JP2009014506A - Current position detecting system and current position detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce straying when one's own vehicle goes out to a road from a non-road area such as a parking lot in a current position detecting system and a current position detector which detects the current position of one's own vehicle on the basis of the self-contained navigation. <P>SOLUTION: A predetermined exit figure is drawn on the road surface of an exit of a wide parking lot. A controller 80 detects the current position of one's own vehicle by the self-contained navigation or the hybrid navigation (S10). The exit figure is recognized or determined by analyzing a photographed images which are successively supplied from a camera 70 (S20). When the exit figure is recognized, it is determined that whether the coordinates of the exit figure are present in facility information of map data (S30). When the coordinates of the exit figure are present, the current position of one's own vehicle detected in S10 is corrected to the coordinates of the exit figure (S40). When the coordinates of the exit figure are not present, the current position of one's own vehicle detected in S10 is corrected to be on a road which is nearest to the current position (S50). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a current position detection system and a current position detection device that detect a current position of a host vehicle based on self-contained navigation.

  Conventionally, self-contained navigation is known as a method for detecting the current position of the host vehicle in an in-vehicle navigation device or the like. The self-contained navigation is a method in which a traveling direction and a travel distance are calculated by a sensor attached to the own vehicle, and the current position is sequentially updated. In the self-contained navigation, since errors are accumulated, there is a problem that even if the error for each time is small, the error of the current position gradually increases.

In order to correct this self-contained navigation error, an apparatus that executes map matching processing is known (for example, Patent Document 1). The map matching process is the road that is estimated to have the highest probability by comparing the trajectory of the current position obtained by self-contained navigation with the shape of the road near the current position obtained by self-contained navigation in the road map data. This process corrects the upper point to the current position.
JP 2005-24488 A

  By executing the map matching process described above, errors due to self-contained navigation can be corrected to some extent. However, the map matching process is based on the premise that the host vehicle is traveling on a road, and a travel locus of a certain distance when traveling on the road is required. Therefore, when the vehicle is traveling in a non-road zone that is not a road such as a parking lot or an off-road zone, the current position cannot be appropriately corrected by the map matching process.

  Even if the map matching process is not executed during traveling in the non-road zone, as described above, errors due to the self-contained navigation are accumulated while traveling in the non-road zone. When the host vehicle returns from the non-road zone to the road, the current position can be corrected by map matching processing. However, in order to execute the map matching process, it is necessary to travel on the road for a certain distance. For this reason, the current position cannot be corrected to an appropriate position by map matching immediately after returning from a non-road area to the road, and the current position where errors due to self-contained navigation are accumulated for a while is detected. There is a problem that the state to be operated, that is, the stray state continues.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a current position detection system and a current position detection device capable of suppressing stray when the host vehicle returns to a road from a non-road zone. .

In order to achieve the above object, a current position detection system according to claim 1 is a current position detection system for detecting a predetermined exit graphic drawn on a road surface near an exit from a non-road zone to a road and a current position of the host vehicle. A current position detection system comprising a device,
The current position detecting device is
Map data storage means for storing map data;
Current position detection means for sequentially detecting the current position of the vehicle based on self-contained navigation;
Recognition determination means for determining whether or not the exit graphic has been recognized based on an image taken by a camera installed in the host vehicle;
Based on the determination that the exit graphic has been recognized by the recognition determination unit, the current position detected by the current position detection unit is corrected so that the position is determined based on the exit graphic in the map data. And a correction means for performing the above-described correction.

  According to this, a predetermined exit graphic is drawn on the road surface near the exit from the non-road zone to the road. If the recognition determination unit of the current position detection device determines that the exit graphic has been recognized, the correction unit determines the current position detected by the current position detection unit so that the position on the road is determined based on the exit graphic in the map data. to correct. Therefore, the current position is corrected to an appropriate position when the host vehicle leaves the road from the non-road zone, and strays are suppressed.

The current position detection apparatus according to claim 2 is a map data storage means in which map data is stored;
Current position detection means for sequentially detecting the current position of the vehicle based on self-contained navigation;
Recognition determination means for determining whether or not an exit graphic drawn on the road surface near the exit from the non-road zone to the road is recognized based on an image taken by a camera installed in the host vehicle;
Based on the determination that the exit graphic has been recognized by the recognition determination unit, the current position detected by the current position detection unit is corrected so that the position is determined based on the exit graphic in the map data. And a correction means for performing the above. Since the current position detection device according to the second aspect corresponds to the current position detection device according to the first aspect, description of the function and effect is omitted.

