JP2019002764A - Vehicle position determining device - Google Patents

Abstract

To provide a vehicle position determining device with which it is possible to determine the position or travel direction of the own vehicle with high accuracy even when traveling a section, such a tunnel, where positioning signals from satellites cannot be received stably.SOLUTION: Provided is a vehicle position determining device 100 comprising first position detection means 107 for detecting a vehicle position on the basis of a signal from a satellite, second position detection means 108 for detecting a vehicle position on the basis of the result of detection of the vehicle's travel parameter including at least the vehicle bearing, and matching means 109 for causing the vehicle position to be matched to at least a map based on a link. When traveling a section where the detection accuracy of the first position detection means 107 decreases, the second position detection means 108 estimates the travel direction of the vehicle from the direction of the link of the section and the result of detection of the vehicle bearing.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position determination device, and more particularly to a vehicle position determination device used in a vehicle.

  In recent years, an automatic travel control system that automatically controls vehicle output, steering, and braking has been developed. Such an automatic traveling control system controls automatic traveling of a vehicle based on, for example, high-precision map information and detection information of a plurality of sensors that detect a traveling environment and the position of the host vehicle.

  In general, satellite navigation that determines the position by receiving positioning signals transmitted from a plurality of satellites is widely used for specifying the position of the host vehicle. However, in satellite navigation, when traveling in a tunnel, under an overpass, or between buildings, a positioning signal cannot be received stably, so the vehicle position may not be determined with high accuracy.

  In order to compensate for the decrease in position detection accuracy, a vehicle position determination device using both satellite navigation and inertial navigation is known (Patent Document 1). Inertial navigation is a method of sequentially calculating the traveling direction and traveling position of a vehicle based on the traveling parameters of the vehicle acquired from a plurality of sensors provided in the vehicle, such as angular velocity sensors and acceleration sensors.

  However, since the angular velocity sensor and the acceleration sensor are sensors that detect the amount of displacement of the vehicle direction and position, for example, when estimating the traveling direction of the vehicle, the reference direction of the vehicle is detected and this is detected. It is necessary to calculate by adding the displacement amount of the direction detected by the angular velocity sensor. The reference azimuth of a vehicle is usually detected based on a positioning signal from a satellite, but depending on the positioning signal reception environment, the reference azimuth may not be detected accurately, and as a result, the calculated vehicle An error may be included in the traveling position or traveling direction of the vehicle.

  For example, when entering a tunnel while changing lanes, if the vehicle's reference direction at the time of changing lanes cannot be detected correctly, the estimated vehicle direction may not be parallel to the driving lane. In addition, an error was included until the correction was completed by the map matching process.

JP 2017-003395 A

  From such a background, it is desired to realize a vehicle position determination device that can accurately determine the traveling direction of the host vehicle in a short time even if the vehicle travels in a section in which a positioning signal from a satellite cannot be stably received. Yes.

One aspect of the present invention is a first position detection unit that detects a vehicle position based on a signal from a satellite, and a second position that detects a vehicle position based on a detection result of a travel parameter of the vehicle including at least a vehicle direction. It is a vehicle position determination apparatus which has a detection means and the matching means which matches the said vehicle position with the map based on a link at least. The two-position detection means estimates the traveling direction of the vehicle from the direction of the link in the section and the detection result of the vehicle direction when traveling in a section where the detection accuracy of the first position detection means decreases. .
According to another aspect of the present invention, the second position detecting means detects the vehicle position based on the estimated traveling direction of the vehicle and the travel distance of the vehicle estimated from the travel parameter.
According to another aspect of the present invention, the direction of the link is a direction of a lane link of a lane in which the vehicle travels or a direction of a roadway link of a road on which the vehicle travels.
According to another aspect of the present invention, when the vehicle enters the section with a lane change, the direction of the link is a lane link direction of a lane that travels after the lane change.

It is a block diagram which shows the structure of the vehicle provided with the vehicle position determination apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the road where the vehicle provided with the vehicle position determination apparatus which concerns on embodiment of this invention drive | works. It is a flowchart which shows the procedure of the process which determines the vehicle position which the vehicle position determination apparatus which concerns on embodiment of this invention performs.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, a vehicle position determination device mounted on a vehicle is shown as an example of a vehicle position determination device according to the present invention. However, the configuration of the vehicle position determination device according to the present invention is not limited to this, and a wide range is provided. The present invention can also be applied when mounted on a general moving body.

