JP2019066498A - Position recognition device, control method, program, and storage medium - Google Patents

Abstract

To provide a position recognition device that can accurately display the current location on a map even during a travel on a road with a bank.SOLUTION: A position recognition device recognizes the current location of a movable body and includes a storage part, determination means, and current location determination means. The storage part stores map data including information on a bank provided on a road. The determination means determines whether or not a traveling road on which the movable body is traveling has a bank on the basis of the information on a bank in the map data. The current location determination means, if the traveling road has a bank, recognizes the current location on a map on the basis of the map data.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a position recognition device that recognizes the current location of a mobile.

  Conventionally, when determining the display position of the current position of a vehicle based on the output of a direction sensor or the like, there is known a technique for correcting the output error of the direction sensor based on the output of a GPS receiver or the like. Further, according to Patent Document 1, when the vehicle turns at a predetermined angle and the GPS receiver can not receive radio waves, the output of the angular velocity sensor is corrected to more accurately calculate the position and the direction of the vehicle. Is disclosed.

JP, 2010-38889, A

  In Patent Document 1, since the error of the direction sensor generated by the gradient in the back and forth direction of the vehicle when passing through the slope of the underground parking lot is corrected, the direction sensor generated by the height difference (bank) in the left and right direction There is no disclosure or suggestion as to how to deal with the error of Further, in Patent Document 1, there are specific preconditions such as fixing the inclination angle to a predetermined angle, and the same method can not be applied when the vehicle passes a road with a bank.

  The present invention has been made to solve the above problems, and provides a position recognition device capable of accurately displaying the current position on a map even when traveling on a road with banks. As the main purpose.

  The invention according to claim 1 is a position recognition device for recognizing a current position of a mobile body, which is a storage unit storing map data including information of a bank provided on a road, and the above-mentioned information of the bank. When the judging means judges that the traveling road on which the moving object is traveling has a bank, and the judgment means judges that the traveling road has a bank, the present location on the map is recognized based on the map data Means for determining a present location.

It is a figure which shows the loop type road in which the bank was provided. It is a figure which shows the vehicle drive | working on the road in which the bank was provided. It is an example of schematic structure of the navigation apparatus which concerns on a present Example. It is a flowchart which shows the process sequence in 1st Example. It is a flowchart which shows the process sequence in 2nd Example.

  According to a preferred embodiment of the present invention, there is provided a position recognition device for recognizing a current location of a mobile, which is a storage unit for storing map data including information of a bank provided on a road, and based on the information of the bank A determination unit that determines whether the traveling road on which the mobile unit is traveling has a bank, and the determination unit determines that the traveling road has a bank, the current location on the map based on the map data Means for determining the present location of

  The position recognition device described above is a device that displays the current location of the mobile body on a map, and includes a storage unit, a determination unit, and a current location determination unit. The storage unit stores map data including information of banks provided on the road. The determination means determines whether or not the traveling road on which the mobile unit is traveling has a bank, based on the information of the bank in the map data. When the traveling road has a bank, the current position determination means recognizes the current position on the map based on the map data.

  In general, the bank is provided on a road having a spiral shape, and when the moving object travels on the road, an error occurs in the output of the direction sensor due to an angle difference between the road plane and the horizontal plane. Therefore, when traveling on such a road, the position recognition device can accurately recognize the present location by recognizing the present location on the map based on the map data.

  In one aspect of the position recognition apparatus, the position recognition apparatus further includes an azimuth sensor that detects an angular velocity change amount of the movable body based on an acceleration in the left and right direction of the movable body, and the current position determination unit does not have the bank. When the determination means makes a determination, the current location is recognized based on the output of the direction sensor. Here, the “left and right direction of the mobile unit” refers to a direction perpendicular to the traveling direction of the mobile unit on the ground surface on which the mobile unit is present. On roads where there are no banks, no error occurs in the direction sensor caused by the bank. Therefore, when traveling on a road without banks, the position recognition device must use the output of the direction sensor to accurately recognize the current location. it can.

  In another aspect of the position recognition device, when the determination means determines that the traveling road has a bank, the current position determination means recognizes that the current position is at a position along the road on the map. . By doing this, the position recognition device can prevent the current position from being recognized as being deviated from the road on the map when traveling on the road having the bank.

