JP2014002103A - Vehicle position detection device and vehicle position detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine a vehicle position more accurately even when information from a GPS satellite cannot be received.SOLUTION: A vehicle position detection device includes: a GPS reception device that receives a predetermined signal from a GPS satellite; a pseudo information creation unit that creates pseudo GPS information corresponding to GPS information output by the GPS reception device; and a position detection unit that determines a vehicle position by using the GPS information output from the GPS reception device in a first predetermined case, and determines a vehicle position by using the pseudo GPS information created by the pseudo information creation unit in a second predetermined case.

Description

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

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a navigation device technique related to the current position display when a signal from a GPS satellite cannot be received, such as when traveling in a tunnel.

JP 2001-272237 A

  In the navigation device, when a signal from a GPS satellite cannot be received, the current position is estimated using the moving speed before the reception becomes impossible, and the current position is virtually moved and displayed. However, since the running speed of the vehicle changes from moment to moment according to the shape of the road and the degree of congestion, the current position can be accurately obtained even using the moving speed before the signal from the GPS satellite cannot be received. difficult.

  In such a navigation device, the position error of the vehicle is accumulated while traveling in a tunnel or the like. Therefore, when leaving the tunnel, there arises a problem that the car mark indicating the vehicle position instantaneously moves (jumps in position) to the vehicle position determined by the signal from the GPS satellite that has recovered reception.

  Therefore, an object of the present invention is to provide a vehicle position detection device that can obtain a more accurate vehicle position even when information from a GPS satellite cannot be received.

  In order to solve the above-described problems, a vehicle position detection device according to the present invention includes a GPS receiver that receives a predetermined signal from a GPS satellite, and a pseudo-GPS information that generates pseudo GPS information corresponding to the GPS information output by the GPS receiver. In the first predetermined case, the vehicle position is determined using GPS information output from the GPS receiver, and in the second predetermined case, the pseudo GPS information generated by the pseudo information generation unit And a position detection unit that obtains the vehicle position.

  According to the vehicle position detection device of the present invention, a more accurate vehicle position can be obtained even when information from a GPS satellite cannot be received.

1 is a diagram illustrating a schematic configuration of a vehicle position detection device according to an embodiment of the present invention. It is a figure which shows an example of the map information which concerns on one Embodiment of this invention. It is a figure which shows the functional block of the vehicle position detection apparatus which concerns on one Embodiment of this invention. It is a functional diagram which shows the detail of the vehicle position detection part which concerns on one Embodiment of this invention. It is a flowchart which shows the map matching process which concerns on one Embodiment of this invention. It is a flowchart which shows the production | generation process of the pseudo | simulation GPS information which concerns on one Embodiment of this invention. It is a figure which shows the link error which concerns on one Embodiment of this invention. It is the figure which compared the movement locus of the vehicle position using the pseudo GPS information which concerns on one Embodiment of this invention, and the movement locus of the vehicle position calculated | required only from autonomous information.

  Hereinafter, an embodiment of the present invention will be described.

  FIG. 1 is a schematic configuration diagram of a navigation device 100 that functions as a vehicle position detection device according to the present embodiment. The navigation device 100 includes an arithmetic processing device 1, a display 10, a storage device 11, a voice input / output device 13, an input device 16, a ROM device 20, a vehicle speed sensor 21, an acceleration sensor 22, and a gyro sensor 23. A GPS receiver 24, an FM multiplex broadcast receiver 25, and a beacon receiver 26. These devices and sensors are connected to each other via a bus 6 so that data can be exchanged.

  The navigation device 100 is a device that can realize a so-called navigation function, such as specifying the position of the vehicle on a map, displaying a map or traffic information, searching for a recommended route, and route guidance.

  The arithmetic processing device 1 is a central unit that performs various processes of the navigation device 100. For example, the arithmetic processing unit 1 includes GPS information including vehicle position information, speed information, direction information, and error information output from the GPS receiver 24, and vehicle speed information and direction information output from the vehicle speed sensor 21 and the gyro sensor 23, respectively. The vehicle position on the map is obtained using the autonomous information including.

  Further, the arithmetic processing device 1 generates pseudo GPS information when a predetermined condition is satisfied, for example, when the GPS receiving device 24 cannot receive a signal from a GPS satellite. Moreover, the arithmetic processing apparatus 1 calculates | requires the vehicle position on a map using pseudo | simulation GPS information and autonomous information. Details of the pseudo GPS information will be described later.