  First, the structure of the vehicle provided with the vehicle position determination apparatus which concerns on this embodiment is demonstrated. FIG. 1 is a block diagram illustrating a configuration of a vehicle 10 including a vehicle position determination device 100 according to the present embodiment.

  The vehicle 10 includes a vehicle position determination device 100 that determines the position of the vehicle based on signals output from the satellite positioning device 102 and the travel parameter detection device 103, an output signal from the vehicle position determination device 100, Automatic travel that controls the steering device 130, the driving device 132, and the braking device 134 based on detection signals from detection devices (for example, the imaging device 120, the communication device 124, the distance measuring device 126, the radar 128, etc.) that detect the surrounding environment. And a control device 112.

  The imaging device 120 is a camera including, for example, an optical element such as a lens and a solid-state imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) sensor, and includes, for example, the rear side of a rearview mirror and the vicinity of the upper end of a windshield. It is attached to a plurality of locations inside and outside the vehicle interior, and images other vehicles, obstacles, signs, road surfaces, etc. around the vehicle 10 at all times.

  The communication device 124 performs wireless communication, connects to the external server 142 via the Internet or the like, receives the latest road structure map from the external server 142, updates the road structure map to the latest state, Receive traffic information. In addition, the communication device 124 has a communication function for a wireless local area network (LAN), accesses the Internet via an access point of a nearby public wireless LAN, for example, near a vehicle such as a parking lot or a shopping center. You can also get facility information.

  The distance measuring device 126 irradiates an object such as an obstacle ahead of the vehicle 10 or an object such as a vehicle with a pulsed laser beam, and measures the time until the scattered light of the laser beam returns. It consists of LIDAR (Laser Imaging Detection and Ranging) that measures the distance to an object. The distance measuring device 126 is attached to a plurality of locations such as the front and side surfaces of the vehicle body, for example.

  For example, the radar 128 measures the distance from the preceding vehicle by transmitting and receiving by changing the frequency of the millimeter wave with time using a frequency modulated continuous wave (FMCW) method. The radar 128 is attached to the front surface of the vehicle body, for example.

  The steering device 130 controls the traveling direction of the vehicle 10, and includes a rack and pinion type steering gear mechanism configured by, for example, a pinion provided at one end of the steering shaft and a rack provided in the steering gear box. A motor connected to the pinion is provided. The motor is driven so as to have a steering angle set by the automatic travel control device 112, and the steering of the vehicle 10 is controlled.

  The drive device 132 includes, for example, either or both of an engine and a motor, and includes an ECU (Electronic Control Unit) for controlling the engine and / or motor. The ECU controls the drive of the vehicle 10 by controlling the output of the engine and / or motor based on the set value output by the automatic travel control device 112.

  The braking device 134 includes, for example, a brake actuator that adjusts the braking force of each wheel of the vehicle 10, and the brake actuator for each wheel is operated based on the set value output from the automatic travel control device 112. The braking of the vehicle 10 is controlled.

  The automatic travel control device 112 includes a CPU (Central Processing Unit) 114 which is a signal processing device, a ROM (Read Only Memory) in which a program is written, a RAM for temporary storage of data such as high-precision map information and route information. (Random Access Memory), etc., and a computer having a storage device 116, etc., and detection signals output from detection devices such as the imaging device 120, communication device 124, distance measuring device 126, and radar 128 described above, Based on the vehicle position determination result output from the vehicle position determination device 100 described later, an output signal to the travel operation device including the steering device 130, the drive device 132, the braking device 134, and the like is determined.

  The CPU 114 of the automatic travel control device 112 controls the vehicle 10 according to a control mode (for example, an automatic operation mode or a manual operation mode) selected by the user of the vehicle 10. For example, when the automatic driving mode is selected, the CPU 114 of the automatic traveling control device 112 detects the road structure that is the detection result output from each detecting device during traveling and the high-precision map information stored in the storage device 116. Based on the map, for example, the future state of the vehicle 10 in a predetermined section is predicted to optimize the traveling track of the vehicle 10, and a plurality of operations are performed so that the optimized traveling track can be executed in the predetermined section. An action plan composed of processes (for example, deceleration / acceleration of the vehicle, lane change / maintenance) is generated, and the operation process according to the action plan is sequentially executed, so that the vehicle 10 is automatically driven.

