JP2010190721A - On-vehicle navigation device and vehicle orientation change part determination program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology capable of determining with higher reliability a vehicle orientation change part such as a turntable installation part. <P>SOLUTION: An onboard navigation device includes a travel trajectory generating section 16 for generating a travel trajectory of own vehicle based on advance orientation information representing an advance orientation of the own vehicle with an orientation variation and a moving distance of the own vehicle; a displacement detecting section 17 for detecting a displacement of a predetermined value or greater between a position of the own vehicle and a head position of the travel trajectory based on own vehicle location information acquired by a GPS location service; and a travel trajectory matching section 20 for performing pattern matching with a road pattern, while making a rigid conversion of the travel trajectory upon detecting the displacement. Considering the road pattern having matched in pattern matching to be the true travel trajectory, the position of the own vehicle is assumed to be a head of the matched road pattern, and a base point of the rigid conversion for the pattern-matched travel trajectory is determined to be the vehicle orientation change part. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation device that is mounted on a host vehicle and can acquire traveling direction information that represents the traveling direction of the host vehicle, and a vehicle direction change location determination program that can be used therefor.

  For example, in an in-vehicle navigation device or the like, the traveling direction information representing the traveling direction of the host vehicle is acquired based on the output of a direction sensor such as a gyroscope or a change in position information acquired by a GPS (Global Positioning System) receiver. The construction to do is already known. In such a navigation device, using the acquired traveling direction information, processing for displaying the vehicle mark indicating the position and traveling direction of the host vehicle together with a map on the display device, processing for guiding an appropriate route to the destination, etc. Is done.

  By the way, in general, when the accessory (ACC) power of the host vehicle is off, the power of the navigation device is also turned off in conjunction with that, and the traveling direction of the host vehicle cannot be detected. Therefore, in the conventional navigation device, when the direction of the host vehicle is changed by a direction changing device such as a turntable installed in a multilevel parking lot while the power is off, It was not possible to detect a change in the traveling direction of the vehicle. Therefore, after the power is turned on, the traveling direction held by the navigation device is different from the actual traveling direction of the host vehicle, and the correct host vehicle position cannot be recognized after the host vehicle starts to travel. was there.

  In order to solve such problems, a database that stores direction change information such as the position and rotation angle of a parking lot with a turntable is provided, and the direction information stored in the database when the vehicle ignition switch is turned off. It has been proposed to correct the direction of the vehicle using the vehicle and accurately detect the direction of the vehicle when leaving the vehicle (see, for example, Patent Document 1). However, the device described in Patent Document 1 needs to store information representing a parking lot equipped with a turntable in a database in advance, and represents a parking lot to be used, such as when a turntable parking lot is newly established. If the information is not stored in the database, the vehicle direction cannot be corrected, and there is a problem that the traveling direction of the vehicle that has left the car and starts running is left wrong.

  For this reason, a navigation device has also been proposed that enables the vehicle position to be corrected even if information representing the turntable is not stored in the database in advance (see, for example, Patent Document 2). The navigation device includes position information detection means for detecting a direction change amount and a movement distance of the own vehicle, specifies an estimated position representing the own vehicle position using dead reckoning navigation based on a detection result of the position information detection means, At the start of traveling of the host vehicle, it is determined that the turntable does not exist at the host vehicle position by referring to a database storing turntable candidate information indicating the position of the turntable and the rotation angle by turning the turntable. In this case, when the estimated position is specified as the own vehicle position and it is determined that the turntable exists at the own vehicle position, the estimated position is determined according to the rotation angle included in the turntable candidate information. Is corrected to specify the vehicle position, and the specified vehicle position is stored in the storage means. Furthermore, this navigation device receives a radio wave from a GPS satellite and outputs positioning data, and a GPS position representing the position of the vehicle based on the positioning data from the GPS receiving device when the vehicle starts running. If it is determined that the GPS position is determined by the GPS positioning determination means and the GPS positioning determination means that determine whether or not positioning has been performed, it is determined whether or not a turntable has been performed based on the GPS position and the estimated position. When it is determined by the turn determination means and the turn determination means that the turn table is turned, the vehicle position before the start of travel stored in the storage means is set as the turn table position, and the turn table position and A first database that stores turntable candidate information indicating a rotation angle by turning the turntable in a database. And a scan memory unit (e.g., see Patent Document 2). In the navigation device described in Patent Document 2, when the estimated position of the vehicle specified from the calculated estimated trajectory is compared with the GPS position specified from the positioning data input from the GPS receiver, the two do not match It is determined that the turntable has been turned, and if they match, it is determined that the turntable has not been turned. In this case, the estimated position and the GPS position of the own vehicle include a positioning error. For this reason, even if they do not completely match, if they are included within a certain tolerance, it is determined that they match. However, when determining the presence of the turntable by comparing only the two points of the estimated position and the GPS position in this way, if the tolerance is increased, it may be determined that the turntable has been implemented even though the turntable is not implemented. If the allowable error is reduced, there is a problem that the possibility that it is determined that the turn table is turned but not turned is increased.