  In addition, the arithmetic processing device 1 performs map matching processing for displaying the obtained vehicle position in alignment with a road link on the map.

  Further, in order to realize the navigation function of the navigation device 100, the arithmetic processing device 1 executes predetermined processing such as calculation of a recommended route, display of map information 12, and voice guidance, for example.

  The arithmetic processing unit 1 includes a CPU 2 (Central Processing Unit) that executes various processes such as numerical calculation and control of each device and sensor, and a RAM 3 (Random Access) that temporarily stores programs, data, calculation results, and the like. Memory), ROM 4 (Read Only Memory) for storing programs, data, and the like, and an I / F (interface) 5 for connecting various pieces of hardware to the arithmetic processing unit. The CPU 2, RAM 3, and ROM 4 are connected to each other by a bus 6.

  The display 10 is a unit that displays graphics information generated by the arithmetic processing device 1 in a display area, and includes a liquid crystal display, an organic EL display, and the like.

  The storage device 11 is composed of at least a readable / writable recording medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card. Information such as map information 12 is stored in the storage device 11.

  FIG. 2 is a diagram showing an example of the map information 12. The map information 12 has area information 200 in which link information 203 related to roads on the map is stored. In the area information 200, for each mesh ID 201 for identifying an area on the map, a link ID 202 of a road included in each mesh and link information 203 are associated with each other.

  The link information 203 includes start point and end node point coordinates 204 indicating both ends of the road, link attribute information 205 indicating road attributes (for example, tunnels and bridges), and a link indicating the road length. Length information 206, link width information 207 indicating the width of the road, link direction information 208 indicating the direction of the road, travel time information 209 indicating the time required to pass the road, and start and end nodes of the road The start connection link / end connection link information 210 in which the link IDs of the other roads connected to each of these are stored is stored.

  Returning to FIG. The voice input / output device 13 includes a microphone 14 as a voice input device and a speaker 15 as a voice output device. The microphone 14 acquires an external sound of the navigation device 100 such as a voice uttered by the user. The speaker 15 outputs a message to the user generated by the arithmetic processing device 1 as an audio signal.

  The input device 16 is a user interface that the navigation device accepts instructions from the user. Specifically, it is composed of a direction key 17, a dial switch 18, a touch panel 19, a scale change key that is another hard switch (not shown), and the like.

  The ROM device 20 includes at least a readable recording medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card. In this recording medium, for example, moving image information, audio information, and the like are stored.

  The vehicle speed sensor 21, the acceleration sensor 22, the gyro sensor 23, and the GPS receiver 24 are used to detect the vehicle position, vehicle direction, and the like of the vehicle on which the navigation device 100 is mounted.

  The vehicle speed sensor 21 outputs information used for calculating the vehicle speed. Specifically, the vehicle speed sensor 21 converts the detected number of wheel rotations into a pulse signal, and outputs predetermined vehicle speed information such as the number of pulse signals within a predetermined time.

  The acceleration sensor 22 outputs a predetermined detection signal at a constant period in accordance with the longitudinal acceleration of the vehicle. For example, the acceleration sensor 22 outputs a positive signal when the acceleration of the vehicle is increasing, and outputs a negative signal when deceleration is occurring.

  The gyro sensor 23 is configured by an optical fiber gyro, a vibration gyro, or the like, detects an angular velocity due to the rotation of the moving body, and outputs predetermined angular velocity information.

  A GPS (Global Positioning System) receiving device 24 receives a signal from a GPS satellite and measures the distance between the vehicle and the GPS satellite and the change rate of the distance with respect to three or more satellites. Position information, speed information, and direction information indicating position, speed, and direction are generated. The GPS receiver 24 generates error information indicating the certainty of the calculated vehicle position, for example. Note that the GPS receiving device 24 performs control so that GPS information is not output when a signal cannot be received from a GPS satellite or when the generated error information exceeds a predetermined threshold.

  The FM multiplex broadcast receiving device 25 is a VICS (Vehicle Information Communication System) information outline current traffic information, regulatory information, SA / PA (service area / parking area) information, parking lot information, weather information, etc. An FM multiplex broadcast signal transmitted from an FM broadcast station such as text information provided by a radio station as multiplex general information is received.

