JP2008032598A - Altitude detector and one's-own-vehicle location determination device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an altitude detector and one's-own-vehicle location determination device that can accurately detect the altitude of the point where the own-vehicle ravels and can improve the determination accuracy of the own vehicle location. <P>SOLUTION: In a first segment where the own vehicle travels on the ground surface, the altitude of the point of the ground surface where the own vehicle travels is detected by acquisition of altitude data. In a second segment where the own vehicle travels on a three-dimensional structure, the perpendicular traveling amount of the own vehicle from the ground surface just before the second segment detected by a perpendicular traveling amount detecting means 9 is corrected using data for correction, and the perpendicular traveling amount after the correction is added to the altitude of the ground surface just before it, thereby detecting the altitude of the point on the three-dimensional structure. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an altitude detection device and an own vehicle position determination device, and more particularly to an altitude detection device and an own vehicle position determination device suitable for detecting an altitude at a point where the own vehicle is traveling.

  Conventionally, in an in-vehicle navigation system, a three-dimensional position of a point where the vehicle is traveling, which is composed of latitude, longitude, and altitude, is mainly measured by GPS (Global Positioning System), and the vehicle is based on the positioning result. It is determined which road on the map data is traveling, and if necessary, map matching is performed to correct the vehicle position to a position on the corresponding road on the map data.

  By the way, in the positioning of the three-dimensional position using the GPS, the accuracy in the vertical (height) direction is lower than the accuracy in the horizontal direction, and an error may occur in units of 10 m. When passing the road on the lower floor, there was a problem that it was matched with the road on the upper floor by mistake.

  Therefore, from the viewpoint of detecting the altitude of the point where the host vehicle is traveling with high accuracy and improving the determination accuracy of the host vehicle position, for example, the host vehicle has been moved from the first point to the second point so far. As a method of detecting the altitude of the second point when moving to the vehicle, the vertical movement amount of the host vehicle from the first point to the second point with the altitude of the first point as a reference is measured with an acceleration sensor. In this case, the altitude of the second point is detected by adding the detection result to the altitude of the first point.

JP-A-11-287665

  However, even in the method of detecting the altitude of the second point using the acceleration sensor described above, the altitude of the reference first point itself is detected by GPS or the like having low vertical accuracy. Therefore, it was very difficult to detect the altitude at the second point with high accuracy.

  In addition, the acceleration sensor itself has obstacles that hinder accurate vertical movement detection, such as the influence of disturbances, individual performance variations, and errors. Even if the integral with respect to the component is calculated, the amount of movement in the vertical direction cannot always be accurately detected.

  Therefore, there is a fact that no effective solution has yet been proposed for the concern such as improving the accuracy of determining the position of the vehicle by detecting the altitude of the point where the vehicle is traveling with high accuracy. It was.

  Therefore, the present invention has been made in view of such points, and can detect the altitude of the point where the host vehicle is traveling with high accuracy, and thus improve the determination accuracy of the host vehicle position. It is an object of the present invention to provide an altitude detection device and a vehicle position determination device capable of performing the above.

  In order to achieve the above-described object, an altitude detection apparatus according to the present invention is an altitude detection apparatus that detects an altitude at a point where the host vehicle is traveling, and a two-dimensional position that detects a two-dimensional position of the host vehicle. Detection means, vertical movement amount detection means for detecting a vertical movement amount of the host vehicle, and a plurality of meshes obtained by dividing the ground surface into predetermined latitude ranges and predetermined longitude ranges; Elevation data management means for managing elevation data indicating the elevation of the surface, and three-dimensional structure presence / absence data management means for managing the three-dimensional structure presence / absence data indicating the presence / absence of a three-dimensional structure on which the host vehicle can travel for each mesh And using the three-dimensional structure presence / absence data on the two-dimensional position detected by the two-dimensional position detecting means and the mesh corresponding to the two-dimensional position, the host vehicle runs on the ground surface. In the first section in which it is determined by the determination means that the host vehicle is traveling on the ground surface. First altitude detecting means for detecting the altitude of a point on the ground surface on which the host vehicle is traveling, by acquiring altitude data about the mesh corresponding to the two-dimensional position of the host vehicle from the management means; In the first section, a transition with a change in the two-dimensional position with respect to an altitude detected by the first altitude detecting means, and a change in the two-dimensional position with respect to a detection result of the vertical direction moving amount detecting means. The transition of the vehicle is compared, and based on the comparison result, it is determined by the determination means immediately after the first section that the host vehicle is traveling on the three-dimensional structure. Detected by the correction data generation means for generating correction data for correcting the detection result of the vertical movement amount detection means in the second section, and detected by the vertical movement amount detection means in the second section. The amount of vertical movement of the host vehicle in the second section from the ground surface immediately before the second section is corrected using the correction data, and the amount of vertical movement of the host vehicle after correction is corrected. Is added to the altitude detected by the first altitude detecting means for the ground surface immediately before the second section to detect the altitude of the point on the three-dimensional structure where the host vehicle is traveling. And a second altitude detecting means.

