JP2012247396A - Speed detection apparatus and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed detection apparatus and method in which a speed of a mobile can be detected highly accurately according to autonomous navigation means.SOLUTION: A speed detection apparatus comprises road attribute specification means 100, 110, and 180 each for specifying a road attribute of a road on which a mobile moves, a plurality of pieces of different autonomous navigation means 100, 112, and 113 each for detecting a moving speed of the mobile, and autonomous navigation means selection means 100 for selecting the autonomous navigation means 100, 112, or 113 suitable for the specified road attribute from among the plurality of pieces of autonomous navigation means 100, 112, and 113. While using the selected autonomous navigation means 100, 112, or 113, the moving speed of the mobile is detected.

Description

  The present invention relates to a speed detection apparatus and method, and more particularly, to a speed detection apparatus and method that can detect the speed of a moving object with high accuracy by autonomous navigation means.

  For example, a navigation device mounted on a vehicle receives a GPS signal from a GPS satellite, calculates a current position of the vehicle based on the information, and displays the calculated current position on a display screen provided in the navigation device. The current position of the vehicle can be presented to the user by displaying it superimposed on the map.

  By the way, the current position calculated using only the GPS signal usually includes an error of about 10 m. If the current position is applied as it is, the current position may not be displayed on the correct road. Further, when the vehicle is traveling in a tunnel or in a valley of a high-rise building, the GPS signal cannot be received, so that the current position cannot be calculated.

  Therefore, the current position calculated from the GPS signal is interpolated using map matching processing for matching the current position calculated from the GPS signal to an appropriate position on the map, and travel information such as the vehicle speed and travel distance acquired from the vehicle. A method has been proposed.

  For example, in the following Patent Document 1 (Japanese Patent Laid-Open No. 2010-19759), current navigation is calculated by using other navigation means that calculates a current position using a GPS signal, and vehicle traveling information acquired from a vehicle speed sensor and a gyroscope. An autonomous navigation means for calculating the position, and when it is determined that the accuracy of calculation of the current position by the other navigation means is reduced, the current position of the vehicle is calculated by switching to the autonomous navigation means. A traveling lane detection device "is disclosed.

  On the other hand, the navigation device is not fixedly installed in the vehicle, but can be removed from the vehicle and carried as necessary, for example, a portable navigation device that can be used for guiding a walking route to a user. (PND: Portable Navigation Device). In this case, when the PND is mounted on the vehicle and the current position is detected with high accuracy using the autonomous navigation means disclosed in Patent Document 1, it is necessary to connect the vehicle speed sensor on the vehicle side and the navigation device. Become. Such work is very troublesome, and some vehicles do not support connection with PNDs, so recent PNDs can detect vehicle travel information, for example, vehicle speed alone. Those equipped with self-contained autonomous navigation means are becoming mainstream.

  Here, examples of the autonomous navigation means used for detecting the vehicle speed include those using an acceleration sensor and a gyro sensor. For example, in the following Patent Document 2 (Japanese Patent Laid-Open No. 2000-221207), an “acceleration sensor” detects a vehicle speed by detecting an acceleration in a traveling direction of a traveling vehicle body and integrating the detected value. Is disclosed. Further, in Patent Document 3 (Japanese Patent Laid-Open No. 10-9877), the acceleration sensor detects acceleration in the front-rear direction of the automobile, and obtains centrifugal force information based on the output of the gyro sensor for direction detection. Disclosed “vehicle speed detection system” that compensates for the effect of centrifugal force on the vehicle speed obtained by integrating the output of the acceleration sensor when it is detected from the force information that the vehicle is traveling on a curve Has been.

  Further, in the following Patent Document 4 (Japanese Patent Laid-Open No. 2010-78595), the acceleration sensor detects the acceleration in the vertical direction of the vehicle, and the gyro sensor detects the pitch rate of the vehicle. A “speed calculation device” is disclosed which calculates a vehicle speed in consideration of swell.

