JP2019171918A - Vehicle position detector, vehicle control device, vehicle position detection method, and vehicle control method - Google Patents

Abstract

To provide a technique by which a load for determining a trigonometric value can be reduced.SOLUTION: A vehicle position detector 1 comprises an acquisition part 1a, and an estimation part 1f. The acquisition part 1a acquires a speed and a yaw rate of a vehicle. The estimation part 1f determines a position of the vehicle on the basis of a specified value which has been previously specified as a value which is determined during performance of calculation of CORDIC algorithm for a yaw angle change amount which is a yaw angle change amount on the basis of the yaw rate and falls within a predetermined range, the speed and the yaw angle change amount.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle position detection device and a vehicle position detection method, and a vehicle control device and a vehicle control method using the same.

  Recently, a vehicle control device such as a lane keep assist that suppresses the vehicle from deviating from the lane has been proposed. This lane keep assist uses a white line on the road, a vehicle speed, and a trigonometric function based on the yaw rate of the vehicle, and a position in the front-rear direction (X-axis direction) of the straight road and a direction (Y-axis) (Direction) is calculated, and steering of the vehicle is assisted based on the calculation result.

  Non-Patent Document 1 discloses that the position (X, Y) of the vehicle in the X-axis direction and the Y-axis direction for calculating the lane keep assist amount can be calculated by the following equations (1) and (2).

V is the vehicle speed (vehicle speed), the direction of the straight road is the X axis, the direction perpendicular thereto is the Y axis, and the angle Θ between the X axis and the longitudinal direction of the vehicle is based on the X axis direction of the vehicle. The yaw angle around the Z axis, β is the tire slip angle, X ₀ , Y ₀ , and Θ ₀ are the values of X, Y, and Θ at t = 0, respectively, and t is an arbitrary time. The yaw angle Θ is calculated by the following equation (3) using the yaw rate γ.

The vehicle position signal indicating X ₀ and Y ₀ is periodically updated using a camera mounted on the vehicle. However, the vehicle position signal required from the camera is not necessarily a reliable signal due to various external environments. For this reason, vehicle deviation prevention control is performed based on highly accurate position information obtained from a plurality of X and Y signals using the above equations (1) to (3).

  By the way, Mr. Volder proposed a calculation method called CORDIC (COordinate Rotational Digital Computer) in 1959 as a method for calculating a trigonometric function when there is no floating point calculation or trigonometric function calculation. This CORDIC algorithm calculates the value of the trigonometric function for the angle while comparing the angle and the value of the following equation (4) in the order of i = 1, 2, 3,... From −90 ° to 90 °. Algorithm. Note that the values of the following expression (4) when i = 1, 2, 3 are 45 °, 26.6 °, and 14.0 °.

  For example, Patent Documents 1 and 2 disclose trigonometric function values having an angle in the range of 0 ° to 360 ° shown in FIG. 1 using the CORDIC algorithm for obtaining the trigonometric function values of −90 ° to 90 ° as described above. A technique for computing is disclosed.

JP-A-62-139043 JP-A 64-78323

Masato Abe, “Motor Movement and Control”, Sankaido

  However, the arithmetic processing circuit of the vehicle control device has a problem that the load for obtaining the value of the trigonometric function is relatively high.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of reducing a load for obtaining a trigonometric function value.

  A vehicle position detection apparatus according to the present invention includes a acquiring unit that acquires a vehicle speed and a yaw rate, and calculates a CORDIC algorithm for a yaw angle change amount based on the yaw rate and within a predetermined range. An estimation unit that obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle on the basis of a prescribed value that is prescribed in advance as a value that is obtained in the middle when the operation is performed, and the speed and the yaw angle change amount With.

  According to the present invention, the position in the front-rear direction of the vehicle is determined using a prescribed value that is prescribed in advance as a value that is obtained in the middle when the calculation of the CORDIC algorithm is performed on a yaw angle change amount within a predetermined range. The position in the left-right direction of the vehicle is obtained. According to such a configuration, it is possible to reduce the load for obtaining the value of the trigonometric function.

