JP2007001361A - Current place kilometrage determining device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply determine a current place kilometerage expressing a current position by a kilometerage from a current position of a vehicle in a geographic coordinate system. <P>SOLUTION: Sample points 15-24 positioned in a determination range A1 including a traveling position P1 are extracted from a plurality of sample points 11-29 set along a trajectory r. The sample point 20 having a nearest distance from the traveling position P1 is selected from the extracted sample points 15-24, and the kilometerage of the selected sample point is designated as a current place kilometerage of its own vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a current location kilometer indexing device and the like that is installed in a vehicle traveling on a track and calculates a current location kilometer that represents the current position of the vehicle in kilometres.

  Conventionally, various security devices have been developed and put into practical use for supporting the driving of a driver by monitoring the speed limit while monitoring the traveling position of the vehicle.

  For example, an automatic train stop device (ATS device (ATS: Automatic Train Stop)) that warns the stop indication of a traffic light and activates an emergency brake to prevent the stop signal from proceeding, or transmitted from the ground via a rail There is an automatic train control device (ATC device (ATC: Automatic Train Control)) that determines a speed limit according to an ATC signal, and controls a vehicle speed by operating a brake when the traveling speed exceeds the speed limit.

Furthermore, there are those that detect that the host vehicle has entered the speed limit section using a GPS signal (GPS: Global Positioning System) and operate the emergency brake to restrict the traveling speed of the host vehicle to the limit speed or less. It is known (see Patent Document 1).
Japanese Patent No. 355899

  By the way, in the current railway facilities, various ground facilities such as traffic lights, ground elements, and speed limit signs installed along the track for train operation management start from the reference position set in advance. It is managed by about a kilometer. For this reason, for example, when the distance between the current traveling position and the ground equipment is detected by the above-described security device for brake control or the like, the kilometer of the traveling position is important. That is, for example, when the current position of the vehicle is measured by satellite navigation as in the technique of Patent Document 1 described above, a device that converts the current position of the own vehicle in the acquired earth coordinate system into kilometer is put into practical use. If this is done, the management information of the existing ground facilities can be used as is, which is convenient.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to easily calculate a current location kilometer about the current position expressed in kilometers from the current position of the vehicle in the earth coordinate system.

The present location kilometer indexing device of the first invention for solving the above problems is as follows:
A current location kilometer indexing device that is installed in a vehicle traveling on a track and calculates a current location kilometer that represents the current position of the vehicle in kilometres,
Position storage means (for example, the kilometer management DB 520 shown in FIG. 2) for storing the kilometer distance of each of a plurality of sample points set discretely along the orbit and the absolute position of the earth coordinate system;
Vehicle position acquisition means (for example, GPS positioning unit 20 shown in FIG. 2; step s10 shown in FIG. 4) for acquiring the current vehicle position of the vehicle in the earth coordinate system;
Selection means for checking the absolute position of the sample point stored in the position storage means and selecting a sample point whose distance from the acquired vehicle position satisfies a predetermined distance condition from the plurality of sample points (For example, CPU 30 shown in FIG. 2; step s30 shown in FIG. 4);
The present location kilometer is calculated based on the kilometer of the sample point selected by the selection means.

The program of the sixth invention is
A program for causing a computer installed in a vehicle traveling on a track to calculate a current location kilometer representing the current position of the vehicle in kilometres,
Position storage means (for example, a kilometer management DB 520 shown in FIG. 2) that stores the kilometer distance of each of a plurality of sample points set discretely along the orbit and the absolute position of the earth coordinate system;
Vehicle position acquisition means (for example, GPS positioning unit 20 shown in FIG. 2; step s10 shown in FIG. 4) for acquiring the current vehicle position of the vehicle in the earth coordinate system;
Selection means for checking the absolute position of the sample point stored in the position storage means, and selecting a sample point satisfying a predetermined distance condition with respect to the acquired vehicle position from the plurality of sample points (For example, CPU 30 shown in FIG. 2; step s30 shown in FIG. 4),
Indexing means (for example, CPU 30 shown in FIG. 2; steps s40 to s70 shown in FIG. 4) for calculating the current kilometer distance based on the kilometer of the sample point selected by the selection means;
As a program for causing the computer to function.

