JP2012154792A - Own vehicle position specification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an own vehicle position specification device which is capable of accurately estimating an exit through which an own vehicle exited when it exited from an area having a plurality of exits and therefore is capable of accurately specifying the position of the own vehicle.SOLUTION: An inter-vehicle communication ECU 1 determines start of traveling of its own vehicle VS at its inter-vehicle communication information processing part 11. The inter-vehicle information processing part 11 also acquires the position of another vehicle based on other vehicle information transmitted from the other vehicle V1. An exited exit estimation part 14 estimates which one of the plurality of exits is the exit through which the own vehicle VS exited based on the position of the other vehicle.

Description

  The present invention relates to an own vehicle position specifying device for specifying the position of the own vehicle, and more particularly to an own vehicle position specifying device suitable for use in specifying the position of the own vehicle when departing from a parking lot.

  In the navigation device mounted on the vehicle, the host vehicle position that is the current position of the host vehicle is specified, and processing such as route guidance is performed based on the specified host vehicle position. As a device for identifying such a vehicle, there is a current position calculation device using DSRC (Dedicated Short Range Communication) in an automatic toll collection system in a parking lot (see, for example, Patent Document 1).

  This current position calculation device calculates an apparent current position based on a GPS signal or the like, and corrects the current position when DSRC communication is performed with an automatic toll collection system in a parking lot. . For example, if the vehicle running on the road near the parking lot is turning while driving, if the DSRC communication is not performed, it is determined that the vehicle is traveling on the road, and if the DSRC communication is performed, Correct the current position of the vehicle in the parking lot.

JP 2001-289653 A

  The current position calculation device described in Patent Document 1 can be used in the form of correcting the position of the own vehicle from the parking lot to the road, not only when entering the parking lot but also when leaving the parking lot. it can. However, the current position calculation device disclosed in Patent Document 1 cannot be used when an automatic fee collection system is not provided in the parking lot. For this reason, for example, when there is an area provided with a plurality of exits such as a parking lot (hereinafter referred to as “area with multiple exits”), the vehicle has mistakenly recognized which exit the vehicle has exited, and the current position There is a problem in that it may not be possible to accurately specify.

  Accordingly, an object of the present invention is to provide a host vehicle position specifying device that can accurately estimate the exit that has left when the host vehicle exits from a plurality of areas with exits, and can thus accurately identify the host vehicle position. Is to provide.

  The host vehicle position specifying device according to the present invention that has solved the above-mentioned problems is a host vehicle position specifying device that specifies the host vehicle position that is the current position of the host vehicle, and is a plurality of exits that are areas provided with a plurality of outlets. It is acquired by a travel start determining means for determining the start of traveling of the host vehicle in the attached area, an other vehicle position acquiring means for acquiring the position of the other vehicle transmitted by the other vehicle around the host vehicle, and an other vehicle position acquiring means. Based on the position of the other vehicle, the exit exit estimation means for estimating which exit the exit of the own vehicle is a plurality of exits, and the own vehicle position is specified based on the estimation result by the exit exit estimation means It is characterized by that.

  In the own vehicle position specifying device according to the present invention, an exit from which the own vehicle has exited from a multiple exit area provided with a plurality of exits such as a parking lot is estimated, and the own vehicle position is specified based on the estimation result. ing. For this reason, it can prevent recognizing the exit from which the own vehicle left. Therefore, when the own vehicle exits from the multiple exit area, the exit that has exited can be accurately estimated, and the own vehicle position can be accurately identified.

  Here, for each of the plurality of exits, a high-probability travel path area acquisition unit that acquires a high-probability travel path area that is a region where the probability that the vehicle travels when leaving the exit is high, and a high-probability travel path Traveling vehicle number acquisition means for acquiring the number of other vehicles in the region, and own vehicle traveling region determination for determining a high probability traveling route region including the position of the own vehicle based on the number of other vehicles in the high probability traveling route region And the exit exit estimation unit is configured to estimate which exit is the exit from which the host vehicle has exited based on the determination result in the host vehicle travel region determination unit. it can.

  In the own vehicle position specifying device according to the present invention, the high probability travel path including the position of the own vehicle based on the number of other vehicles in the high probability travel path region where the vehicle travels with high probability when leaving the exit. The area is determined, and the exit from which the host vehicle has exited is estimated based on the determination result. For this reason, for example, even when the automatic area collection system is not provided in the multiple exit area, the exit from which the host vehicle has exited can be accurately estimated.

