JP2021006833A - 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 moving body.

Conventionally, there has been known a technique for correcting an output error of a directional sensor based on an output of a GPS receiver or the like when determining a display position of a vehicle's current location based on an output of a directional sensor or the like. Further, Patent Document 1 describes a technique for more accurately calculating the position and orientation of a vehicle by correcting the output of an angular velocity sensor when the vehicle turns at a predetermined angle and the GPS receiver cannot receive radio waves. Is disclosed.

JP-A-2010-38889

In Patent Document 1, since the error of the directional sensor caused by the gradient in the front-rear direction of the vehicle when passing through the slope of the underground parking lot is corrected, the directional sensor caused by the height difference (bank) in the left-right direction is corrected. No disclosure or suggestion has been made as to how to deal with the error. Further, in Patent Document 1, there is a peculiar precondition such as fixing the gradient angle to a predetermined angle, and the same method cannot be applied when a vehicle passes through a road having 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 location on a map even when traveling on a road with a bank. Is the main purpose.

The invention according to claim 1 is a position recognition device that recognizes the current location of a moving body, and is based on a storage unit that stores map data including information of a bank provided on a road and the information of the bank. A determining means for determining whether or not the traveling road on which the moving body is traveling has a bank, and when the determining means determines that the traveling road has a bank, the current location on the map is recognized based on the map data. It is characterized by having a means for determining the current location.

It is a figure which shows the loop type road provided with a bank. It is a figure which shows the vehicle running on the road where the bank is provided. This is an example of a schematic configuration of the navigation device according to this embodiment. It is a flowchart which shows the processing procedure in 1st Example. It is a flowchart which shows the processing procedure in 2nd Example.

According to a preferred embodiment of the present invention, it is a position recognition device that recognizes the current location of a moving body, and is based on a storage unit that stores map data including information of a bank provided on a road and information of the bank. , A determination means for determining whether or not the traveling road on which the moving body is traveling has a bank, and when the determination means determines that the traveling road has a bank, the current location on the map is based on the map data. It is equipped with a means for determining the current location to recognize.

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

Generally, the bank is provided on a road having a spiral shape, and when a moving body travels on the road, an error occurs in the output of the directional sensor due to the 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 current location by recognizing the current location on the map based on the map data.

In one aspect of the position recognition device, an orientation sensor for detecting the amount of change in the angular velocity of the moving body based on the acceleration in the left-right direction of the moving body is further provided, and the current location determining means does not have a bank on the traveling road. When the determination means determines, the current location is recognized based on the output of the orientation sensor. Here, the "left-right direction of the moving body" refers to a direction on the ground surface where the moving body exists and perpendicular to the traveling direction of the moving body. On a road without a bank, the error of the directional sensor due to the bank does not occur. Therefore, when traveling on a road without a bank, the position recognition device can accurately recognize the current location by using the output of the directional sensor. it can.

In another aspect of the position recognition device, when the determination means determines that the traveling road has a bank, the current location determining means recognizes that the current location is at a position along the road on the map. .. By doing so, the position recognition device can prevent the position recognition device from recognizing that the current location is off 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 information of the bank included in the map data, and the current location determining means corrects the orientation based on the bank angle. The current location is recognized based on the output value of the sensor. According to this aspect, the position recognition device can suitably correct the output error of the directional sensor due to the bank and accurately determine the current location.

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

In another aspect of the position recognition device, the determination means prohibits calibration of the output value of the orientation sensor when it determines that the traveling road has a bank. As a result, the position recognition device can suppress erroneously calibrating the output of the directional sensor based on the output error of the directional sensor due to the bank.

In another aspect of the position recognition device, a GPS receiver is further provided, and the current location determination means recognizes the current location based on the map data when the GPS receiver cannot receive radio waves. According to this aspect, the position recognition device can recognize the current location based on the map data only when there is a high possibility that the display of the current location deviates 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, it further determines whether or not the moving body passes through the branch point, and the moving body passes through the branch point. When the determination means makes a determination, the amount of angle change output by the orientation sensor immediately before the determination and the amount of angle change on the map data of the traveling road calculated immediately before the determination. Based on the ratio, the angle change amount output by the orientation sensor at the time of the determination is corrected, and based on the corrected angle change amount, a traveling road recognition means for recognizing the road on which the moving body travels after the branch point is further provided. Be prepared. Generally, on roads with banks, the angle of the banks does not change abruptly. Therefore, in this aspect, the position recognition device outputs the directional sensor at the division point based on the ratio of the previous value of the angle change amount output by the directional sensor to the angle change amount of the road on the map data. It is possible to accurately correct the amount of change in the angle and recognize the driving road after the branch.