  According to the first or sixth invention, the kilometer distance and the absolute position of the earth coordinate system of each of the plurality of sample points set discretely along the trajectory are stored. Then, the absolute position of the sample point is checked to select a sample point whose distance from the current vehicle position of the vehicle acquired in the earth coordinate system satisfies a predetermined distance condition, and based on the kilometer of the selected sample point You can determine the current kilometer of the vehicle. Therefore, it is possible to easily determine the current location kilometre that represents the current vehicle position of the vehicle in kilometres.

2nd invention is the present location kilometer index device of 1st invention,
The selecting means selects a sample point closest to the acquired vehicle position from the plurality of sample points (for example, the CPU 30 shown in FIG. 2; the step shown in FIG. 4). s50),
The kilometer of the sample point selected by the closest sample point selection means is determined as the current kilometer.

  According to the second aspect of the invention, it is possible to determine the current kilometer of the vehicle based on the sample point closest to the current vehicle position of the vehicle.

3rd invention is the present location kilometer index device of 1st or 2nd invention,
The selecting means is
Determination range setting means (for example, CPU 30 shown in FIG. 2; FIG. 4) sets a determination range for extracting a sample point candidate close to the acquired vehicle position based on the acquired vehicle position. Step s20) shown,
Extraction means (for example, CPU 30 shown in FIG. 2; step s30 shown in FIG. 4) for extracting the sample points located within the set determination range from the plurality of sample points;
And sampling points that satisfy the predetermined distance condition with respect to the obtained vehicle position by checking the absolute position of the extracted sample points.

  According to the third aspect of the present invention, it is possible to set a determination range for extracting a sample point candidate close to the vehicle position based on the current vehicle position of the vehicle. Then, a sample point can be selected by using the absolute position of the sample point located within the determination range as a target of verification, and the current location kilometer can be determined.

4th invention is the present location kilometer index device of 3rd invention,
Direction detecting means for detecting the traveling direction of the vehicle (for example, an azimuth sensor);
The determination range setting means sets the determination range in consideration of the traveling direction detected by the direction detection means.

  According to the fourth aspect of the invention, the determination range is set in consideration of the traveling direction of the vehicle, and the sample point is selected with the absolute position of the sample point located within the determination range as the subject of verification. Can do.

5th invention is the present location kilometer indexing device of 1st or 2nd invention,
In order to extract a sample point candidate close to the vehicle position of the vehicle, a determination range storage means for storing a plurality of determination ranges set in advance along a trajectory (for example, determination range setting data shown in FIG. 7) 550),
The selecting means is
Determination range selection means (for example, CPU 30 shown in FIG. 2) for selecting a determination range including the acquired vehicle position from among a plurality of determination ranges stored in the determination range storage means;
Sample point selection means (for example, CPU 30 shown in FIG. 2) for selecting a sample point located within the selected determination range from the plurality of sample points;
And checking the absolute position of the sample point selected by the sample point selection means, thereby selecting a sample point whose distance from the acquired vehicle position satisfies the predetermined distance condition.

  According to the fifth aspect of the present invention, a plurality of determination ranges for extracting sample point candidates close to the vehicle position of the vehicle are set in advance along the trajectory, and the determination range includes the current vehicle position of the vehicle. A range can be selected. Then, it is possible to select a sample point with the absolute position of the sample point located within the selected determination range as a target of verification, and to determine the current location kilometer.

  According to the present invention, the kilometer and the absolute position of the earth coordinate system of each of a plurality of sample points set discretely along the trajectory are stored. Then, by checking the absolute position of the sample point and selecting the sample point whose distance from the current vehicle position of the vehicle acquired in the earth coordinate system satisfies a predetermined distance condition, based on the kilometer of the selected sample point You can determine the current kilometer of the vehicle. Therefore, it is possible to easily determine the current location kilometer representing the current vehicle position of the vehicle in kilometer.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a current location kilometer indexing device to which the invention is applied will be described in detail with reference to the drawings.
The current location kilometer indexing device of the present embodiment is mounted on a vehicle that travels on a track. For example, the current vehicle position of the host vehicle (hereinafter referred to as “traveling position”) is obtained using the GPS signal. (Latitude / Longitude) is obtained, and the current location kilometer is calculated from the obtained travel position in kilometer starting from a preset reference position on the trajectory. Hereinafter, a case will be described by way of example in which a region from a first train to a final train in a predetermined line section is a target station and the vehicle travels between the target stations.