JP 2002-267460 A (paragraph number 0008-0012, FIG. 1) JP 2008-215923 A (paragraph number 0027-0088, FIG. 4)

  In view of the above situation, an object of the present invention is to provide a technique for determining a vehicle orientation change location such as a turntable installation location with higher reliability.

In order to achieve the above object, the on-vehicle navigation device according to the present invention is characterized by a GPS position information acquisition unit for acquiring own vehicle position information representing the position of the own vehicle by GPS positioning, an azimuth change amount and movement of the own vehicle A travel direction information acquisition unit that acquires travel direction information representing the travel direction of the host vehicle based on the distance, a travel track generation unit that generates a travel track of the host vehicle based on the travel direction information, and a head part of the travel track A position deviation detection unit that detects a position deviation greater than a predetermined value between the position of the vehicle and the own vehicle position based on the own vehicle position information, and the position coordinates of the travel locus when the position deviation is detected by the position deviation detection unit A traveling locus matching processing unit that performs pattern matching processing between the road pattern and the road pattern while converting the true road pattern that has been matched by the pattern matching processing An own vehicle position determination unit that regards the position of the own vehicle as a head of the matched road pattern, which is regarded as a trajectory, and a determination unit that determines a base point of rigid body transformation for the pattern matching traveling locus as a vehicle direction change point , In the point with.

  According to this characteristic configuration, when the position of the head part of the traveling locus that is the current host vehicle position based on the traveling direction information and the current host vehicle position based on the GPS positioning deviate by a predetermined value or more, generated based on the traveling direction information The pattern matching process is performed with the road pattern while changing the position (orientation) of the travel locus by rigid body transformation. Since the road pattern matched by this pattern matching process becomes a true travel locus, the position of the head portion of the true travel locus can be regarded as the current host vehicle position. Since the current vehicle position based on GPS positioning is guaranteed to a certain degree of accuracy, this position can be used as an approximate constraint point at the time of rigid body transformation, and parameters for rigid body transformation of the travel locus (generally a rotation matrix) And translation vector) can be calculated efficiently. As compared with the map matching process using two points of the estimated position and the GPS position as in the conventional technique (for example, Patent Document 2), it is possible to determine the presence of the vehicle orientation change place with higher reliability.

  Many of the phenomena such as the change of the vehicle direction in a state where the traveling direction information cannot be acquired are caused by a vehicle turntable installed inside the parking facility. For this reason, in one of the preferred embodiments of the present invention, the vehicle orientation change location is limited to the vehicle turntable installation location. Thereby, since rigid transformation is limited to rotational transformation, calculation of the rigid transformation parameter is simplified, and the processing load is reduced. Furthermore, considering that many of the installed vehicle turntables are of a 180 ° rotation type, it is also preferable to limit the vehicle turntable to a 180 ° turntable that rotates the vehicle by 180 °. As a result, the rigid body transformation is limited to 180 ° rotation, and the calculation processing burden is further reduced.