  Even if the automatic operation mode is selected, the CPU 114 detects the abnormality or problem in the detection device such as the imaging device 120 or the operation device such as the steering device 130. Outputs a signal instructing to stop part or all of the function. In the case of each device of the vehicle 10 that has received the signal, for example, an in-vehicle car navigation system, the driver of the vehicle 10 is informed that all or part of the driving operation is to be transferred through a display on the screen or a speaker, and is manually operated by the driver. When driving cannot be promoted or manual driving by the driver cannot be performed, the vehicle 10 is quickly moved to a nearby safe place automatically and stopped, or some automatic driving (for example, only the steering function by the steering device 130) ) To forcibly stop the automatic operation function.

  Examples of the storage device 116 include a solid state drive (SSD) composed of a semiconductor memory such as a NAND flash memory, and a magnetoresistive memory such as an MRAM (Magnetoresistive Random Access Memory), and a hard disk drive (HDD: Hard Disk). Any storage means such as Drive) can be used. In addition, a plurality of storage means can be used in combination (for example, a flash memory and an HDD are used in combination) according to the application. Each storage means can be used properly accordingly.

  The storage device 116 stores a road structure map used in automatic driving of the vehicle, in addition to temporary storage data such as a program executed by the CPU 114 and route information. The road structure map is a high-precision map and includes data on the position, size, and shape of each part constituting the road. For example, a road curb, a target provided on the road (for example, a sign, a signal, Along with numerical data in which the position and shape of each part of the road that constitutes a road such as a power pole or pole is represented by an error of several centimeters, a drawing pattern (lane, stop line, pedestrian crossing) painted on the road surface of the road Etc.) information (shape, lane type, lane width).

  Further, in the road structure map, the road shape is expressed by, for example, a road link indicating the center line of the road or a lane link indicating the center line of the lane, for example, an actual road or lane depending on the extending direction of the road link or lane link. The extending direction of is shown.

  Next, the configuration of the vehicle position determination device 100 according to the present embodiment will be described. The vehicle position determination device 100 outputs a positioning signal processing device 107 (first position detection means) that detects the position of the vehicle 10 by satellite navigation based on a signal output from the satellite positioning device 102 and a traveling parameter detection device 103. Travel parameter processing device 108 (second position detecting means) for detecting the position of the vehicle 10 by inertial navigation based on the received signal, and each vehicle position output from the positioning signal processing device 107 and the travel parameter processing device 108. And a map matching device 109 that determines the current position of the vehicle 10 based on the detection result.

  In the vehicle position determination device 100 according to the present embodiment, each of the positioning signal processing device 107, the travel parameter processing device 108, and the map matching device 109 is a signal processing device CPU (not shown) and a storage device ROM. However, the present invention is not limited to this. For example, the vehicle position determination device 100 is composed of a set of CPU and storage device, and the set of CPU and storage device is a positioning signal processing device. 107, each function of the travel parameter processing device 108 and the map matching device 109 may be executed.

  The satellite positioning device 102 is configured by a GNSS (Global Navigation Satellite System) receiver or the like, and receives a positioning signal including orbit information and time information of each satellite transmitted from a plurality of positioning satellites. The received positioning signal is output to the positioning signal processing device 107 of the vehicle position determination device 100, and the vehicle position of the vehicle 10 is detected based on the orbit information of each satellite included in the positioning signal and the reception time of the positioning signal. Is done.

  The travel parameter detection device 103 includes a plurality of sensors that detect travel parameters of the vehicle 10. For example, the travel sensor 104 detects the travel direction of the vehicle 10, the acceleration sensor 105 detects the acceleration of the vehicle 10, and the vehicle 10. The vehicle speed sensor 106 etc. which detect a speed are comprised.

  The azimuth sensor 104 is composed of, for example, a gyro sensor such as a micro electro mechanical systems (MEMS) gyroscope or a fiber optic gyroscope (FOG), and detects the angular velocity of the vehicle 10 in three orthogonal axes. The angular velocity data is output to the travel parameter processing device 108. The travel parameter processing device 108 calculates the amount of change in the direction of the vehicle 10 by integrating the input angular velocity data, and estimates the traveling direction of the vehicle 10. Note that the azimuth sensor 104 is merely a sensor that detects a relative change in the azimuth of the vehicle 10, and therefore, in order to estimate the traveling direction of the vehicle 10 in the travel parameter processing device 108, the reference azimuth of the vehicle 10 is set. It is necessary to obtain it separately.

  As the acceleration sensor 105, for example, a MEMS (Micro Electro Mechanical Systems) acceleration sensor having a detection element portion of a capacitance detection method, a piezoresistive method, or a heat detection method can be used. Detect acceleration. The detected data is input to the travel parameter processing device 108, and the acceleration, speed, direction, travel distance, and the like of the vehicle 10 are estimated.