It is a figure for demonstrating a prior art. 1 is a block diagram illustrating a configuration of a vehicle departure prevention control apparatus according to Embodiment 1. FIG. 4 is a diagram showing a constant table according to Embodiment 1. FIG. 3 is a flowchart showing the operation of the vehicle position detection device according to the first embodiment. It is a block diagram which shows the hardware constitutions of the vehicle position detection apparatus which concerns on another modification. It is a block diagram which shows the hardware constitutions of the vehicle position detection apparatus which concerns on another modification. It is a block diagram which shows the structure of the server which concerns on another modification. It is a block diagram which shows the structure of the communication terminal which concerns on another modification.

<Embodiment 1>
FIG. 2 is a diagram illustrating a configuration of a vehicle departure prevention control device that is the vehicle control device according to the first embodiment. The vehicle departure prevention control device of FIG. 2 includes a vehicle position detection device 1, a position acquisition unit 2, a vehicle speed acquisition unit 3, a yaw rate acquisition unit 4, and a vehicle control unit 5. The vehicle position detection device 1 includes an acquisition unit 1a, an angle calculation unit 1b, an angle comparison unit 1c, an angle limiting unit 1d, and a vehicle position calculation unit 1e. The angle calculation unit 1b, the angle comparison unit 1c, the angle limiting unit 1d, and the vehicle position calculation unit 1e are included in the concept of the estimation unit 1f.

  Next, an outline of the vehicle departure prevention control apparatus will be described.

  The position acquisition unit 2 acquires the position of the vehicle based on, for example, a white line detected from a camera or the like disposed on the vehicle windshield. The vehicle speed acquisition unit 3 acquires the speed of the vehicle, that is, the vehicle speed, based on a vehicle speed signal detected from, for example, a vehicle wheel speed sensor. The yaw rate acquisition unit 4 acquires, for example, the yaw rate detected from the yaw rate sensor of the vehicle.

  The vehicle position detection device 1 detects (calculates) the position of the vehicle based on the position acquired by the position acquisition unit 2, the vehicle speed acquired by the vehicle speed acquisition unit 3, and the yaw rate acquired by the yaw rate acquisition unit 4. ) Note that the position of the vehicle here includes a position in the front-rear direction (X-axis direction) of the vehicle and a position in the left-right direction (Y-axis direction) of the vehicle.

  Based on the position of the vehicle detected by the vehicle position detection device 1, the vehicle control unit 5 controls the movement of the vehicle along the lane so that the vehicle does not deviate from the lane. This control may be performed based on a plurality of positions.

  Next, the configuration of the vehicle position detection device 1 will be described in detail.

  The acquisition unit 1 a acquires the position acquired by the position acquisition unit 2, the vehicle speed acquired by the vehicle speed acquisition unit 3, and the yaw rate acquired by the yaw rate acquisition unit 4.

  The angle calculation unit 1b calculates the yaw angle change amount based on the yaw rate acquired by the acquisition unit 1a. In the first embodiment, the angle calculation unit 1b calculates the yaw angle change amount by calculating the yaw angle change amount = the yaw rate × the calculation cycle.

  The angle comparison unit 1c determines whether or not the yaw angle change amount obtained by the angle calculation unit 1b is within a predetermined range.

Here, an example of a predetermined range will be described. For example, R79 is an international standard related to automatic driving. Among these R79, in Category B1, which is a standard for maintaining traveling along the lane while holding the steering wheel, that is, hands-on lane maintenance, the vehicle speed is 100 km / h and the maximum lateral acceleration is 0.8 m / s. ^{When 2} , the vehicle is required not to depart from the lane.

  The condition of the lateral acceleration when the vehicle traveling on the automobile exclusive road does not deviate from the lane is expressed by the following expression (5) using the vehicle speed V and the turning radius R. Equation (5) is described in, for example, a reference (Hideki Sakai, “Mechanism and design of comfortable handling of automobile kinematics”).

Substituting 100 km / h for vehicle speed and 0.8 m / s ² for lateral acceleration into equation (5) gives (100/3600 × 1000) ² /R=0.8, and the vehicle has a curve of approximately R = 1000 m. It is a requirement to be able to bend without departing from the lane to satisfy the above standards. When the steering gear ratio at this time is 1, the steering angle is expressed by the following equation (6). In addition, Formula (6) is described in the said reference.

  Here, δ is a steering angle, A is a vehicle stability factor, and 1 is a vehicle wheelbase. A and l are coefficients depending on the vehicle. Here, when R = 1000 m obtained above, A = 0.002, and l = 2.5 m are substituted into the equation (6), the steering angle δ becomes the value of the following equation (7).