The current position detection device according to claim 3, wherein the map data includes coordinates of the exit graphic,
The current position detection means sequentially detects the current coordinates of the host vehicle using hybrid navigation combining self-contained navigation and radio navigation,
The correcting means determines that the current position detected by the current position detecting means is the coordinates of the exit graphic included in the map data based on the recognition determining means determining that the exit graphic is recognized. It is characterized by correcting.

  As a result, the current position can be accurately corrected when the host vehicle leaves the non-road zone.

  The current position detection apparatus according to claim 4, wherein the correction means determines the current position detected by the current position detection means based on the determination that the exit graphic is recognized by the recognition determination means. The correction is made on the road closest to the position.

  According to this, when it is determined that the exit graphic is recognized by the recognition determination unit when exiting the road from the non-road zone, the current position detected by the current position detection unit is on the road closest to the current position. It is corrected as follows. Even if it does in this way, since the present position is corrected on the road when the own vehicle leaves the non-road zone, strays can be suppressed. In addition, since no coordinates are required for correction, an apparatus and a process for determining the coordinates are not required. Therefore, the apparatus configuration can be simplified.

The current position detection device according to claim 5, wherein the recognition determination unit determines whether or not a predetermined entrance graphic drawn on a road surface near an entrance entering the non-road zone from a road is recognized in addition to the exit graphic. Is to judge
The current position detection means executes a map matching process for correcting the current position of the host vehicle by comparing the travel locus of the host vehicle with the shape of the road near the current position of the host vehicle in the map data. However, the map matching process is not executed when it is determined by the recognition determining means that the entrance graphic has been recognized.

  As described above, the map matching process is based on the assumption that the vehicle is traveling on a road. Therefore, if the map matching process is executed using a travel locus while traveling on a non-road area, the current position is not correct. It will be corrected to an appropriate position. However, according to the fifth aspect, since the map matching process is not executed when the host vehicle enters the non-road zone, it is possible to prevent the current position from being corrected to an inappropriate position.

  Hereinafter, embodiments of a current position detection system and a current position detection device according to the present invention will be described with reference to the drawings. In the present embodiment, the current position detection device according to the present invention is realized as an in-vehicle navigation device. In addition, the current position detection system of the present embodiment includes an in-vehicle navigation device and a predetermined exit graphic drawn at the exit of the parking lot.

  FIG. 1 is a block diagram showing the overall configuration of the in-vehicle navigation device 100 of the present embodiment. As shown in the figure, the in-vehicle navigation device 100 includes a current position detection data acquisition device 10, a map data storage device 20, an operation switch group 30, an external memory 40, a display device 50, an audio output device 60, a camera 70, and these. A connected control device 80 is provided.

  The current position detection data acquisition device 10 acquires data for detecting the current position of the host vehicle, all of which are for the well-known geomagnetic sensor 11, gyroscope 12, vehicle speed sensor 13, and GPS (Global Positioning System). GPS receiver 14 is provided. The current position detection data sequentially detected by these sensors 11 to 14 is output to the control device 80.

  The map data storage device 20 functions as the map data storage means described in the claims, and a storage medium such as a CD-ROM or DVD-ROM, a memory card, or an HDD is used to store map data. The map data includes road data composed of link data indicating roads and node data. This link connects nodes when the roads on the map are divided by a plurality of nodes such as intersections, branches, and merge points, and roads are configured by connecting the links. Link data includes a unique number (link ID) that identifies the link, link length indicating the link length, link start and end node coordinates (latitude / longitude), road name, road type, road width, number of lanes, right turn -Consists of data such as presence / absence of left turn dedicated lane, number of dedicated lanes, length of dedicated lanes, speed limit

  On the other hand, the node data includes a node ID, a node coordinate, a node name, and a link ID of a link connected to the node, each node having a unique number for each node where roads on the map intersect, merge and branch. It consists of data such as ID and branch point type.

  The map data also includes information about the facility (facility name, position, shape, etc.), and when the map is displayed on the display device 50, the facility is also displayed in addition to the road. In the case of a large facility, the information on the facility includes the coordinates of the exit graphic described above.

