a vehicle display candidate on a general road, and reference numeral 2505 denotes a vehicle display candidate on a toll road entrance. And 2506 is E
This is a vehicle display candidate after exchanging TC toll collection information. FIG. 26 is a flowchart for explaining the operation of the fifteenth embodiment.

The operation of the fifteenth embodiment will be described with reference to FIGS.
6 will be described. Sensor input means 4 and GPS
The provisional current position is calculated using the signal input means 5 (step S141). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.
In the example of FIG. 25, vehicle display candidates 2504 and 2505 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
142), it is determined whether the entrance is a toll road (step S1).
43) Then, if it is an entrance, the toll road candidate reliability is added (step S144). If it is not the entrance in step S143, the calculation of the candidate reliability is normally calculated (step S14).
5) Then return. Therefore, in the example of FIG.
Only 2506, which is a candidate for vehicle display on a toll road, exists. The candidates for the vehicle display are finally displayed on the display of the output unit 6 or the like.

That is, in the fifteenth embodiment, the information is stored in the DS
When communicating by RC, the point is to judge that the vehicle is on the entrance of a toll road, and the flow of processing is not limited to the flowchart in FIG.

Therefore, according to the fifteenth embodiment, DSRC communication means for communicating information by DSRC is provided. When information is communicated by DSRC by the DSRC communication means, it is determined that the vehicle is on the toll road entrance. Since it is possible to determine, even in a place where a toll road and a general road run side by side, it is possible to accurately determine that the road is a toll road.

(Sixteenth Embodiment) A sixteenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 27, and FIG. Since FIG. 1 has already been described, its description is omitted. FIG. 27 is a diagram showing an example of adding the candidate reliability. Reference numeral 2511 denotes DS provided on the toll road exit.
The transmitting means for transmitting by RC is shown. When the vehicle travels near the transmission means 2511 provided on the toll road exit, information is transmitted by DSRC between the transmission means 2511 provided on the toll road exit and the DSRC communication means 7 provided on the vehicle. Interact. 2512 is a toll road and 2513 is a general road. Reference numeral 2514 denotes a vehicle display candidate on a toll road, and reference numeral 2515 denotes a vehicle display candidate on a toll road exit. And 2516 is E
This is a vehicle display candidate after exchanging TC toll collection information. FIG. 28 is a flowchart for explaining the operation of the sixteenth embodiment.

The operation of the sixteenth embodiment will be described with reference to FIGS.
8 will be described. Sensor input means 4 and GPS
The provisional current position is calculated using the signal input means 5 (step S151). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.
In the example of FIG. 27, candidates for vehicle display 2514 and 2515 are created.

Then, when the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
152), it is determined whether or not it is a toll road exit (step S1).
53) Then, if it is an exit, the general road candidate reliability is added (step S154). Therefore, in the example of FIG. 27, only the vehicle display candidate 2516 on the general road exists.
The candidates for the vehicle display are finally displayed on the display of the output unit 6 or the like.

That is, in the sixteenth embodiment, the information is stored in the DS
When communicating by RC, the point is to judge that the vehicle is on the toll road exit, and the flow of processing is not limited to the flowchart of FIG.

Therefore, according to the sixteenth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information is communicated by DSRC by the DSRC communication means, it is determined that the vehicle is on the toll road exit. Since it is possible to determine, even in a place where a toll road and a general road run side by side, it is possible to accurately determine that the road is a general road.

(Seventeenth Embodiment) A seventeenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 29 and FIG. Since FIG. 1 has already been described, its description is omitted. FIG. 29 is a flowchart for explaining the operation of the seventeenth embodiment. FIG. 30 is a diagram illustrating an example in which a distance coefficient of a navigation device mounted on a vehicle is corrected from the distance information based on DSRC (dedicated short-range communication) communication between the plurality of ETC toll collection systems and the vehicle; Reference numerals 3001 and 3003 denote transmission means provided on toll roads for transmitting information by DSRC. When the vehicle travels near the transmission means 3001 and 3003 provided on the toll road, information is transmitted between the transmission means 3001 and 3003 provided on the toll road and the DSRC communication means 7 provided on the vehicle. Interact with DSRC. 3004 is a toll road. Reference numeral 3002 denotes a trajectory of a vehicle that exchanges information of ETC fee collection. FIG. 29 is a flowchart for explaining the operation of the seventeenth embodiment.