  Further, the vehicle further includes an other vehicle existence area detecting means for detecting an existence area of the other vehicle acquired by the other vehicle position acquisition means, and an other vehicle existence area time change storage means for storing a time change of the other vehicle existence area. The exit exit estimation means may be configured to estimate which exit is the exit from which the host vehicle has exited based on the time change of the other vehicle presence region.

  In this way, by estimating the exit from which the host vehicle has exited based on the time variation of the other vehicle presence region, for example, even when the automatic region collection system is not provided in the multiple exit region, Exited exit can be estimated with high accuracy.

  Further, the vehicle further includes a travel history acquisition unit that acquires the travel history of the host vehicle, and specifies the position of the host vehicle based on the estimation result by the exit exit estimation unit and the travel history acquired by the travel history acquisition unit. be able to.

  Thus, by specifying the own vehicle position based on the travel history of the own vehicle, the position of the own vehicle can be specified with high accuracy.

  According to the own vehicle position specifying device according to the present invention, when the own vehicle exits from the multiple exit area, the exit that has exited can be accurately estimated, and the own vehicle position can be accurately identified. .

It is a block block diagram of a vehicle provided with the own vehicle position specific apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process sequence in the vehicle-to-vehicle communication ECU which concerns on embodiment of this invention. It is a schematic diagram which shows typically the relationship between the exit in a parking lot, and its surrounding road. (A) is a schematic diagram which shows typically the exit and other vehicle presence area | region in a parking lot, (b) is a schematic diagram which shows after the predetermined time of (a).

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described. The own vehicle position specifying device according to the present embodiment is used, for example, when specifying the position of the own vehicle when performing navigation using a navigation device.

  FIG. 1 is a block configuration diagram of a vehicle including an own vehicle position specifying device according to an embodiment of the present invention. As shown in FIG. 1, the host vehicle VS according to the present embodiment includes an inter-vehicle communication ECU (Electronic Control Unit) 1, a communicator 2, and a vehicle state sensor 3 serving as a host vehicle position specifying device. Further, the other vehicle V1 is provided with an inter-vehicle communication report ECU 21, a communication device (hereinafter referred to as “another vehicle side communication device”) 22, and a vehicle state sensor 23 similar to those of the host vehicle VS.

  The inter-vehicle communication ECU 1 in the host vehicle VS is provided with an inter-vehicle communication information processing unit 11, an inter-vehicle communication information database (hereinafter referred to as “DB”) 12, and a parking lot map DB 13. Further, the inter-vehicle communication ECU 1 is provided with an exit exit estimation unit 14 and a current position calculation unit 15.

  The communication device 2 is capable of bidirectional communication with the other vehicle side communication device 22 provided in the other vehicle V1. The communication device 2 receives various information transmitted from the other vehicle side communication device 22 in the other vehicle V1. Furthermore, the communication device 2 transmits the received various information to the vehicle-to-vehicle communication information processing unit 11 in the vehicle-to-vehicle communication ECU 1. The various information transmitted from the other vehicle side communication device 22 includes accuracy information related to the accuracy when the other vehicle position information, which is the position information of the other vehicle V1, is acquired.

  The vehicle state sensor 3 includes a vehicle speed sensor, a yaw rate sensor, and the like, and detects the vehicle state. Here, the vehicle state includes a traveling speed, a traveling direction, and the like of the host vehicle VS. The vehicle state sensor 3 transmits the detected vehicle state of the host vehicle VS as vehicle state information to the inter-vehicle communication information processing unit 11 and the current position calculation unit 15 in the inter-vehicle communication ECU 1.

  The inter-vehicle communication information processing unit 11 in the inter-vehicle communication ECU 1 is based on the other vehicle position information related to the position of the other vehicle V1 among various information transmitted from the other vehicle side communication device 22 via the communication device 2. The other vehicle position information of the vehicle V1 is mapped on the map. Further, accuracy information is added to the other vehicle position information. The inter-vehicle communication information processing unit 11 constitutes other vehicle position acquisition means.

  The inter-vehicle communication information processing unit 11 stores the mapped other vehicle position in the inter-vehicle communication information DB 12. Further, the inter-vehicle communication information processing unit 11 outputs the other vehicle position information reception start information to the exit exit estimation unit 14 when the other vehicle position information is first received after the vehicle starts traveling. The start of traveling of the vehicle is determined based on vehicle speed information output from the vehicle state sensor 3. The inter-vehicle communication information processing unit 11 constitutes a travel start determination unit.