  According to such a configuration, in the first section in which the host vehicle is traveling on the ground surface, the elevation of the point on the ground surface on which the host vehicle is traveling is detected by acquiring the altitude data. In the second section in which the host vehicle is traveling on the three-dimensional structure, the vertical direction of the host vehicle from the ground surface immediately before the second section detected by the vertical direction moving amount detection means The amount of movement of the vehicle is corrected using the correction data, and the corrected vertical movement amount is added to the elevation of the ground surface immediately before, so that the point on the three-dimensional structure where the host vehicle is traveling The altitude can be detected.

  In another altitude detecting apparatus according to the present invention, the vertical movement amount detecting means includes an acceleration sensor.

  According to such a configuration, the vertical movement amount of the host vehicle can be easily detected by integrating twice the vertical component of the acceleration of the host vehicle, which is the detection result of the acceleration sensor. .

  Furthermore, another altitude detection apparatus according to the present invention is characterized in that the two-dimensional position detection means has a GPS.

  And according to such a structure, it becomes possible to detect the two-dimensional position of the own vehicle simply and appropriately by GPS excellent in the accuracy of the horizontal direction.

  Furthermore, the own vehicle position determination device according to the present invention includes the above-described elevation detection device, and the detection result of the two-dimensional position detection unit and the detection of the first or second elevation detection unit in the elevation detection device. A three-dimensional position of the host vehicle is obtained from the result, and the host vehicle position on map data is determined based on the acquired three-dimensional position.

  According to such a configuration, in the first section in which the host vehicle is traveling on the ground surface, the altitude of the point on the ground surface on which the host vehicle is traveling is detected by acquiring the altitude data. Based on the detected three-dimensional position of the host vehicle consisting of the detected altitude and the two-dimensional position of the host vehicle, it can be determined that the host vehicle is traveling on the ground surface. Further, in the second section in which the host vehicle is traveling on the three-dimensional structure, the altitude of the ground surface immediately before the second section is detected from the ground surface detected by the vertical movement amount detection means. By correcting and adding the amount of vertical movement of the vehicle using correction data, the elevation of the point on the three-dimensional structure on which the vehicle is traveling is detected. Based on the three-dimensional position of the host vehicle including the two-dimensional position of the vehicle, it can be determined that the host vehicle is traveling on the three-dimensional structure.

  According to the altitude detection apparatus according to the present invention, the altitude at the point where the host vehicle is traveling can be detected with high accuracy, and the determination accuracy of the host vehicle position can be improved.

  In addition, according to another altitude detection apparatus according to the present invention, the vertical movement amount of the host vehicle is easily detected by integrating twice the vertical component of the acceleration of the host vehicle, which is the detection result of the acceleration sensor. As a result, the altitude of the point where the host vehicle is traveling can be easily detected.

  Furthermore, according to another altitude detection apparatus according to the present invention, the two-dimensional position of the host vehicle can be easily and appropriately detected by the GPS having excellent horizontal accuracy. Can be detected easily and with high accuracy.

