JP2011034435A - Vehicle location calculation unit and vehicle location calculation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle location calculation unit for achieving cost reduction. <P>SOLUTION: The vehicle location calculation unit is provided with: a self-vehicle location measurement means for measuring the location of a self-vehicle traveling on one traffic lane; a sensor 11 for detecting the other vehicle traveling on the other lane among a plurality of lane roads; an other vehicle azimuth calculation means for calculating the azimuth of the other vehicle to the self-vehicle on the basis of the detection signal of the sensor 11; a lane interval specification means for specifying an interval between the one lane and the other lane; and an other vehicle location calculation means for calculating the location of the other vehicle on the basis of the location of the self-vehicle and the azimuth and interval of the other vehicle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

    The present invention relates to a vehicle position calculation device and a vehicle position calculation method.

  The sound is received by a plurality of directional receivers, the sound source position is detected based on the time difference between the sounds, the sound source position is detected from the arrival direction of the sound, and the final sound source is determined based on each detected sound source position. A sound source position detection system that detects a position is known (Patent Document 1).

JP 2001-144669 A

  However, the conventional sound source position detection system uses a large number of sensors in order to accurately detect the position of the sound source by the sensor, and there is a problem that the cost increases.

  The present invention provides a vehicle position calculation device that can realize cost reduction.

The present invention solves the above problem by calculating the position of the other vehicle on the road link based on the position of the host vehicle, the direction of the other vehicle, and the lane spacing.

  According to the present invention, since the position of the other vehicle is calculated based on the position of the own vehicle, the direction of the other vehicle, and the lane interval, the sound detection sensor generated by the other vehicle can detect at least the direction of the sound source. Well, the cost of the system can be suppressed.

1 is a block diagram of a driving support device including a vehicle position calculation device according to an embodiment of the invention. It is a flowchart which shows the control procedure of the driving assistance apparatus shown in FIG. It is a figure for demonstrating the driving | running | working state of the own vehicle and another vehicle on an actual road. In the driving assistance device shown in FIG. 1, it is a figure on the road which shows the position B when not displayed on a display. FIG. 2 is a diagram on a road showing a position Ba before correction and a position Bb after correction in the driving support device shown in FIG. 1. In the driving assistance device shown in FIG. 1, it is the figure on the road which shows position B1-B3 estimated using a histogram. It is a block diagram of a driving support device including a vehicle position calculation device of this example. FIG. 8 is a diagram illustrating an object to be imaged by a camera and a road state in the driving support device illustrated in FIG. 7. It is a block diagram of a driving support device including a vehicle position calculation device of this example. It is a block diagram of the driving assistance device concerning other embodiments of the invention. It is a figure for demonstrating the background of the driving state of the own vehicle, and the position of another vehicle on an actual road (on a straight line). It is a figure which shows the direction vector in each time of FIG. It is a figure for demonstrating the driving | running | working state of the own vehicle and the position of another vehicle on an actual road (on a curve).

  Hereinafter, embodiments of the invention will be described with reference to the drawings.

<< First Embodiment >>
The driving support apparatus 1 including the vehicle position calculation apparatus according to the present invention will be described as an example when mounted on a vehicle. FIG. 1 shows a block diagram of the driving support device 1.

  The driving support apparatus 1 shown in FIG. 1 includes a controller 10, a sensor 11 attached to the outer wall of the host vehicle including a vehicle position calculation device, map data 12 provided in the host vehicle, a display 13, and a speaker 14. .

  The sensor 11 is a sensor for detecting another vehicle, for example, detects a sound generated by the other vehicle (for example, a sound generated on a ground contact surface between a running tire and a road), and the other vehicle direction calculation unit 101 described later. And used to estimate the direction of another vehicle relative to the host vehicle. The map data 12 is data including information such as a node representing a specific point on the road, a road link indicating a connection between the specific points, the position of a house, and contour lines, and is used for the car navigation system. Show. The map data 12 is recorded on a recording medium such as an HDD (Hard Disk Drive), a DVD (Digital Versatile Disk), or a flash memory, and the recording medium is installed in the vehicle. Note that the recording medium may be provided as part of the controller 10.