  The vehicle speed sensor 106 is composed of a vehicle speed pulse counter, for example, and estimates the speed and travel distance of the vehicle 10. In this embodiment, both the acceleration sensor 105 and the vehicle speed sensor 106 are provided as means for estimating the speed and position of the vehicle. However, the present invention is not limited to such a configuration. For example, the acceleration sensor 105 and the vehicle speed sensor are used. Any one of 106 may be provided, and the speed and movement distance of the vehicle 10 may be estimated based on the travel parameter output from the one sensor.

  The travel parameter processing device 108 calculates the azimuth, acceleration, speed, travel distance, and the like of the vehicle 10 based on data output from the travel parameter detection device 103 configured by the orientation sensor 104, the acceleration sensor 105, and the like. The vehicle position of the vehicle 10 is detected based on the calculation result and the separately specified reference azimuth and reference position of the vehicle 10.

  The reference position and reference direction of the vehicle 10 can be detected by satellite navigation, for example, when a positioning signal from the satellite positioning device 102 can be stably received. That is, in the vehicle position determination device 100 according to the present embodiment, the calculation result of the displacement of the azimuth and distance of the vehicle 10 detected by the travel parameter detection device 103 is added to the reference position and reference azimuth specified by satellite navigation. Thus, so-called hybrid navigation in which the vehicle position of the vehicle 10 is detected by inertial navigation can also be used.

  Then, the map matching device 109 detects at least one of the detection results of the vehicle position detected by satellite navigation, inertial navigation, and hybrid navigation, and the height of the road structure map stored in the storage device 116. The accuracy map is compared with, for example, a lane link (or road link), the consistency between the two is determined, the detection result is corrected to an appropriate position, and the current position of the vehicle 10 is finally determined.

  Further, the current position of the vehicle 10 finally determined by the map matching device 109 is output to the automatic travel control device 112 and used for travel control of the vehicle 10, and is configured by a display using a liquid crystal panel or the like. The current position and direction of the vehicle 10, the route from the current position to the destination, and the like are displayed together with the map displayed on the display screen. In addition, as the display apparatus 110, the display screen of portable terminal devices, such as a navigation apparatus mounted in the vehicle 10, a smart phone which a user holds, can be used, for example.

  As described above, the vehicle position determination apparatus 100 according to the present embodiment can use hybrid navigation in which satellite navigation and inertial navigation are combined when signals can be accurately received from positioning satellites. The current position of the vehicle 10 can be accurately determined by adding the displacement of the azimuth and distance estimated by the travel parameter processing device 108 to the reference azimuth and reference position of the vehicle 10 detected by the signal processing device 107. it can.

  On the other hand, when the signal cannot be accurately received from the positioning satellite, the reference azimuth and reference position of the vehicle 10 cannot be accurately detected. For example, as shown in FIG. 2, the vehicle 10 traveling in the traveling lane 205 enters the tunnel 203 while changing the lane to the passing lane 215 near the entrance of the tunnel where the signal from the positioning satellite cannot be stably received. In such a case, the traveling direction of the vehicle 10 may not be accurately estimated due to the fact that the reference azimuth of the vehicle 10 cannot be accurately detected when the lane is changed. In addition, the broken line 210 and the broken line 220 in a figure typically show the lane link of the driving lane 205 and the overtaking lane 215 in a road structure map.

  Here, if an error is included in the reference azimuth, an error is included in the azimuth of the vehicle 10 estimated by inertial navigation after setting the reference azimuth including the error, and the traveling direction of the vehicle 10 is accurately determined. Cannot be estimated. Further, since the positioning signal from the satellite cannot be received while traveling in the tunnel 203, the estimation result of the traveling direction calculated including the error cannot be corrected. Then, the map matching device 109 includes an error until the position detection result of the vehicle 10 calculated based on the estimation result of the traveling direction including the error and the high-accuracy map are matched.

  In order to solve such a problem, the vehicle position determination device 100 of the present embodiment does not use the data acquired from the satellite positioning device 102, particularly when the signal from the positioning satellite cannot be received with high accuracy. The direction of the road link or the direction of the lane link of the traveling road is used as the reference azimuth of the vehicle 10, and based on the reference azimuth and data output from the traveling parameter detection device 103 such as the azimuth sensor 104 and the acceleration sensor 105. Thus, the traveling direction of the vehicle 10 is specified.