  Furthermore, according to the own vehicle position determination device according to the present invention, it is possible to improve the determination accuracy of the own vehicle position by detecting the altitude of the point where the own vehicle is traveling with high accuracy. It is possible to route the vehicle appropriately.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of an altitude detection device and a vehicle position determination device according to the present invention will be described with reference to FIGS. 1 to 8.

  FIG. 1 shows an in-vehicle navigation device 1 equipped with an altitude detection device and a vehicle position determination device according to the present invention.

  The in-vehicle navigation device 1 in the present embodiment includes a host vehicle position determination device 2 and an altitude detection device 3 built in the host vehicle position determination device 2.

  The altitude detection device 3 has a GPS receiver 5, and this GPS receiver 5 receives information on the orbit and time (hereinafter referred to as GPS information) from a GPS satellite (not shown).

  The GPS receiver 5 is connected to a two-dimensional position detection unit 6 that constitutes a two-dimensional position detection means together with the GPS receiver 5, and the GPS information received by the GPS receiver 5 is received in the two-dimensional position detection unit 6. It is designed to be entered.

  The two-dimensional position detection unit 6 detects the two-dimensional position of the point where the host vehicle is traveling as absolute coordinates represented by longitude and latitude based on the input GPS information. . Note that the two-dimensional position detection unit 6 may detect the two-dimensional position as a relative position based on a detection result of an autonomous navigation sensor (not shown) such as a gyro sensor, if necessary.

  The altitude detection device 3 has an acceleration sensor 7, and this acceleration sensor 7 detects the acceleration of the host vehicle. The acceleration sensor 7 may be, for example, a piezoelectric element type three-axis acceleration sensor.

  The acceleration sensor 7 is connected to a vertical movement amount calculation unit 9 that constitutes a vertical movement amount detection means together with the acceleration sensor 7. The vertical movement amount calculation unit 9 includes a detection result of the acceleration sensor 7. Is entered.

  Then, the vertical movement amount calculation unit 9 extracts the vertical component of the acceleration of the host vehicle from the input detection result of the acceleration sensor 7, and integrates the acceleration of the vertical component with respect to the acceleration of the host vehicle. A movement amount in the direction (hereinafter abbreviated as a vertical movement amount) is detected.

  Further, in the present embodiment, the altitude detection device 3 has a storage device 10 that functions as an altitude data management means and a three-dimensional structure presence / absence data management means, and this storage device 10 indicates the altitude of the ground surface. A database of elevation data and three-dimensional structure presence / absence data indicating the presence / absence of a three-dimensional structure that the vehicle can travel (hereinafter referred to as elevation / three-dimensional structure presence / absence DB 11) is stored.

  As shown in FIG. 2, the elevation data is stored in the elevation / three-dimensional structure presence / absence DB 11 as being managed for each of the plurality of meshes 12. The mesh 12 in the present embodiment includes a rectangular region surrounded by the predetermined latitude range and the predetermined longitude range formed by dividing the ground surface into predetermined latitude ranges and predetermined longitude ranges. The mesh 12 is a management unit for altitude data and three-dimensional structure presence / absence data described later.

  2 shows that one elevation data represented by characters such as “5 m” and “10 m” in FIG. 2 is stored in a single mesh 12, in other words, The altitude data assigned to the mesh 12 indicates the altitude of the ground surface corresponding to each mesh 12.

  The predetermined latitude range and the predetermined longitude range may be, for example, a latitude range and a longitude range corresponding to 5 to 10 m, respectively.

  Further, the elevation / three-dimensional structure presence / absence DB 11 stores three-dimensional structure presence / absence data as a state managed for each mesh 12. In FIG. 2, one mesh 12 is stored in a state where one three-dimensional structure presence / absence data represented by the characters “present” or “absent” in FIG. 2 is assigned. The three-dimensional structure presence / absence data assigned to each mesh 12 indicates whether or not there is a three-dimensional structure on which the host vehicle can travel above or below the ground surface corresponding to each mesh 12. It is shown that. Examples of the three-dimensional structure on which the host vehicle can travel include a two-story road, a bridge, a self-propelled three-dimensional parking lot, and a self-propelled underground parking lot.