JP 2010-19759 (paragraphs [0041] and [0042]) JP 2000-221207 A (abstract) Japanese Patent Laid-Open No. 10-9877 (paragraphs [0011] and [0013]) JP 2010-78595 A (abstract)

  However, in Patent Documents 2 and 3 described above, when the vehicle is traveling on a slope or when traveling on an uneven road surface, the acceleration in the traveling direction is affected by the gravitational acceleration. There are downsides. Moreover, in the said patent document 4, when the road surface waviness is small, there exists a fault that the detection accuracy of speed falls. Therefore, even if any of the above-mentioned autonomous navigation means is used, the traveling speed may not be detected with high accuracy depending on the road conditions on which the vehicle is traveling and the traveling state of the vehicle.

  An object of the present invention is to provide a moving speed detection apparatus and method capable of detecting the speed of a moving object with high accuracy by autonomous navigation means. To do.

  In order to solve the above-mentioned problem, the invention according to claim 1 of the present application includes road attribute specifying means for specifying a road attribute of a road on which the moving body moves, and a plurality of different types for detecting the moving speed of the moving body. An autonomous navigation means, and an autonomous navigation means selection means for selecting the autonomous navigation means that matches the specified road attribute from the plurality of autonomous navigation means, and using the selected autonomous navigation means, The moving speed of the moving body is detected.

  The invention according to claim 2 of the present application is the moving speed detection device according to claim 1, wherein the road attribute specifying unit includes a GPS receiving unit that receives a GPS signal from a GPS satellite, and the moving body based on the GPS signal The road attribute is specified from the position information.

  The invention according to claim 3 of the present application is the moving speed detection device according to claim 2, wherein the road attribute specifying means includes map information storage means for storing map information including the road attribute, and is based on the GPS signal. The road attribute is specified from the map information corresponding to the position information of the mobile body.

  The invention according to claim 4 of the present application is the moving speed detecting device according to claim 1, wherein the road attribute specifying unit includes a moving state detecting unit that detects a moving state of the moving body, and the road is detected from the moving state. It is characterized by specifying an attribute.

The invention according to claim 5 of the present application is the speed detection device according to any one of claims 1 to 4, wherein the autonomous navigation means includes an acceleration sensor that detects acceleration in a traveling direction of the moving body, 1st autonomous navigation means which calculates | requires the said moving speed from the said acceleration is included, The invention concerning Claim 6 of this application is the speed detection apparatus of any one of Claims 1-4 WHEREIN: The said autonomous The navigation means includes an acceleration sensor that detects a lateral acceleration orthogonal to a traveling direction of the moving body, and a gyro sensor that detects an angular velocity of the moving body, and obtains the moving speed from the acceleration and the angular speed. Two autonomous navigation means are included.

  The invention according to claim 7 of the present application is the speed detection device according to any one of claims 1 to 4, wherein the autonomous navigation means detects an acceleration in a vertical direction orthogonal to a traveling direction of the moving body. An acceleration sensor and a gyro sensor for detecting an angular velocity of the moving body are provided, and third autonomous navigation means for obtaining the movement velocity from the acceleration and the angular velocity is included.

  The invention according to claim 8 of the present application is characterized in that the road attribute specified from the step of specifying the road attribute of the road on which the moving body moves and a plurality of different autonomous navigation means for detecting the moving speed of the moving body. Selecting the autonomous navigation means that conforms to the above and detecting the moving speed of the moving body using the selected autonomous navigation means.

  According to a ninth aspect of the present invention, in the speed detection method according to the eighth aspect, in the step of specifying the road attribute, the position information of the moving body is acquired based on a GPS signal received from a GPS satellite, The road attribute is specified from position information.

  The invention according to claim 10 of the present application is characterized in that, in the speed detection method according to claim 8, in the step of specifying the road attribute, the road attribute is specified from a moving state of the moving body.

  In the invention according to claim 1, road attribute specifying means for specifying a road attribute of a road on which the moving body moves, a plurality of different autonomous navigation means for detecting a moving speed of the moving body, and a plurality of the autonomous An autonomous navigation means selecting means for selecting the autonomous navigation means that matches the specified road attribute from the navigation means, and detecting the moving speed of the moving body using the selected autonomous navigation means .