  In another aspect of the position recognition device, the storage unit stores the bank angle as the bank information included in the map data, and the current position determination unit corrects the azimuth corrected based on the bank angle. The present location is recognized based on the output value of the sensor. According to this aspect, the position recognition device can properly correct the output error of the orientation sensor caused by the bank, and can accurately determine the current position.

  In another aspect of the position recognition device, the storage unit stores, as the information of the bank included in the map data, a correction value for correcting the output value of the azimuth sensor when traveling on a road having the bank. The present position determination means recognizes the present position based on the output value of the direction sensor corrected by the correction value. According to this aspect, the position recognition device can easily correct the output error of the orientation sensor caused by the bank and accurately determine the current position.

  In another aspect of the position recognition device, the determination means prohibits the calibration of the output value of the direction sensor when it is determined that the traveling road has a bank. Thus, the position recognition device can suppress erroneous calibration of the output of the direction sensor based on the output error of the direction sensor caused by the bank.

  In another aspect of the position recognition device, the GPS receiver is further provided, and the current position determination means recognizes the current position based on the map data when the GPS receiver can not receive a radio wave. According to this aspect, the position recognition device can recognize the current position based on the map data only when the display of the current position is highly likely to deviate from the road on the map.

  In another aspect of the position recognition device, when the determination means determines that the traveling road has a bank, the determination means further determines whether the movable body passes a branch point, and the movable body is a branch point If the judgment means judges that the vehicle passes, the angle change amount output by the direction sensor immediately before the judgment and the angle change amount on the map data of the traveling road calculated immediately before the judgment The traveling road recognition means for correcting the angle change amount outputted by the direction sensor at the time of the determination based on the ratio, and recognizing the road on which the moving object travels after the branch point based on the corrected angle change amount Prepare. Generally, on a road with banks, the bank angle does not change rapidly. Therefore, in this aspect, the position recognition device outputs the direction sensor at the division point based on the ratio between the previous value of the angle change amount output by the direction sensor and the angle change amount of the road on the map data. It is possible to accurately correct the angle change amount and to recognize the traveling road after the branch.

  Another embodiment of the present invention is a control method executed by a position recognition apparatus including a storage unit that recognizes a current position of a mobile and stores map data including information of a bank provided on a road, the bank comprising the bank A determination step of determining whether or not the traveling road having a bank has a bank based on the information in the above, and the current position recognizing the present location based on the map data when the judgment step determines that the traveling road has a bank And a setting process. By using this control method, the position recognition device can accurately display the current position on the map even when traveling on a road having a bank.

  Another embodiment of the present invention is a program installed in and executed by a position recognition apparatus including a storage unit that recognizes a current position of a mobile and stores map data including information of a bank provided on a road, A determination unit that determines whether the traveling road on which the mobile unit is traveling has a bank based on the information of the bank, and the determination unit determines that the traveling road has a bank, based on the map data The position recognition device functions as a current position determination unit that recognizes a current position on the map. By loading and executing this program, the position recognition device can accurately display the current position on the map even when traveling on a road having a bank. The program is preferably stored on a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, "correction" refers to temporarily correcting the information output by each device with other information etc. "Calibration" refers to stationary errors such as hardware errors. Offset and gain etc. to the measured value to correct the false error.

[Basic explanation]
Prior to the description of the specific embodiments, a basic explanation of matters related to the present invention will be made.

(1) Road on which Banks are Provided FIG. 1 shows a loop type road 90 on which height differences in the left-right direction perpendicular to the traveling direction of the vehicle, that is, the banks are provided. The arrow shown in FIG. 1 indicates the traveling direction of the vehicle.

  Banks may be present on a curved road having a constant curvature (turning angle) as in the loop road 90 shown in FIG. 1 and on which the speed limit setting is relatively high. The bank is provided to reduce the centrifugal force generated by the horizontal rotation of the vehicle with respect to the direction of travel by escaping a part of it in the push-back direction of the ground for the purpose of reducing the centrifugal force when the vehicle travels. Be Hereinafter, the road on which the bank is provided is referred to as a "bank road".

  The bank may be set on a curved road with a turning angle of about 90 degrees, but on a loop-shaped road as shown in FIG. In order to become high, it is often set.

(2) Output Error of Angular Velocity Sensor on Bank Road Next, an error (output error) occurring in the output of the direction sensor when the vehicle travels on the bank road will be described. In the following, a case will be described in which a navigation device is mounted with a direction sensor (here, an angular velocity sensor for detecting a change in direction based on acceleration) that detects an angle change amount of a direction in which the vehicle travels.