  The two-dimensional position detection unit 6 and the storage device 10 are connected to a travel location determination unit 14 as a determination unit. The travel location determination unit 14 corresponds to the two-dimensional position detected by the two-dimensional position detection unit 6 (hereinafter referred to as a detected two-dimensional position) and the detected two-dimensional position stored in the elevation / three-dimensional structure presence / absence DB 11. By using the three-dimensional structure presence / absence data for the mesh 12, it is determined whether the vehicle is currently traveling on the ground surface or the three-dimensional structure.

  The two-dimensional position determination unit 6, the travel location determination unit 14, and the storage device 10 are connected to a first elevation detection unit 15 as a first elevation detection unit. The first altitude detecting unit 15 is configured to operate at an altitude / elevation level in a first section (hereinafter referred to as a ground surface traveling section) in which the traveling place determination unit 14 determines that the host vehicle is traveling on the ground surface. By obtaining the elevation data for the mesh 12 corresponding to the detected two-dimensional position from the three-dimensional structure presence / absence DB 11, the elevation of the point on the ground surface where the host vehicle is traveling is detected.

  A correction data generation unit 16 as correction data generation means is connected to the two-dimensional position detection unit 6, the vertical movement amount calculation unit 9, the travel location determination unit 14, and the first elevation detection unit 15.

  The correction data generation unit 16 includes a transition associated with a change in the detected two-dimensional position of the elevation detected by the first elevation detection unit 15 and a detection result of the vertical movement amount detection unit in the ground surface travel section. The calculation result (vertical movement amount) of the vertical direction movement amount calculation unit 9 is compared with the transition accompanying the change in the detected two-dimensional position.

  Then, the correction data generation unit 16 determines, based on the comparison result, the second section in which the traveling place determination unit 14 immediately after the ground surface traveling section determines that the host vehicle is traveling on the three-dimensional structure. Correction data for correcting the calculation result of the vertical direction movement amount calculation unit 9 in the three-dimensional structure traveling section (hereinafter referred to as a three-dimensional structure traveling section) is generated.

  The two-dimensional position detection unit 6, the vertical movement amount calculation unit 9, the travel location determination unit 14, the first elevation detection unit 15, and the correction data generation unit 16 include a second elevation detection unit as a second elevation detection unit. 18 is connected.

  The second elevation detection unit 18 detects the elevation of a point on the three-dimensional structure where the host vehicle is traveling in the three-dimensional structure traveling section immediately after the ground surface traveling section.

  In detecting the elevation of the point on the three-dimensional structure, the second elevation detecting unit 18 firstly calculates the ground surface immediately before the three-dimensional structure traveling section calculated by the vertical movement amount calculating unit 9 in the three-dimensional structure traveling section, that is, The vertical movement amount in the three-dimensional structure traveling section from the ground surface adjacent to the three-dimensional structure traveling section in the ground surface traveling section is corrected using the correction data generated by the correction data generating unit 16. Yes.

  Then, the second elevation detection unit 18 detects the corrected vertical movement amount (hereinafter referred to as the corrected vertical movement amount) by the first elevation detection unit 15 for the ground surface immediately before the three-dimensional structure traveling section. By adding to the above-mentioned altitude, the altitude of the point on the three-dimensional structure where the host vehicle is traveling is detected.

  The altitude detecting device 3 having such a configuration further includes a two-dimensional position detecting unit 6, a first altitude detecting unit 15, a second altitude detecting unit 18, and a host vehicle position determining unit 19 connected to the storage device 10, and The vehicle position determination device 2 described above is configured by a map database (hereinafter referred to as a map DB 20) stored in the storage device 10.

  The own vehicle position determination unit 19 acquires and acquires the three-dimensional position of the own vehicle, which includes the detection result of the two-dimensional position detection unit 6 and the detection result of the first elevation detection unit 15 or the second elevation detection unit 18. Based on the three-dimensional position, the three-dimensional vehicle position on the map data is determined. When determining the vehicle position, the vehicle position determination unit 19 performs map matching using the map data stored in the map DB 20.