The operation of the seventeenth embodiment will be described with reference to FIGS.
Description will be made using 0. Sensor input means 4 and GPS
The provisional current position is calculated using the signal input means 5 (step S161). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

When the DSRC communication means 7 of the vehicle receives ETC fee collection information from outside (step S
162), it is determined that the vehicle is on a toll road, and after driving for a while, the DSRC communication means 7 of the vehicle is externally controlled by ET.
C When the fee collection information is received again (step S16
In 3), the distance coefficient of the navigation device mounted on the vehicle is corrected from the distance information (step S164). Here, the distance information is obtained from the position information at two points, and in the above case, the position information is DS
Use the position data in the data format of the RC communication or the position data present in the map data (this may be data indicating the relationship between the tollgate number and the position)
Use When the distance is obtained, the distance coefficient can be calculated by the formula: distance ÷ number of pulses.

As described above, in the seventeenth embodiment, the information is
When communicating by SRC, the point is to correct the distance coefficient of the navigation device mounted on the vehicle using the number of pulses between two points where the distance is known in advance. 30 is not limited to the flowchart of FIG.

Therefore, according to the seventeenth embodiment, DSRC communication means for communicating information by DSRC is provided.
When communication is performed with the vehicle at C, distance information is obtained based on DSRC (dedicated narrow-area communication) communication, so that the distance coefficient of the navigation device mounted on the vehicle can be corrected from the distance information. Having.

(Eighteenth Embodiment) An eighteenth embodiment of the present invention will be described with reference to FIGS. Since FIG. 1 has already been described, its description is omitted. FIG. 31 is a flowchart for explaining the operation of the eighteenth embodiment.

The operation of the eighteenth embodiment will be described with reference to FIGS.
This will be described with reference to FIG. The temporary current position is calculated using the sensor input means 4 and the GPS signal input means 5 (step S171). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

When the DSRC communication means 7 of the vehicle receives the ETC fee collection information with the vehicle type information from the outside (step S172), it is determined whether the vehicle type is a large car / normal car / small car (step S172). In step S173), if the vehicle type is a large vehicle, the display mark of the vehicle is displayed as a large vehicle display mark (step S174). If the vehicle type is an ordinary vehicle, the display mark of the vehicle is displayed as an ordinary vehicle display mark (step S175). If the vehicle type is a small car, the display mark of the vehicle is displayed as a small car display mark (step S176). For example, if the vehicle type is a large vehicle, the display mark of the vehicle is enlarged. Note that mini vehicles are included in the category of small vehicles. It is also possible to change the mark to a mark set according to the vehicle type.

That is, in the eighteenth embodiment, when information with vehicle type information is communicated by DSRC, the vehicle type is
The point is to judge whether the vehicle is other than a normal car or a small car and change the display mark according to the vehicle type, and the flow of processing is not limited to the flowchart in FIG.

Therefore, according to the eighteenth embodiment, DSRC communication means for communicating information by DSRC is provided, and when information with vehicle type information is communicated by DSRC by the DSRC communication means, the vehicle type becomes large vehicle. /Standard-sized car/
It is possible to determine whether the vehicle is a small car and change the display mark according to the vehicle type.

(Nineteenth Embodiment) A nineteenth embodiment of the present invention will be described with reference to FIG. 1, FIG. 32 and FIG. Since FIG. 1 has already been described, its description is omitted.
FIG. 32 shows an example of the arrangement of a toll collection system for explaining the operation of the nineteenth embodiment.
Uses the information provided on the toll road entrance exit by DSRC
Shows a transmission means for transmitting the data. When the vehicle travels near the transmission means 3201 and 3204 provided on the toll road entrance exit, the transmission means 3201 and 32 provided on the toll road entrance exit
Information is exchanged by DSRC between 04 and DSRC communication means 7 provided in the vehicle. 3202 is a toll road and 3203 is a general road. Reference numeral 3205 denotes a trajectory of the vehicle. FIG. 33 is a flowchart for explaining the operation of the nineteenth embodiment.

The operation of the nineteenth embodiment will be described with reference to FIGS.
3 will be described. Sensor input means 4 and GPS
The provisional current position is calculated using the signal input means 5 (step S181). The map data around the temporary current position is read from the storage medium 1 via the storage medium input means 8. A vehicle display candidate is created on a road around the temporary current position.

When the DSRC communication means 7 of the vehicle receives information of ETC toll collection from outside at the entrance of the toll road (step S182), the vehicle enters the toll road.