  The inter-vehicle communication information DB 12 stores the transmitted other vehicle position information each time the other vehicle position information is transmitted from the inter-vehicle communication information processing unit 11. For this reason, a plurality of other vehicle position information is stored in the inter-vehicle communication information DB 12. The inter-vehicle communication information DB 12 outputs the stored other vehicle position information to the exit exit estimation unit 14 in response to the readout from the exit exit estimation unit 14.

  The parking lot map DB 13 stores parking location information relating to the location of the parking lot, which is a region with a plurality of exits on the map, and exit location information relating to the exit location in the parking lot. In addition, when there are a plurality of exits, exit position information regarding each exit is stored. Furthermore, parking lot map DB13 is an area | region where it is assumed that the vehicle which exited from the exit performs vehicle-to-vehicle communication, The assumption area information regarding the communication assumption area used as the high probability driving | running | working road area | region of this invention is shown with respect to each exit. I remember.

  The parking lot map DB 13 outputs the stored parking lot location information and exit location information to the exit exit estimation unit 14 in response to the reading of the exit exit estimation unit 14. Moreover, when the parking lot map DB 13 outputs the exit position information, it outputs the assumed area information corresponding to the exit position information to the exit exit estimation unit 14.

  The exit exit estimation part 14 will read the other vehicle position information memorize | stored in the vehicle-to-vehicle communication information DB12, if the other vehicle position information reception start information is output from the vehicle-to-vehicle communication information processing part 11. at the same time. The parking lot position information and the exit position information stored in the parking lot map DB 13 are read out.

  The exit exit estimation unit 14 identifies the parking lot used by the host vehicle from the read parking lot position information. Further, based on the other vehicle position information read from the inter-vehicle communication information DB 12 and the exit position information read from the parking lot map DB 13 and the assumed area information, the exit exit used when the host vehicle leaves the parking lot is estimated. . The exit exit estimation unit 14 outputs exit exit information regarding the exit exit that is the estimation result to the current position calculation unit 15. The exit exit estimation unit 14 constitutes traveling vehicle number acquisition means, host vehicle travel area determination means, high probability travel path area detection means, and exit exit estimation means.

  The current position calculation unit 15 calculates the travel history of the host vehicle VS based on the vehicle state information transmitted from the vehicle state sensor 3. The travel history here includes a travel locus when the host vehicle travels. Further, the current position calculation unit 15 calculates the current position of the host vehicle based on the calculated traveling history of the host vehicle and the exit exit information output from the exit exit estimation unit 14. The current position calculation unit 15 constitutes a travel history acquisition unit.

  Furthermore, the current position calculation unit 15 includes a GPS (Global Positioning System) device, and calculates the current position of the host vehicle using a GPS signal transmitted from a GPS satellite. Here, when calculating the current position of the host vehicle, correction by map matching or the like is performed to correct the current position of the host vehicle. The current position calculation unit 15 employs either the current position of the own vehicle calculated based on the travel history or the current position of the own vehicle calculated using the GPS signal as the actual current position of the own vehicle.

  Next, a processing procedure in the inter-vehicle communication ECU 1 according to the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure in the inter-vehicle communication ECU. As shown in FIG. 2, the inter-vehicle communication ECU 1 first determines whether or not the host vehicle VS has started traveling from the parking lot (S1). Whether the host vehicle VS has started traveling from the parking lot is determined by the current position calculation unit 15 based on whether the current position is the parking lot and the traveling speed has increased from zero.

  As a result, when it is determined that the host vehicle VS has not started traveling from the parking lot, the process returns to step S1 and is repeated. On the other hand, if it is determined that the host vehicle VS has started traveling from the parking lot, it is determined whether the host vehicle VS has started inter-vehicle communication with another vehicle V1 that travels around (S2). ).

  Here, when it is determined that the vehicle-to-vehicle communication is not started, the process returns to step S1 and the process is repeated. On the other hand, when it is determined that the inter-vehicle communication has started, the exit exit estimation unit 14 reads out and acquires the other vehicle position information from the inter-vehicle communication information DB 12 (S3), and then exits from the parking lot map DB 13 The exit information and the assumed area information are read to obtain the assumed communication area (S4).