  As the operation switch group 30, for example, a touch panel or a mechanical switch provided on the surface of the screen of the display device 50 is used, and various functions (for example, map scale change, menu display selection, destination, etc.) are operated by the switch operation. Operation instructions for setting, route search, route guidance start, current position correction, display screen change, volume adjustment, etc.).

  The operation switch group 30 includes switches for setting a departure place and a destination. By operating the switch, the user can set the departure point and the destination from points registered in advance, facility names, telephone numbers, addresses, and the like. The starting point and destination set by the user are output to the control device 80.

  The external memory 40 is a writable mass storage device such as an HDD. The external memory 40 stores a large amount of data and data that should not be erased even when the power is turned off, or uses frequently used data by copying the map data stored in the map data storage device 20. There are uses such as. The external memory 40 may be a removable memory having a relatively small storage capacity.

  The display device 50 is configured by a device capable of full color display, such as a liquid crystal display, an organic EL display, a plasma display, and the like, and a map or destination for guiding vehicle travel based on an instruction signal output from the control device 80. Display the selection screen. Further, a current position mark indicating the current position of the host vehicle is displayed superimposed on the map.

  The voice output device 60 is configured by a speaker or the like, and outputs a guidance voice or the like at the time of route guidance based on an instruction signal output from the control device 80.

  The camera 70 is installed at the center of the front portion of the host vehicle in the vehicle width direction, and always captures the road surface in front of the host vehicle (for example, a road surface of a few meters ahead of the host vehicle). Then, the camera 70 outputs the captured image to the control device 80.

  The control device 80 is configured as a normal computer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line (all not shown) for connecting these configurations. Various programs are written in the ROM, and the CPU executes various processes based on the programs.

  For example, the current position of the host vehicle is sequentially detected by known hybrid navigation based on the current position detection data sequentially supplied from the sensors 11 to 14 constituting the current position detection data acquisition device 10. Further, in the detection of the current position, a map for correcting the current position obtained by the hybrid navigation by comparing the traveling locus of the own vehicle and the shape of the road near the current position of the own vehicle in the map data. A matching process is also executed.

  Further, in the process of detecting the current position of the host vehicle, the control device 80 detects the current position of the host vehicle on the road surface at the exit of the parking lot based on the captured image supplied from the camera 70 when the host vehicle leaves the parking lot. If it is determined that the drawn exit graphic is recognized, the current position of the host vehicle is corrected so that the current position of the host vehicle is on the road closest to the coordinates of the exit graphic or the current location of the host vehicle. The current position correction process is executed. Since the processing at this time is a characteristic part of the present invention, it will be described in detail later using a flowchart.

  The control device 80 also reads out map data around the detected current position of the host vehicle from the map data storage device 20, and displays a map determined based on the map data on the display device 50 in a superimposed manner with the current position mark of the host vehicle. Let

  When the starting point and the destination are supplied from the operation switch group 30, the optimum route from the starting point to the destination is searched using map data. When there is no user setting as the departure place, the current place of the host vehicle is set as the departure place. When the optimum route is selected by the user, the optimum route is superimposed on the map displayed on the display device 50 and route guidance is performed so that the host vehicle travels on the optimum route.

  Moreover, the image which image | photographed the road surface ahead of the own vehicle continuously supplied from the camera 70 is analyzed, and the predetermined | prescribed exit figure drawn at the exit of a parking lot is recognized. When the exit graphic is recognized, the current position correction process is executed.

  In the present embodiment, the exit graphic is drawn on the road surface of the exit of the large parking lot. FIG. 2 is a diagram showing a state in which the exit graphic is drawn. As shown in the figure, the exit graphic 5 a is drawn immediately before the stop line 6 of the exit lane 3 a of the parking lot for exiting the road 4.

  In addition, FIG. 3 has shown the map displayed on the display apparatus 50 when the own vehicle enters into a large parking lot. As shown in the figure, the display device 50 displays an image 2 indicating a parking lot and also displays an entrance / exit 3 of the parking lot. In addition, a current position mark 1 indicating the current position of the host vehicle is displayed by superimposing an image 2 indicating a parking lot.

  Next, the above-described current position correction process executed by the control device 80 will be described with reference to the flowchart of FIG. This flowchart is executed at regular intervals.

  In step S <b> 10, the current position of the host vehicle is detected based on the current position detection data supplied from the current position detection data acquisition device 10.