  By configuring in this way, the optimum autonomous navigation means is selected according to the road conditions and the speed is calculated, so that it is possible to obtain an extremely accurate moving body speed.

  In the invention according to claim 2, in the speed detection device according to claim 1, the position information of the mobile body is acquired based on the GPS signal received by the GPS receiving unit, the road attribute is acquired from the position information, Autonomous navigation means can be selected.

  In the invention concerning Claim 3, in the speed detection apparatus concerning Claim 2, a road attribute can be specified from the map information corresponding to the positional information on a moving body.

  In the invention according to claim 4, in the speed detection device according to claim 1, it is possible to detect a moving state such as a change in the moving direction or a change in the vertical direction of the moving body using the GPS receiver or the autonomous navigation means The road attribute can be specified from the movement state.

  In the invention concerning Claim 5, in the speed detection apparatus concerning any one of Claims 1-4, an autonomous navigation means detects the acceleration of the advancing direction of a moving body with an acceleration sensor, Based on the acceleration It can be a means for obtaining the moving speed.

  According to a sixth aspect of the present invention, in the speed detection device according to any one of the first to fourth aspects, the autonomous navigation means detects the acceleration in the left-right direction orthogonal to the traveling direction of the moving body with the acceleration sensor. By detecting the angular velocity of the moving body with the gyro sensor, the moving velocity can be obtained based on the lateral acceleration and angular velocity.

  According to a seventh aspect of the invention, in the speed detection device according to any one of the first to fourth aspects, the autonomous navigation means detects acceleration in the vertical direction perpendicular to the traveling direction of the moving body by the acceleration sensor. By detecting the angular velocity of the moving body with the gyro sensor, it is possible to obtain a moving velocity based on the vertical acceleration and angular velocity.

  In the invention according to claim 8, from the step of identifying the road attribute of the road on which the moving body moves and a plurality of different autonomous navigation means for detecting the moving speed of the moving body, the identified road attribute Selecting the suitable autonomous navigation means, and detecting the moving speed of the moving body using the selected autonomous navigation means, so that the optimum autonomous Since the speed is calculated by selecting the navigation means, it is possible to obtain an extremely accurate moving body speed.

  In the invention according to claim 9, in the speed detection method according to claim 8, the position information of the mobile body is acquired based on the GPS signal received by the GPS receiver, the road attribute is acquired from the position information, Autonomous navigation means can be selected.

  In the invention concerning Claim 10, in the speed detection method concerning Claim 8, the moving state of a moving body can be detected and a road attribute can be specified from the moving state.

1 is a configuration block diagram of a navigation device in an embodiment of the present invention. It is a process flowchart which calculates the present position by the navigation apparatus in the Example of this invention. It is a relation explanatory view of the road attribute which vehicles run, and the judgment method for specifying it. It is explanatory drawing of the reference table which selects an autonomous navigation means based on the specified road attribute.

  Hereinafter, specific examples of the present invention will be described in detail with reference to examples and drawings. However, the embodiment described below exemplifies a speed detection apparatus and method for embodying the technical idea of the present invention, and the present invention is intended to specify the speed detection apparatus and method. It is equally applicable to other embodiments of speed detection apparatus and methods that fall within the scope of the claims.

  FIG. 1 is a block diagram of a configuration of a navigation apparatus 10 according to the present embodiment to which the speed detection apparatus and method of the present invention are applied. The navigation device 10 can be mounted on a vehicle, is removed from the vehicle and carried, and can be used as, for example, a PND that can guide a walking route to a user.

  The navigation device 10 includes a control unit 100, a detection unit 110, a display input unit 120, a display control unit 130, a route search unit 140, a storage unit 150, a route guidance unit 160, a map matching unit 170, and a map database 180. Is done.

  The control unit 100 includes a CPU 101, a RAM 102, and a ROM 103. The CPU 101 executes a control program stored in the RAM 102 and / or the ROM 103, thereby controlling and supervising the operation of each unit described below.