  The beacon receiving device 26 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like. The beacon receiving device is configured by, for example, an optical beacon that communicates by light, a radio beacon that communicates by radio waves, and the like.

  Next, functional blocks of the navigation device 100 according to the present embodiment will be described. The functional block of the navigation device 100 is constructed by executing a predetermined program read by the CPU 2 mounted on the arithmetic processing device 1. Therefore, each ROM 4 stores a program for executing processing of each functional unit.

  The functional blocks of the navigation device 100 are classified according to the main processing contents in order to facilitate understanding of the functions of the navigation device 100 realized in the present embodiment. Further, the present invention is not limited by the classification method of each function or its name. In addition, each structure of the navigation apparatus 100 can also be classified into many more components according to the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  Further, the functional unit of the navigation device 100 may be constructed by hardware (ASIC or the like). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.

  FIG. 3 is a diagram illustrating functional blocks of the navigation device 100. The navigation device 100 includes an overall control unit 301, a vehicle position detection unit 302, a link error calculation unit 303, and a map matching processing unit 304.

  The overall control unit 301 is a central functional unit that performs various processes of the navigation device 100. Specifically, the overall control unit 301 receives various information and instructions from other functional units, other devices built in the navigation device 100, sensors, and external devices. In addition, the overall control unit 301 outputs the acquired information and the received instruction to predetermined sensors, devices, and functional units according to the type or content of the information and instruction.

  The vehicle position detection unit 302 is a functional unit that detects a vehicle position and the like. FIG. 4 is a functional block diagram showing details of the vehicle position detection unit 302. As illustrated, the vehicle position detection unit 302 includes a pseudo GPS information generation unit 305, an input switching unit 306, and a Kalman filter 307.

  The vehicle position detection unit 302 inputs the GPS information output from the GPS receiver 24, the vehicle speed information output from the vehicle speed sensor 21, and the azimuth information output from the gyro sensor 23 to the Kalman filter 307. A vehicle position 421, a vehicle orientation 422, and a vehicle error 423 indicating these errors are calculated via the filter 307.

  Further, when the vehicle position detection unit 302 determines that the vehicle is traveling in the tunnel, the pseudo GPS information generated by the pseudo GPS information generation unit 305 is input to the Kalman filter 307 instead of the GPS information. The input switching unit 306 is controlled. In this case, the vehicle position detection unit 302 inputs the pseudo GPS information, the vehicle speed information output from the vehicle speed sensor 21, and the direction information output from the gyro sensor 23 to the Kalman filter 307, and passes through the Kalman filter 307. Vehicle position 421, vehicle direction 422, and vehicle error 423 are calculated.

  Note that when the output of GPS information is recovered from the GPS receiver 24, the vehicle position detection unit 302 controls the input switching unit 306 to input the GPS information to the Kalman filter 307.

  A Kalman filter (including what is called an “extended Kalman filter”) 307 calculates information that specifies the position, orientation, and the like of a device mounted on a moving body such as the navigation device 100 using a positioning value having an error. . The Kalman filter according to the present embodiment accepts a plurality of information such as vehicle position information, speed information, direction information, error information and autonomous information, and obtains an average and variance thereof to ensure that the vehicle exists. An apparent position (vehicle position) and its direction (vehicle direction) are calculated.

  The pseudo GPS information generation unit 305 is a functional unit that forms part of the vehicle position detection unit 302 and generates pseudo GPS information. Specifically, the pseudo GPS information generation unit 305 generates pseudo GPS information when a predetermined condition is satisfied such that GPS information is not output from the GPS receiver 24.

  Note that the pseudo-GPS information includes vehicle position information, speed information, direction information, and error information corresponding to the GPS information. These information correspond to the information included in the GPS information and are Kalman. This is the same type of information that the filter 307 can handle in the same way as GPS information.

  For example, when the position information of the GPS information indicates the point coordinates (X, Y) on the map, the position information of the pseudo GPS information is similarly configured from the (X, Y) coordinates. For example, when the speed information of the GPS information is indicated by km / h, the speed information of the pseudo GPS information is similarly configured by km / h. For example, when the direction information of the GPS information indicates the angular velocity of the vehicle, the direction information of the pseudo GPS information is similarly configured from the angular velocity. Further, for example, when the error information of the GPS information indicates an error probability indicating the certainty of the position information, the error information of the pseudo GPS information is similarly configured from the error probability.