  Hereinafter, a specific vehicle position determination process executed by the vehicle position determination apparatus 100 according to the present embodiment will be described with reference to a process flowchart shown in FIG. The processing shown in FIG. 3 is stored in the storage device by a vehicle position determination device 100 configured by a computer including a CPU (not shown) as a signal processing device and a ROM and a RAM (not shown) as storage devices. It is controlled by executing the program being executed. Moreover, this process is started, for example, when the user of the vehicle 10 starts the engine of the vehicle, and ends when the engine is stopped.

  First, the vehicle position determination apparatus 100 acquires data related to the positioning signal and the travel parameter from each of the satellite positioning apparatus 102 and the travel parameter detection apparatus 103 (S302). Here, the positioning signal from the satellite may not be able to be received stably, for example, when traveling in the tunnel and its vicinity or under an overpass, between buildings, etc. It is greatly affected by the environment. Therefore, in the vehicle position determination device 100 according to the present embodiment, the vehicle position determination device 100 determines whether or not the positioning signal acquired from the satellite positioning device 102 has been accurately received from the positioning satellite. (S304).

  As a specific index for evaluating the receiving accuracy of the positioning signal, for example, a known accuracy of reduction (DOP: Dilution Of Precision) can be used. The DOP indicates a state where the positioning accuracy decreases as the numerical value increases. As DOP, for example, there are Horizontal Dilution Of Precision (HDOP), Vertical Dilution Of Precision (VDOP), Geometric Dilution Of Precision (GDOP), A plurality of these can be selected to evaluate positioning signal reception accuracy. The positioning accuracy evaluation index is not limited to DOP. For example, by calculating the difference between the position estimation result by satellite navigation and the position estimation result by inertial navigation, positioning is performed when the difference is a predetermined value or more. It can also be configured to determine that the accuracy has decreased. Alternatively, it may be determined from the number of received satellites, or it may be determined that the positioning accuracy has decreased when the vehicle 10 is traveling between a tunnel, an underpass, or a group of buildings.

  Here, when the DOP is smaller than the predetermined value, that is, when a decrease in positioning accuracy is not detected (S304: No), for example, the position of the vehicle 10 is detected by the hybrid navigation described above (S306). Then, the detection result is input to the map matching device 109, and the final vehicle position is determined by map matching with the lane link of the road structure map stored in the storage device 116 or the like. (S322). Such processing is repeated until the destination is reached (S324: NO), and the position of the vehicle is sequentially determined while traveling.

  On the other hand, when the DOP is larger than the predetermined value, that is, when a decrease in positioning accuracy is detected (S304: Yes), this corresponds to the time point when the decrease in positioning accuracy is detected or immediately before that. The position of the vehicle and the direction of the lane link at the position (for example, the direction of the lane link 210 on the road structure map corresponding to the traveling lane 205 on which the vehicle 10 shown in FIG. The reference position and reference azimuth of the vehicle 10 at that time are stored in the storage device of the vehicle position determination device 100 (S308).

  Next, the process of acquiring satellite positioning data from the satellite positioning device 102 is interrupted (S310). Thereby, detection of the vehicle position by satellite navigation is interrupted, and the vehicle position of the vehicle 10 is detected only by inertial navigation while the positioning accuracy of the satellite is not recovered.

  Furthermore, in the vehicle position determination device 100 according to the present embodiment, when a decrease in positioning accuracy is detected (S304: Yes) and the lane of the vehicle 10 is changed (S312: Yes), for example, As shown in FIG. 2, when the lane is changed from the traveling lane 205 to the overtaking lane 215 in the tunnel 203 or in the vicinity of the entrance thereof, the direction of the lane link 220 of the lane 215 after the lane change is made. Is reset as the reference orientation (S314). On the other hand, when the lane of the vehicle 10 is not changed (S312: No), the process of S314 is skipped.

  Then, the traveling direction of the vehicle 10 is estimated based on the direction of the lane link set as the reference azimuth and the displacement information of the vehicle 10 from the azimuth sensor 104 (S316). Further, the movement distance from the reference position where the decrease in positioning accuracy is detected is estimated from the acceleration sensor 105 or the vehicle speed sensor 106 (S318). Furthermore, based on the results estimated in S316 and S318, the vehicle position is detected by inertial navigation (S320).

  Finally, the detection result of the vehicle position of the vehicle 10 detected by the inertial navigation is input to the map matching device 109 and map-matched with the lane link of the road structure map, etc., so that the vehicle position of the vehicle 10 is determined. A final determination is made (S322). Such processing is repeated until the destination is reached (S324: NO), and the position of the vehicle is sequentially determined.