  The detecting means 110 includes a GPS receiver 111 that constitutes other navigation means. The control means 100 is based on radio waves (satellite signals) including time information received by a GPS receiver 111 from a plurality of GPS satellites orbiting the earth at predetermined time intervals. GPS altitude information, GPS latitude / longitude information) is calculated.

  The detection means 110 includes an acceleration sensor 112 and a gyro sensor 113 that constitute self-contained autonomous navigation means for detecting the vehicle speed. The acceleration sensor 112 detects accelerations in three orthogonal directions (front-rear direction, left-right direction, and vertical direction of the vehicle) generated as the vehicle travels, and the gyro sensor 113 is orthogonal 3 generated as the vehicle travels. An angular velocity in the axial direction (front-rear direction, left-right direction, and up-down direction of the vehicle) is detected. By appropriately combining the detected acceleration and angular velocity, the vehicle speed that is the traveling speed of the vehicle can be detected with high accuracy, and the current position of the vehicle can be calculated.

  The calculation (positioning) of the current position by the GPS receiving unit 111 is performed once every predetermined time interval, for example, one second. Therefore, if the current position is calculated by the GPS receiving unit 111 at a certain timing, the calculation result of the current position by GPS cannot be obtained for one second thereafter. During the time when the current position is not calculated by the GPS, the current position is calculated by the autonomous navigation means and interpolated.

  In addition, by providing autonomous navigation means, even in places where GPS satellite signals cannot be received, such as tunnels, underground shopping streets, underground parking lots, parking lots in buildings, or high-rise buildings, where the location is affected by multipath due to reflection of GPS satellite signals The current position of the navigation device 10 (vehicle) can be calculated with high accuracy. Furthermore, since the navigation device 10 including these autonomous navigation means does not need to be connected to a vehicle, it is easy to properly use the form used as the in-vehicle type navigation device 10 and the form of the PND that is removed from the vehicle and used. Can do.

  The display input unit 120 includes a display unit 121 and an input unit 122. The display unit 121 is a liquid crystal display unit, and the input unit 122 is a touch panel attached on the liquid crystal screen of the liquid crystal display unit. The display unit 121 displays a map image displayed on the navigation device 10 according to the present embodiment, a display image indicating a guidance route, and the like, and the input unit 122 is operated by a user to display routes such as a departure position and a destination position. Used to input search conditions. The display control unit 130 processes a map image extracted from the map database 180 along a guide route (described later) stored in the storage unit 150 and displays the map image on the display unit 121, or a display indicating the guide route on the map image. The images are superimposed and displayed on the display unit 121.

  The route search means 140 is an optimum route (guidance from the starting position or the current position calculated based on the information detected by the detection means 110 to the target position set by the user using the display input means 120. The route is searched with reference to the map information stored in the map database 180. The route search unit 140 searches for a link from a road node corresponding to the starting position or the current position to a node corresponding to the target position by a technique such as the Dijkstra method, and accumulates the link length (link cost) and the required time. Then, a route having the shortest total link length (travel distance) or total required time is searched for as a guide route.

  The storage means 150 is a reference table 190 (FIG. 4) in which the relationship between the road attribute (described later) of the road on which the vehicle is traveling and the autonomous navigation means for detecting the vehicle speed selected according to the road attribute is set. Remember. The storage unit 150 stores a plurality of autonomous navigation units to be selected. Here, the autonomous navigation means includes a vehicle speed calculation method including an acceleration sensor 112 or a gyro sensor 113 constituting the detection means 110 and an algorithm for calculating the vehicle speed using these. Furthermore, the storage unit 150 stores the departure position and the target position input by the user using the display input unit 120, and stores the guidance route searched by the route search unit 140 as guidance route data.