Shortly after entering the toll road 3202, the beacon information receiving device (not shown) provided in the vehicle receives the information. That is, the optical beacon information receiving device (not shown) provided in the vehicle becomes an optical beacon. The information is received from the information transmitting device 3206, which normally corrects the current position because the vehicle has the current position on the general road.
Since the DSRC communication means 7 of the vehicle 3205 has not received the information from the transmission means 3204 transmitting by C (step S183), the vehicle 3205 must still be on the toll road. In such a case, the information obtained by the toll collection system by the DSRC communication means 7 is used in preference to the information received by the optical beacon information receiving device (step S184).

Therefore, according to the nineteenth embodiment, DSRC communication means for communicating information by DSRC is provided.
Until the RC communication is completed, the information obtained by the toll collection system by the DSRC communication means is used with priority over the information received by the beacon information receiving device, so that the current position is erroneously set on a general road when traveling on a toll road. This has an effect that it is possible to avoid such a display.

[0148]

As described above, the current position calculating apparatus according to the present invention includes communication means for communicating information by DSRC.
The communication means includes a position correcting means for correcting a position when information is communicated by DSRC. With this configuration, there is an effect that the position can be calculated with high accuracy.

[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 is a flowchart illustrating the operation of the first embodiment of the present invention,

FIG. 3 is a flowchart for explaining the operation of the second embodiment of the present invention;

FIG. 4 is a flowchart for explaining the operation of the third embodiment of the present invention;

FIG. 5 is a diagram showing states of candidates in a conventional example.

FIG. 6 is a diagram showing states of candidates according to a fourth embodiment of the present invention;

FIG. 7 shows an example of a table indicating the presence / absence of operation management of off-road facilities, according to a fourth embodiment of the present invention;

FIG. 8 is an example of a table showing a company code and operation management contents according to the fourth embodiment of the present invention;

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

FIG. 10 is a flowchart of a current position calculation device according to a fifth embodiment of the present invention;

FIG. 11 shows an example of candidate deletion according to the fifth embodiment of the present invention;

FIG. 12 is an example of a table indicating the presence / absence of management of a company code and a toll road according to the fifth embodiment of the present invention;

FIG. 13 is an example of a table showing a company code and operation management contents according to the fifth embodiment of the present invention;

FIG. 14 is a flowchart of a current position calculation device according to a fifth embodiment of the present invention;

FIG. 15 shows an example of position correction according to the sixth embodiment of the present invention;

FIG. 16 is a flowchart of a current position calculation device according to a seventh embodiment of the present invention;

FIG. 17 is an example of a table showing the relationship between tollgate numbers and positions according to the seventh embodiment of the present invention;

FIG. 18 is a flowchart of a current position calculation device according to the eighth and ninth embodiments of the present invention;

FIG. 19 is a flowchart of a current position calculation device according to a tenth embodiment of the present invention;

FIG. 20 is a flowchart of a current position calculation device according to an eleventh embodiment of the present invention;

FIG. 21 is a flowchart of a current position calculation device according to a twelfth embodiment of the present invention;

FIG. 22 is a flowchart of a current position calculation device according to a thirteenth embodiment of the present invention;

FIG. 23 is a flowchart of a current position calculation device according to a fourteenth embodiment of the present invention;

FIG. 24 shows an example of candidate deletion according to the fourteenth embodiment of the present invention;

FIG. 25 shows an example of reliability addition in the fifteenth embodiment of the present invention;

FIG. 26 is a flowchart of a current position calculation device according to a fifteenth embodiment of the present invention;

FIG. 27 shows an example of reliability addition in the sixteenth embodiment of the present invention;

FIG. 28 is a flowchart of a current position calculation device according to a sixteenth embodiment of the present invention;

FIG. 29 is a flowchart of a current position calculation device according to a seventeenth embodiment of the present invention;

FIG. 30 shows an example of an arrangement of a toll collection system according to a seventeenth embodiment of the present invention;

FIG. 31 is a flowchart of a current position calculation device according to an eighteenth embodiment of the present invention;

FIG. 32 shows an example of an arrangement of a toll collection system according to a nineteenth embodiment of the present invention;

