JP2584297B2 - Travel route display device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling route display device for displaying a current position of a moving body such as an automobile on a screen on which a road map is set in advance.

2. Description of the Related Art Recently, as will be described in detail later, for example, when a mobile body travels in an unguided area or the like, a distance sensor is provided to provide appropriate guidance so that the driver does not get off the planned course and lose his way. The traveling distance of the moving body is detected by the moving body, and the traveling direction of the moving body is detected by the direction sensor.
Driving in which the current position of the moving object is updated and displayed in advance on a screen on which a road map is projected, while the position on the dimensional coordinates is cumulatively obtained by calculation and the data of each obtained position is stored and stored. Route display devices have been developed.

However, in such a traveling route display device, the occurrence of a position error due to each detection accuracy of the distance sensor and the direction sensor according to the traveling state of the moving body cannot be denied. Is accumulated and the current position deviates from the driving course on the map,
There is a problem that it becomes impossible to determine on which road on the map the vehicle is traveling.

Conventionally, however, the operator manually checks the traveling trajectory of the moving body by performing a test run on a predetermined course so that the traveling trajectory of the moving body does not deviate from the predetermined course. The output of the sensor or the distance sensor is adjusted appropriately. However, since the characteristics such as the sensitivity of the distance sensor or the direction sensor change depending on the surrounding environment and aging, a highly accurate sensor output is always obtained. In order to achieve this, it is necessary to frequently perform test runs to adjust the output of the distance sensor or the direction sensor.

Objective The present invention has been made in consideration of the above points, and always performs output correction of a distance sensor or a direction sensor during normal running of a moving object without using a mode for correcting sensor output such as test running. It is an object of the present invention to provide a traveling route display device which can be automatically operated.

In order to achieve the object, the present invention provides, in a travel route display device, means for matching a road pattern on a map with a travel locus pattern of a moving object, and a direction to be compared in both of the matched patterns. And means for calculating the ratio of the deviation between parameters such as distance and distance, and means for correcting the sensor output by multiplying the output of the distance sensor or direction sensor relating to the parameter causing the deviation by the ratio. It is characterized by:

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an example of the configuration of a traveling route display device according to the present invention. The basic configuration thereof is, for example, a photoelectric type or an electromagnetic type which outputs a pulse signal per unit traveling distance in accordance with the rotation of an automobile tire. Sensor or mechanical contact sensor, and a direction sensor 2 that outputs a signal that is compared with a direction change amount accompanying travel of a moving body, such as a gyroscope that detects a change in angular velocity in the yaw direction.
And counting the number of pulse signals from the distance sensor 1 to measure the traveling distance of the moving body, and changing the traveling direction of the moving body in accordance with the output signal of the direction sensor 2 so that the moving body moves at a constant traveling distance. CPU, ROM for program, and R for control that determine the position on two-dimensional coordinates by sequential calculation and perform centralized control of the entire system
A signal processing device 3 composed of an AM or the like, and the signal processing device 3
A travel locus storage device 4 that sequentially stores data of the position on the two-dimensional coordinates that change every moment and that is stored as finite continuous position information corresponding to the current position of the moving object, A map information storage medium 5 in which a plurality of road map information are stored in file units, a storage medium reproducing device 6 for selectively reading a required road map file from the storage medium 5, and a read map file. In response to this, a map image is displayed on the screen, and based on the position data stored in the travel locus storage device 4, the current position of the moving object, the traveling direction of the moving object at the current position, and the traveling up to the current position. A display device 7 for selectively updating the trajectory on the same screen as the mobile unit travels, and giving an operation command to the signal processing device 3; Allows the user to specify the options of the road map to be displayed and to set the starting point of the moving object on the displayed map, and to change the direction of the map to be traveled and the travel locus, shift the display position thereof, and map and travel locus portions. The operation device 8 is capable of appropriately changing display settings such as enlarged display and selection of a display scale.

In such a configuration, as shown in FIG. 2, the selectively read road map is displayed on the screen of the display device 7, and the road map from the starting point S set on the road map is displayed. In accordance with the traveling of the moving object, X is set according to the scale of the map set in advance by the signal processing device 3.
-A display mark M1 indicating the current position of the vehicle on the Y map, a display mark indicating the traveling direction of the moving body at the current position.
M2 and a running locus display mark M3 from the starting point S to the current position are simulated and displayed following the running state of the moving body. The travel locus display mark M3 is selectively displayed by an input instruction from the operation device 8.

The above configuration and operation are the same as those of the conventional traveling route display device described at the beginning.

Accordingly, in such a traveling route display device, as shown in FIG. 3, the current position and the traveling locus up to that point gradually deviate from the road on the map as the traveling of the moving object progresses due to the accumulated error described above. Eventually, it becomes impossible to determine which point on the map the moving object is traveling.

Therefore, in the present invention, the signal processing device 3 always compares the data of the current position of the moving object with the position data of the road on the map displayed on the screen. When it is detected that the current position deviates continuously from the road on the map for a fixed section, a general pattern matching method is used to determine the position of the current position and the traveling trajectory pattern of the moving body in front of it. Matching the road pattern on the map in the vicinity, and partially matching the running locus so that the current position of the moving object is displayed on the road with the pattern with the highest matching rate with the running locus pattern. Let them do it.

For example, FIGS. 4 (a) and 4 (b)
As shown in the figure, focusing on a characteristic portion such as a bending point A between the matched road pattern P1 and the traveling trajectory pattern P2, the current position of the moving body is centered on the bending point A. The traveling locus pattern P2 is rotated until the display mark M1 on the road pattern P1 comes over the road pattern P1.