  Based on the guidance route stored in the storage unit 150 and the current position of the vehicle calculated from the detected vehicle speed, the route guidance unit 160 stores map information around the current position from the map database 180 on the display control unit 130. This command is for instructing the display and display of the display image indicating the guidance route. The display control unit 130 causes the display unit 121 to display a display image indicating a guide route on the extracted map image. In addition, when the navigation device 10 includes a speaker or the like, the route guidance unit 160 helps the user move along the guidance route by broadcasting voice guidance for route guidance. The voice guidance is preferably stored in the map database 180 or the like in association with the road data.

  The map matching unit 170 uses the calculated current position as a virtual current position, and specifies a link that is a candidate for map matching in the vicinity of the virtual current position. Next, the map matching means 170 draws a perpendicular line from the virtual current position to those links, sets the intersection of the perpendicular line and the link as the actual current position candidate, and sets these map matching candidates at the distance from the virtual current position to the current position candidate. The position on the link with the highest reliability is taken as the actual current position, taking into account the reliability for each link.

  The map database 180 holds map information composed of road data, building data, background data, and text data.

  The road data is composed of node data whose nodes are nodes such as inflection points and branch points of the road, and link data whose links are links between the nodes. The node data includes node attributes such as node numbers, node position coordinates (latitude / longitude), intersection information and information indicating intersection names, and the number of connection links and connection link numbers.

  In addition, the link data includes the node numbers that are the start and end points of the link, the first road type for distinguishing expressways, ordinary roads, streets, and the like, and the second road for distinguishing the main lines and connecting roads of each road. Type, up / down attribute indicating road slope (slope), radius of curvature in the case of a curve, road condition for determining whether it is a new road or an old road, distance between nodes and / or required time , Including road name and traveling direction data such as National Highway. In addition to the above information, information on the actual slope of the road may be stored in the up / down attribute. In addition to the above, the link data includes data such as bridges, tunnels, railroad crossings, and tollgates as link attributes.

  The building data includes position coordinates (latitude / longitude) including at least three points of the building, types of buildings such as stations, buildings, and private houses, and display color data. Further, the background data is configured to include position coordinates (latitude / longitude) composed of at least three points serving as background image data such as a coastline, a lake, a river shape, and a forest, and display color data.

  The text data includes characters (names) such as place names and river names, and data of their coordinates (latitude / longitude).

  In addition, although said navigation apparatus 10 demonstrated as a stand-alone type | mold which incorporated the map database 180 in the navigation apparatus 10, this invention is not limited to this. For example, the navigation device 10 is provided with communication means (not shown), connected to an information providing server (not shown) outside the navigation device 10 for communication, and the above-described map database provided in the information providing server You may make it acquire the map information linked | related with the guidance route.

  In that case, the navigation device 10 designates a departure point or a current point and a destination point, transmits this to the information providing server as a route search condition, and requests a route search. The information providing server is provided with route search means, performs a route search using the departure point or the current point and the destination point received from the navigation device 10 as route search conditions, and transmits the search result to the navigation device 10.

  Next, processing for detecting the current position of the vehicle by the navigation device 10 mounted on the vehicle will be described according to the processing flowchart shown in FIG.

  First, when the navigation apparatus 10 is powered on (ON) as the vehicle engine starts (step S101), the control means 100 activates the detection means 110 (step S102). In this state, the vehicle starts to travel.

  While the vehicle is traveling, the GPS receiver 111 receives a GPS signal including time information and satellite position information from a GPS satellite, and transmits the GPS signal to the control means 100 (step S103). Further, the acceleration sensor 112 detects accelerations in the front-rear direction (traveling direction), left-right direction, and up-down direction of the vehicle, and transmits them to the control means 100 (step S103). Further, the gyro sensor 113 detects the angular velocities in the front-rear direction, the left-right direction, and the up-down direction that occur as the vehicle travels, and transmits the angular velocities to the control unit 100 (step S103).

  The control means 100 specifies the attribute of the road on which the vehicle is traveling based on the acquired GPS signal, acceleration, and angular velocity (step S104). That is, the control means 100 calculates position information (latitude information, longitude information, direction information, altitude information) of the current position of the vehicle based on the GPS signal, and is stored in the map database 180 corresponding to this position information. For example, whether the road on which the vehicle is currently driving is a curve, straight, slope, flat, or a new road with good road conditions, A road attribute such as a road is specified.