FIG. 33 is a flowchart of a current position calculation device according to a nineteenth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Storage medium 2 Input means 3 Information processing means 4 Sensor input means 5 GPS signal input means 6 Output means 7 DSRC communication means 8 Storage medium input means 401 Vehicle running locus 402 Road data in map data 403 Parking 404 Right after vehicle turns right 405 DSRC transmission means in the parking lot 406 Temporary current position outside the road data 402 411 Table showing the operator code and the presence or absence of operation management of facilities outside the road 412 Table showing the operator code and operation management contents 501 Road DSRC transmission means provided beside 502 Toll road 503 General road 504 Candidate on toll road 505 Candidate on general road 506 Display candidate after communication 511 Table showing business code and toll management status of toll road 512 Business Table showing codes and operation management contents 601 DSRC transmission means provided on the side of the road 602 Road 603 Road 604 Display candidates on the road 60 5 Display candidate on road 710 Table showing the relationship between toll gate number and location 2401 DSRC transmission means provided on toll road 2402 Toll road 2403 General road 2404 Candidate on ramp 2405 Candidate on toll road 2406 Candidate on general road 2407 Lamp 2408 Display candidate after communication 2501 DSRC transmission means provided at toll road entrance 2502 Toll road 2503 General road 2504 Candidate on general road 2505 Candidate on toll road entrance 2506 Display candidate after communication 2511 Provided at toll road exit DSRC transmission means 2512 Toll road 2513 General road 2514 Candidate on toll road 2515 Candidate on toll road exit 2516 Display candidate after communication 3001 DSRC transmission means provided on toll road 3002 Vehicle trajectory 3003 On toll road DSRC transmission means provided 3004 Toll road 3201 DSRC transmission means provided at entrance of toll road 3202 Toll road 3203 General road 3204 Toll road exit DSRC transmission means provided in 3205 Vehicle running locus 3206 Optical beacon information transmission device

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C032 HB02 HB05 HB22 HB24 HC08 HD03 HD30 2F029 AA02 AB07 AC03 AC08 AC14 AD04 5H180 AA01 BB02 BB04 FF05 FF13 FF22 FF27 FF32 9A001 CC05 JJ78

Claims (21)