  FIG. 2 is a view showing a state where a vehicle equipped with a navigation device having an angular velocity sensor is traveling on a loop road 90 which is a bank road. In FIG. 2, the line segment “AB” is a line segment along the horizontal direction of the bank road, the line segment “BC” is a line segment extending in the vertical direction, and the line segment “CA” is a vertical line It is a line segment extending in the horizontal direction perpendicular to the direction. Then, it is assumed that the angular velocity sensor is attached to detect an acceleration in the line segment AB direction (i.e., the side direction of the vehicle). Further, the angle that the bank road makes with the horizontal direction (the angle “θ” in FIG. 2) is also called “bank angle”.

  As shown in FIG. 2, when the vehicle is traveling on a bank road, the angular velocity sensor outputs an angle change amount smaller than the actual turning angle of the vehicle. This will be described. The angular velocity sensor is attached to detect the acceleration in the direction of the line segment AB, while the ground surface to be displayed on the map displayed by the navigation device is parallel to the line segment AC. Therefore, the acceleration applied to the angular velocity sensor is a value obtained by multiplying the acceleration on the map plane (that is, on the horizontal surface) by the cosine (cos θ) of the bank angle θ. Therefore, the angular velocity sensor outputs an angle change amount smaller than the actual turning angle of the vehicle.

(3) General method and its subject First, the specific example of the general method for a navigation apparatus to determine the display position of the present location of the vehicle on a map is demonstrated. At the start of traveling of the vehicle, the navigation device recognizes the direction of the current position or the traveling direction based on the output of the GPS receiver capable of acquiring the absolute position, direction, and the like. After that, the navigation device recognizes the current location and the heading of the traveling direction using the vehicle speed sensor and the angular velocity sensor, finely adjusts the recognized current location and the like to the map data, and displays the current location on the map. Furthermore, the navigation apparatus determines whether the display position of the present location specified based on the vehicle speed sensor, the angular velocity sensor, and the map data is largely deviated from the position of the vehicle based on the output of the GPS receiver, When it is determined that the position of the vehicle based on the output of the GPS receiver is the display position of the current position of the vehicle.

  Also, in general, when the navigation device corrects the display position of the current location to be output on the map based on the output of the GPS receiver or the map data from the current location of the vehicle recognized based on the output of the angular velocity sensor, the angular velocity sensor Of the output of the GPS receiver based on the output of the GPS receiver and map data. A supplementary explanation of this will be given. While the GPS receiver outputs the absolute azimuth of north, south, east, and west with one positioning data, the angular velocity sensor calculates the azimuth by integrating the amount of change in angle with respect to the previous azimuth. Therefore, when there is an error in the output of the angular velocity sensor, the absolute orientation obtained by integrating the outputs may be largely deviated, so that the angular velocity sensor is calibrated as described above.

  Next, problems when the vehicle travels along the bank road will be described. As described above, in this case, the angular velocity sensor outputs an angle value smaller than the actual turning angle. As a countermeasure, the navigation device can correct the position to be output on the map based on the output from the GPS receiver.

However, when the bank road on which the vehicle travels is present in the tunnel, the navigation device corrects the turning angle on the map surface according to the output value of the GPS receiver because the GPS receiver can not receive radio waves. I can not do it. Therefore, in this case, the navigation device must either trust the erroneous data output by the angular velocity sensor or the direction (line segment angle) indicated by the line segment (link) indicating the road on the map data. It gets lost.
(3-1) Problem when Trusting Output of Angular Velocity Sensor In this case, the navigation device determines that the vehicle is rotating at an angle smaller than the turning angle of the vehicle to be shown on the map. Therefore, the display position of the current position on the outputted map gradually shifts from the correct position to be displayed.
(3-2) Problems when trusting map data When the display position of the current location is determined based on the map data, the navigation device recognizes that the vehicle is moving along the road on the map, so the map The display position of the current position displayed above does not greatly deviate from the exact position to be originally displayed. However, the following two problems occur during normal operation.

  The first problem is that it is difficult to set conditions for determining whether to execute the method of determining the display position of the current position based on the map data. In general, when traveling on a road other than the bank road, it is necessary to assume that the vehicle may come out of an area other than the road, for example, when the vehicle enters a parking lot. However, when the conditions for executing the method of determining the display position of the current position are relaxed based on the map data, the navigation apparatus erroneously indicates that the vehicle is traveling on the road even if the vehicle travels other than the road. The possibility of judging is increased.