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

In another embodiment of the present invention, the program is mounted on and executed in a position recognition device including a storage unit that recognizes the current location of the moving body and stores map data including information of a bank provided on the road. Based on the information of the bank, the determining means for determining whether or not the traveling road on which the moving body is traveling has a bank, and when the determining means determines that the traveling road has a bank, based on the map data. The position recognition device is made to function as a current location determination means for recognizing the current location on the map. By installing and executing this program, the position recognition device can accurately display the current location on the map even when traveling on a road having a bank. The program is preferably stored in 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, and "calibration" means constant hardware error. It refers to giving an offset or gain to the measured value in order to correct such an error.

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

(1) Road with Bank FIG. 1 shows a height difference in the left-right direction perpendicular to the traveling direction of the vehicle, that is, a loop-type road 90 with a bank. The arrow shown in FIG. 1 indicates the traveling direction of the vehicle.

A bank may exist on a curved road having a constant curvature (turning angle) and having a relatively high speed limit setting, such as the loop type road 90 shown in FIG. The bank is provided to alleviate the centrifugal force generated by the horizontal rotation of the vehicle with respect to the traveling direction by releasing a part of the centrifugal force in the pushing direction of the ground for the purpose of reducing the centrifugal force when the vehicle is moving. Be done. Hereinafter, the road on which the bank is provided is referred to as a "bank road".

The bank may be set even on a curved road having a turning angle of about 90 degrees, but on a road formed in a loop shape as shown in FIG. 1, the effect of increasing running stability is particularly effective. Since it is expensive, it is often set.

(2) Output Error of Angular Velocity Sensor on Bank Road Next, an error (output error) that occurs in the output of the directional sensor when a vehicle is traveling on the bank road will be described. Hereinafter, a case will be described in which a navigation device is equipped with an azimuth sensor (here, an angular velocity sensor that detects a change in azimuth based on acceleration) that detects the amount of change in directional direction in which the vehicle travels.

FIG. 2 is a diagram showing a state in which a vehicle equipped with a navigation device having an angular velocity sensor is traveling on a loop type road 90 which is a bank road. In FIG. 2, the line segment "AB" is a line segment along the left-right 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 segment. A line segment extending in the horizontal direction perpendicular to the direction. Then, it is assumed that the angular velocity sensor is attached so as to detect the acceleration in the line segment AB direction (that is, the side direction of the vehicle). Further, the angle formed by the bank road with respect to the horizontal direction (angle “θ” in FIG. 2) is also referred to as “bank angle”.

As shown in FIG. 2, when the vehicle is traveling on the 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 line segment AB direction, whereas 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 plane) 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 problem First, a specific example of a general method for the navigation device to determine the display position of the current location of the vehicle on the map will be described. At the start of traveling of the vehicle, the navigation device recognizes the current location and the direction of travel 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 direction of travel by using the vehicle speed sensor and the angular velocity sensor, makes fine adjustments to match the recognized current location with the map data, and displays the current location on the map. Further, the navigation device determines whether or not the display position of the current location specified based on the vehicle speed sensor, the angular velocity sensor, and the map data is significantly deviated from the position of the vehicle based on the output of the GPS receiver, and is deviated significantly. If it is determined, the position of the vehicle based on the output of the GPS receiver is set as the display position of the current location of the vehicle.

Further, 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 The output of is calibrated based on the output of the GPS receiver and the map data. This will be supplementarily described. While the GPS receiver outputs the absolute direction of north, south, east, and west from one positioning data, the angular velocity sensor calculates the direction by integrating the amount of change in angle with respect to the previous direction. Therefore, if there is an error in the output of the angular velocity sensor, the absolute azimuth in which each output is integrated may deviate significantly, so that the angular velocity sensor is calibrated as described above.