  By the way, when the direction of the vehicle is changed in a state where the traveling direction information based on the direction sensor cannot be acquired, the vehicle with the power source for operating the traveling direction information acquisition unit turned off is the same as in the vehicle turntable. There is a high possibility of a change of direction. From this, it is reasonable to regard the vehicle position at the time of turning on / off the power source as the position of the vehicle orientation change point. Accordingly, in a preferred embodiment of the present invention, a power source operation detection unit that detects on / off of a power source that operates the traveling direction information acquisition unit is provided, and the power source on / off detection by the power source operation detection unit is provided. The vehicle position at the time is used as the base point of the rigid body transformation. Accordingly, since the base point of the rigid body transformation is known in advance when calculating the rigid body transformation parameter, the calculation burden is reduced.

  Since the road data used in the in-vehicle navigation system is composed of node points and links connecting the node points, the road pattern can be easily expressed by a point group. In addition, since the traveling locus generated based on the traveling direction information is generally generated from the measurement signal of the direction sensor or the distance sensor, the traveling locus is also a locus point group corresponding to such a measurement point. Can be expressed easily. Therefore, in one preferred embodiment of the present invention, the traveling locus matching processing unit matches a locus point group that defines the traveling locus and a road point group that defines a road pattern extracted from map information. It is configured to have a matching algorithm. Point cloud and point cloud alignment algorithms have been developed based on microcomputers and are accurate and high-speed. By using these algorithms, great advantages can be obtained at low cost.

  By adopting a configuration in which the determined vehicle orientation change location is recorded in a map database provided in the in-vehicle navigation device, a vehicle ignition switch as disclosed in Patent Document 1 is used thereafter. When turned off, the technology for correcting the vehicle direction using the direction information stored in the database can be used without artificially updating the map.

  Furthermore, the technical features of the vehicle-mounted navigation device according to the present invention described above can also be applied to a vehicle orientation change location determination program. Therefore, the present invention also covers such programs and methods. Can do. For example, a GPS position information acquisition unit that acquires own vehicle position information representing the position of the own vehicle by GPS positioning, and a progress direction information that represents the traveling direction of the own vehicle based on the direction change amount and the movement distance of the own vehicle A vehicle orientation change location determination program executed by a computer that controls an in-vehicle navigation device including an orientation information acquisition unit and a travel locus generation unit that generates a travel locus of the host vehicle based on the traveling direction information is the travel A position shift detection step for detecting a position shift greater than a predetermined value between the position of the head portion of the track and the host vehicle position based on the host vehicle position information; and a position shift detection at the time of position shift detection by the position shift detection step. A traveling locus matching processing step for performing pattern matching processing with a road pattern while converting the position coordinates into a rigid body; The vehicle position determination step in which the road pattern matched in the pattern matching process is regarded as a true travel locus and the position of the vehicle is set to the head of the matched road pattern, and the rigid body transformation for the pattern matched travel locus is performed. A determination step of determining the base point as the vehicle orientation change point is executed by a computer. Naturally, such a vehicle orientation change location determination program can also obtain the effects described in the above-described vehicle-mounted navigation device, and can also incorporate some additional techniques described as preferred embodiments thereof. is there.

It is a functional block diagram which shows the vehicle-mounted navigation apparatus which concerns on one Embodiment of this invention. It is a schematic diagram which shows typically the road data stored in the map database. FIG. 5 is a monitor screen diagram showing a state where the vehicle position mark jumps from the estimated position calculated based on dead reckoning to the own vehicle position based on the latest GPS positioning. It is explanatory drawing which shows one of the road patterns containing the driving | running | working locus | trajectory to the estimated position which is a position jump origin at the time of a position jump, and the own vehicle position which is a position jump destination. Explains the pattern matching process to find a specific road pattern that matches by rigid transformation of the travel trajectory up to the estimated position that is the position jump source and the travel trajectory that shows one of the road patterns including the position of the host vehicle that is the position jump destination It is a schematic diagram to do. It is a flowchart which shows an erroneous display correction control routine.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of the in-vehicle navigation device according to the present embodiment. This in-vehicle navigation device acquires own vehicle position information representing the current position of the own vehicle, traveling direction information representing the traveling direction, and map information, and based on those information, displays the own vehicle position, from the departure place to the destination. Route guidance, route guidance to the destination, etc. are performed. And this in-vehicle navigation device has a function of generating a traveling locus of the host vehicle based on the traveling direction information, a vehicle direction changing device (hereinafter referred to as a turntable) etc. A function of determining that the traveling direction of the host vehicle has been changed by simply using a turntable using a travel locus of the host vehicle and a function of correcting the host vehicle position based on the determination result are provided.