  In general, the steering gear ratio is different for each vehicle, the steering gear ratio is not 1, and the steering angle is proportional to the steering gear ratio. For example, the steering angle when the steering gear ratio is 20 is 7.3 °, which is 20 times the steering angle obtained by the above equation (7).

  Next, the yaw rate γ with respect to the steering angle δ is expressed by the following equation (8). In addition, Formula (8) is described in the said reference.

  When values such as the steering angle δ calculated so far are substituted into equation (8), the maximum yaw rate satisfying the above standard becomes the value of the following equation (9).

  Here, the angle calculation unit 1b calculates the yaw angle change amount by performing the above-described calculation of the yaw rate × the calculation cycle at a constant calculation cycle. For example, when the calculation cycle is 50 ms, the maximum value of the change in yaw angle corresponding to the maximum yaw rate satisfying the above standard is the value of the following equation (10).

  From the above, when the yaw angle change amount is a value of 1.6 ° (1.6 deg) or less in a period of 50 ms, the above standard is satisfied. For this reason, when there is no failure etc. in each sensor of the vehicle and a comfortable vehicle driving or a normal vehicle driving is performed, the calculation result of the yaw angle change amount in the angle calculation unit 1b is 1.6 °. It becomes the following values.

  The angle comparison unit 1c determines whether or not the yaw angle change amount obtained by the angle calculation unit 1b is within a predetermined range. In the first embodiment, the predetermined range is assumed to be a range of 1.6 ° or less, but is not limited to this.

  The angle limiting unit 1d obtains a trigonometric function value when the angle comparison unit 1c determines that the yaw angle change amount obtained by the angle calculation unit 1b is within a predetermined range. In the first embodiment, the angle limiting unit 1d includes a specified value that is specified in advance as a value that is obtained in the middle when the calculation of the CORDIC algorithm is performed on the yaw angle change amount within a predetermined range, and the yaw angle A trigonometric function value is obtained based on the amount of change. Specifically, the angle limiting unit 1d obtains a trigonometric function value whose sum corresponds to the integral value of the trigonometric function of the above equations (1) and (2). That is, the angle limiting unit 1d obtains a trigonometric function value for decomposing the vehicle speed into a front-rear direction component and a left-right direction component. The calculation of the trigonometric value by the angle limiter 1d will be described in detail later.

The vehicle position calculation unit 1e obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on the value of the trigonometric function obtained by the angle limiting unit 1d and the vehicle speed obtained by the acquisition unit 1a. In the first embodiment, the vehicle position calculation unit 1e is based on the position (X ₀ , Y ₀ ) and the vehicle speed V acquired by the acquisition unit 1a and the trigonometric function value obtained by the angle limiting unit 1d. The position (X, Y) of the vehicle is obtained by substantially calculating the above formulas (1) and (2).

<Calculation of trigonometric function value by angle limiter>
As described above, in the first embodiment, when the yaw angle change amount obtained by the angle calculation unit 1b is within a predetermined range, the angle limiting unit 1d is represented by the above equations (1) and (2). The trigonometric function value for calculating the integral value of the trigonometric function is obtained. The trigonometric functions are cos (β + Θ + ΔΘ) and sin (β + Θ + ΔΘ) expressed using the yaw angle change amount ΔΘ, and are expressed as the following equations (11) and (12) by the addition theorem of the trigonometric function.

Among these, the values of cos (β + Θ) and sin (β + Θ) are known values. If the values of cos (ΔΘ) and sin (ΔΘ) can be obtained, the values of the above equations (11) and (12) are also obtained. Can be sought. For the calculation of the values of cos (ΔΘ) and sin (ΔΘ), a CORDIC algorithm capable of calculating a trigonometric function when there is no floating point calculation or trigonometric function calculation with an inexpensive device can be used. According to the CORDIC algorithm, when the initial value is set as in the following expression (13), it is expressed by cos θ and sin θ in the following expression (18) by repeating the operations of the following expressions (14) to (17). x _i and y _i whose values are sufficiently close to cos (ΔΘ) and sin (ΔΘ) can be obtained.

Note that the value of (1/2 ⁱ⁻¹ ) y _i−1 is obtained by right shifting the value of y _i−1 by “i−1” digit bits. Here, a constant table including the calculation result of tan ⁻¹ (1/2 ⁱ⁻¹ ) in Expression (14) is mounted (stored) in the vehicle position detection device 1.