[Overview]
In the present embodiment, serial numbers (hereinafter referred to as “index”) are allocated in advance along a trajectory at predetermined unit distance intervals (for example, 1 m intervals), and the assigned points (hereinafter referred to as “sample points”). Define the correspondence between kilometer and absolute position (latitude / longitude) of the earth coordinate system. Of the sample points located within a predetermined determination range including the travel position of the host vehicle, the kilometer of the sample point closest to the travel position is set as the kilometer of the travel position.

FIG. 1 is a diagram for explaining the principle when the current location kilometer of the host vehicle is determined from the travel position.
For example, the points 11 to 29 on the track r in FIG. 1 are sample points, and the traveling position of the host vehicle measured using a GPS signal is the point P1. First, a determination range A1 for extracting a sample point candidate close to the traveling position P1 is set. In the present embodiment, a rectangular area of, for example, 10 m square that has each side in the east-west direction and the north-south direction with the traveling position P1 as the center is set as the determination range. Then, sample points 15 to 24 located in the determination range A1 are extracted, and a sample point 20 having the closest distance to the traveling position P1 is selected from the sample points 15 to 24. Then, the kilometer of the selected sample point is set as the kilometer of the current location of the host vehicle.

[Function configuration]
FIG. 2 is a block diagram illustrating an example of a functional configuration of the current location kilometer indexing device 1. As shown in FIG. 2, the current location kilometer indexing device 1 includes an input unit 10, a GPS positioning unit 20, a CPU 30, a display unit 40, and a storage unit 50. The system is constructed using it.

  The input unit 10 is realized by, for example, a keyboard, a mouse, a touch panel, a dial, various switches, and the like, and outputs an operation signal corresponding to the operation input to the CPU 30.

  The GPS positioning unit 20 includes a GPS antenna that receives radio waves from GPS satellites, and measures the absolute position (coordinate determined by latitude and longitude) of the vehicle's earth coordinate system from the radio waves received by the GPS antenna. .

  The CPU 30 executes various arithmetic processes in accordance with programs and data stored in the storage unit 50, and performs overall control of the current location kilometer indexing device 1 by instructing each function unit and transferring data. .

  The display unit 40 is configured by, for example, an LCD (Liquid Crystal Display), an ELD (Electronic Luminescent Display), or the like, and displays various screens based on display signals input from the CPU 30.

  The storage unit 50 includes various IC memories such as ROM and RAM such as flash memory that can be updated and stored, a hard disk built in the current location indexing device 1 or connected by a data communication terminal, and an information storage medium such as a CD-ROM. And a reading device and the like, and stores a program related to the operation of the current location kilometer indexing device 1 and data such as a processing result by the program.

  In particular, in order to realize this embodiment, a current location kilometer index program 510 and a kilometer management DB 520 for realizing a function for determining the current kilometer distance of the host vehicle are stored.

  The kilometer management DB 520 is a database that defines the correspondence between the kilometer of each sample position in the travel line section and the absolute position (latitude / longitude) of the earth coordinate system. FIG. 3 shows a data configuration example of the kilometer management DB 520. In the present embodiment, the sample points are set at unit distance intervals (for example, 1 m intervals) along the trajectory r as described above. The kilometer management DB 520 is a serial number of this sample point. For example, the kilometer and the absolute position (latitude / longitude) of the earth coordinate system are associated with an index that is allocated from the start position of the corresponding line section to the end position in order. And store. The distance in kilometers is discontinuous or overlaps in some sections, but the actual distance from the starting position to the desired distance can be calculated from the index and the unit distance interval. . In the following description, data for one record, which is data relating to one sample point, is referred to as “sample point data”.