  Based on the detection signal from the sensor 11, the controller 10 calculates the position of the own vehicle by GPS (Global Position System) using another vehicle direction calculation unit 101 that calculates the direction of the other vehicle and information included in the map data 12. A vehicle position measuring unit 102 for measuring the vehicle, a lane interval specifying unit 106 for specifying a distance between a lane in which the host vehicle travels and a lane adjacent to the lane, an other vehicle direction calculating unit 101, a lane interval specifying unit 106, and Another vehicle position calculation unit 103 that calculates the position of another vehicle based on a control signal from the own vehicle position measurement unit 102, information included in the map data, and the position of the own vehicle included in the signal from the own vehicle position measurement unit 102 The control unit 1 that performs control for displaying the information and the position information of the other vehicle included in the signal from the other vehicle position calculation unit 103 on the display 13. 04. The control unit 104 also controls sound output from the speaker 14.

  The other vehicle direction calculation unit 101 holds in advance a specific frequency distribution of sound generated by an approaching other vehicle, for example, and compares the frequency distribution with the frequency distribution of the signal received by the sensor 11 to ensure consistency. By confirming, a sound generated from another vehicle is detected. Alternatively, the other vehicle azimuth calculation unit 101 estimates the azimuth of the other vehicle from, for example, a signal from the sensor 11 including a plurality of microphones, from the phase difference, time difference, sound pressure level, and the like of the sound signals input to each microphone. To do. Here, the vehicle arithmetic device 1 of this example does not necessarily need to accurately grasp the position of another vehicle approaching. Further, the azimuth of the other vehicle calculated by the other vehicle azimuth calculation unit 101 does not necessarily specify an accurate direction, and the azimuth with respect to the host vehicle may be calculated with a certain degree of width. Therefore, the sensor 11 does not necessarily need to be provided with a large number of sensors in order to increase detection accuracy, and it is not necessary to complicate the sensor configuration. Further, as described above, the other vehicle direction calculation unit 101 does not necessarily need to calculate the exact position of the approaching other vehicle, and therefore does not need to use an algorithm that increases the calculation load more than necessary. The sensor 101 may detect another vehicle using a camera, a radar, or the like instead of a sensor that detects sound. If the other vehicle direction calculation unit 101 calculates the direction of the other vehicle according to the detection result. Good.

  The own vehicle position measuring unit 102 measures position coordinates corresponding to the map information included in the map data by positioning using a satellite by GPS.

  The lane interval specifying unit 106 measures the position coordinates corresponding to the map information included in the map data by positioning using a satellite using GPS, and measures the interval between the lane in which the host vehicle is traveling and the adjacent lane. ,Identify. When the road width information is included in the map data 12, the lane interval specifying unit 106 specifies the interval from the road width information. The other vehicle position calculation unit 103 and the control unit 104 will be described later.

  Next, the control content and control procedure of the driving assistance device 1 will be described with reference to FIGS. FIG. 2 is a flowchart showing a control procedure of the driving support device 1 of this example. FIG. 3 is a diagram for explaining the running states of the host vehicle and other vehicles on an actual road.

  In step S <b> 1, the other vehicle direction calculation unit 101 estimates the direction of the other vehicle relative to the host vehicle from the detection signal from the sensor 11. The range of other vehicles to be estimated is set by, for example, sound intensity or frequency distribution. The other vehicle azimuth calculation unit 101 has a sound intensity and a frequency band as reference values in advance, and can compare targets for estimating the azimuth by comparing the detected sound intensity and frequency band. The direction is indicated by an angle with a direction perpendicular to the traveling direction of the host vehicle as a reference (azimuth angle 0 degree).

  In step S2, the own vehicle position measurement unit 102 measures the position of the own vehicle by GPS using the map data included in the map data 12 (hereinafter, the position of the own vehicle is referred to as a position A). The position A of the host vehicle is indicated by coordinates on the map data.

  In step S <b> 3, the lane interval specifying unit 106 specifies the lane interval using the road width information included in the map data 12 (hereinafter, the lane interval is referred to as an interval W). Since the position A of the host vehicle is specified by the host vehicle position measurement unit 102, the lane interval specifying unit 106 extracts road link information including the position A from the map data 12, and from the road width data, Identify the lane spacing W. Here, the interval W indicates the distance from the center of the lane in which the host vehicle travels to the center of the lane adjacent to the host vehicle, and is about 3.5 m to 5.0 m on a general road. The center of the lane in which the host vehicle travels or the center of the lane adjacent to the host vehicle does not have to be strictly the center of each lane, and may have a certain width.