These road attributes do not use the road data added to the map information, but the vehicle position information obtained by the GPS receiver 111, the acceleration detected by the acceleration sensor 112, or the gyro sensor. It can also be estimated from the information of the angular velocity detected by 113. For example, as illustrated in FIG. 3, the change of the direction information obtained from the GPS signal, or, based on the angular velocity of the information, the movement status such as the change of course and vertical variation of the vehicle (moving object), i.e. It is possible to determine whether the vehicle is traveling on a curve or traveling straight. Further, based on a change in altitude information obtained from the GPS signal, it can be determined whether the vehicle is traveling on a slope or a flat road. Furthermore, based on the acceleration information in the vertical direction, it can be determined whether the vehicle is traveling on a new road with good road surface conditions or an old road with many irregularities.

Next, the control means 100 selects the autonomous navigation means used for calculating the vehicle speed according to the specified road attribute (step S105). FIG. 4 shows a reference table 190 for selecting an autonomous navigation means based on the specified road attribute, and this reference table 190 is stored in the storage means 150. In this case, autonomous navigation means (1) to (3) represent the following calculation methods. Further, “average of (1) + (3)” represents a calculation method obtained by averaging the vehicle speed calculated by the autonomous navigation means (1) and the vehicle speed calculated by the autonomous navigation means (3). The same applies to “average of (2) + (3)”.
(1) A method for calculating the vehicle speed by integrating the acceleration in the traveling direction (front-rear direction) of the vehicle detected by the acceleration sensor 112 (first autonomous navigation means).
(2) A method for calculating the vehicle speed from the lateral acceleration of the vehicle detected by the acceleration sensor 112 and the lateral angular velocity detected by the gyro sensor 113 (second autonomous navigation means).
(3) A method of calculating the vehicle speed from the vertical acceleration of the vehicle detected by the acceleration sensor 112 and the angular velocity of the vertical direction detected by the gyro sensor 113 (third autonomous navigation means).

  Autonomous navigation means (1) moves straight on a flat road (B: 2) (A: 2) and if the road surface condition is good (C: 1), the vehicle speed is highly accurate. In this case, the autonomous navigation means (1) is selected according to the reference table 190.

  The autonomous navigation means (2) can calculate the vehicle speed with high accuracy if the vehicle is traveling on a flat (B: 2) road curve (A: 1). The autonomous navigation means (2) is selected according to the table 190. Note that when the vehicle is traveling straight on the road (A: 2), no output is obtained from the gyro sensor 113 and the vehicle speed cannot be calculated, so this autonomous navigation means (2) is not selected.

  The autonomous navigation means (3) increases the vehicle speed if the vehicle travels straight on the slope (B: 2) (A: 1) and the road is traveling on an old road (C: 2) with many irregularities. In this case, the autonomous navigation means (3) is selected according to the reference table 190 because it can be calculated with high accuracy.

  In addition, according to the road attribute, means that appropriately combines the autonomous navigation means (1) to (3) is selected.

  Therefore, the control means 100 calculates the vehicle speed of the vehicle based on the optimum autonomous navigation means (1) to (3) selected according to the specified road attribute (step S106). In this case, for example, after the vehicle receives the GPS signal, even if the vehicle is traveling in a location where the GPS signal cannot be received, such as in a tunnel, the current position of the vehicle is continuously obtained with high accuracy by the autonomous navigation means. Can do. In addition, even when the vehicle is driving on a curve, a slope, or an old road with many irregularities, the optimum autonomous navigation method according to the road attribute is selected, so regardless of the road situation, The vehicle speed of the vehicle can be calculated with high accuracy.

  Next, in step S103, the control means 100 calculates the current position of the vehicle using the vehicle position information based on the GPS signal received from the GPS receiver 111 and the highly accurate vehicle speed calculated by the autonomous navigation means. (Step S107).

  The above process continues until the vehicle stops and the navigation apparatus 10 is turned off (step S108: NO).