  In addition, the storage unit 50 stores a traveling state 530 and a current-location kilometer candidate 540 as data that is updated as appropriate while the host vehicle travels from the start to the end.

The traveling state 530 includes a traveling position 531 of the host vehicle that is traveling and a current location kilometer 533.
The traveling position 531 updates and stores the absolute position (latitude / longitude) of the vehicle measured using the GPS signal.
The current location kilometer 533 updates and stores the current location kilometer of the vehicle.

  The current location kilometer candidate 540 is data referred to in the process of determining the current location kilometer distance, and stores unit kilometer data of sample points located within the determination range set based on the traveling position 531.

[Process flow]
Next, with reference to FIG. 4, the flow of the current location kilometer indexing process will be described. The process described here is a process realized by the CPU 30 reading and executing the current location kilometer index program 510, and this process is performed at a predetermined time interval while the host vehicle travels from the start to the end. Repeated every time.

  In the current location kilometer indexing process, the CPU 30 first receives a radio wave from a GPS satellite and measures the absolute position (latitude / longitude) of the host vehicle (step s10). The measured absolute position is held in the storage unit 50 as the travel position 531.

  Next, the CPU 30 sets a determination range based on the travel position 531 (step s20). In the present embodiment, as illustrated in FIG. 1, for example, a 10 m square area centered on the traveling position 531 is set as the determination range. Then, the CPU 30 refers to the kilometer management DB 520 and extracts sample point data in which the absolute position located within the set determination range is set (step s30). The extracted sample point data is held in the storage unit 50 as a current location kilometer candidate 540.

  Then, the CPU 30 selects sample point data in which an absolute position where the distance from the traveling position 531 satisfies a predetermined distance condition is set from the extracted sample point data, and represents the traveling position in kilometres. Determine the current location kilometer.

  That is, first, the CPU 30 calculates the distance between the traveling position 531 and the absolute position of each sample point data extracted as the current location kilometer candidate 540 in step s30 (step s40), and the distance from the traveling position 531 is the closest. The sample point data for which the absolute position is set is selected (step s50).

  If the distance between the travel position 531 and the absolute position of the sample point data selected in step s50 is equal to or less than a predetermined threshold (step s60: NO), the CPU 30 sets the kilometer of the sample point data as the current location kilometer 533. It is stored in the storage unit 50, and the current location kilometer is calculated (step s70). On the other hand, if the CPU 30 determines in step s60 that it is greater than the threshold value, it returns to step s10 and executes the above-described processing again.

  As described above, according to the present embodiment, sample points are determined in advance at predetermined unit distance intervals along the trajectory r, the kilometer of the sample points, and the absolute position (latitude / longitude) of the earth coordinate system, Each correspondence relationship is defined. When determining the current location kilometer of the host vehicle, the determination range is set based on the travel position which is the absolute position of the host vehicle's earth coordinate system. Then, the sample point located within the set judgment range is selected as the object of verification, and the sample point closest to the traveling position of the vehicle acquired in the earth coordinate system is selected, and based on the kilometer of the selected sample point You can determine the current kilometer of your vehicle. Therefore, it is possible to easily determine the current location kilometer representing the current travel position of the host vehicle in kilometres.

  In addition, as described above, in the current railway facilities, various ground facilities such as traffic lights, ground elements, and speed limit signs installed along the track for train operation management are managed by kilometer, When trying to calculate the distance between the current position of the host vehicle and the ground equipment, the kilometer of the travel position is important. If the current location kilometer distance of the host vehicle determined by the current location kilometer indexing device 1 is used, the distance between the traveling position of the host vehicle and the ground facility is obtained using the management information of the existing ground facility as it is. be able to.

  For example, the kilometer distance obtained by the present location kilometer indexing device 1 to which the present invention is applied is displayed on the display unit 40 together with the current travel speed of the host vehicle, the speed limit at the current travel position, and the like, for example. The situation may be navigated and notified to the driver. In addition, on this navigation screen, in addition to the travel conditions and speed limits described above, various speed limit sections such as curves, gradients, and points, or operation management equipment such as traffic lights, ground elements, signs, and tracks such as stations, railroad crossings, bridges, etc. Among the ground facilities installed along r, information on the speed limit section and the ground facility that are approaching may be displayed.