  In this example, the interval W is specified by the map information included in the map data 12 and the GPS. For example, information on the general road width of the country of use or the most frequently used road width is previously stored in the memory ( (Not shown), and the lane interval specifying unit 106 may extract the information and specify the interval W.

  In step S <b> 4, the other vehicle position calculation unit 103 includes the direction information of the other vehicle included in the control signal from the other vehicle direction calculation unit 101, and the position information of the own vehicle included in the control signal from the own vehicle position measurement unit 102. And the information of the lane space | interval W contained in the control signal from the lane space | interval specific | specification part 106 is acquired, and the position of another vehicle is calculated (henceforth the position of another vehicle is called the position B). The map data 12 includes a node and a road link for indicating a virtual road on the map, the position A is indicated by coordinates on the map, and the direction of the other vehicle is indicated by a vector on the map. It is. Hereinafter, the calculation method of the position B by the other vehicle position calculation part 103 is demonstrated using FIG. FIG. 3 is a diagram illustrating a situation on an actual road and illustrating a control for specifying the position B.

  Referring to FIG. 3, straight line C is a straight line drawn from position A of host vehicle 200 toward the direction of the other vehicle. The straight line B is a line parallel to the lane A or the lane B (the lane A is a lane in which the host vehicle 200 is traveling, and the lane B is a lane in which another vehicle is traveling). , A line that is translated to the lane side of the other vehicle by an interval W. Since the host vehicle 200 travels in the vicinity of the center of the lane A, the straight line B is a line drawn to the center of the lane B. Since the direction of the other vehicle is estimated in step 1, the other vehicle position calculation unit 103 sets the intersection of the straight line B and the straight line C as the position B of the other vehicle.

  The position B is calculated by an azimuth angle θ indicating the azimuth of the other vehicle with respect to a direction perpendicular to the traveling direction of the host vehicle 200. Here, the azimuth angle θ is an angle between a direction perpendicular to the traveling direction of the host vehicle 200 and a direction vector indicating the azimuth of the other vehicle. A straight line distance from the host vehicle 200 to another vehicle (hereinafter, the straight line distance is referred to as a distance R), that is, a distance R from the position A to the position B is calculated by R = W / cos θ. Further, the distance from the projection position of the position A to the position B in the lane B (hereinafter, the distance is referred to as a distance D) is calculated by D = W · tan θ.

  Accordingly, the other vehicle position calculation unit 103 calculates the distance R and the distance D, calculates the position B, and specifies the position of the other vehicle and the inter-vehicle distance from the host vehicle 200 to the other vehicle.

  Then, the control unit 104 determines whether or not the position B of the other vehicle should be displayed on the display 104. Hereinafter, the aspect displayed on the display 13 by the control part 104 of this example, or the aspect which is not displayed is demonstrated, referring FIGS. FIG. 4 is a view on the road showing the position B when not displayed on the display 13, and FIG. 5 is a view on the road showing the position Bb after being corrected by the correction described later and the position Ba before being corrected. FIG.

For example, as shown in FIG. 4, when the position B is specified as a position in front of the host vehicle 200, in other words, when another vehicle corresponding to the position B passes the host vehicle 200, the driver of the host vehicle 200 Since the other vehicle can be visually confirmed, the utility of notifying the driver of the presence of the other vehicle is low. In such a case, the control unit 104 determines that it is not necessary to display the position B on the display 13, and the control unit 104 ends the control process without displaying the position B on the display 13.

  On the other hand, as shown in FIG. 3, when the other vehicle is close to the rear of the host vehicle 200, in other words, when it is better to notify the driver of the host vehicle 200 of the presence of the other vehicle, In addition to the map data and the position A, the control unit 104 displays the position B on the road link and displays it on the display 13. As a result, the driver can check the traveling position of the other vehicle by checking the display 13.

  Moreover, the control part 104 may preset the range used as the display target of the display 13, as shown in FIG. For example, the control unit 104 sets the display target range α within a distance of 100 m from the other vehicle. Then, when the distance D exceeds the range α by the above calculation (for example, when the other vehicle is traveling 200 m away from the host vehicle 200 and behind the vehicle), The position Ba is corrected, and the presence of another vehicle is displayed at the position Bb which is the lower end portion of the range α. Accordingly, the driver can recognize the presence of another vehicle approaching the host vehicle 200 from a distance.