  The map data in the map DB 20 may have road three-dimensional position data including road altitude. By doing so, the three-dimensional position of the host vehicle consisting of the detection result of the two-dimensional position detection unit 6 and the detection result of the first elevation detection unit 15 or the second elevation detection unit 18, and the tertiary of the road in the map DB 20 By comparing the original position data, map matching can be performed with higher accuracy.

  Therefore, according to the present embodiment, in the ground surface travel section, the altitude of the point on the ground surface where the host vehicle is traveling is detected by obtaining the altitude data, and the detected altitude and the ground surface travel section are detected. Based on the three-dimensional position of the host vehicle consisting of the detected two-dimensional position, it can be determined that the host vehicle is traveling on the ground surface, and the vehicle position is matched to the road on the ground surface in the map data be able to.

  In the three-dimensional structure traveling section, the vertical movement amount from the immediately preceding ground surface calculated by the vertical direction movement amount calculating unit 9 in the three-dimensional structure traveling section is calculated based on the altitude of the ground surface immediately before the three-dimensional structure traveling section. Are corrected using the correction data and then added, the elevation of the point on the three-dimensional structure where the host vehicle is traveling can be detected.

  And based on the detected three-dimensional position of the host vehicle consisting of the detected elevation and the detected two-dimensional position in the three-dimensional structure traveling section, it can be determined that the host vehicle is traveling on the three-dimensional structure, The vehicle position can be matched to the road on the three-dimensional structure in the map data. Even when the road data on the three-dimensional structure is not included in the map data, it is possible to prevent the vehicle position from being mismatched with the road on the ground surface.

  In addition to the above configuration, the vehicle position determination unit 19 in the vehicle position determination device 2 is connected to the vehicle position drawing unit 22, and the display 24 is connected to the vehicle position drawing unit 22. ing.

  Based on the determination result of the vehicle position determination unit 19, the vehicle position drawing unit 22 displays a mark indicating the vehicle position on the map around the vehicle position drawn on the display 6 during route guidance or the like. It is designed to draw in layers.

  Next, the effect | action of this embodiment is demonstrated with reference to FIG. 3 thru | or FIG.

  In the present embodiment, as shown in FIG. 3, when the host vehicle 27 is traveling on the ground surface traveling section, the traveling location determination unit 14 determines whether there is an altitude / three-dimensional structure corresponding to the detected two-dimensional position. Based on the fact that the three-dimensional structure presence / absence data for the mesh 12 in the DB 11 is data indicating that there is no three-dimensional structure, it is determined that the host vehicle 27 is traveling on the ground surface.

  At this time, the first elevation detection unit 15 detects the elevation of the point on the ground surface where the host vehicle 27 is traveling by acquiring elevation data for the mesh 12 corresponding to the detected two-dimensional position. In addition, the altitude of the point on the ground surface where the host vehicle 27 is traveling in FIG. 3 is 5 m.

  In such a ground surface traveling section, the correction data generation unit 16 performs the transition of the detected two-dimensional position with respect to the elevation detected by the first elevation detection unit 15 and the calculation of the vertical movement amount calculation unit 9. The result is compared with the transition of the detected two-dimensional position.

  Here, the following method can be mentioned as a specific example of the comparison of the transition.

  That is, the correction data generation unit 16 first passes the vehicle 27 through a point corresponding to the boundary 12a between the one mesh 12 and the mesh 12 immediately after it, as shown in FIG. At the timing, the altitude data for the single mesh 12 is acquired, and the altitude (5 m in FIG. 4A) of a point corresponding to the single mesh 12 (hereinafter referred to as the first point) is obtained. Record. At this time, the correction data generation unit 16 causes the vertical direction movement amount calculation unit 9 to clear the vertical movement amount, that is, the integral value of the vertical component of the acceleration of the host vehicle 27 to zero.

  Immediately after this, the correction data generation unit 16 causes the vertical movement amount calculation unit 9 to restart the calculation of the vertical movement amount.

  Next, as illustrated in FIG. 4B, the correction data generation unit 16 determines that the host vehicle 27 corresponds to the other mesh 12 after the one mesh 12 (hereinafter referred to as a second point). ), The altitude of the second point is acquired based on the altitude data (20 m in FIG. 4B) for the mesh 12 corresponding to the second point.