  In the present embodiment, the acquisition of satellite measurement data is interrupted in S310. However, the present invention is not limited to such an embodiment. For example, acquisition of satellite measurement data from the satellite positioning device 102 is continued. Alternatively, the use of the satellite measurement data may be stopped when a decrease in positioning accuracy is detected.

  In S308, the number of the lane link can be stored simultaneously with the direction of the lane link of the traveling lane. With such a configuration, for example, even if a plurality of lane changes are made in a section where a decrease in positioning accuracy is detected, the displacement from the lane link with the specified number and the direction sensor 104 is determined. Based on the information, it can be easily specified which lane link of the currently running lane corresponds to the road structure map.

  Further, in the vehicle position determination device 100 of the present embodiment, the processing flow from S312 to S314 is introduced, but the processing flow from S312 to S314 can be introduced or omitted as necessary. In S308, for example, if the direction of the lane link 210 (FIG. 2) is set as the reference azimuth, the displacement data output from the direction sensor 104 even if the lane is changed to the overtaking lane 215. This is because the lane after the lane change can be estimated based on the above.

  However, since the output data of the azimuth sensor 104 includes detection errors due to sensor temperature drift, noise, and the like, the detection errors as described above also occur when the data from the azimuth sensor 104 is used for a long time. The integration operation is performed and the error is accumulated. For example, when the lane is changed over a relatively long time, the accumulated error at the time of the azimuth calculation also tends to increase. Therefore, by introducing the processing flow (S312 to S314) as described above, the azimuth The use of the sensor 104 can be reduced, and the vehicle position can be accurately detected.

  In the present embodiment, the direction is set after detecting a decrease in accuracy in S304. However, the present invention is not limited to such an embodiment. For example, when a decrease in the accuracy of positioning by a satellite is expected in advance, for example, the progress of a guidance route When there is a high probability that the accuracy will decrease as in the case where a tunnel exists in the direction, the reference orientation may be set immediately before entering the tunnel.

  As described above, the vehicle position determination apparatus according to the present invention is based on the first position detection means 107 that detects the vehicle position based on the signal from the satellite and the detection result of the vehicle travel parameter including at least the vehicle direction. Vehicle position determination apparatus 100 having second position detection means 108 for detecting the vehicle position and matching means 109 for matching the vehicle position to a map based on at least a link, wherein the second position detection means 108 is When traveling in a section where the detection accuracy of the first position detecting means 107 decreases, the traveling direction of the vehicle is estimated from the direction of the link in the section and the detection result of the vehicle direction. This makes it possible to accurately estimate the traveling direction of the host vehicle even when traveling in a section where a positioning signal from a satellite such as a tunnel cannot be stably received, thereby significantly reducing the map matching processing time. The position of the host vehicle can be determined with high accuracy.

  Note that the present invention is not limited to the above-described embodiment, and can be modified and used without departing from the spirit of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 100 ... Vehicle position determination apparatus, 102 ... Satellite positioning apparatus, 103 ... Running parameter detection apparatus, 104 ... Direction sensor, 105 ... Acceleration sensor, 106 ... Vehicle speed sensor, 107 ... Positioning signal processing device, 108 ... Travel parameter processing device, 109 ... Map matching device, 112 ... Automatic travel control device, 114 ... CPU, 116 ... Storage device , 108... CPU for update processing, 120... Imaging device, 124... Communication device, 126. Device, 134... Braking device, 142... External server.

Claims (4)

A first position detecting means for detecting a vehicle position based on a signal from a satellite; a second position detecting means for detecting a vehicle position based on a detection result of a travel parameter of the vehicle including at least the vehicle direction; and the vehicle position. A vehicle position determination device having at least matching means for matching a map based on a link,
The second position detecting means estimates the traveling direction of the vehicle from the direction of the link in the section and the detection result of the vehicle direction when traveling in a section where the detection accuracy of the first position detecting means decreases. To
Vehicle position determination device. The second position detecting means detects a vehicle position based on the estimated traveling direction of the vehicle and a moving distance of the vehicle estimated from the traveling parameter.
The vehicle position determination apparatus according to claim 1. The direction of the link is the direction of the lane link of the lane in which the vehicle travels, or the direction of the roadway link of the road on which the vehicle travels.
The vehicle position determination apparatus according to claim 1 or 2. When the vehicle enters the section with a lane change, the direction of the link is the direction of the lane link of the lane that travels after the lane change.
The vehicle position determination apparatus according to any one of claims 1 to 3.