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

However, when the bank road on which the vehicle travels exists in the tunnel, the navigation device corrects the turning angle on the map surface based on the output value of the GPS receiver because the GPS receiver cannot receive radio waves. Can't. Therefore, in this case, the navigation device must trust either the incorrect 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. You won't get it.
(3-1) Problem in Trusting the Output of the 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 location on the output map gradually deviates from the exact position to be displayed.
(3-2) Issues when trusting map data When determining the display position of the current location 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 location displayed above does not deviate significantly from the exact position that should be displayed. However, the following two problems occur during normal operation.

The first problem is that it is difficult to set conditions for determining whether or not to execute the method of determining the display position of the current location based on the map data. Generally, when traveling on a road other than a bank road, it is necessary to assume the possibility that the vehicle will come out in an area other than the road, such as when the vehicle enters a parking lot. However, if the conditions for executing the method of determining the display position of the current location based on the map data are relaxed, the navigation device mistakenly thinks that the vehicle is traveling on the road even if the vehicle is traveling other than the road. The possibility of making a judgment increases.

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 current location output on the map based on the output of the GPS receiver and the map data from the position recognized based on the output of the angular velocity sensor, in addition to this, the angular velocity sensor The output of is calibrated based on the output of the GPS receiver and the map data. Therefore, in this case, the navigation device may determine the output error of the angular velocity sensor due to the bank angle as the error of the output itself of the sensor, and may erroneously learn the output of the angular velocity sensor based on the map data. There is sex.

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

In consideration of the above, the navigation device described below stores the bank information as map data in advance, and refers to the map data to determine whether or not the vehicle is traveling on the bank road. Then, 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.

[Outline 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 the vehicle. As shown in FIG. 3, the navigation device 1 includes an autonomous 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. It includes a unit 50 and an input device 60.

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 composed of, for example, a piezoelectric element, detects the acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibration gyro, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative orientation data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the wheels of the vehicle.

The GPS receiver 18 receives radio waves 19 that carry 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 CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.

The interface 21 performs an interface operation 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 orientation data, angular velocity data, GPS positioning data, absolute orientation data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20 by executing a program prepared in advance. The ROM 23 has a non-volatile memory (not shown) or the like in which a control program or the like for controlling the system controller 20 is stored. The RAM 24 readablely 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, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are connected to each other via a bus line 30. It is connected to the.

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

The data storage unit 36 is a unit composed of, for example, an HDD or the like, and stores various data used for navigation processing such as map data. The data storage unit 36 stores road data in which information on each road is represented by nodes and links as map data. Here, the road data specifically corresponds to a node number, position coordinates, node type, number of connecting links, connecting node number, intersection name, and the like. Further, the data storage unit 36 adds information indicating that the road is a bank road to the road data corresponding to the bank road and stores the data. The data storage unit 36 is an example of the "storage unit" in the present invention.

The communication device 38 is composed of, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, or the like, and is distributed from an VICS (Vehicle Information Communication System, registered trademark) center or the like (hereinafter referred to as "VICS information"). Call) is acquired from the radio wave 39. Then, the interface 37 operates the interface of the communication device 38 and inputs VICS information to the system controller 20 and 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 a map read from the data storage unit 36 by the system controller 20, the current location of the vehicle, and the like on the display screen. The display unit 40 includes 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 VRAM (Video RAM), and can display image information immediately. It includes a buffer memory 42 that temporarily stores a buffer memory 42, a display control unit 43 that controls the display of a display 44 such as a liquid crystal display or 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 having a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

Under the control of the system controller 20, the audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data transmitted from the CD-ROM drive 31, DVD-ROM 32, RAM 24, etc. via the bus line 30. The D / A converter 51 to perform the operation, the amplifier (AMP) 52 for amplifying the audio analog signal output from the D / A converter 51, and the speaker 53 for converting the amplified audio analog signal into audio and outputting it into the vehicle. It is configured to prepare.