  The other mesh 12 may be a mesh 12 immediately after the one mesh 12, or several meshes 12 with respect to the one mesh 12 as shown in FIG. The mesh 12 may be separated.

  Then, the correction data generation unit 16 calculates the actual vertical movement amount of the host vehicle 27 by taking the difference between the altitude at the second point and the altitude at the first point.

  At this time, the correction data generation unit 16 obtains the calculation result of the vertical movement amount from the first point to the second point from the vertical movement amount calculation unit 9.

  Then, the correction data generation unit 16 calculates the difference between the actual vertical movement amount of the host vehicle 27 calculated based on the altitude data and the vertical movement amount calculated by the vertical direction movement amount calculation unit 9.

  The correction data generation unit 16 repeats such an operation in the ground surface travel section, so that the change accompanying the change in the detected two-dimensional position with respect to the elevation detected by the first elevation detection unit 15 and the amount of vertical movement are as follows. The calculation result of the calculation unit 9 is compared with the transition accompanying the change in the detected two-dimensional position.

  Note that the comparison of the transition does not necessarily have to be performed based only on the vertical movement amount shown in FIG. 4. For example, the inclination that is the vertical movement amount per predetermined horizontal movement distance of the host vehicle 27 is obtained. The change in the detected two-dimensional position of the inclination differs depending on whether the actual vertical movement amount calculated based on the altitude data is used or the calculation result of the vertical movement amount calculation unit 9 is used. You may make it perform based on.

  After comparing the transitions, the correction data generation unit 16 calculates the calculation result of the vertical movement amount calculation unit 9 in the three-dimensional structure traveling section immediately after the ground surface traveling section based on the comparison result. Data for correction for correction is generated.

  For example, as shown in FIG. 5, the calculation result of the vertical movement amount calculation unit 9 is gradually changed from the actual vertical movement amount as the detected two-dimensional position changes, that is, the horizontal movement distance increases, by comparing the transition described above. Is found to be larger, the correction data generation unit 16 sets the vertical movement amount calculated by the vertical movement amount calculation unit 9 in a direction of decreasing as the horizontal movement distance increases. Data for correction to be corrected is generated. The transition of the calculation result of the vertical movement amount calculation unit 9 reflects the characteristics of the acceleration sensor 7.

  Further, as shown in FIG. 6, in the comparison of the transition described above, it is found that the calculation result of the vertical movement amount calculation unit 9 becomes larger than the actual vertical movement amount when the slope of the road surface changes abruptly. In this case, the correction data generation unit 16 corrects the vertical movement amount value calculated by the vertical movement amount calculation unit 9 in a direction that decreases when the road surface slope changes suddenly. Is generated.

  Furthermore, as shown in FIG. 7, when it is found that the calculation result of the vertical movement amount calculation unit 9 is larger than the actual vertical movement amount on a horizontal road surface in the above-described transition comparison, correction is performed. The data generation unit 16 generates correction data for correcting the value of the vertical movement amount calculated by the vertical direction movement amount calculation unit 9 in a direction that decreases when traveling on a horizontal road surface.

  Next, as shown in FIG. 8, when the host vehicle 27 moves to the three-dimensional structure traveling section immediately after the ground surface traveling section, the second elevation detection unit 18 calculates the three-dimensional structure calculated by the vertical movement amount calculating unit 9. The vertical movement amount in the three-dimensional structure traveling section from the ground surface immediately before the object traveling section (the ground surface traveling section) is corrected using the correction data generated by the correction data generation unit 16.

  Next, the second elevation detection unit 18 uses the corrected vertical movement amount generated by the correction of the vertical movement amount as the elevation detected by the first elevation detection unit 15 for the ground surface immediately before the three-dimensional structure traveling section. By adding to, the altitude of the point on the three-dimensional structure where the host vehicle 27 is traveling is detected.

  Here, as shown in FIG. 8, the transition of the corrected movement amount substantially coincides with the transition of the actual vertical movement amount from the ground surface immediately before the three-dimensional structure traveling section. That is, the altitude detected by the second altitude detecting unit 18 accurately indicates the altitude at the point where the host vehicle 27 is traveling.