  Each functional unit of the in-vehicle navigation device shown in FIG. 1 is constructed by a control unit 1 included in the in-vehicle navigation device. The control unit 1 uses an arithmetic processing unit such as a CPU as a core member, and constructs a functional unit for performing various processes on input data by hardware, software (program), or both. The function units particularly related to the present invention include a GPS position information acquisition unit 11, a traveling direction information acquisition unit 12, a map database 13, a map matching unit 14, a power supply operation detection unit 15, a travel locus generation unit 16, and a position deviation detection unit 17. The vehicle position determination unit 18, the determination unit 19, the travel locus matching processing unit 20, the navigation data processing unit 30, and the like.

  The map database 13 is configured by hardware such as a recording medium capable of storing information and a driving device thereof such as a hard disk drive, a DVD drive equipped with a DVD-ROM, and a CD drive equipped with a CD-ROM. Although it is at the center of the element, it also includes a program for recording and extracting road data that constitutes map information. The map database 13 stores map information divided for each predetermined section, and its data structure is schematically shown in FIG. As shown in FIG. 2, the map information includes road data representing a road network by connection relations between a number of nodes n corresponding to intersections and links k corresponding to roads connecting the intersections. Each node n has information on the position (coordinates) on the map expressed by latitude and longitude. Each link k is connected via a node n. Each link k has information such as a road type, a link length, a road width, and a shape interpolation point for expressing a link shape as attribute information. Here, the road type information is information on the road type when the road is divided into a plurality of types such as an expressway, a national road, a prefectural road, a general road, a narrow street, and an introduction road. In FIG. 2, only road data for one section is shown, and road data for other sections is omitted.

  The GPS position information acquisition unit 11 has a function of acquiring own vehicle position information representing the position of the own vehicle by GPS positioning. For this reason, the GPS position information acquisition unit 11 is connected to the GPS receiver 2. The GPS receiver 2 is a device that receives GPS signals from GPS (Global Positioning System) satellites. This GPS signal is normally received every second and output to the GPS position information acquisition unit 11. The GPS position information acquisition unit 11 can analyze a signal from a GPS satellite received by the GPS receiver 2 and acquire the current position (coordinate position: latitude and longitude) of the host vehicle.

  The traveling direction information acquisition unit 12 has a function of acquiring traveling direction information representing the traveling direction of the host vehicle based on the direction change amount of the host vehicle and the movement distance. Therefore, the traveling direction information acquisition unit 12 is connected to the direction sensor 3 and the distance sensor 4. The direction sensor 3 is a sensor that detects the traveling direction of the host vehicle C or a change in the traveling direction. The direction sensor 3 is composed of, for example, a gyroscope or a geomagnetic sensor. Then, the direction sensor 3 outputs the detection result to the traveling direction information acquisition unit 12. The distance sensor 4 is a sensor that detects a vehicle speed and a moving distance of the host vehicle. The distance sensor 4 integrates, for example, a vehicle speed pulse sensor that outputs a pulse signal each time a vehicle drive shaft, wheel, or the like rotates by a certain amount, a yaw / G sensor that detects the acceleration of the host vehicle, and the detected acceleration. It is composed of a circuit or the like. Then, the distance sensor 4 outputs a measurement signal of the vehicle speed and movement distance as the detection result to the traveling direction information acquisition unit 12.