  The second problem is that the output of the angular velocity sensor may be erroneously calibrated based on the map data. As described above, when the navigation device corrects the display position of the present location output on the map based on the output of the GPS receiver or the map data from the position recognized based on the output of the angular velocity sensor, in addition to this, the angular velocity sensor Of the output of the GPS receiver based on the output of the GPS receiver and map data. Therefore, in this case, the navigation device determines that the output error of the angular velocity sensor caused by the bank angle is an error of the output itself of the sensor, and can erroneously learn the output of the angular velocity sensor based on the map data. There is sex.

  The second problem is that even if the GPS receiver can receive radio waves, if the vehicle is traveling on a bank road, the display position of the current location is corrected based on the output of the GPS receiver. Can occur.

  In consideration of the above, the navigation device described below stores bank information in advance as map data, and refers to the map data to determine whether the vehicle is traveling on a bank road. When it is determined that the vehicle is traveling on the bank road, the display position of the current location on the map is determined based on the map data.

[Schematic configuration]
FIG. 3 shows a schematic configuration of the navigation device 1 to which the position recognition device according to the present invention is applied. The navigation device 1 is mounted on a vehicle. As shown in FIG. 3, the navigation device 1 includes a self-contained positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, and an audio output. A unit 50 and an input device 60 are provided.

  The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor (vehicle speed sensor) 13. The acceleration sensor 11 is formed of, for example, a piezoelectric element, detects acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is, for example, a vibrating gyroscope, detects an angular velocity of the vehicle at the time of direction conversion of the vehicle, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures vehicle speed pulses consisting of pulse signals generated as the wheels of the vehicle rotate.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information and the like.

  The system controller 20 includes an interface 21, a central processing unit (CPU) 22, a read only memory (ROM) 23, and a random access memory (RAM) 24, and controls the entire navigation device 1.

  The interface 21 performs interface operations with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor (vehicle speed sensor) 13, and the GPS receiver 18. Then, from these, vehicle speed pulse, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, etc. are input to the system controller 20. The CPU 22 controls the entire system controller 20 by executing a prepared program. The ROM 23 has a non-volatile memory or the like (not shown) in which a control program for controlling the system controller 20 and the like is stored. The RAM 24 readably stores various data such as route data preset by the user via the input device 60, and provides a working area to the CPU 22.

  The system controller 20, the disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, the data storage unit 36, the communication interface 37, the display unit 40, the audio output unit 50 and the input device 60 mutually communicate via the bus line 30. It is connected to the.

  The disk drive 31 reads and outputs content data such as music data and video data from the disk 33 such as a CD or a DVD under the control of the system controller 20. The disk drive 31 may be one of a CD-ROM drive and a DVD-ROM drive, or may be a CD and DVD compatible drive.

  The data storage unit 36 is, for example, a unit such as an HDD, and stores various data used for navigation processing such as map data. The data storage unit 36 stores, as map data, road data in which information of each road is represented by nodes and links. Here, specifically, the road data corresponds to node numbers, position coordinates, node types, the number of connected links, connected node numbers, intersection names, and the like. Furthermore, the data storage unit 36 adds and stores information indicating that the road is a bank road to road data corresponding to the bank road. The data storage unit 36 is an example of the “storage unit” in the present invention.

  The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and information (hereinafter referred to as "VICS information") distributed from a VICS (Vehicle Information Communication System (registered trademark) center or the like). ) Is acquired from the radio wave 39. Then, the interface 37 performs interface operation of the communication device 38, and inputs VICS information to the system controller 20 or the like.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map read from the data storage unit 36 by the system controller 20 and the current location of the vehicle on the display screen. The display unit 40 is composed of a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and a memory such as a VRAM (Video RAM), etc. A buffer memory 42 for temporarily storing, a display control unit 43 for controlling display of a liquid crystal display 44 such as a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device with a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

  The audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent via the bus line 30 from the CD-ROM drive 31 or the DVD-ROM 32, the RAM 24 or the like under the control of the system controller 20. A D / A converter 51, an amplifier (AMP) 52 for amplifying an audio analog signal output from the D / A converter 51, and a speaker 53 for converting the amplified audio analog signal into a sound and outputting the sound into a car It is configured to be equipped.