[Modification]
The preferred embodiments of the present invention have been described above, but the present invention is not limited to those described above, and can be changed as appropriate without departing from the spirit of the invention.

  For example, in the above-described embodiment, the case where the rectangular area centered on the traveling position is set as the determination range has been described, but the determination range setting method is not limited to this and may be set as appropriate.

  For example, as shown in FIG. 5A, the direction of the determination range A10 may be varied along the traveling direction of the host vehicle. In this case, an orientation sensor such as a geomagnetic sensor is mounted on the vehicle, and the current traveling direction of the host vehicle is detected at any time by this orientation sensor. When determining the current kilometer, for example, a rectangular area centered on the current travel position P10 is set as the determination range A10, and the direction is determined so that one side is parallel to the traveling direction. Set A10.

  Moreover, it is good also as a circular area | region centering on the driving position P20 like the determination range A20 shown in FIG.5 (b).

  Alternatively, a plurality of determination ranges may be set in advance along the track r, and the determination ranges may be selected based on the traveling position of the host vehicle.

  FIG. 6 is a diagram for explaining a setting method of the determination range in this case, and shows sample points P301 to P324 set on the trajectory r. As shown in FIG. 6, in this modification, a plurality of determination ranges A31 to A35 having different sizes are set in advance along the trajectory r. In this modification, the set intervals of the sample points P301 to P324 are different depending on the determination range, and the determination ranges A31 to A35 have the same number of sample points located in each determination range, for example. Is preset. The sample point setting interval is set as appropriate, for example, at the entrance of the curve section or near the installation position of the railroad crossing facility, so as to be shorter than the sample point setting interval in the straight section.

  For example, a traveling position of the host vehicle measured using a GPS signal is set as a point P30. In this case, of the determination ranges A33 and A34 including the travel position P30 of the host vehicle, the determination range A34 that is close to the center position is selected. If the determination range is selected, the sample points P316 to P320 located in the determination range A34 are extracted and the distance from the travel position P30 is determined from the sample points P316 to P320 as in the above-described embodiment. The closest sample point P316 is selected. Then, the kilometer of the selected sample point is set as the kilometer of the current location of the host vehicle.

  In this modification, for example, the determination range setting data 550 shown in FIG. 7 is newly prepared, and the kilometer management DB 520a shown in FIG. 8 is prepared instead of the kilometer management DB 520 shown in FIG. To do.

  As shown in FIG. 7, in the determination range setting data 550, for example, the center position of each determination range set along the trajectory r and the vertex position of the determination range are set as described above. The The center position and the vertex position are absolute positions (latitude / longitude) of the earth coordinate system.

  Further, as shown in FIG. 8, the kilometer management DB 520a of the present modification stores unit kilometer data in which the sample points having different setting intervals as described above are accumulated. The determination range to which it belongs is further set.

  In the present modification, the CPU 30 selects a determination range with reference to the determination range setting data 550 in step s20 described with reference to FIG. 4 in the above embodiment. Specifically, the CPU 30 checks the center position of the determination range and selects the determination range that is closest to the travel position 531 of the host vehicle. Then, in step s30 described with reference to FIG. 4, the sample point data included in the determination range selected with reference to the kilometer management DB 520a is read. For example, if the determination range A211 shown in the record L11 of FIG. 7 is selected, a record in which “A211” is set as the determination range is extracted from the kilometer management DB 520a shown in FIG. A kilometer candidate 540 is assumed.

  According to this modification, sample points are set in advance at set intervals according to the speed limit section on the track r, the ground equipment position, and the like, so that the entrance side of the curved section and the installation position of the railroad crossing equipment as described above In such a predetermined section on the track r, it is possible to accurately determine the kilometer of the host vehicle. Further, by defining a determination range corresponding to the set interval / number of the sample points, the sample points to be verified can be adjusted, and the processing load can be made uniform.

  Further, in the above-described embodiment, the current location kilometer indexing device 1 has been described as setting the kilometer of the sample point close to the traveling position as the current location kilometer as it is, but it may be as follows. That is, a predetermined number (two or more) of sample points that are close to the travel position are selected, and based on the relative positional relationship between each selected sample point and the travel position, the current location km The degree may be calculated (for example, proportional distribution calculation).