  Subsequently, the exit exit estimation unit 14 performs vehicle determination within the assumed communication area (S5). In this vehicle determination, an exit candidate that is a specific exit candidate that is estimated to have left the vehicle is determined. Then, the number of other vehicles transmitting other vehicle position information in the assumed communication area corresponding to the determined exit candidate is measured.

  Thereafter, it is determined whether or not there are other exit candidates for which the number of other vehicles is not measured (S6). Here, when there is another exit candidate, the process returns to step S4, and the assumed communication area for the other exit candidate is acquired. Then, the number of other vehicles in the acquired communication assumed area is measured. In this way, the same operation is performed until there is no communication assumed area where the number of other vehicles has not been measured.

  Further, when there are no other exit candidates and the number of other vehicles in the assumed communication area has been measured for all exit candidates, the exit from which the own vehicle has exited is estimated (S7). In estimating the exit from which the host vehicle has left, the number of other vehicles in a plurality of assumed communication areas is compared, and the current position of the host vehicle is estimated from the comparison result. For example, as a result of comparing the number of other vehicles in a plurality of communication assumed areas, a communication assumed area with the largest number of other vehicles is calculated, and it is estimated that the own vehicle has left the exit corresponding to this assumed communication area.

  For example, as shown in FIG. 3, the parking lot P has two exits, a first exit E1 and a second exit E2. The first exit E1 faces the first road R1, and the second exit E2 is Assume that it faces the second road R2. At this time, when the host vehicle VS exits from the parking lot P, if the host vehicle VS exits from the first exit E1, the vehicle VS will pass through the first road R1.

  When the host vehicle VS passes through the first road R1, it is considered that many inter-vehicle communication is performed with the other vehicle V1 in the first communication assumed area 41. On the other hand, when the host vehicle VS exits from the parking lot P and exits from the second exit E2, the vehicle VS passes through the second road R2. When the host vehicle VS passes through the second road R2, it is considered that many inter-vehicle communication is performed with the other vehicle V1 in the second communication assumed area 42.

  Therefore, in step S7, the number of other vehicles that perform inter-vehicle communication with the host vehicle in the first communication assumed area 41 and the number of other vehicles that perform inter-vehicle communication with the own vehicle in the second communication assumed area 42 are determined. Compare. As a result, when it is determined that the number of other vehicles in the first communication assumed area 41 is large, the exit exit from which the host vehicle VS has exited is determined as the first exit E1. On the other hand, when it is determined that the number of other vehicles in the second communication assumed area 42 is large, the exit exit from which the host vehicle VS has exited is determined as the second exit E2.

  When the exit exit is thus determined, the current position calculation unit 15 calculates the current position of the host vehicle VS (S8). When calculating the current position, the current position calculation unit 15 calculates the travel history of the host vehicle VS based on the vehicle state information transmitted from the vehicle state sensor 3. The current position of the vehicle is calculated based on the travel history calculated here and the exit exit information estimated by the exit exit estimation unit 14. Thus, the process in the inter-vehicle communication ECU 1 is finished.

  As described above, in the inter-vehicle communication ECU 1 according to the present embodiment, the exit exit from which the host vehicle VS exits the parking lot P is estimated from the plurality of exit exits, and the host vehicle position is specified based on the estimation result. is doing. For this reason, it can prevent recognizing the exit exit from which the own vehicle VS exited. Therefore, when the host vehicle VS leaves the parking lot P, the exit exit can be accurately estimated, and the host vehicle position can be calculated and specified with high accuracy.

  Further, based on the number of other vehicles V1 in the assumed communication area where the own vehicle VS travels with high probability when leaving the exit exit, the assumed communication area including the position of the own vehicle VS is estimated. Based on this, the exit from which the vehicle has exited is estimated. For this reason, even when the automatic area collection system is not provided in the parking lot P, for example, the exit from which the host vehicle has exited can be accurately identified.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments. For example, in the above-described embodiment, when the exit exit is estimated, the communication assumed area stored in advance is used. However, other modes may be used. For example, after leaving the parking lot, the position of the other vehicle with which the own vehicle is communicating between the vehicles is mapped, and the other vehicle existence region where the other vehicle with which the own vehicle is communicating between the vehicles is present is acquired. It is also possible to store the time change of the other vehicle presence area and estimate the exit exit based on the time change of the other vehicle presence area.