  In the state where the current position of the vehicle is calculated as described above, when the user uses the display input means 120 to set the destination position from the departure position or the calculated current position for route guidance, the route The search means 140 searches for the optimum route to the target position using the map information stored in the map database 180 according to these pieces of information. The searched guidance route is displayed on the display unit 121 by the route guidance means 160 and presented to the user.

  In addition, this invention is not limited to the Example mentioned above, It can change in the range which does not deviate from the summary of this invention.

  For example, the acceleration sensor and the gyro sensor are illustrated as sensors constituting the autonomous navigation means, but are not limited to these. For example, a geomagnetic sensor can be used as a sensor for detecting that the vehicle is traveling on a curve based on the direction. Further, an atmospheric pressure sensor can be used as a sensor for detecting that the vehicle is traveling on a hill based on a change in altitude.

  Moreover, the combination of the autonomous navigation means selected according to the road attribute is not limited to that illustrated in FIG. 4. For example, the vehicle speed is calculated by a plurality of different autonomous navigation means and the road attribute is followed. The weight may be obtained by adding to the calculated vehicle speed.

DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus 100 ... Control means 110 ... Detection means 111 ... GPS receiving part 112 ... Acceleration sensor 113 ... Gyro sensor 120 ... Display input means 130 ... Display control Means 140 ... Route search means 150 ... Storage means 160 ... Route guidance means 170 ... Map matching means 180 ... Map database 190 ... Reference table

Claims (10)

Road attribute specifying means for specifying the road attribute of the road on which the moving body moves;
A plurality of different autonomous navigation means for detecting the moving speed of the moving body;
An autonomous navigation means selecting means for selecting the autonomous navigation means that matches the identified road attribute from a plurality of the autonomous navigation means;
And a speed detecting device for detecting a moving speed of the moving body using the selected autonomous navigation means.   The speed according to claim 1, wherein the road attribute specifying unit includes a GPS receiving unit that receives a GPS signal from a GPS satellite, and specifies the road attribute from position information of the moving body based on the GPS signal. Detection device.   The road attribute specifying means includes map information storage means for storing map information including the road attribute, and specifies the road attribute from the map information corresponding to the position information of the mobile body based on the GPS signal. The speed detection device according to claim 2, wherein:   The speed detection apparatus according to claim 1, wherein the road attribute specifying unit includes a moving state detecting unit that detects a moving state of the moving body, and specifies the road attribute from the moving state.   The said autonomous navigation means is provided with the acceleration sensor which detects the acceleration of the advancing direction of the said mobile body, The 1st autonomous navigation means which calculates | requires the said moving speed from the said acceleration is included, The any one of Claims 1-4 characterized by the above-mentioned. Item 1. The speed detection device according to item 1.   The autonomous navigation means includes an acceleration sensor that detects a lateral acceleration orthogonal to the traveling direction of the moving body, and a gyro sensor that detects an angular velocity of the moving body, and calculates the moving speed from the acceleration and the angular speed. 5. The speed detection apparatus according to claim 1, further comprising second autonomous navigation means to be obtained.   The autonomous navigation means includes an acceleration sensor that detects an acceleration in a vertical direction orthogonal to a traveling direction of the moving body, and a gyro sensor that detects an angular velocity of the moving body, and calculates the moving speed from the acceleration and the angular speed. The speed detection apparatus according to any one of claims 1 to 4, further comprising third autonomous navigation means to be obtained. Identifying the road attributes of the road on which the moving body moves;
Selecting the autonomous navigation means that matches the identified road attribute from a plurality of different autonomous navigation means for detecting the moving speed of the moving body;
Detecting the moving speed of the moving body using the selected autonomous navigation means;
A speed detection method characterized by comprising:   9. The speed according to claim 8, wherein, in the step of specifying the road attribute, the position information of the moving body is acquired based on a GPS signal received from a GPS satellite, and the road attribute is specified from the position information. Detection method.   The speed detection method according to claim 8, wherein in the step of specifying the road attribute, the road attribute is specified from a moving state of the moving body.

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