  In FIG. 8, since the altitude of the ground surface just before the three-dimensional structure traveling section is 5 m and the corrected vertical movement amount is 30 m, the three-dimensional structure on the three-dimensional structure detected by the second altitude detecting unit 18 is used. The altitude of the point is 35m.

  Next, the host vehicle position determination unit 19 acquires a three-dimensional position of the host vehicle that is composed of the detection result of the two-dimensional position detection unit 6 and the detection result of the second altitude detection unit 18, and based on the acquired three-dimensional position. The three-dimensional vehicle position on the map data is determined.

  At this time, since the altitude of the point on the three-dimensional structure where the host vehicle 27 is traveling is detected with high accuracy by the second elevation detection unit 18, the host vehicle position determination unit 19 determines the host vehicle position as a three-dimensional vehicle. It is possible to reliably match the road on the structure.

  As described above, according to the present embodiment, in the ground surface traveling section, it is possible to detect the altitude of the point on the ground surface where the host vehicle is traveling by acquiring the altitude data. In the three-dimensional structure traveling section, the vertical movement amount from the ground surface immediately before the three-dimensional structure traveling section calculated by the vertical direction movement amount calculating unit 9 is corrected using the correction data, and the corrected vertical By adding the amount of movement to the elevation of the ground surface immediately before, it is possible to detect the elevation of a point on the three-dimensional structure on which the host vehicle is traveling.

  As a result, the altitude of the point where the host vehicle is traveling can be detected with high accuracy, and the determination accuracy of the host vehicle position can be improved.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

The block diagram which shows embodiment of the altitude detection apparatus and own vehicle position determination apparatus which concern on this invention Explanatory drawing which shows typically the management state of elevation data and three-dimensional structure presence / absence data in the embodiment of the elevation detection device and the vehicle position determination device according to the present invention. Explanatory drawing which shows the driving | running | working state of the ground surface driving | running | working area of the own vehicle in embodiment of the altitude detection apparatus and own vehicle position determination apparatus which concern on this invention. In the embodiment of the elevation detection device and the vehicle position determination device according to the present invention, the transition with the change of the detected two-dimensional position with respect to the elevation detected by the first elevation detection unit and the calculation result of the vertical direction movement amount calculation unit Explanatory drawing which shows an example of the comparison method with the transition accompanying the change of the detection two-dimensional position about Explanatory drawing which shows an example of the transition about the calculation result of the perpendicular | vertical movement amount calculating part in embodiment of the altitude detection apparatus which concerns on this invention, and the own vehicle position determination apparatus. Explanatory drawing which shows an example of the transition about the calculation result of the perpendicular | vertical movement amount calculation part different from FIG. 5 in embodiment of the altitude detection apparatus which concerns on this invention, and the own vehicle position determination apparatus. Explanatory drawing which shows an example of the transition about the calculation result of the perpendicular | vertical movement amount calculation part different from FIG. 5 and FIG. 6 in embodiment of the altitude detection apparatus and the own vehicle position determination apparatus which concern on this invention. Explanatory drawing which shows transition of the amount of vertical movement after correction | amendment in embodiment of the altitude detection apparatus which concerns on this invention, and the own vehicle position determination apparatus

Explanation of symbols

DESCRIPTION OF SYMBOLS 2 Own vehicle position determination apparatus 3 Elevation detection apparatus 5 GPS receiver 6 Two-dimensional position detection part 7 Acceleration sensor 9 Vertical direction moving amount calculation part 10 Storage apparatus 11 Altitude / three-dimensional structure existence DB
12 mesh 14 traveling place determination unit 15 first altitude detection unit 16 correction data generation unit 18 second altitude detection unit 19 own vehicle position determination unit

Claims (4)