  The map matching unit 14 has a function of acquiring map information around the vehicle position from the map database 13 and performing known map matching based on the map information. By this map matching, on the road indicated by the map information, which is the shortest from the current position of the own vehicle based on the own vehicle position information output from the GPS position information acquisition unit 11 and the traveling direction information output from the traveling direction information acquisition unit 12 Search for a position at. The searched position is a position on the own vehicle road, and the own vehicle position determination unit 18 determines the position on the own vehicle road as a final own vehicle position to be displayed on the monitor 6 in a superimposed manner on the road map. That is, the current position of the own vehicle based on the own vehicle position information and / or the traveling direction information is corrected by the map matching unit 14 as necessary, and becomes the new current position of the own vehicle. In the present application, information regarding the corrected current position of the host vehicle is also included in the host vehicle position.

  The power supply operation detection unit 15 has a function of detecting on / off (on or off, or both) of the power supply 5 a that operates the traveling direction information acquisition unit 12. In the present embodiment, the power source 5 a not only supplies power to the traveling direction information acquisition unit 12 but also supplies power to the entire in-vehicle navigation device including the control unit 1 to operate it. For example, a power storage device such as a battery provided in the host vehicle is used as the power source 5a. The power supply 5a is turned on / off by a main power switch 5b of the navigation device. In the present embodiment, the operation of the main power switch 5b is interlocked with a vehicle power switch 5c such as an accessory switch (ACC) that switches on / off of power supply from the power source 5a to each electric device included in the host vehicle C. ing. Then, the power supply operation detection unit 15 detects whether the state of the main power switch 5b is an on state for supplying power to the navigation device or an off state for interrupting such power supply. Thus, the on or off of the power source 5a is detected.

  The travel locus generation unit 16 has a function of generating and temporarily storing a travel locus of the host vehicle based on the travel direction information output from the travel direction information acquisition unit 12. The position deviation detection unit 17 includes the position of the head of the travel locus generated by the travel locus generation unit 16 and the vehicle position based on the vehicle position information (including the vehicle position information corrected by the map matching unit 14). It has a function of detecting a positional deviation that is greater than or equal to a predetermined value.

  As will be described in detail later, the travel locus matching processing unit 20 reads out the position coordinates of the travel locus generated by the travel locus generation unit 16 from the map database 13 while rigidly converting the position deviation detected by the position deviation detection unit 17. This embodiment has a function of performing a pattern matching process called an alignment process between two point groups in this embodiment.

  The own vehicle position determination unit 18 uses the pattern matching process executed by the traveling locus matching processing unit 20 to match the road pattern when the vehicle direction is changed in a situation that is not recorded in the traveling direction information by a turntable or the like. Is regarded as a true travel locus, and the position of the host vehicle is used as the head of the matched road pattern. In addition, the host vehicle position determination unit 18 determines the current position of the host vehicle based on the host vehicle position information corrected by the map matching unit 14 in a normal traveling state.

  The determination unit 19 has a function of determining a base point of rigid body conversion for a traveling locus that substantially matches the pattern in the pattern matching processing in the traveling locus matching processing unit 20 as a location where the vehicle has changed its direction. When the turntable installation location is handled as the vehicle orientation change location, the map position of the determined location is added to the map information of the map database 13 as the turntable installation location.

    The traveling locus matching processing unit 20 includes a point cloud generation unit 21, a rigid body conversion unit 2, and an alignment unit 23 as characteristic function units. Each of these functions will be described with reference to FIGS. FIG. 3 shows that the position shift is detected by the position shift detection unit 17 and the position of the vehicle position mark jumps from the estimated position calculated based on dead reckoning to the vehicle position based on the latest GPS positioning on the screen of the monitor 6. Shows the state. FIG. 4 shows one of road patterns including a travel locus to an estimated position that is a position jump source when a position jump occurs and a host vehicle position: g that is a position jump destination. 3 and 4, the turntable installation location as the vehicle orientation change location is indicated by the figure number TT. FIG. 5 shows a pattern for finding a specific road pattern that matches by rigidly transforming a travel locus up to an estimated position that is a position jump source and one of the road patterns including the position of the host vehicle that is a position jump destination. It is a schematic diagram explaining a matching process.