  The link error calculation unit 303 obtains a perpendicular distance between the vehicle position calculated using the GPS information (or pseudo GPS information) and the autonomous information and the vehicle position on the link obtained by the map matching process. It is a functional unit that calculates the average value thereof as a link error.

  The map matching processing unit 304 uses the vehicle position 421, the vehicle direction 422, and the vehicle error 423 calculated by the Kalman filter 307 to match the vehicle position to the road (link) on the map displayed on the display 10. It is a functional unit that performs processing.

  Heretofore, the functional blocks of the navigation device 100 according to the present embodiment have been described.

  Next, the map matching process of the navigation device 100 according to the present embodiment will be described. FIG. 5 is a flowchart showing such processing. This flow starts when the navigation device 100 is activated.

  When the map matching process is started, the vehicle position detection unit 302 determines whether or not the vehicle is traveling in the tunnel (step S001). Specifically, the vehicle position detection unit 302 monitors the presence / absence of output of GPS information. When the vehicle position detection unit 302 detects that the GPS information is not output, the vehicle position detection unit 302 detects a link (hereinafter “ The matching target link) is specified.

  Then, the vehicle position detection unit 302 determines whether or not the link attribute of the matching target link is a tunnel. If the link attribute is a tunnel, the vehicle position detection unit 302 determines that the vehicle is traveling in the tunnel (in step S001). Yes). In this case, the vehicle position detection unit 302 moves the process to step S002.

  Even if the link attribute of the matching target link is not a tunnel, if there is a link whose link attribute is a tunnel among the links connected to the end point of the link, the vehicle position detection unit 302 determines that the vehicle is a tunnel. Is determined to be traveling (Yes in step S001). Also in this case, the vehicle position detection unit 302 shifts the process to step S002.

  On the other hand, if GPS information is output, or if the link attribute of the matching target link is not a tunnel, or if a link whose link attribute is a tunnel is not connected to the end point of the matching target link, the vehicle The position detection unit 302 determines that the vehicle is not traveling in the tunnel (No in step S001). In this case, the vehicle position detection unit 302 moves the process to step S004.

  In step S002, the vehicle position detection unit 302 calculates the vehicle position 421, the vehicle orientation 422, and the vehicle error 423 using the pseudo GPS information and the autonomous information (step S002).

  Here, generation of pseudo GPS information will be described. FIG. 6 is a flowchart showing the flow of the pseudo GPS information generation process. FIG. 7 is a diagram showing position information, speed information, direction information, and error information included in the pseudo GPS information. The pseudo GPS information generation unit 305 acquires vehicle speed information 308 from the vehicle speed sensor 21 as speed information (step S011). The vehicle speed information 308 is specified by, for example, the vehicle speed 308 in the s-s section of FIG.

  Next, the pseudo GPS information generation unit 305 generates position information (step S012). Specifically, the pseudo GPS information generation unit 305 specifies a matching target link and determines whether or not the link attribute of the link is a tunnel. If the link attribute is a tunnel, the pseudo GPS information generation unit 305 extracts link length information of the link. On the other hand, when the link attribute of the matching target link is not a tunnel, the pseudo GPS information generation unit 305 identifies a link whose link attribute is a tunnel among links connected to the end point of the matching target link. Then, the pseudo GPS information generation unit 305 extracts the link length information 206 of the link. In FIG. 7, for example, the link 501 is specified.

  Further, the pseudo GPS information generation unit 305 uses the vehicle speed information 308 and the link length information 206 acquired from the vehicle speed sensor 21 to obtain the vehicle position on the link 501 based on the relationship between the speed and the moving distance. In FIG. 7, for example, the vehicle position 502 is obtained on the link 501.

  Next, the pseudo GPS information generation unit 305 acquires the link direction 208 of the link 501 for which the vehicle position is obtained from the link information 203 (step S013). In FIG. 7, for example, the link orientation 208 of the link 501 is acquired.

  Next, the pseudo GPS information generation unit 305 acquires link error information 307 from the link error calculation unit 303 (step S014). As shown in FIG. 7, the link error refers to the vehicle position A calculated using GPS information (or pseudo GPS information) and autonomous information, and the vehicle position B on the link 501 obtained by the map matching process. And the error amount specified by the average value of the perpendicular distances 503. The link error information 307 is generated by the link error calculation unit 303 at a predetermined timing (for example, after execution of the map matching process or at intervals of several seconds).