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

The system controller 20 is on the map displayed on the display unit 40 based on the output signal supplied from the self-supporting imposition device 10, the output signal supplied from the GPS receiver 18, and the map data stored in the data storage unit 36. Display the current location of the vehicle in. As described above, the system controller 20 is an example of the "determination means", the "current location determination means", and the "travel road recognition means" in the present invention.

[First Example]
First, in the first embodiment, a method in which the navigation device 1 determines the display position of the current location 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 the bank road, the distance sensor 13 moves along the link on the map data. The display position of the current location is moved by the detected mileage. 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 such as the current location on the map not being displayed correctly and the output of the angular velocity sensor 12 being unnecessarily calibrated occur. In consideration of the above, in the first embodiment, the data storage unit 36 stores the bank information in the map data so that it can be recognized in advance whether or not each road is a bank road. As a result, the system controller 20 can appropriately determine whether or not the vehicle is traveling on the bank road.

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

In addition to this, when the system controller 20 has a branch point when traveling on a bank road, an estimated value (“estimated value Δβtag”” obtained by excluding an error due to the bank from the amount of angle change output by the angular velocity sensor 12 It is also called), and the driving road after the branch point is recognized from the estimated value Δβtag.

Here, a method for calculating the estimated value Δβtag 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 the angle change amount output by the angular velocity sensor 12 (““ Data angle change amount Δα ”). The amount of change in the sensor angle Δβ ”) is acquired, and these values are stored in a memory such as the data storage unit 36. Here, the data angle change amount Δα is specifically defined as the angle formed by the link corresponding to the current location and the link corresponding to the current location immediately before the link. Then, when the system controller 20 determines that the current location is at the branch point of the branch road, the system controller 20 acquires the sensor angle change amount “Δβ1” acquired at the branch point immediately before that, as shown in the following equation (1). Alternatively, the value obtained by multiplying the ratio of the calculated data angle change amount “Δα0” and the sensor angle change amount “Δβ0” and stored in the memory is calculated as the estimated value Δβtag.

Δβtag = (Δα0 / Δβ0) × Δβ1 equation (1)
In this way, the system controller 20 assumes that the bank angle does not change abruptly on the bank road, and acquires it at the branch point based on the data angle change amount Δα0 and the sensor angle change amount Δβ0 acquired or calculated immediately before the branch point. The error generated in the sensor angle change amount Δβ1 is corrected.

When the road branches from the branch point to "n" (n is a positive integer), the data storage unit 36 stores n links corresponding to each branch road as map data. .. Here, each link has a different amount of data angle change Δα (here, “Δα11” to “Δα1n”). Therefore, in this case, the system controller 20 recognizes that the road indicated by the link corresponding to the data angle change amount Δα11 to Δα1n closest to the estimated value Δβtag is the traveling road at the branch destination. By doing so, the system controller 20 can appropriately identify the traveling road at the branch destination even when the branch point exists in the bank road.

(Processing flow)
Next, in the first embodiment, the processing procedure executed by the system controller 20 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 according to a predetermined cycle.

First, the system controller 20 determines whether or not the vehicle is traveling on the 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, the distance sensor 13, and the like as in step S103 described later, and also refers to the map data to determine the road on which the current location is located. Determine if it is a bank road.

Then, when the vehicle is traveling on the bank road (step S101: Yes), the system controller 20 recognizes the current location 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 mileage detected by the distance sensor 13. As a result, the system controller 20 can display the current location at an appropriate position on the map without being affected by the bank. Further, 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 location based on the outputs of the angular velocity sensor 12 and the distance sensor 13 (step S103). That is, in this case, as described in the section of [Basic description] (3) described above, the system controller 20 recognizes the current location by using, for example, the angular velocity sensor 12 and the distance sensor 13, and the GPS receiver 18 Based on the output and map data, the recognized current location is corrected as necessary and displayed on the map. Further, the system controller 20 appropriately calibrates the output value of the angular velocity sensor 12 based on the output of the GPS receiver 18 and the map data.

Next, in step S104, the system controller 20 determines whether or not the vehicle is at the branch point (step S104). Then, when 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 an 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 Δβtag is calculated according to the above equation (1). Then, the system controller 20 recognizes the traveling road after the branch based on the calculated estimated value Δβtag (step S107). As a result, the system controller 20 accurately recognizes the road after the branch even if there is an error in the output of the angular velocity sensor 12 due to the bank, and along the recognized road after the branch. You can display your current location.