As schematically shown in FIGS. 4 and 5, the point group generation unit 21 generates a plurality of traveling locus point groups that define the traveling locus line from the traveling locus generated by the traveling locus generation unit 16. To do. In FIG. 4, the travel locus line is drawn with a solid line and assigned a drawing number TL, and the running locus point group is drawn with a black circle and assigned a drawing number p _i (i is a numerical value for identifying each point). Yes. Note that the travel locus is not corrected by the vehicle position information which is GPS position information, and has not been subjected to the map matching processing by the map matching unit 14 and is generated only by the traveling direction information. It doesn't follow. However, since it is based on the traveling direction calculated by the direction change amount and the moving distance of the host vehicle, the geometric shape of the traveling locus line generated by the traveling locus generation unit 16 is almost the same as the actual traveling locus. Match. The point cloud generation unit 21 further generates a road point cloud that defines the road network around the host vehicle from the road data read from the map database 13, and the road on which the vehicle is expected to travel from the road point cloud. A continuous road pattern point group that defines the pattern is extracted. In FIG. 4, the road pattern is drawn with a dotted line and assigned a drawing number RL, and the road point group is drawn with a white square and assigned a drawing number m _i (i is a numerical value for identifying each point). Yes. The road point group can use the node n of the road data.

Rigid transformation unit 22 generates or selected travel locus point groups by a point group generation unit 21: p _i · · road point group defining a particular road pattern: conversion parameter for jointly converted into m _i · · Is generated, and the coordinate position of the travel locus point group is converted. The transformation parameters handled by the rigid transformation unit 22 are usually a rotation matrix: R and a translation vector: t. However, if the vehicle direction changing equipment is a turntable, the transformation parameter is only the rotation matrix: R, and the processing is simplified. The Furthermore, if the turntable is limited to a 180 ° turntable or a 90 ° turntable, the processing becomes simpler.

Positioning unit 23, the travel locus point groups: p _i and the road point group: while corresponding to each point of the m _i watching the rigid transformation performed by the rigid transformation unit 22, the travel locus point groups: p _i A specific road point group that matches with: _mi , that is, a road pattern is determined. When the vehicle is turned at the place where the turntable is installed in a state where the traveling direction information acquisition unit 12 is not operating, the actual traveling locus and the geometric shape of the traveling locus generated only by the traveling direction information are not much. Even if it is not different, the direction may be completely different. Since the difference is detected by the positional deviation detection unit 17, the traveling locus matching processing unit 20 is activated when the positional deviation is detected, and the vehicle position where the head of the traveling locus is output from the GPS position information acquisition unit 11 is detected. : A specific road pattern (specified by m ₁ ...) That substantially coincides with a position on the road close to g and whose traveling locus (specified by p ₁ ... P ₆ ) also substantially matches. To be determined).

  When an event occurs in which the vehicle is turned at the place where the turntable is installed while the traveling direction information acquisition unit 12 is not operating, the power source 5a that operates the traveling direction information acquisition unit 12 is turned on / off. If so, it can be considered that the on / off operation of the power source 5a is detected by the installation location power source operation detection unit 15 at the location where the vehicle orientation is changed by the turntable. In consideration of this, in the traveling locus matching processing in the traveling locus matching processing unit 20, the vehicle position at the time of power on / off detection by the power supply operation detecting unit 16 is set as a rigid transformation base point, for example, a rotation center in rotational transformation. Can be processed easily.

  The navigation data processing unit 30 creates navigation functions such as display of the vehicle position, route search from the departure point to the destination, route guidance to the destination, and destination search. For example, the navigation data processing unit 30 acquires the map information around the host vehicle from the map database 13 based on the position on the host vehicle road as the host vehicle position determined by the map matching unit 14 and displays the display screen of the monitor 6. The map image is displayed on the map image, and the vehicle position mark representing the current position and traveling direction of the vehicle is superimposed on the map image. In addition, the navigation data processing unit 30 performs a route search from a predetermined departure place to a destination based on the map information stored in the map database 13. Further, the navigation data processing unit 30 provides route guidance to the driver using one or both of the monitor 6 and the speaker 7 based on the searched route from the departure point to the destination and the vehicle position. . Although the monitor 6 is equipped with a touch panel that functions as the operation device 8, other operation switches and operation buttons may be added as the operation device 8.