An altitude detection device that detects the altitude of the point where the host vehicle is traveling,
Two-dimensional position detecting means for detecting the two-dimensional position of the host vehicle;
Vertical movement amount detection means for detecting the vertical movement amount of the host vehicle;
Elevation data management means for managing elevation data indicating the elevation of the ground surface for each of a plurality of meshes obtained by dividing the ground surface into a predetermined latitude range and a predetermined longitude range;
Three-dimensional structure presence / absence data management means for managing three-dimensional structure presence / absence data indicating the presence / absence of a three-dimensional structure on which the host vehicle can run for each mesh;
Using the solid structure presence / absence data for the two-dimensional position detected by the two-dimensional position detection means and the mesh corresponding to the two-dimensional position, the vehicle is traveling on the ground surface or the solid Determining means for determining whether the vehicle is traveling on a structure;
In the first section in which it is determined by the determination means that the host vehicle is traveling on the ground surface, elevation data for a mesh corresponding to the two-dimensional position of the host vehicle is acquired from the elevation data management means. A first altitude detecting means for detecting an altitude at a point on the ground surface on which the host vehicle is traveling;
In the first section, a transition with a change in the two-dimensional position with respect to an altitude detected by the first altitude detecting means, and a change in the two-dimensional position with respect to a detection result of the vertical movement amount detecting means. And the transition in the second section in which the vehicle is determined to be traveling on the three-dimensional structure by the determination means immediately after the first section based on the comparison result. Correction data generation means for generating correction data for correcting the detection result of the vertical movement amount detection means;
In the second section, the vertical movement amount of the host vehicle in the second section from the ground surface immediately before the second section detected by the vertical movement amount detecting means is used for the correction. By correcting using the data and adding the corrected vertical movement amount of the host vehicle to the elevation detected by the first elevation detection means for the ground surface immediately before the second section, An altitude detecting device comprising: second altitude detecting means for detecting an altitude at a point on the three-dimensional structure where the host vehicle is traveling.   The altitude detection device according to claim 1, wherein the vertical movement amount detection unit includes an acceleration sensor.   The altitude detection apparatus according to claim 1, wherein the two-dimensional position detection unit includes a GPS. Two-dimensional position detecting means for detecting the two-dimensional position of the host vehicle;
Vertical movement amount detection means for detecting the vertical movement amount of the host vehicle;
Elevation data management means for managing elevation data indicating the elevation of the ground surface for each of a plurality of meshes obtained by dividing the ground surface into a predetermined latitude range and a predetermined longitude range;
Three-dimensional structure presence / absence data management means for managing three-dimensional structure presence / absence data indicating the presence / absence of a three-dimensional structure on which the host vehicle can run for each mesh;
Using the solid structure presence / absence data for the two-dimensional position detected by the two-dimensional position detection means and the mesh corresponding to the two-dimensional position, the vehicle is traveling on the ground surface or the solid Determining means for determining whether the vehicle is traveling on a structure;
In the first section in which it is determined by the determination means that the host vehicle is traveling on the ground surface, elevation data for a mesh corresponding to the two-dimensional position of the host vehicle is acquired from the elevation data management means. A first altitude detecting means for detecting an altitude at a point on the ground surface on which the host vehicle is traveling;
In the first section, a transition with a change in the two-dimensional position with respect to an altitude detected by the first altitude detecting means, and a change in the two-dimensional position with respect to a detection result of the vertical movement amount detecting means. And the transition in the second section in which the vehicle is determined to be traveling on the three-dimensional structure by the determination means immediately after the first section based on the comparison result. Correction data generation means for generating correction data for correcting the detection result of the vertical movement amount detection means;
In the second section, the vertical movement amount of the host vehicle in the second section from the ground surface immediately before the second section detected by the vertical movement amount detecting means is used for the correction. By correcting using the data and adding the corrected vertical movement amount of the host vehicle to the elevation detected by the first elevation detection means for the ground surface immediately before the second section, An altitude detection device comprising: second altitude detection means for detecting an altitude at a point on the three-dimensional structure where the host vehicle is traveling,
The three-dimensional position of the host vehicle consisting of the detection result of the two-dimensional position detection means and the detection result of the first or second elevation detection means in the elevation detection device is acquired, and the acquired three-dimensional position is obtained. The vehicle position determination device is characterized in that the vehicle position on the map data is determined based on the vehicle data.

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