FIG. 3 is a diagram illustrating an example of the constant table. This constant table shows an example in which the calculation length is 16 bits and the 14 bits are fixed points. For example, the value of tan ⁻¹ (1/2 ^1-1 ) = 0.785 [rad] = 45 [deg] (tbl of i = 1) is 12868 (= 0.785 × 2 ¹⁴ ). The value of tan ⁻¹ (1/2 ^2-1 ) = 0.463 [rad] = 26.5 [deg] (tbl of i = 2) is 7596 (= 0.463 × 2 ¹⁴ ). The value of tan ⁻¹ (1/2 ^3-1 ) = 0.245 [rad] = 14.0 [deg] (tbl of i = 3) is 4014 (= 0.245 × 2 ¹⁴ ).

  FIG. 4 is a flowchart showing the operation of the vehicle position detection apparatus according to the first embodiment. In this operation, the arithmetic processing by the above-described CORDIC algorithm is substantially performed.

In step S1, the angle limiter 1d acquires the yaw angle change amount ΔΘ (= yaw rate × calculation cycle) obtained by the angle calculator 1b. Hereinafter, description will be made while appropriately showing an example in which the yaw angle change amount ΔΘ is −1 ° (−1 [deg]). Since the unit of the CORDIC algorithm is radians, the angle limiting unit 1d converts −1 [deg] to −0.0174 [rad]. When the calculation length is 16 bits and the ^14th bit is a fixed point, the angle limiting unit 1d converts -0.0174 [rad] to -286 (= -0.0174 × 2 ¹⁴ ).

  In step S2, the angle limiting unit 1d determines the value of n in the following equation (19) based on a predetermined range used for the determination by the angle comparison unit 1c.

  In the first embodiment, the angle limiting unit 1d has the maximum n value that makes the value of the following expression (19) larger than the value that defines the predetermined range used for the determination of the angle comparison unit 1c. To decide. For example, when the predetermined range is a range of 1.6 ° or less obtained by the equation (10), the angle limiting unit 1d determines that the result shown in the following equations (20) and (21) is 1.6. The maximum value “7” in which the value of the equation (19) is smaller than ° is determined as the value of n.

Note that x _n , y _n , xtmp, and ytmp in steps S4 to S14 described below are x _i , y _i , (1/2 ⁱ⁻¹ ) x _{i−1 in the} above equations (14) to (17). , (1/2 ⁱ⁻¹ ) y _i−1 , and in the loop processing of steps S4 to S14, the operations of the above equations (14) to (17) are substantially repeated. At this time, XTMP, Ytmp is used as a temporary calculated value, when the processing in step S15 is performed, _{x n} becomes an approximation of cos (ΔΘ), _{y n} is the approximation of sin (.DELTA..theta) Become.

Originally, x _n , y _n , xtmp, ytmp are obtained in the order of n = 1, 2, 3,. However, when obtaining the value of the trigonometric function of an arbitrary yaw rate change amount equal to or less than 1.791 [deg] which is the value of the above equation (19) of n = 6, x _n , y _n , xtmp, ytmp at n = 7 Is a constant value. That is, when the calculation of the CORDIC algorithm is performed on the yaw angle change amount within a predetermined range, the value obtained in the middle is a constant value. Therefore, in the first embodiment, for some n including n = 7, x _n , y _n , xtmp, and ytmp are the vehicle positions in a format in which the 14th bit is a fixed point, similarly to tbl in FIG. It is mounted (stored) in the detection device 1.

In step S3, the angle limiting unit 1d reads _{x n,} y n, corresponding to n determined at step S2, XTMP, the ytmp as an initial value.

  In step S4, the angle limiting unit 1d determines whether or not the yaw angle change amount ΔΘ is smaller than zero. If it is determined that the yaw angle change amount ΔΘ is smaller than 0, the process proceeds to step S5. If it is determined that the yaw angle change amount ΔΘ is 0 or more, the process proceeds to step S8. In the example in which the yaw angle change amount ΔΘ is −286 in step S1, the process proceeds to step S5.