  Subsequent step S20 functions as a recognition determination unit described in the claims, and determines whether or not the exit graphic has been recognized. If it is determined that the exit graphic has been recognized, an affirmative determination is made and the process proceeds to step S30. On the other hand, if it is determined that the exit graphic has not been recognized, a negative determination is made and this flowchart ends.

  In step S30, it is determined whether or not the information regarding the facility of the map data includes the coordinates of the exit graphic recognized in step S20. If it is included, an affirmative determination is made and the process proceeds to step S40. If not, a negative determination is made and the process proceeds to step S50.

  Step S40 functions as the correcting means described in the claims, corrects the current position of the host vehicle detected in step S10 to the coordinates of the exit graphic, and ends this flowchart.

  Step S50 functions as the correcting means described in the claims similarly to step S40, and corrects the current position so that it is on the road closest to the current position of the host vehicle detected in step S10. finish.

  As mentioned above, when it determines with the vehicle-mounted navigation apparatus 100 of this embodiment having recognized the exit figure drawn on the road surface of the exit of a large parking lot, is the coordinate regarding the exit figure included in the information regarding the facility of map data? If it is included, the current position of the host vehicle is corrected to the coordinates of the exit graphic. Thereby, when the own vehicle leaves the parking lot, the current position can be corrected to an accurate position. Further, when the exit graphic drawn on the road surface of the exit of the large parking lot is recognized, but the coordinates of the exit graphic are not included in the information regarding the facility of the map data, the current position detected in step S10 is displayed on the map. The data is corrected on the road closest to the current position. Therefore, even when the coordinates of the exit graphic are not included in the information regarding the facility of the map data, the current position is corrected on the road when leaving the parking lot. As a result, it is possible to prevent the vehicle from straying for a while after leaving the parking lot.

  In addition, this invention is not limited to the said embodiment, Based on the meaning of this invention, it can implement with a various form. For example, in the present embodiment, the predetermined exit graphic is drawn on the road surface at the exit of the parking lot, but it may be drawn on the road immediately after leaving the parking lot.

  In the present embodiment, the camera 70 is installed in the center of the front of the host vehicle in the vehicle width direction, and the vehicle front road surface closest to the host vehicle is photographed. You may image | photograph the own vehicle back road surface nearest from the own vehicle. This is because it is possible to recognize whether or not the exit graphic is drawn on the road surface on which the vehicle has traveled.

(Modification)
Next, a modification of the above embodiment will be described. In this modified example, a predetermined entrance graphic is drawn on the road surface of the entrance of the parking lot, the map matching process is executed until the own vehicle recognizes the entrance graphic, and the own vehicle recognizes the entrance graphic. Does not execute the map matching process.

  FIG. 5 is a diagram showing a state in which an entrance graphic is drawn on the road surface of the entrance of the parking lot. As shown in the drawing, in addition to the exit graphic 5a, a predetermined entrance graphic 5b is drawn on the road surface of the entrance lane 3b of the parking lot.

  Next, the current position correction process executed by the control device 80 in this modification will be described with reference to the flowcharts of FIGS. 6 and 7 are executed at regular intervals. The same processes as those in the above embodiment are denoted by the same reference numerals.

  In step S <b> 10, the current position of the host vehicle is detected based on the current position detection data supplied from the current position detection data acquisition device 10.

  In the subsequent step S20, the flag state is determined. The flag is set when the host vehicle recognizes the entrance graphic (Flag = 1), and then the flag that was set when the exit graphic is recognized is dropped (Flag = 0). Thus, Flag = 0 until the host vehicle recognizes the entrance graphic. Here, if the flag is not set (Flag = 0), the process proceeds to step S70 in the flowchart of FIG. 7, and if the flag is set (Flag = 1), the process proceeds to step S20.

  First, processing when the flag is not set (Flag = 0) will be described. Step S70 in the flowchart of FIG. 7 functions as a recognition determination unit described in the claims, and determines whether or not the entrance graphic has been recognized by analyzing captured images continuously supplied from the camera 70. If it is determined that the entrance graphic has been recognized, the determination is affirmative and the process proceeds to step S80. If it is determined that the entrance graphic is not recognized, the determination is negative and the process returns to the flowchart of FIG. The flowchart is terminated.

  In step S80, the map matching process is interrupted. Thus, in step S10, the map matching process is not executed in the current position detection.

  In the subsequent step S90, Flag is set (Flag ← 1), and the process returns to the flowchart of FIG.