[Claims] 1. A current position calculating device for calculating an apparent current position of a vehicle by using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor or a direction sensor, and map data stored in a storage medium. , Information DSRC
A current position calculation device comprising: a DSRC communication unit that communicates by (dedicated narrow-area communication); and a position correction unit that corrects a current position when information is communicated by the DSRC communication unit. 2. The storage medium has map data including altitude information, and the position correcting means includes a three-dimensional position correcting means for correcting a current position including an altitude direction. The current position calculation device according to claim 1, wherein 3. The storage medium has map data containing information on the upper and lower sides of the elevated road, and the position correction means uses the information on the upper and lower sides of the elevated road to include the altitude direction. The current position calculation device according to claim 1, further comprising a three-dimensional position correction unit that corrects a position. 4. A current position calculating apparatus for calculating an apparent current position of a vehicle by using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor or a direction sensor, and map data stored in a storage medium. , Information DSRC
A current position characterized by comprising: DSRC communication means for communicating by (dedicated narrow-area communication); and out-of-road judgment means for judging that it is not on a road when information is communicated by the DSRC communication means. Calculation device. 5. A current position calculating device for calculating an apparent current position of a vehicle using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor and a direction sensor, and map data stored in a storage medium. , Information DSRC
(Dedicated narrow-area communication) DSRC communication means, toll road determination means for determining that the vehicle is on a toll road when information is communicated by the DSRC communication means, and toll road determination by the toll road determination means A current position calculating device provided with a candidate deleting unit that deletes a candidate excluding a toll road when the judgment is made. 6. A current position calculating apparatus for calculating an apparent current position of a vehicle by using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor or a direction sensor, and map data stored in a storage medium. , And exchange information with the ETC toll collection system installed on the toll road.
DSRC communication means for communicating by SRC (dedicated short range communication), and position correction means for correcting the current position based on a link ID in the communicated information when the information is communicated by the DSRC communication means. A current position calculation device, characterized in that: 7. A current position calculating apparatus for calculating an apparent current position of a vehicle by using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor and a direction sensor, and map data stored in a storage medium. The storage medium has map data including information indicating a relationship between a tollgate number and a location, and stores information in a DSRC (exclusively) with an ETC toll collection system installed on a toll road. DSRC communication means for communicating by short-range communication);
When information is communicated by the RC communication means, based on the tollgate number in the communicated information, a position correcting means for correcting a current position to a tollgate position corresponding to the tollgate number may be provided. A current position calculation device, characterized in that: 8. A current position calculating apparatus for calculating an apparent current position of a vehicle using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor and a direction sensor, and map data stored in a storage medium. The storage medium has map data including information indicating the position of a tollgate, and transmits the information to DSRC (exclusive narrow-area communication) with an ETC toll collection system installed on a toll road. ), And a position correcting means for correcting a current position to the position of the tollgate in the map data when information is communicated by the DSRC communicating means. Current position calculation device. 9. A current position calculating apparatus for calculating an apparent current position of a vehicle by using a GPS signal input unit, a sensor input unit such as a vehicle speed sensor and a direction sensor, and map data stored in a storage medium. The storage medium has map data including information indicating the position of a tollgate, and transmits the information to DSRC (exclusive narrow-area communication) with an ETC toll collection system installed on a toll road. ), And a candidate reliability operating a candidate reliability according to a distance between the tollgate position and the candidate position in the map data when information is communicated by the DSRC communication means. A current position calculating device comprising an operating means. 10. An apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (dedicated narrow-area communication) and a lane determining means for determining a running lane based on an identifier indicating a lane when information is communicated by the DSRC communication means. A current position calculation device, characterized in that: 11. The apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (DSR communication means) for communicating by dedicated short-range communication, and candidate deletion means for deleting candidates except toll roads when information is communicated by the DSRC communication means. Calculation device. 12. An apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (dedicated short-range communication), DSRC communication means for communicating, and candidate reliability calculation means for operating the reliability of the candidate, wherein the DSRC communication means communicates information on the presence or absence of charging from the toll collection system. A current position calculating device for operating the reliability of the candidate of the candidate reliability calculating means according to the presence or absence of the charge. 13. An apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (a dedicated narrow-area communication) and a DSRC communication unit, and the DSRC communication unit communicates information on whether or not there is a charge from the toll collection system, and deletes candidates excluding toll roads when there is a charge. A current position calculation device comprising a deletion unit. 14. When there are candidates on a plurality of toll roads, there is provided a reliability adding means for increasing the reliability of the candidates on the ramp compared with the candidates on the main line. 12. The current position calculation device according to item 11. 15. An apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (dedicated short-range communication), DSRC communication means, entrance determination means for determining an entrance of a toll road by exchanging information by the DSRC communication means, and a candidate on a toll road based on the determination by the entrance determination means. A current position calculating device, comprising candidate reliability adding means for increasing the reliability of the current position. 16. The apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
C (exclusive narrow-area communication), DSRC communication means, exit determination means for determining an exit of a toll road by exchanging information by the DSRC communication means, and a candidate on a general road based on the determination by the exit determination means. A current position calculating device, comprising candidate reliability adding means for increasing the reliability of the current position. 17. The apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculation device that calculates a position using map data stored in a storage medium are used for a toll collection system installed on a toll road. DSR information
A DSRC communication means for communicating in C (dedicated narrow area communication), and a distance coefficient of a navigation device provided in the vehicle is corrected from the distance information based on DSRC (dedicated narrow area communication) communication between a plurality of ETC toll collection systems and the vehicle. Current position calculating device, characterized in that the current position calculating device is provided with a distance coefficient correcting means. 18. An apparent current position of a vehicle is determined by GPS.
A signal input unit, a sensor input unit such as a vehicle speed sensor or an azimuth sensor, and a current position calculating device that calculates a position using map data stored in a storage medium are used to communicate with a toll collection system installed on a toll road. DSR information
Vehicle type determination for determining a vehicle type, such as a large vehicle or a normal vehicle, using DSRC communication means for communicating by C (dedicated narrow-area communication) and information on the vehicle type received from the toll collection system by DSRC communication by the DSRC communication means. And a mark changing means for changing a mark of the current position according to a result of the judgment by the vehicle type judging means. 19. A device further comprising a beacon information receiving device, wherein the information received by the beacon information receiving device is compared with the D.
19. The current position calculation device according to claim 1, further comprising a reliability correction unit that preferentially uses information obtained by the toll collection system by the SRC communication unit. 20. A navigation device having map data including a correspondence table indicating a relationship between a tollgate number of a toll road and a position in calculating a current position. 21. In calculating the current position, map data including a correspondence table indicating a relationship between a company code of a company having a business qualification on a road and a flag indicating whether or not the vehicle is on a certain type of road is provided. Navigation device.