  When the process proceeds from step S4 to step S5, the angle limiting unit 1d reads out tbl corresponding to the same i as the value of n as tbl (n) from the constant table of FIG. Then, the angle limiting unit 1d adds tbl (n) to the yaw angle change amount ΔΘ. In the example in which the yaw angle change amount ΔΘ is −286 in step S1, ΔΘ = ΔΘ + tbl (7) = − 286 + 256 = −30.

In step S6, the angle limiting unit 1d adds ytmp to _{x n.} In the example in which the yaw angle change amount ΔΘ is −30 in step S5, x _n = x _n + ytmp = 16383 + 0 = 16383 using the initial value described in step S3.

At step S7, the angle limiting unit 1d draws a xtmp from _{y n.} In the example in which the yaw angle change amount ΔΘ is −30 in step S5, y _n = y _n −xtmp = −13−128 = 141 using the initial value described in step S3. Thereafter, the process proceeds to step S11.

When the process proceeds from step S4 to step S8, the angle limiting unit 1d reads out tbl corresponding to the same i as the value of n as tbl (n) from the constant table of FIG. Then, the angle limiting unit 1d subtracts tbl (n) from the yaw angle change amount ΔΘ. In step S9, the angle limiting unit 1d draws a ytmp from _{x n.} In step S10, the angle limiting unit 1d adds xtmp to _{y n.} Thereafter, the process proceeds to step S11.

In step S11, the angle limiting unit 1d updates xtmp with a value obtained by shifting _xn by n-1 bits. In the example in which the yaw angle change amount ΔΘ is −30 in step S5, the angle limiting unit 1d acquires 256 by shifting 16383, which is the value of _xn at the time of step S11, to the right by 6 bits, The xtmp is updated by the 256.

In step S12, the angle limiting unit 1d updates the ytmp the value obtained by the _{y n} and n-1 bit shift. Yaw angle variation ΔΘ is, in the example became -30 in step S5, the angle limiting unit 1d may get -2 by shifting the -141 is the value of y _n in step S12 the time to the right by 6 bits Then, ytmp is updated by -2.

  In step S13, the angle limiting unit 1d increments n by one. In the example in which the yaw angle change amount ΔΘ is −30 in step S5, n = 7 + 1 = 8.

In step S14, the angle limiting unit 1d determines whether the value of n is smaller than 11. The value of the above equation (19) when n = 11 is an approximation of tan ⁻¹ (1/2 ¹¹⁻¹ ), that is, 0.000976 [rad] = 0.056 [deg]. This value is set so that the angle is equal to or less than the resolution of the yaw rate sensor × the calculation cycle, for example. If it is determined that the value of n is smaller than 11, the process returns to step S4. If it is determined that the value of n is 11 or more, the process proceeds to step S15. When the process proceeds to step S15, _{x n} becomes an approximation sufficiently close to cos (ΔΘ), _{y n} is the approximate value sufficiently close to sin (ΔΘ).

In step S15, the vehicle position calculation unit 1e calculates cos (β + Θ + ΔΘ) from cos (ΔΘ) and sin (ΔΘ) obtained by the angle limiting unit 1d and the known cos (β + Θ) and sin (β + Θ). . Then, the vehicle position calculation unit 1e obtains an integral value of the trigonometric function of the above equation (1) from the obtained cos (β + Θ + ΔΘ), and the integration value, the position (X ₀ ) obtained by the obtaining unit 1a, and the vehicle speed V From this, the position (X) of the vehicle in the X-axis direction is obtained.

In step S16, the vehicle position calculation unit 1e obtains sin (β + Θ + ΔΘ) from cos (ΔΘ) and sin (ΔΘ) obtained by the angle limiting unit 1d and known cos (β + Θ) and sin (β + Θ). . The vehicle position calculating section 1e calculates an integral value of a trigonometric function of the equation (2) from sin (β + Θ + ΔΘ) which is determined, and the integration value, position acquired by the acquiring unit 1a (Y ₀₎ and the vehicle speed V The position (Y) of the vehicle in the Y-axis direction is obtained from the above.