  Next, in the in-vehicle navigation device configured as described above, an erroneous display correction control for correcting an erroneous display based on the traveling direction information of the own vehicle position that may be caused by the direction change of the vehicle by the turntable. The routine will be described. FIG. 6 is a flowchart showing the erroneous display correction control routine. This erroneous display correction control routine starts when the vehicle comes out of the turntable whose vehicle direction has been changed. Since the GPS position information acquisition unit 11 cannot output new vehicle position information for a while after the vehicle is started, only the generation and temporary storage of the travel locus based on the traveling direction information is performed by the travel locus generation unit 16 ( # 01). This generation and storage of the travel locus is continued until the GPS position information acquisition unit 11 acquires and outputs the own vehicle position information based on the new GPS signal (# 02). When the own vehicle position information is output (# 02 Yes branch), the position of the head of the locus is read from the temporarily stored traveling locus (# 03). The positional deviation is checked by comparing the own vehicle position read from the own vehicle position information with the position of the head of the traveling locus (# 04). If the amount of misalignment is less than the predetermined value as the determination threshold (# 04 Yes branch), it is determined that the vehicle orientation has not been changed by the turntable, and this routine is terminated. If the amount of positional deviation exceeds the predetermined value (# 04 No branch), the following traveling locus correction process is performed on the assumption that the turn of the vehicle has changed due to the turntable.

  In the travel locus correction process, first, the host vehicle position acquired at the power on / off point detected by the power operation detector 15 is set (# 05). Next, the peripheral area of the own vehicle position by GPS read from the own vehicle position information obtained in step # 02 is set (# 06). Further, the above-described traveling locus point group that defines the temporarily stored traveling locus is set (# 07). A road point group that defines a road pattern to be used as a pattern matching reference pattern is set using the own vehicle position set in step # 05 and the surrounding area set in step # 06 as extraction constraint conditions (# 08). When the traveling locus point group and the road point group are set, a pattern matching process is performed to calculate a rigid body conversion parameter and perform conversion to shift the traveling locus point group to the road point group (# 09). . Here, since a turntable is assumed as the vehicle orientation conversion equipment, the rigid body conversion parameter is only the rotation matrix. As a result of the pattern matching, if the road trajectory points coincide with each other within the allowable range (# 10 Yes branch), the head point of the trajectory after the rigid transformation is set as the true vehicle position is recognized (# 12). If the travel locus head point is off the road, fine adjustment is performed to shift the travel locus head point onto the road. If the road point group deviates from the allowable range within the travel locus point group (# 10 No branch), it is checked whether the number of matching processes has been performed a predetermined number of times (# 11). If this check is less than the predetermined number of times (# 11 No branch), the process returns to step # 08 to set a different road point group, and pattern matching is performed again. If the predetermined number of times is exceeded, matching using the travel locus is not possible. If possible, exit this routine. In this case, the host vehicle position is corrected based on the host vehicle position information. However, when the road density is higher than the GPS error, the accuracy of the corrected host vehicle position is low.

  When the true vehicle position is set in step # 12, the used rigid body conversion, that is, the turntable whose direction is changed at the rotation angle indicated by the used rotation matrix is installed at the power on / off point. (# 13), information such as the position of the identified turntable and the direction change angle is recorded in the map information (# 14).

[Other Embodiments]
(1) In the description of the embodiment described above, the vehicle orientation changing facility is assumed to be a turntable. However, the vehicle orientation and position are changed by an automatic parking facility having different entrances and exits, or a facility such as a transversal device. When equipment is also assumed, it is preferable to add not only a rotation matrix but also a translation vector as a rigid body transformation parameter calculated by the rigid body transformation unit 22. Therefore, in the present invention, it is possible to handle various types of equipment that change the azimuth and position of the vehicle.
(2) The base point of the rigid body conversion is not limited to the vehicle position when the power source operation detection unit 15 detects the power on / off. An algorithm may be employed that obtains the optimum rigid body transformation base point and rigid body transformation parameters by sequentially performing convergence processing while sequentially changing the rigid body transformation base point based on the road data. At this time, the arithmetic processing is simplified by constraining the base point of rigid body transformation, which is sequentially designated, to an area accessible to the road.
(3) In the description of the above-described embodiment, the matching of the travel locus and the road pattern has been executed using the point group that defines the travel locus and the road pattern. Other alignment matching algorithms such as pattern matching may be employed.
(4) In the erroneous display correction control routine described above, information such as the position of the specified turntable and the direction change angle is registered in its own map database 13, but using a communication line or other data transfer method. A configuration for registering in an external map database is also included in the present invention.