  The input device 60 includes keys, switches, buttons, a remote control, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel or display 44 of the main body of the on-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

  The system controller 20 is displayed on the map displayed on the display unit 40 on the basis of the output signal supplied from the autonomous standing device 10, the output signal supplied from the GPS receiver 18, and the map data stored in the data storage unit 36. Show the current location of the vehicle. Thus, the system controller 20 is an example of the “determination means”, the “current position determination means”, and the “traveling road recognition means” in the present invention.

[First embodiment]
First, in the first embodiment, a method of determining the display position of the current position by the navigation device 1 will be described. In the first embodiment, the system controller 20 of the navigation device 1 refers to the map data, and when it is determined that the vehicle is traveling on a bank road, the distance sensor 13 detects a link along the map data. Move the display position of the current location by the detected distance. Further, in this case, the system controller 20 does not calibrate the output value of the angular velocity sensor 12.

  As described in the [Basic explanation] section, when traveling on a bank road, problems occur that the current position on the map can not be displayed correctly, and the output of the angular velocity sensor 12 is unnecessarily calibrated. In consideration of the above, in the first embodiment, the data storage unit 36 stores bank information in the map data so that it can be recognized in advance whether each road is a bank road. Thus, the system controller 20 can appropriately determine whether the vehicle is traveling on a bank road.

  In addition, when traveling on a bank road, the system controller 20 determines the display position of the current position based on processing different from when the current position is not a bank road. Specifically, when traveling on a bank road, the system controller 20 does not use the angular velocity sensor 12 that causes an inevitable error due to the bank, and a current position along a line segment indicating a road, that is, a link on map data. Move the display position of. Thus, the system controller 20 can appropriately display the current position on the map and suppress unnecessary calibration of the output of the angular velocity sensor 12.

  Further, in addition to this, when there is a branch point when traveling on a bank road, the system controller 20 estimates an estimated value ("estimated value Δβ tag" excluding an error caused by the bank from the angle change amount output by the angular velocity sensor 12). Also, the traveling road after the branch point is recognized from the estimated value Δβ tag.

  Here, a method of calculating the estimated value Δβ tag will be specifically described. First, the system controller 20 calculates the amount of change in the direction indicated by the link on the map data corresponding to the current location (also referred to as “data angle change amount Δα”), and also outputs the amount of angle change output by the angular velocity sensor 12 (“ The sensor angle change amount Δβ ”is also acquired, and these values are stored in the memory of the data storage unit 36 or the like. Here, the data angle change amount Δα is specifically set to an angle formed by the link corresponding to the current location and the link corresponding to the current location immediately before the link. When the system controller 20 determines that the current position is at the branch point of the branch road, the sensor angle change amount “Δβ1” acquired at the branch point is acquired immediately before that as shown in the following expression (1) Alternatively, a value obtained by multiplying the ratio of the data angle change amount “Δα0” calculated and stored in the memory and the sensor angle change amount “Δβ0” is calculated as an estimated value Δβ tag.

Δβ tag = (Δα0 / Δβ0) × Δβ1 Formula (1)
As described above, the system controller 20 assumes that the bank angle does not change rapidly on the bank road, and acquires at the branch point based on the data angle change amount Δα0 acquired or calculated immediately before the branch point and the sensor angle change amount Δβ0. An error generated in the sensor angle change amount Δβ1 is corrected.

  Then, when the road branches from the branch point to “n” (n is a positive integer) pieces, the data storage unit 36 stores n links corresponding to each branch road as map data. . Here, each link has different data angle change amounts Δα (here, “Δα11” to “Δα1n”). Therefore, in this case, the system controller 20 recognizes the road indicated by the link corresponding to the data angle change amount Δα11 to Δα1n closest to the estimated value Δβ tag as the traveling road of the branch destination. By doing this, the system controller 20 can appropriately identify the traveling road to which the branch is to be made, even when there is a branch point in the bank road.

(Processing flow)
Next, processing procedures executed by the system controller 20 in the first embodiment will be described. FIG. 4 is a flowchart showing a processing procedure executed by the system controller 20 in the first embodiment. The system controller 20 repeatedly executes the processing of the flowchart shown in FIG. 4 in accordance with a predetermined cycle.