  As described above, the vehicle calculation device of this example calculates the position B of the other vehicle based on the position A of the host vehicle 200, the direction of the other vehicle, and the interval W. As a result, when the sensor 11 and the other vehicle direction calculation unit 101 calculate at least the direction of the other vehicle, the vehicle calculation device can specify the position B of the other vehicle and the distance from the host vehicle 200 to the other vehicle. In addition, since the sensor 11 and the other vehicle direction calculation unit 101 do not necessarily need to detect the exact position of the other vehicle, it is not always necessary to use a highly accurate sensor for the sensor 11, and the cost of the vehicle calculation device can be reduced. Can be suppressed. Moreover, since the other vehicle direction calculation part 101 does not necessarily require the complicated algorithm for measuring the position of another vehicle correctly, the calculation load with respect to the other vehicle direction calculation part 101 can be reduced.

  Further, the vehicle arithmetic device of this example specifies the interval W using the road data included in the map data 12. Thereby, even if the own vehicle 200 travels on roads having various vehicle widths or intervals with adjacent lanes, in this example, the position and distance of other vehicles can be calculated and specified.

    Moreover, since the position B calculated by the driving support apparatus 1 of this example is displayed on the display 13, the present invention can alert the driver that another vehicle is approaching, A safe driving environment can be provided.

  In the present invention, when the position B is specified at a position in front of the vehicle, the position B is not displayed on the display 13. Thereby, the possibility of approaching the host vehicle 200 is low, and information on other vehicles that is less useful to the driver can be prevented from being displayed on the display 13.

  In addition, when the position B is outside a predetermined range on the map data, the driving support device 1 of this example displays the position B at a preset position within the predetermined range. Accordingly, the driver can recognize the presence of another vehicle approaching the host vehicle 200 from a distance that is outside the predetermined range.

  In this example, the position of another approaching vehicle is displayed on the display 13, but a sound may be output to alert the driver. That is, the control unit 104 of the driving assistance device 1 controls the output sound from the speaker 14 according to the distance between the position B of the other vehicle and the position A of the host vehicle 200 or the speed of each vehicle. When it is determined that the driver should be alerted, the control unit 104 controls the speaker 14 and emits a warning sound. Thereby, since this example can alert | report that the other vehicle is approaching with respect to a driver | operator, he can provide a safer driving environment.

  The other vehicle direction calculation unit 101 in this example estimates the direction of the other vehicle in one direction, but can obtain a plurality of estimated directions θa, θb, and θc within a short unit time (for example, 0.1 second). A technique for searching for the direction of a sound source using an algorithm that can be used (see, for example, Ando et al., “3D Sound Source Localization Sensor System Based on Spatiotemporal Gradient Method”, Society of Instrument and Control Engineers Vol. 29, No. 5) May be estimated. Note that θa, θb, and θc indicate the estimated azimuth angles with reference to a direction perpendicular to the traveling direction of the host vehicle 200. FIG. 6 is a diagram on a road showing a position estimated using a histogram.

  When the above algorithm is used, it is effective to calculate statistics of all estimated directions obtained in the time-frequency domain without uniquely determining the value of θ and display the statistics on the display 13 by the frequency distribution. The other vehicle azimuth calculation unit 101 is set with a sampling period (about 0.01 second) for sampling the detection signal of the sensor 101. The azimuth estimation result for each frequency during this period or the azimuth estimation result for each sample pair. Etc., and a histogram (frequency distribution) for each direction is calculated for the plurality of θ obtained here, and the display size is changed according to the frequency value for each bin of the histogram. With reference to FIG. 6, a display mode when frequency values are obtained in three bins by histogram analysis is shown. At this time, the positions B1, B2, and B3 corresponding to θa, θb, and θc from which the frequency values are obtained are displayed on the display 13, and the frequency values (frequency distributions) have the sizes of the radii r1, r2, and r3, respectively. Correspond.