  Specifically, as shown in FIG. 4 (a), when the host vehicle VS leaves the parking lot P, when the host vehicle VS exits from the first exit E1, the other vehicle V1 in the other vehicle presence area 51 Assume that vehicle information is transmitted. However, in this state, the host vehicle VS may not have exited from the first exit E1, but may have exited from the second exit E2.

  Therefore, the time-dependent change of the other vehicle presence area is referred to. For example, after t seconds, as shown in FIG. 4 (b), the next time other vehicle communication area 52 becomes longer along the first road R1 than the other vehicle presence area 51 shown in FIG. 4 (a). Suppose it has spread to. In this case, it can be estimated that the host vehicle VS is traveling on the first road R1 and has left the first exit E1.

  In this way, the exit exit of the host vehicle VS can be estimated based on the temporal change of the other vehicle presence area. When estimating the exit exit of the host vehicle VS based on the time-dependent change of the other vehicle presence area, the other vehicle presence area can be compared every predetermined time, for example, every second, and the change can be referred to.

  Moreover, in the said embodiment, although the parking lot is illustrated as an area | region with multiple exits, it can be set as the aspect made into areas other than a parking lot, for example, an interchange. Furthermore, in the said embodiment, when estimating a communication assumption area, although the number of the other vehicles in a communication assumption area is simply compared, it can also be set as another aspect. For example, it can be set as the aspect which compares the number of the other vehicles with respect to the traffic volume in a communication assumption area. Further, in estimating the exit exit, the accuracy information added to the other vehicle position information can also be used. For example, it can be set as the aspect which handles preferentially about the other vehicle position information with a high precision of another vehicle position over the other vehicle position information with a low precision of another vehicle position.

  DESCRIPTION OF SYMBOLS 1 ... Inter-vehicle communication ECU, 2 ... Communication apparatus, 3 ... Vehicle state sensor, 11 ... Inter-vehicle communication information processing part, 12 ... Inter-vehicle communication information DB, 13 ... Parking lot map DB, 14 ... Exit exit estimation part, 15 DESCRIPTION OF SYMBOLS ... Current position calculation part, 21 ... Inter-vehicle communication report ECU, 22 ... Other vehicle side communication device, 23 ... Vehicle state sensor, 41 ... Communication assumption area, 42 ... Communication assumption area, 51 ... Other vehicle presence area, 52 ... Next Time other vehicle communication area, E1 ... first exit, E2 ... second exit, P ... parking lot, R1 ... first road, R2 ... second road, V1 ... other vehicle, VS ... own vehicle.

Claims (4)

A host vehicle position specifying device that specifies a host vehicle position that is a current position of the host vehicle,
Travel start determination means for determining the start of travel of the host vehicle in a region with multiple exits, which is a region where a plurality of exits are provided
Other vehicle position acquisition means for acquiring the position of the other vehicle transmitted by another vehicle around the host vehicle;
Exit exit estimation means for estimating which exit the exit of the host vehicle is based on the position of the other vehicle acquired by the other vehicle position acquisition means;
A host vehicle position specifying device that specifies a host vehicle position based on an estimation result by the exit exit estimating means. For each of the plurality of exits, a high-probability travel path area acquisition unit that acquires a high-probability travel path area, which is an area where the probability that the vehicle travels when leaving the exit is high, and
Traveling vehicle number acquisition means for acquiring the number of the other vehicles in the high probability traveling road region;
Self-vehicle travel area determination means for determining a high-probability travel path area that includes the position of the host vehicle based on the number of the other vehicles in the high-probability travel path area;
2. The own vehicle according to claim 1, wherein the exit exit estimation unit estimates which exit is the exit from which the host vehicle exited based on a determination result in the host vehicle travel region determination unit. Positioning device. Other vehicle presence area detection means for detecting the presence area of the other vehicle acquired by the other vehicle position acquisition means,
Another vehicle presence area time change storage means for storing a time change of the other vehicle presence area,
2. The own vehicle position specifying device according to claim 1, wherein the exit exit estimation unit estimates which of the plurality of exits the exit from which the host vehicle exited is based on a time change of the other vehicle existence region. apparatus. A travel history acquisition means for acquiring a travel history of the host vehicle;
The own vehicle according to any one of claims 1 to 3, wherein a position of the own vehicle is specified based on an estimation result by the exit exit estimation unit and a travel history acquired by the travel history acquisition unit. Positioning device.

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