  First, the system controller 20 determines whether the vehicle is traveling on a bank road (step S101). Specifically, the system controller 20 recognizes the current location based on the output signals supplied from the angular velocity sensor 12 and the distance sensor 13 as in step S103 described later, refers to the map data, and detects the road where the current location is located. It is determined whether it is a bank road.

  When the vehicle is traveling on the bank road (step S101: Yes), the system controller 20 recognizes the current position based on the map data and the output of the distance sensor 13 (step S102). Specifically, in this case, the system controller 20 moves the current location along the link indicating the road on the map data by the travel distance detected by the distance sensor 13. Thus, the system controller 20 can display the current location on the map at an appropriate position without being affected by the bank. In addition, the system controller 20 can prevent the output of the angular velocity sensor 12 from being unnecessarily calibrated.

  On the other hand, when the vehicle is not traveling on the bank road (step S101: No), the system controller 20 recognizes the current position based on the output of the angular velocity sensor 12 and the distance sensor 13 (step S103). That is, in this case, as described in the above [Basic explanation] (3) section, the system controller 20 recognizes the current position using, for example, the angular velocity sensor 12 and the distance sensor 13, and Based on the output and the map data, the recognized present location is corrected as necessary and displayed on the map. Further, the system controller 20 properly calibrates the output value of the angular velocity sensor 12 based on the output of the GPS receiver 18 and map data.

  Next, in step S104, the system controller 20 determines whether the vehicle is at a branch point (step S104). Then, if the vehicle is not at the branch point (step S104: No), the system controller 20 calculates or acquires the data angle change amount Δα and the sensor angle change amount Δβ, and stores them in a memory such as the data storage unit 36 (step S105). On the other hand, when the vehicle is at the branch point (step S104: Yes), the system controller 20 detects the sensor angle change amount Δβ from the angular velocity sensor 12 and calculates the estimated value Δβ tag excluding the influence of the bank (step S106). ). Specifically, the system controller 20 is based on the data angle change amount Δα (Δα0) and the sensor angle change amount Δβ (Δβ0) stored in the memory, and the sensor angle change amount Δβ (Δβ1) detected at the branch point. The estimated value Δβ tag is calculated according to the above-mentioned equation (1). Then, the system controller 20 recognizes the traveling road after the branch based on the calculated estimated value Δβ tag (step S107). Thereby, even if there is an error in the output of the angular velocity sensor 12 due to the bank, the system controller 20 accurately recognizes the traveling road after the branching, and along the traveling road after the branching recognized The current location can be displayed.

Second Embodiment
In the first embodiment, the system controller 20 calculates the current location based on the map data and the distance sensor 13 when traveling on a bank road. Instead of this, in the second embodiment, in addition to the information indicating that the bank road is the data storage unit 36, information for correcting the output of the angular velocity sensor 12 when the bank road is traveling ("bank correction information Remember.). Then, the system controller 20 corrects the output of the angular velocity sensor 12 based on the bank correction information. Thereby, the system controller 20 appropriately determines the display position of the current position based on the output of the angular velocity sensor 12.

  Here, the bank correction information is, for example, a correction value of the output of the angular velocity sensor 12 theoretically calculated based on the bank angle or the bank angle. In the former case, that is, when the bank angle is stored in the data storage unit 36 as bank correction information, the system controller 20 reads the bank angle of the bank road from the map data when traveling on the bank road. Then, the system controller 20 corrects the output angle of the angular velocity sensor 12 (that is, the data angle change amount Δα) by dividing by the cosine of the read bank angle. In the latter case, that is, when the correction value of the output of the angular velocity sensor 12 is stored in the data storage unit 36 as the bank correction information, the system controller 20 detects the detected angular velocity sensor 12 based on the correction value. Correct the output of When the above correction value is, for example, the cosine of the bank angle, the system controller 20 corrects by dividing the output angle of the angular velocity sensor 12 by the correction value, as in the case of the former case described above. As described above, by storing the bank correction information, the navigation device 1 can appropriately correct the output error of the angular velocity sensor 12 caused by the bank, and can accurately display the current position on the map.

(Processing flow)
Next, a processing procedure executed by the system controller 20 in the second embodiment will be described. FIG. 5 is a flowchart showing the processing procedure executed by the system controller 20 in the second embodiment. The system controller 20 repeatedly executes the processing of the flowchart shown in FIG. 5 in accordance with a predetermined cycle.