  Further, the pseudo GPS information generation unit 305 performs a predetermined conversion process on the acquired link error information 307 so that the Kalman filter 307 can be the same type of information that can be handled in the same manner as the error information included in the GPS information. Do.

  Next, the pseudo GPS information generation unit 305 outputs the pseudo GPS information including the vehicle position information, speed information, direction information, and error information to the input switching unit 306 (step S015), and ends the pseudo GPS information generation process. .

  Returning to FIG. In step S002, the vehicle position detection unit 302 acquires autonomous information (vehicle speed information 308, direction information 309) from the vehicle speed sensor 21 and the gyro sensor 23. Then, the vehicle position detection unit 302 inputs the pseudo GPS information and the autonomous information to the Kalman filter 307, and calculates the vehicle position 421, the vehicle direction 422, and the vehicle error 423 via the Kalman filter 307.

  Next, the map matching processing unit 304 performs map matching using the calculated vehicle position 421, vehicle orientation 422, and vehicle error 423 (step S003). Specifically, the map matching processing unit 304 uses the calculated vehicle position 421, vehicle orientation 422, and vehicle error 423 to calculate an evaluation amount for each target link to be matched. Further, the map matching processing unit 304 specifies a target link to be matched based on the calculated evaluation amount, and aligns a car mark indicating the vehicle position at a predetermined position on the link. When map matching is executed, the map matching processing unit 304 returns the process to step S001.

  In the process of step S005 performed when it is determined that the vehicle is not traveling in the tunnel (No in step S001), the vehicle position detection unit 302 uses the GPS information and the autonomous information to determine the vehicle position 421, A vehicle direction 422 and a vehicle error 423 are calculated. Specifically, the vehicle position detection unit 302 includes position information, speed information, direction information, error information output from the GPS receiver 24, and autonomous information (vehicle speed information 308) output from the vehicle speed sensor 21 and the gyro sensor 23. , Direction information 309) is input to the Kalman filter 307, and the vehicle position 421, the vehicle direction 422, and the vehicle error 423 are calculated via the Kalman filter 307.

  Next, the map matching processing unit 304 performs map matching similar to that described above using the calculated vehicle position 421, vehicle direction 422, and vehicle error 423 (step S003), and returns the process to step S001.

  Here, when traveling in the tunnel, pseudo GPS information is generated, and the vehicle position obtained by continuously inputting the pseudo GPS information and the autonomous information to the Kalman filter 307 and only the autonomous information are input to the Kalman filter 307. A comparative example of the obtained vehicle position is shown in FIG.

  When the output of the GPS information is interrupted in the tunnel, the vehicle position detection unit 302 calculates the vehicle position C so as to approach the movement locus 601 obtained based only on the autonomous information. In this case, a large error is accumulated near the tunnel exit, and the map matching processing unit 304 may not be able to identify a link to be matched. For this reason, when the signal from the GPS satellite is restored, the map matching processing unit 304 causes the vehicle mark C to jump from the vehicle position C to the vehicle position D. In addition, when the error increases, the map matching processing unit 304 may perform map matching from the vehicle position C to an incorrect link 602 as a matching target.

  On the other hand, since the navigation apparatus 100 calculates the vehicle position using pseudo GPS information and autonomous information that can be handled in the same manner as GPS information, a large error is accumulated even when traveling through a tunnel. There is no. That is, the navigation device 100 can obtain the vehicle position E at a position that is not much different from the calculation of the vehicle position using GPS information (and autonomous information), and can obtain the movement locus 603. As a result, the map matching processing unit 304 can stably perform map matching to the correct link without causing a car mark position jump at the tunnel exit, without performing map matching for an incorrect link. it can.

  As described above, according to the navigation device 100, even when information from a GPS satellite cannot be received, a more accurate vehicle position can be obtained while suppressing position jumps. In particular, the navigation device 100 generates pseudo GPS information that the Kalman filter 307 can handle in the same way as GPS information even when a signal from a GPS satellite cannot be received, such as when the vehicle is traveling in a tunnel. Yes. As a result, pseudo GPS information, which is the same type of information as GPS information, can be continuously input to the Kalman filter 307, so that the continuity of the Kalman filter 307 is maintained, and the navigation device 100 can be used when the vehicle travels in a tunnel. Accumulation of errors such as position can be prevented. As a result, the navigation apparatus 100 can prevent a car mark position jump or erroneous map matching even after the signal from the GPS satellite is recovered.