[Second Example]
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 the bank road. Instead of this, in the second embodiment, in addition to the information that the data storage unit 36 is a bank road, the information for correcting the output of the angular velocity sensor 12 when traveling on the bank road (“bank correction information”). Also called.) Is memorized. Then, the system controller 20 corrects the output of the angular velocity sensor 12 based on the bank correction information. As a result, the system controller 20 appropriately determines the display position of the current location based on the output of the angular velocity sensor 12.

Here, the bank correction information is, for example, a bank angle or a correction value of the output of the angular velocity sensor 12 theoretically calculated based on 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 amount of change in the data angle Δα) by dividing by the cosine of the read bank angle. Further, 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 angular velocity sensor 12 based on the correction value. Correct the output of. When the above-mentioned correction value is, for example, the cosine of the bank angle, the system controller 20 corrects it by dividing the output angle of the angular velocity sensor 12 by the correction value, as in the former case described above. In this way, the navigation device 1 can appropriately correct the output error of the angular velocity sensor 12 caused by the bank by storing the bank correction information, and can accurately display the current location on the map.

(Processing flow)
Next, in the second embodiment, the processing procedure executed by the system controller 20 will be described. FIG. 5 is a flowchart showing a 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 according to a predetermined cycle.

First, the system controller 20 determines whether or not the vehicle is traveling on the 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, the distance sensor 13, and the like as in step S203 described later, and also refers to the map data to determine the road on which the current location is located. Determine if it is a bank road.

Then, when the vehicle is traveling on the bank road (step S201: Yes), the system controller 20 corrects the output of the angular speed sensor 12 based on the bank correction information (step S202). As a result, the system controller 20 can appropriately correct the output error of the angular velocity sensor 12 due to 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 due to the bank.

Then, the system controller 20 outputs the angular velocity sensor 12 and the distance sensor 13 and the like after the execution of step S202 or when the vehicle is not traveling on the bank road (step S201: No). Recognize the current location based on (step S203). That is, in this case, as described in the section of [Basic description] (3) described above, the system controller 20 recognizes the current location by using, for example, the angular velocity sensor 12 and the distance sensor 13, and the GPS receiver 18 Based on the output and map data, the recognized current location is corrected as necessary and displayed on the map. Further, the system controller 20 appropriately 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 due to the bank has not already occurred after the execution of step S202, the calibration of the output value of the angular velocity sensor 12 here 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 need to change the calculation method of the display position of the current location depending on whether or not it is a bank road, so that the system controller 20 is more stable and does not complicate the control. The display position can be determined. Further, according to the second embodiment, 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, so that when a branch point exists in the bank road. Even if there is, it is possible to correctly recognize the traveling road after branching without separately calculating the estimated value Δβtag.

[Modification example]
Hereinafter, modifications suitable for the first and second embodiments described above will be described. The following modifications may be applied to each of the above-described embodiments in any combination.

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

(Modification 2)
In the first embodiment and the second embodiment, 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, the navigation device 1 may display only the 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 proceed with respect to the destination by voice. Even in this case, the navigation device 1 can accurately recognize the current location and provide appropriate guidance based on the methods described in the first embodiment and the second embodiment.

Further, the navigation device 1 is not limited to the case where the destination, the stop-by place, etc. are set and navigation is performed, and even when the destination, the stop-by place, etc. are not set, the first embodiment. 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 location and display the current location on the map.

The present invention can be suitably applied to an in-vehicle navigation device, a PND (Personal Navigation Device), and other devices that display a current location together with a map.

1 Navigation device 10 Independent 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)

A position recognition device that recognizes the current location of a moving object.
A storage unit that stores map data including information on banks provided on the road,
Based on the information of the bank, a determination means for determining whether or not the road on which the moving body is traveling has a bank, and
When the determination means determines that the driving road has a bank, the current location determination means for recognizing the current location on the map based on the map data and the current location determination means.
A position recognition device characterized by comprising.

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