Thereby, this example estimates the some direction of other vehicles from the information contained in the detection signal of sensor 11, calculates the frequency distribution corresponding to every estimated direction, and the frequency distribution and the position of other vehicles Are displayed on the display 13. Therefore, when the driver looks at the display 13, he / she notices the presence of another vehicle approaching, and can understand the position where the other vehicle approaching exists from the size of the display. Note that a threshold value may be provided for the frequency value of the histogram to reduce the number of position information displayed. Further, the frequency value may correspond directly to r1, r2, r3, or may correspond to a normalized value or the like (a value obtained by dividing the frequency value by the number of θs obtained per unit time).

  In this example, the coordinate position or distance of the position B is calculated, and when the position B is outside the range α, the position B is not displayed on the display 13 or the position B is corrected and displayed on the display 13. Although control is performed, it may be determined whether or not to display on the display 13 at the stage of estimating the direction of the other vehicle. The direction of the other vehicle indicates that the other vehicle travels in front of the host vehicle 200 or travels behind. For example, if the rear azimuth angle θ is positive with respect to the host vehicle 200, if the estimated azimuth angle θ is negative, the other vehicle will travel forward, so the controller 10 has a negative azimuth angle θ. In this case, the control process is terminated without calculating the coordinate position of the position B, and the position B is not displayed on the display 13. Thereby, this example can aim at reduction of calculation time and reduction of calculation load.

  In this example, the interval W is specified from the information included in the map data 12, but may be specified using the camera 15 as shown in FIG. FIG. 7 shows a block diagram of the driving support apparatus 1 of this example. FIG. 8 shows the object to be imaged by the camera and the state of the road.

The driving support device 1 including the vehicle position calculation device shown in FIG. 7 has a camera 15 that captures the outside of the vehicle based on a signal from the controller 10. The camera 15 is provided at the rear of the vehicle and photographs the rear of the vehicle at a predetermined sampling period. The lane interval specifying unit 106 analyzes an image captured by the camera 15 and specifies the edge 80 of the lane. Then, the lane interval specifying unit 106 measures the distance d ₀ between the lane edges 80 from the image at time t0, measures the distance d ₁ between the lane edges 80 from the image at time t1, and calculates the average of the distances. Then, the interval W is specified from the average value. The time between time t0 and time t1 corresponds to a sampling period. Thereby, even if the width of a lane changes by driving | running | working, this example can track the said change and can specify the space | interval W.

  In this example, the interval W is specified from the information included in the map data 12, but may be specified using the transmitter 16 and the receiver 17, as shown in FIG. FIG. 9 shows a block diagram of the driving support apparatus 1 of this example. The driving support device 1 including the vehicle position calculation device shown in FIG. 9 is based on a transmission signal from the controller 10, for example, a transmitter that transmits a signal such as an infrared laser, and a receiver that receives a reflection signal of the transmission signal. Have A signal transmitted from the transmitter 16 is transmitted to a road ahead or side of the vehicle at a predetermined sampling period. The lane interval specifying unit 106 measures the width of the lane based on the phase difference of the received signal reflected on the road and specifies the interval W. In addition, since the transmission signal is transmitted and received at intervals of a predetermined sampling period, even if the width of the lane changes during traveling, this example can follow the change and specify the interval W. it can.

The display 13 in this example corresponds to a “display unit”, the own vehicle position measurement unit 102 is “own vehicle position measurement unit”, the other vehicle direction calculation unit 101 is “other vehicle direction calculation unit”, and the other vehicle position. The calculation unit 103 is the “other vehicle position calculation unit”, the control unit 104 is the “display unit control unit”, the lane interval specifying unit 106 is the “lane interval specifying unit”, the camera 15 is the “imaging unit”, and the transmitter. 16 corresponds to “transmitting means” and the receiver 17 corresponds to “receiving means”.

<< Second Embodiment >>
FIG. 10 is a block diagram of a driving support apparatus 1 according to another embodiment of the invention. This example is different from the first embodiment described above in that it includes a steering wheel 18, a steering angle detection unit 107, and an azimuth correction unit 108. The description of the same configuration as that of the first embodiment described above in other configurations is incorporated as appropriate.

  The driving support apparatus 1 shown in FIG. 10 includes a steering wheel 18, a steering angle detection unit 107 that detects the steering angle of the steering wheel 18, and a direction correction unit 108 that corrects the direction of another vehicle as will be described later.