According to the present invention, when the signal processing device 3 performs the matching so that the traveling locus of the moving object is on the road on which the pattern is matched, the road pattern
It is determined that the change angle θa of the traveling direction of the moving object detected by the direction sensor 2 which is a factor of the deviation between P1 and the traveling locus pattern P2 is smaller than the bending angle θb of the road on the map. Direction ratio θb / θa between the road pattern P1 at the time and the traveling locus pattern P2 of the moving object is obtained, and the obtained direction deviation ratio θb / θa is used as a correction coefficient, and 2, the output of the direction sensor 2 is corrected.

In this case, as the correction coefficient, in addition to the above, it is conceivable to adopt (θb / θa) · k that gives a predetermined constant k to the direction deviation ratio θb / θa in consideration of an error.

FIGS. 5 (a) and 5 (b) show characteristic patterns P1 such that the display mark M1 of the current position of the moving object is placed on the road pattern P1 whose pattern has been matched. , P2 shows a case where the traveling locus pattern P2 of the moving body is moved in parallel so that the bending points B and B 'coincide with each other to perform the matching.

According to the present invention, when such matching is performed, in the signal processing device 3, the distance is detected by the distance sensor 1 between the bending points B and C, which causes a deviation between the road pattern P1 and the traveling locus pattern P2. Is determined to be smaller than the distance Lb between the corresponding bending points B 'and C' of the road on the map, and the road pattern P1 and the traveling locus pattern P2 at that time are determined. Between the distance sensor 1 and the output of the distance sensor 1 by multiplying the output of the distance sensor 1 by using the obtained ratio Lb / La of the distance shift as a correction coefficient. Output correction is performed.

In this case, as the correction coefficient, (Lb / La) · k, which is obtained by multiplying the ratio Lb / La of the distance deviation by a predetermined constant k in consideration of an error, may be used.

As described above, according to the present invention, a moving object that has been fitted on a predetermined road by pattern matching so that the current position of the moving object that is off the road on the map displayed on the screen is located on that road. The road pattern is determined such that the current position on the two-dimensional coordinates obtained by calculation based on the respective outputs of the distance sensor 1 and the direction sensor 2 comes to the corrected position by the pattern matching based on the assumption that the traveling locus is correct. The output correction of the distance sensor 1 and / or the direction sensor 2 relating to the parameter that causes the deviation between P1 and the travel path pattern P2 can be automatically performed.

In the present invention, not only the outputs of the distance sensor 1 and the direction sensor 2 in the traveling route display device described above are corrected, but also the other general sensors can be similarly applied.

Effect As described above, in the traveling route display device according to the present invention, the output accuracy of the distance sensor or the direction sensor is reduced to cause a position error, and the position error is accumulated as the moving body travels. Even if the current position displayed on the map deviates from the road and it is not clear which point on the road is currently located on the map, the pattern of the traveling trajectory of the moving object and the By matching with the road pattern, even if the roads are tightly packed, it is possible to reliably identify the currently running road on the map and to drive the road on the identified map. The output correction of the distance sensor or the direction sensor can be automatically and appropriately performed according to the state of the position of the trajectory or the deviation of the angle. Therefore, in order to cope with a change with time of the sensor output, the sensor output is not changed in accordance with the actual running of the moving body without frequently performing a special test run or the like for adjusting the sensor output. There is an excellent advantage that the adjustment can be performed accurately.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an example of a configuration of a traveling route display device according to the present invention, FIG. 2 is a diagram showing an example of a display screen on the traveling route display device, and FIG. FIGS. 4 (a) and 4 (b) are diagrams showing a state of deviating from a road on a displayed map, and FIGS. 4 (a) and 4 (b) show an example of a procedure for adjusting a traveling locus of a moving body to a road on a map on which pattern matching has been performed. FIGS. 5 (a) and 5 (b) are diagrams showing another example of a procedure for matching the traveling trajectory of a moving object to a road on a map on which pattern matching has been performed. DESCRIPTION OF SYMBOLS 1 ... Distance sensor, 2 ... Direction sensor, 3 ... Signal processing device, 4 ... Traveling locus storage device, 5 ... Map information storage medium, 6 ... Storage medium reproduction device, 7 ... Display device, 8 ......
Operation device

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Takahiro Gunji 1-4-1 Chuo, Wako-shi, Saitama Pref. Honda Research Institute Co., Ltd. (56) References JP-A-58-206912 (JP, A) JP-A Sho 60-229799 (JP, A) JP-A-64-35312 (JP, A) JP-A-64-35313 (JP, A)

Claims (3)

(57) [Claims] A travel distance of a moving body is detected by a distance sensor, and a traveling direction of the moving body is detected by a direction sensor. In a traveling route display device for updating and displaying the current position of the moving object on a screen on which a road map is projected in advance while storing data of the obtained positions, the road pattern and the movement on the map are determined. A means for matching with the running trajectory pattern of the body, a means for calculating a ratio of a shift between parameters to be compared in the two matched patterns, and a distance sensor or a direction sensor relating to the parameter causing the shift Means for correcting the sensor output by multiplying the output of the vehicle by the ratio. Road display device. 2. The travel route display device according to claim 1, wherein the parameter is a direction, and an object whose sensor output is to be corrected at that time is a direction sensor. 3. The travel route display device according to claim 1, wherein the parameter is a length, and an object whose sensor output is corrected at that time is a distance sensor.