  In the navigation device 100 according to the above-described embodiment, pseudo GPS information is generated when GPS information is not output from the GPS receiver, but the present invention is not limited to this embodiment. The modified example of this embodiment is not limited to the presence or absence of the output of GPS information by the GPS receiver, and the pseudo GPS information generation unit 305 generates pseudo GPS information.

  Further, the vehicle position detection unit 302 detects that GPS information is not output, and when the link attribute of the immediately preceding matching target link is a tunnel, the vehicle position detection unit 302 switches the input switching unit 306 to use the pseudo GPS information. Find the vehicle position.

  In addition, even when the link attribute of the matching target link is not a tunnel, if there is a link whose link attribute is a tunnel among the links connected to the end point of the link, the vehicle position detection unit 302 displays the input switching unit. By switching 306, the vehicle position and the like are obtained using the pseudo GPS information.

  According to the navigation device 100 according to such a modification, even when information from a GPS satellite cannot be received, a more accurate vehicle position can be obtained while suppressing position jumps.

100 ... navigation device, 1 ... arithmetic processing device,
10 ... display, 11 ... storage device,
13 ... voice input / output device, 16 ... input device,
20 ... ROM device, 21 ... vehicle speed sensor, 22 ... acceleration sensor,
23 ... Gyro sensor, 24 ... GPS receiver,
25 ... FM multiplex broadcast receiver, 26 ... beacon receiver

Claims (10)

A GPS receiver that receives a predetermined signal from a GPS satellite;
A pseudo information generation unit that generates pseudo GPS information corresponding to GPS information output from the GPS receiver;
In the first predetermined case, the vehicle position is obtained using the GPS information output from the GPS receiver,
A vehicle position detection apparatus comprising: a position detection unit that obtains a vehicle position using the pseudo GPS information generated by the pseudo information generation unit in a second predetermined case. The vehicle position detection device according to claim 1,
The position detector is
A vehicle position detecting device characterized in that a vehicle position is obtained using a Kalman filter. The vehicle position detection device according to claim 2,
The pseudo GPS information is
A vehicle position detection device that corresponds to information included in the GPS information and is the same type of information that the Kalman filter can handle in the same manner as the GPS information. The vehicle position detection device according to claim 3,
The pseudo GPS information includes at least position information indicating a vehicle position. The vehicle position detection device according to claim 4,
The pseudo information generation unit
When a link to be matched is specified and the link attribute of the link is a tunnel, position information indicating a vehicle position on the link is obtained using the link length information and the vehicle speed of the link,
When the link attribute of the matching target link is not a tunnel, among the links connected to the end point of the matching target link, the vehicle position on the link using the link length information and the vehicle speed of the link whose link attribute is the tunnel A vehicle position detecting device characterized by obtaining position information indicating A vehicle position detection method for a vehicle position detection apparatus including a GPS receiver that receives a predetermined signal from a GPS satellite,
A pseudo information generating step for generating pseudo GPS information corresponding to the GPS information output by the GPS receiver;
In the first predetermined case, the vehicle position is obtained using the GPS information output from the GPS receiver,
And a position detecting step of obtaining a vehicle position using the pseudo GPS information generated in the pseudo information generating step in a second predetermined case. The vehicle position detection method according to claim 6,
The position detecting step includes
A vehicle position detection method characterized in that a vehicle position is obtained using a Kalman filter. The vehicle position detection method according to claim 7,
The pseudo GPS information is
A vehicle position detection method that corresponds to information included in the GPS information and is the same type of information that the Kalman filter can handle in the same manner as the GPS information. The vehicle position detection method according to claim 8,
The pseudo GPS information includes at least position information indicating a vehicle position. The vehicle position detection method according to claim 9,
The pseudo information generation step includes:
When a link to be matched is specified and the link attribute of the link is a tunnel, position information indicating a vehicle position on the link is obtained using the link length information and the vehicle speed of the link,
When the link attribute of the matching target link is not a tunnel, among the links connected to the end point of the matching target link, the vehicle position on the link using the link length information and the vehicle speed of the link whose link attribute is the tunnel The vehicle position detection method characterized by calculating | requiring the positional information which shows.

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