  First, the system controller 20 determines whether the vehicle is traveling on a bank road (step S201). Specifically, the system controller 20 recognizes the current location based on the output signals supplied from the angular velocity sensor 12 and the distance sensor 13 as in step S203 described later, refers to the map data, and detects the road where the current location is located. It is determined whether it is a bank road.

  When the vehicle is traveling on the bank road (step S201: Yes), the system controller 20 corrects the output of the angular velocity sensor 12 based on the bank correction information (step S202). Thus, the system controller 20 can properly correct the output error of the angular velocity sensor 12 caused by the bank. At this time, the system controller 20 does not calibrate the output value of the angular velocity sensor 12 because the output error of the angular velocity sensor 12 is caused by the bank.

  Then, after execution of step S202 or when the vehicle is not traveling on the bank road (step S201: No), the system controller 20 outputs the angular velocity sensor 12 and the distance sensor 13, etc. The present location is recognized based on (step S203). That is, in this case, as described in the above [Basic explanation] (3) section, the system controller 20 recognizes the current position using, for example, the angular velocity sensor 12 and the distance sensor 13, and Based on the output and the map data, the recognized present location is corrected as necessary and displayed on the map. Further, the system controller 20 properly calibrates the output value of the angular velocity sensor 12 based on the map data and the output of the GPS receiver 18. Since the output error of the angular velocity sensor 12 caused by the bank has not already occurred after the execution of the step S202, the calibration of the output value of the angular velocity sensor 12 in this case is an unnecessary calibration for the error caused by the bank Does not hit

  As described above, according to the second embodiment, the system controller 20 does not have to change the method of calculating the display position of the current position depending on whether it is a bank road or not, so that the current position can be more stable without complicating control. The display position can be determined. Further, according to the second embodiment, since the system controller 20 always corrects the output of the angular velocity sensor 12 based on the bank correction information while traveling on the bank road, a branch point exists in the bank road. Even if there is, it is possible to correctly recognize the traveling road after the branch without separately calculating the estimated value Δβ tag.

[Modification]
Hereinafter, modifications suitable for the first embodiment and the second embodiment described above will be described. The following modifications may be combined arbitrarily and applied to the above-described embodiments.

(Modification 1)
In step S101 of FIG. 4, the system controller 20 may determine whether the GPS receiver 18 can not receive the radio wave 19 in addition to determining whether the vehicle is traveling on a bank road. In this case, the system controller 20 executes the process of step S102 only when traveling on a bank road and the GPS receiver 18 can not receive the radio wave 19, and otherwise executes step S103. Do. Similarly, in step S201 of FIG. 5, the system controller 20 may execute the process of step S202 only when traveling on a bank road and the GPS receiver 18 can not receive the radio wave 19. .

(Modification 2)
In the first and second embodiments, the navigation device 1 displays the current location of the vehicle on the map displayed on the display unit 40. However, the configuration to which the present invention is applicable is not limited to this. Instead of this, the navigation device 1 may display only the traveling direction in which the vehicle should travel with respect to the destination without displaying the map. In another example, the navigation device 1 may output voice and output driving assistance information such as a traveling direction in which the vehicle should travel to the destination by voice. Even in this case, the navigation device 1 can accurately recognize the present location and appropriately provide guidance based on the method described in the first embodiment and the second embodiment.

  In addition, the navigation apparatus 1 is set to a destination, a stop, and the like, and the navigation apparatus 1 is not limited to the case where navigation is performed, and a destination, a stop, and the like are not set. And the process described in the second embodiment may be performed. Even in this case, preferably, the navigation device 1 can accurately recognize the current position, and can display the current position on a map.

  The present invention can be suitably applied to an on-vehicle navigation device, a personal navigation device (PND), and other devices that display the current position together with a map.

Reference Signs List 1 navigation device 10 self-contained positioning device 12 angular velocity sensor 13 distance sensor 18 GPS receiver 20 system controller 22 CPU
36 data storage unit 38 communication device 40 display unit 44 display

Claims (1)

It is a position recognition device that recognizes the current location of a mobile, and
A storage unit for storing map data including information on banks provided on roads;
A determination unit that determines whether the traveling road on which the mobile unit is traveling has a bank based on the information of the bank;
A current position determination unit that recognizes a current position on the map based on the map data when the determination unit determines that the traveling road has a bank;
A position recognition apparatus comprising:

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