  The steering angle detection unit 108 sequentially detects the direction of the host vehicle with respect to the reference direction through a CAN (Controller Area Network) signal from various sensors such as an acceleration sensor, a magnetic sensor, and a gyro sensor provided in the steering 18. . Thereby, the angle of the steering angle with respect to the traveling direction of the host vehicle, which is the reference direction of the vehicle, is detected. The azimuth correction unit 108 corrects the azimuth angle of the other vehicle calculated by the other vehicle azimuth calculation unit 101 based on the detected steering angle, and transmits the corrected azimuth angle to the other vehicle position calculation unit 103.

Next, the contents of control by the direction correction unit 108 and the other vehicle position calculation unit 103 will be described with reference to FIG. FIG. 11 a is a diagram illustrating a situation on an actual road and illustrating a control for specifying the position B. FIG. 11B is a diagram showing a direction vector of the host vehicle at times t ₀ , t ₁ and t ₂ and a correction angle τ described later.

The azimuth correction unit 108 detects the steering angle of the host vehicle at a predetermined sampling period, and detects the direction of the host vehicle at times t ₀ , t _1, and t ₂ with reference to FIG. Vectors d ₀ , d _1, and d ₂ indicate direction vectors at times t ₀ , t _1, and t ₂ . The directions of the direction vectors d ₀ , d ₁ and d ₂ indicate the direction of the vehicle and correspond to the steering angle of the host vehicle. The magnitudes of the direction vectors d ₀ , d ₁ and d ₂ indicate the vehicle speed and are calculated from the traveling speed of the vehicle.

Next, the azimuth correction unit 108 calculates a correction angle τ from the direction vectors d ₀ , d ₁ and d ₂ . As shown in FIG. 11B, the azimuth correction unit 108 first determines the road direction vector dv by adding the direction vectors d ₁ and d ₂ . Next, the azimuth correction unit 108 calculates a correction angle τ from the angle between the direction vectors d ₀ and dv, which is the current vehicle direction. In this way, the road direction vector dv is calculated by taking the average of the past steering angles, and the correction angle τ is the angle of the direction vector of the host vehicle with respect to the direction vector of the road. as shown in, at time t _0, the orientation of the vehicle 200 is oriented in the direction of the vector d0, different from the direction vector dv road. For this reason, the axis z (axis in the direction perpendicular to the traveling direction of the host vehicle) serving as a reference for the azimuth angle θ does not coincide with the lane interval w. Therefore, since the axis w that is the reference for the azimuth angle θ and the lane interval w are shifted by the correction angle τ, the position B of the other vehicle and the distance R to the other vehicle are corrected to the azimuth angle θ. It is calculated based on the angle obtained by adding the angle τ.

That is, the azimuth correction unit 108 adds the correction angle τ to the azimuth angle θ calculated by the other vehicle azimuth calculation unit 101 and transmits the result to the other vehicle position calculation unit 103. The other vehicle position calculation unit 103 calculates the distance R from the position A to the position B by R = W / cos (θ + τ), and the distance D from the projection position of the position A to the position B is D = W · tan ( (θ + τ). Accordingly, the position B of the other vehicle or the distance to the other vehicle is calculated based on the corrected direction of the other vehicle.

  Even when the host vehicle 200 travels on a curve, as shown in FIG. 12, the driving support device 1 of the present example calculates and specifies the position B of the other vehicle, as described above. FIG. 12 is a diagram for explaining the correction angle τ, the azimuth angle θ, the corrected angle (θ + τ), and the position B while the host vehicle 200 is traveling along a curve.

In this example, the curvature radius of the road curve may be calculated based on the steering angle detected by the steering angle detection unit 107, and the calculation result may be used for the correction of the azimuth.

As described above, in this example, the steering angle detection unit 107 detects the steering angle of the steering wheel 18, the azimuth correction unit 108 corrects the azimuth θ of the other vehicle, and based on the corrected azimuth angle (θ + τ), The other vehicle position calculation unit 103 calculates the position B of the other vehicle. Thereby, even if it is a case where the running direction of the own vehicle 200 has shifted | deviated with respect to the direction of a lane, the position of the other vehicle or the distance to another vehicle can be specified. Further, by correcting the deviation of the azimuth angle of the other vehicle caused by the temporary inclination of the host vehicle, it is possible to improve the accuracy of estimating the azimuth of the other vehicle and calculating the distance to the other vehicle.