  Further, the present location kilometer indexing device of the present invention is not only a conventional railway system railroad vehicle, but also a vehicle of a new transportation system such as a monorail, a rubber tire system, a light train (LRV), a tram, a road running -It can be similarly applied to a vehicle of a dual mode transportation system such as a dual mode vehicle capable of running on a track, a railroad vehicle, and the like.

The figure for demonstrating the principle at the time of calculating | requiring the present location kilometer from a driving | running | working position. The block diagram which shows an example of a function structure of the present location kilometer index apparatus. The figure which shows the data structural example of kilometer management DB. The flowchart for demonstrating the flow of the present location kilometer index process. The figure which shows the modification of the range for determination. The figure which shows the other modification of the range for determination. The figure which shows the data structural example of the range setting data for determination. The figure which shows the modification of the data structure of kilometer management DB.

Explanation of symbols

1 Current location kilometer indexing device 10 Input unit 20 GPS positioning unit 30 CPU
40 display unit 50 storage unit 510 current location kilometer indexing program 520 kilometer management DB
530 Driving Status 531 Traveling Position 533 Current Location Kilometer 540 Current Location Kilometer Candidate

Claims (6)

A current location kilometer indexing device that is installed in a vehicle traveling on a track and calculates a current location kilometer that represents the current position of the vehicle in kilometres,
Position storage means for storing the kilometer of each of a plurality of sample points discretely set in advance along the orbit and the absolute position of the earth coordinate system;
Vehicle position acquisition means for acquiring the current vehicle position of the vehicle in an earth coordinate system;
Selection means for checking the absolute position of the sample point stored in the position storage means, and selecting a sample point satisfying a predetermined distance condition with respect to the acquired vehicle position from the plurality of sample points When,
And a current location kilometer indexing device for determining the current location kilometer based on the kilometer of the sample point selected by the selection means. The selecting means includes a nearest sample point selecting means for selecting a sample point closest to the acquired vehicle position from the plurality of sample points;
2. The current location kilometer indexing device according to claim 1, wherein the kilometer of the sample point selected by the closest sample point selection means is determined as a current location kilometer. The selecting means is
Determination range setting means for setting a determination range for extracting a sample point candidate close to the acquired vehicle position based on the acquired vehicle position;
Extraction means for extracting a sample point located within the set determination range from the plurality of sample points;
The sample points satisfying the predetermined distance condition with respect to the acquired vehicle position are selected by checking the absolute positions of the extracted sample points. The current location kilometer indexing device described in 2. Direction detection means for detecting the traveling direction of the vehicle,
The determination range setting means sets the determination range in consideration of the traveling direction detected by the direction detection means;
The present location kilometer indexing device according to claim 3. In order to extract a sample point candidate close to the vehicle position of the vehicle, the vehicle further comprises a determination range storage means for storing a plurality of determination ranges set in advance along a trajectory,
The selecting means is
Determination range selection means for selecting a determination range including the acquired vehicle position from among a plurality of determination ranges stored in the determination range storage means;
Sample point selection means for selecting a sample point located within the selected determination range from the plurality of sample points;
And selecting a sample point whose distance from the acquired vehicle position satisfies the predetermined distance condition by checking the absolute position of the sample point selected by the sample point selection means. The present location kilometer indexing device according to claim 1 or 2. A program for causing a computer installed in a vehicle traveling on a track to calculate a current location kilometer representing the current position of the vehicle in kilometres,
Position storage means for storing the kilometer distance of each of a plurality of sample points set discretely along the orbit and the absolute position of the earth coordinate system;
Vehicle position acquisition means for acquiring the current vehicle position of the vehicle in an earth coordinate system;
Selection means for checking the absolute position of the sample point stored in the position storage means, and selecting a sample point satisfying a predetermined distance condition with respect to the acquired vehicle position from the plurality of sample points ,
Indexing means for determining the current kilometer based on the kilometer of the sample point selected by the selecting means;
A program for causing the computer to function as

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