  Next, processing when a flag is set (Flag = 1) will be described. The fact that the flag is raised means that the host vehicle is traveling in the parking lot while recognizing the entrance graphic.

  In step S20, it is determined whether or not the exit graphic has been recognized. Here, when an exit graphic is recognized, an affirmative determination is made, and the processing of the above-described embodiment (steps S30, S40, S50) is executed, and the current position of the host vehicle is set on the road closest to the coordinates of the exit graphic or the current position. To correct.

  In step S100, the interrupted map matching process is resumed. In the subsequent step S110, the raised flag is lowered (Flag ← 0), and this flowchart is ended.

  If it is determined in step S20 that the exit graphic has not been recognized, a negative determination is made and this flowchart ends. From this, until the exit graphic is recognized, the current position of the host vehicle is detected at regular intervals while the map matching process is interrupted.

  As described above, in the modified example of the above embodiment, a predetermined entrance graphic is drawn on the road surface of the entrance of the parking lot, and the map matching process is executed until the own vehicle recognizes the entrance graphic. When the figure is recognized, the map matching process is interrupted. By doing so, it is possible to prevent the map matching process from being executed even when the host vehicle is traveling in the parking lot and the current position being corrected to an inappropriate position.

It is the block diagram which showed the whole structure of the vehicle-mounted navigation apparatus 100 of this embodiment. It is the figure which showed a mode that the predetermined | prescribed exit figure was drawn on the road surface of the exit of a parking lot. It is the figure which showed the map displayed on the screen of the display apparatus 50 when the own vehicle enters a large parking lot. 5 is a flowchart showing a current position correction process executed by a control device 80. In the modification of the said embodiment, it is the figure which showed a mode that the predetermined | prescribed entrance figure was drawn on the road surface of the entrance of a parking lot. 7 is a flowchart showing a current position correction process executed by a control device 80 in a modification of the embodiment. It is the flowchart which showed the process when Flag is not set up in the present position correction process of the modification of the said embodiment.

Explanation of symbols

5a ... exit graphic, 5b ... entrance graphic, 10 ... current position detection data acquisition device, 20 ... map data storage device (map data storage means), 70 ... camera, 80 ... control device, S20 ... recognition determination means, S40, S50: Correction means, S70: Recognition determination means

Claims (5)

A current position detection system comprising a predetermined exit graphic drawn on the road surface near the exit from the non-road zone to the road, and a current position detection device for detecting the current position of the host vehicle,
The current position detecting device is
Map data storage means for storing map data;
Current position detection means for sequentially detecting the current position of the vehicle based on self-contained navigation;
Recognition determination means for determining whether or not the exit graphic has been recognized based on an image taken by a camera installed in the host vehicle;
Based on the determination that the exit graphic is recognized by the recognition determination means, the current position detected by the current position detection means so as to be a position on the road determined based on the exit graphic in the map data. A current position detection system comprising correction means for correcting the position. Map data storage means for storing map data;
Current position detection means for sequentially detecting the current position of the vehicle based on self-contained navigation;
Recognition determination means for determining whether or not an exit graphic drawn on the road surface near the exit from the non-road zone to the road is recognized based on an image taken by a camera installed in the host vehicle;
Based on the determination that the exit graphic has been recognized by the recognition determination unit, the current position detected by the current position detection unit is corrected so that the position is determined based on the exit graphic in the map data. A current position detecting device. The map data includes the coordinates of the exit graphic,
The current position detection means sequentially detects the current coordinates of the host vehicle using hybrid navigation combining self-contained navigation and radio navigation,
The correcting means determines that the current position detected by the current position detecting means is the coordinates of the exit graphic included in the map data based on the recognition determining means determining that the exit graphic is recognized. The current position detection apparatus according to claim 2, wherein the current position detection apparatus corrects the current position.   The correction means corrects the current position detected by the current position detection means on the road closest to the current position based on the determination that the exit graphic has been recognized by the recognition determination means. The current position detecting device according to claim 2. The recognition determining means determines whether or not a predetermined entrance graphic drawn on a road surface near an entrance entering the non-road zone from a road is recognized in addition to the exit graphic.
The current position detection means executes a map matching process that sequentially corrects the current position of the host vehicle by comparing the travel locus of the host vehicle and the shape of the road in the map data near the current position of the host vehicle. However, the map matching process is not executed when it is determined by the recognition determining means that the entrance graphic has been recognized. 5. Position detection device.

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