  In this example, the steering angle detection unit 107 corresponds to “steering angle detection means”, and the direction correction unit 108 corresponds to “direction correction means”.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device 10 ... Controller 11 ... Sensor 12 ... Map data 13 ... Display 14 ... Speaker 15 ... Camera 16 ... Transmitting part 17 ... Receiving part 18 ... Steering 80 ... Edge 101 ... Other vehicle direction calculating part 102 ... Own vehicle position Measurement unit 103 ... other vehicle position calculation unit 104 ... control unit 106 ... lane interval identification unit 107 ... steering angle detection unit 108 ... direction correction unit

Claims (10)

A host vehicle position measuring means for measuring a position of the host vehicle traveling in one lane among the plurality of lane roads;
A sensor for detecting other vehicles traveling in other lanes of the plurality of lane roads;
Other vehicle direction calculation means for calculating the direction of the other vehicle relative to the host vehicle based on the detection signal of the sensor;
Lane interval specifying means for specifying an interval between the one lane and the other lane;
A vehicle position calculation device comprising: other vehicle position calculation means for calculating the position of the other vehicle based on the position of the host vehicle, the direction of the other vehicle, and the interval. The other vehicle position calculation means includes
An intersection of a straight line on the other lane and parallel to the traveling direction of the own vehicle and a straight line drawn from the position of the own vehicle toward the direction is defined as the position of the other vehicle. The vehicle position calculation apparatus according to claim 1. It further has an imaging means for capturing an image of the multiple lane road,
The vehicle position calculation device according to claim 1, wherein the lane interval specifying unit analyzes the image and specifies the interval. Transmitting means for emitting a signal to the plurality of lane roads;
Receiving means for receiving a reflected signal reflected from the plurality of lane roads;
The vehicle position calculation device according to claim 1, wherein the lane interval specifying unit specifies the interval based on the reflected signal. Map data including a node representing a specific point on the road and a road link representing a connection between the specific points;
3. The vehicle position calculation device according to claim 1, wherein the lane interval specifying unit specifies the interval from road information included in the map data. 4. Steering angle detection means for detecting the steering angle of the steering;
Direction correction means for correcting the direction of the other vehicle based on the steering angle;
The said other vehicle position calculating means calculates the position of the said other vehicle based on the direction of the said other vehicle correct | amended by the said direction correction means. Vehicle position calculation device. In the driving assistance device including the vehicle position calculation device according to any one of claims 1 to 6,
A display unit for displaying map data including a node representing a specific point on the road and a road link representing a connection between the specific points;
In accordance with the calculation result of the other vehicle position calculation means, the display unit control means for controlling the display unit,
The said display part control means displays the position of the said other vehicle on the said display part, The driving assistance apparatus characterized by the above-mentioned. In the driving assistance device including the vehicle position calculation device according to any one of claims 1 to 6,
A display unit for displaying map data including a node representing a specific point on the road and a road link representing a connection between the specific points;
In accordance with the calculation result of the other vehicle position calculation means, the display unit control means for controlling the display unit,
When the position of the other vehicle is outside a predetermined range on the map data, the display control means displays the position of the other vehicle at a preset position within the predetermined range. A driving support device. In the vehicle including the vehicle position calculation device according to any one of claims 1 to 6,
A display unit for displaying the map data;
Display unit control means for controlling the display unit according to the calculation result of the other vehicle position calculation means,
The other vehicle direction calculating means is
Estimating a plurality of directions of the other vehicle from the information included in the detection signal, and calculating a frequency distribution corresponding to each estimated direction,
The display unit control means includes:
The vehicle, wherein the frequency distribution and the position of the other vehicle are displayed together on the display unit. Measuring the position of the vehicle traveling in one lane among the multiple lane roads;
Detecting other vehicles traveling in other lanes of the plurality of lane roads with a sensor;
Calculating a direction of the other vehicle with respect to the host vehicle based on a detection signal of the sensor;
Identifying an interval between the one lane and the other lane;
A vehicle position calculation method including a step of calculating the position of the other vehicle based on the position of the host vehicle, the direction of the other vehicle, and the interval.

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