11: GPS position information acquisition unit 12: Traveling direction information acquisition unit 13: Map database 15: Power supply operation detection unit 16: Travel locus generation unit 17: Position shift detection unit 18: Own vehicle position determination unit 19: determination unit 20: travel Trajectory matching processing unit 21: point cloud generation unit 22: rigid body conversion unit 23: alignment unit TT: turntable (vehicle orientation conversion equipment)

Claims (7)

A GPS position information acquisition unit for acquiring own vehicle position information representing the position of the own vehicle by GPS positioning;
A traveling direction information acquisition unit that acquires traveling direction information representing the traveling direction of the host vehicle based on the direction change amount and the moving distance of the host vehicle;
A travel locus generating unit that generates a travel locus of the host vehicle based on the traveling direction information;
A displacement detection unit that detects a displacement greater than or equal to a predetermined value between the position of the leading portion of the travel locus and the vehicle position based on the vehicle position information;
A travel locus matching processing unit that performs pattern matching processing with a road pattern while rigidly converting the position coordinates of the travel locus at the time of position displacement detection by the position displacement detection unit;
A vehicle position determination unit that regards a road pattern that matches the pattern in the pattern matching process as a true travel locus, and sets the position of the vehicle to the head of the matched road pattern;
A determination unit that determines a base point of rigid body conversion for a traveling locus having a pattern match as a vehicle orientation change point;
In-vehicle navigation device with   The in-vehicle navigation device according to claim 1, wherein the rigid body conversion is rotation conversion, and the determination unit determines that the vehicle orientation change location is a vehicle turntable installation location.   The in-vehicle navigation device according to claim 2, wherein the rotation conversion is 180 ° rotation conversion, and the vehicle turntable is a 180 ° turntable for rotating the vehicle by 180 °.   A power supply operation detection unit that detects on / off of a power source that operates the traveling direction information acquisition unit is provided, and the vehicle position at the time of power on / off detection by the power supply operation detection unit is a base point of the rigid body conversion. The in-vehicle navigation device according to any one of Items 1 to 3.   5. The travel locus matching processing unit according to claim 1, further comprising a registration algorithm that matches a locus point group that defines the traveling locus and a road point group that defines a road pattern extracted from map information. The on-vehicle navigation device described.   The in-vehicle navigation device according to any one of claims 1 to 5, wherein the determined vehicle orientation change location is recorded in a map database. GPS position information acquisition unit for acquiring own vehicle position information representing the position of the own vehicle by GPS positioning, and traveling direction information for obtaining traveling direction information representing the moving direction of the own vehicle based on the direction change amount and the moving distance of the own vehicle A program executed by a computer that controls an in-vehicle navigation device including an acquisition unit and a travel locus generation unit that generates a travel locus of the host vehicle based on the traveling direction information,
A displacement detection step of detecting a displacement greater than or equal to a predetermined value between the position of the leading portion of the travel locus and the vehicle position based on the vehicle position information;
A traveling locus matching processing step for performing pattern matching processing with a road pattern while rigidly converting the position coordinates of the traveling locus at the time of displacement detection by the displacement detection step;
A vehicle position determination step that regards a road pattern that matches the pattern in the pattern matching process as a true traveling locus, and sets the position of the vehicle to the head of the matched road pattern;
A determination step of determining a base point of rigid body transformation for a pattern-matched traveling locus as a vehicle orientation change point;
A vehicle orientation change location determination program that causes a computer to execute.

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