<Summary of Embodiment 1>
In a general vehicle position detection apparatus, the position of the vehicle is calculated using the above formulas (1) and (2). On the other hand, the estimation unit 1f provides a predetermined value (x _n , y _n) that is defined in advance as a value that is obtained midway when the calculation of the CORDIC algorithm is performed on the yaw angle change amount ΔΘ within a predetermined range. , Xtmp, ytmp, tbl) and the speed and yaw angle change amount, the position in the front-rear direction of the vehicle and the position in the left-right direction of the vehicle are obtained. According to the vehicle position detection device 1 according to the first embodiment including such an estimation unit 1f, the number of times of the loop processing is reduced rather than performing the loop processing in the order of n = 1, 2, 3,. Therefore, the load for obtaining the trigonometric function value can be reduced.

  Further, in the techniques described in Patent Documents 1 and 2, after performing region determination to determine which of the divided regions into which the range of 0 ° to 360 ° belongs, the value of the trigonometric function of the angle Is calculated. However, the CORDIC algorithm is originally an algorithm that is applied in the range of -90 ° to 90 °, and in the first embodiment, the range of the yaw angle change amount is limited, and thus such region determination is not required. In addition, some of the calculations performed by the techniques described in Patent Documents 1 and 2 are not necessary. Also from this point, according to the vehicle position detection device 1 according to the first embodiment, it is possible to reduce the load for obtaining the value of the trigonometric function. As a result, the value of the trigonometric function can be obtained appropriately using an inexpensive microcomputer that does not incorporate floating point arithmetic or trigonometric function arithmetic.

  In the above description, an example in which the vehicle position detection device 1 uses the CORDIC algorithm has been described. However, the present invention is not limited to this, and when the vehicle position detection device 1 stores in advance a table of trigonometric functions whose angles are limited and calculates using the table, the number of trigonometric functions tables should be reduced. Can do. As a result, the value of the trigonometric function can be obtained even with an inexpensive microcomputer having a small storage capacity.

<Other variations>
The acquisition unit 1a and the estimation unit 1f in FIG. 2 described above are hereinafter referred to as “acquisition unit 1a and the like”. The acquisition unit 1a and the like are realized by the processing circuit 81 illustrated in FIG. That is, the processing circuit 81 is preliminarily defined as a value that is obtained in the middle when the acquisition unit 1a that acquires the vehicle speed and yaw rate and the calculation of the CORDIC algorithm is performed on the yaw angle change amount within a predetermined range. An estimation unit 1f that obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on the specified value and the amount of change in speed and yaw angle. Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied. The processor corresponds to, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), and the like.

  When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate). Array) or a combination thereof. Each function of each unit such as the acquisition unit 1a may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by a single processing circuit.

  When the processing circuit 81 is a processor, the functions of the acquisition unit 1a and the like are realized by a combination with software or the like. Note that the software or the like corresponds to, for example, software, firmware, or software and firmware. Software or the like is described as a program and stored in a memory. As shown in FIG. 6, the processor 82 applied to the processing circuit 81 reads out and executes the program stored in the memory 83 to realize the functions of the respective units. That is, when the vehicle position detection device 1 is executed by the processing circuit 81, the vehicle speed and yaw rate are obtained, and the calculation of the CORDIC algorithm is performed on the yaw angle change amount within a predetermined range. As a result, a step of obtaining a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle on the basis of a prescribed value prescribed as a value obtained in the middle of the vehicle and a change in speed and yaw angle is executed as a result. A memory 83 for storing a program to be stored is provided. In other words, this program can be said to cause a computer to execute procedures and methods such as the acquisition unit 1a. Here, the memory 83 is nonvolatile or non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage media used in the future May be.

  The configuration in which each function of the acquisition unit 1a and the like is realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration in which a part of the acquisition unit 1a or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the function of the acquisition unit 1a is realized by a processing circuit 81 and a receiver as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes a program stored in the memory 83 for the other parts. This function can be realized.

  As described above, the processing circuit 81 can realize the functions described above by hardware, software, or the like, or a combination thereof.

  The vehicle position detection device 1 described above is at least one of a navigation device such as a PND (Portable Navigation Device), a communication terminal including portable terminals such as a mobile phone, a smartphone, and a tablet, and a navigation device and a communication terminal. The present invention can also be applied to a vehicle position detection system constructed as a system by appropriately combining functions of an application installed in one and a server. In this case, each function or each component of the vehicle position detection device 1 described above may be distributed and arranged in each device that constructs the system, or may be concentrated on any device. Also good.

  FIG. 7 is a block diagram showing the configuration of the server 91 according to this modification. The server 91 of FIG. 7 includes a communication unit 91a and a control unit 91b, and can perform wireless communication with a vehicle device 93 such as a navigation device of the vehicle 92.

  The communication unit 91 a that is an acquisition unit receives the speed and yaw rate of the vehicle 92 acquired by the vehicle device 93 by performing wireless communication with the vehicle device 93.

  The control unit 91b has a function similar to that of the estimation unit 1f described above, when a processor (not illustrated) of the server 91 executes a program stored in a memory (not illustrated) of the server 91. In other words, the control unit 91b converts the predetermined value, which is obtained in the middle of the calculation of the CORDIC algorithm to the yaw angle change amount within a predetermined range, and the speed and yaw angle change amount. Based on this, the position in the front-rear direction of the vehicle 92 and the position in the left-right direction of the vehicle 92 are obtained. And the communication part 91a transmits the position calculated | required by the control part 91b to the vehicle apparatus 93. FIG. According to the server 91 configured as described above, it is possible to obtain the same effect as that of the vehicle position detection device 1 described in the first embodiment.

  FIG. 8 is a block diagram showing the configuration of the communication terminal 96 according to this modification. The communication terminal 96 of FIG. 8 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and can perform wireless communication with the vehicle device 98 of the vehicle 97. ing. For example, mobile terminals such as mobile phones, smartphones, and tablets carried by the driver of the vehicle 97 are applied to the communication terminal 96. According to the communication terminal 96 configured as described above, the same effect as that of the vehicle position detection device 1 described in the first embodiment can be obtained.

  In the present invention, the embodiments can be appropriately modified and omitted within the scope of the invention.

  DESCRIPTION OF SYMBOLS 1 Vehicle position detection apparatus, 1a acquisition part, 1b angle calculation part, 1c angle comparison part, 1d angle restriction part, 1e vehicle position calculation part, 1f estimation part.

A vehicle position detection apparatus according to the present invention includes a acquiring unit that acquires a vehicle speed and a yaw rate, and calculates a CORDIC algorithm for a yaw angle change amount based on the yaw rate and within a predetermined range. By performing the calculation of the CORDIC algorithm from the intermediate loop process based on the specified value that is specified in advance as a value obtained in the intermediate loop process and the speed and the yaw angle change amount , An estimation unit that obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle.

Claims (6)

An acquisition unit for acquiring the speed and yaw rate of the vehicle;
A prescribed value defined in advance as a value obtained in the middle of the calculation of the CORDIC algorithm for a yaw angle change amount based on the yaw rate and within a predetermined range, the speed and the speed A vehicle position detection device comprising: an estimation unit that obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on a yaw angle change amount. The vehicle position detection device according to claim 1,
The estimation unit includes
An angle calculator that calculates the yaw angle change amount based on the yaw rate;
An angle comparison unit for determining whether or not the yaw angle change amount is within the predetermined range;
When the angle comparison unit determines that the yaw angle change amount is within the predetermined range, the speed is calculated based on the specified value and the yaw angle change amount. And an angle limiting unit for obtaining a trigonometric function value for decomposing the left and right components,
A vehicle position detection device including a vehicle position calculation unit that obtains a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on the value of the trigonometric function and the speed.   A vehicle that controls movement of the vehicle along a lane based on a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle detected by the vehicle position detection device according to claim 1 or 2. Control device. Get vehicle speed and yaw rate,
A prescribed value defined in advance as a value obtained in the middle of the calculation of the CORDIC algorithm for a yaw angle change amount based on the yaw rate and within a predetermined range, the speed and the speed A vehicle position detection method for obtaining a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on a yaw angle change amount. The vehicle position detection method according to claim 4,
Obtaining the position in the front-rear direction and the position in the left-right direction of the vehicle,
Obtaining the yaw angle change amount based on the yaw rate;
Determining whether the yaw angle variation is within the predetermined range;
When it is determined that the yaw angle change amount is within the predetermined range, based on the specified value and the yaw angle change amount, the speed is changed in the front-rear direction component and the left-right direction. Obtaining a trigonometric function value to decompose into components, and
A vehicle position detection method, comprising: obtaining a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle based on the value of the trigonometric function and the speed.   A vehicle for controlling movement of the vehicle along a lane based on a position in the front-rear direction of the vehicle and a position in the left-right direction of the vehicle detected by the vehicle position detection method according to claim 4 or 5. Control method.

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