JP3231070B2 - Driving route matching method in navigation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling route matching method in a navigation device.

[0002]

2. Description of the Related Art In a navigation device, a traveling route is determined in advance, and a traveling distance is detected by a distance sensor of a vehicle during an actual traveling, and at the same time, a change in course is detected by an azimuth sensor. 2. Description of the Related Art There is known a navigation device configured to calculate a vehicle travel route based on a value, compare the vehicle travel route with the planned travel route, and sequentially correspond a current vehicle position to a position on the planned travel route.

[0003]

In the navigation device having such a configuration, when the vehicle travels on a straight road having a relatively long distance, there is a problem that errors in the distance sensor are accumulated and the vehicle goes out of the planned traveling route. . For example, in FIG. 8, when the vehicle travels on a long straight line of about 2000 m, there is a problem that the calculated current position is shifted to 7 'due to an error of the distance sensor. If this error is within the allowable range, an algorithm for correcting this error has already been developed and can be corrected. The route and the actual route tend to gradually separate in proportion to the distance from the departure,
There has been a problem that there is almost no opportunity to match these. In addition, since the allowable range is also constant, if the straight running distance is long, it becomes almost out of the allowable range in most cases, and there is a problem that more accurate determination cannot be performed.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and detects a change in the traveling distance and course of a vehicle, calculates a vehicle traveling route, and calculates the vehicle traveling route. In a navigation device that compares a route with a predetermined planned traveling route to make the current vehicle position correspond to a position on the planned traveling route, when a change in the route of the vehicle is detected, the detected position and the planned traveling route are detected. A deviation from the planned position (O) at which the course change is planned above is calculated, and a threshold based on the straight traveling distance immediately before the course change of the vehicle is set. If the difference is within the threshold, the detected position is matched with the planned position (O) on the planned traveling route, and the calculation of the vehicle traveling route is continued from there.
Further, two points, a vehicle position (Bn) detected thereafter and a predetermined position (An) on the planned traveling route at a predetermined distance from the planned position (O) are obtained, and the predetermined position (An) is determined.
And the line segment between the predetermined position (O) and the vehicle position (B
n) and the line segment between the predetermined position (O) (∠A
The basic feature is that nOBn) is obtained for an arbitrary number of n = 1 or more, and if the angle is within a predetermined value, the current vehicle position (Bn) is corrected to the predetermined position (An).

[0005]

Embodiments of the present invention will be described below with reference to the drawings. First, the configuration of an embodiment of a navigation device for implementing the method of the present invention will be described. As shown in FIG. 7, this navigation device includes a digitizer 1, a control device 2, and a display device 3. Digitizer 1
Converts the road information to be traveled into data from the printed map. That is, the digitizer 1 is a coordinate reading plate 1 in which a digitizing panel having resistive pressure-sensitive conductive wires stretched at predetermined intervals is embedded.
When a pressure is applied to the point with a pointed tip such as a ballpoint pen, the coordinates of the position where the pressure is applied are recognized and stored as a click point. The digitizer 1 is provided with a memory card slot 16 in which a memory card 9 is removably mounted, and a scheduled traveling constituted by the click point input by the digitizer 1 is provided. The course is configured to be stored. The drive circuit 11 is a coordinate reading plate 10
Is temporarily stored in the memory card 9 mounted on the memory card slot 16 and various data processing is performed. First, the coordinates are switched according to the scale of the map by operating the scale switch 12, and when the page of the map is switched, the coordinates of the point are changed to the next page according to the position where the ballpoint pen or the like stops on the previous page. It is configured to automatically convert to coordinates of. Reference numeral 19 denotes an ON / OFF switch.
Next, a method of using the above-described digitizer 1 will be described. First, the map is placed on the coordinate reading plate 10 and fixed, and the memory card 9 is mounted. Then, the user presses the ON / OFF switch 19 and sets the scale of the map with the scale switch 12 while watching the scale indicator 13. Next, check the starting point on the map, and click the running course sequentially with a pencil or ballpoint pen. Starting from G in the map of FIG.
It is assumed that a traveling course is planned in which the vehicle turns right at the intersection and turns left at the P intersection diagonally left. At this time, the points G, O, and P are clicked with a pencil or a ballpoint pen, so that GO, O
It is configured so that vector coordinates of P can be obtained. This is set as a scheduled course and stored in the memory card 9 via the drive circuit 11. By mounting the memory card 9 in the memory card slot 15 of the control device 2, the stored contents are transferred to the control device 2. The control device 2 is configured by software such as a microprocessor or the like, or is configured by a normal circuit. The control device 2 includes a program device 2
0, an arithmetic unit 21, and a display processing unit 22, and execute data processing according to a navigation algorithm stored in the program unit 20. Vehicle speed information from the speed sensor 4 or the wheel rotation sensor 5 is input to the control device 2, and based on this information, a computing device 21 is provided.
Calculates the traveling distance of the vehicle. When the vehicle continues to travel straight, the straight travel distance is integrated and stored. In addition, the geomagnetic sensor 6 or the gyroscope
The traveling direction of the vehicle by the step 8 is input to the control device 2, and the arithmetic unit 21 is configured to calculate the position of the own vehicle from the traveling distance and the direction of the vehicle. In addition,
The speed sensor 4 and the wheel rotation sensor 5 may include only one or both. The geomagnetic sensor 6 and the gyroscope 8 may be either one or both. The defogger shunt 7 is for canceling the defogger. Information from these sensors is input to the arithmetic unit 21 via the correction device 23, the correction device 24, the correction device 25, and the correction device 26. These correction devices are provided especially for improving the accuracy of dead reckoning, and are intended to remove the magnetic influence of the geomagnetic sensor 6, the noise of the speed sensor 4, and the wheel rotation sensor 5, and the like. The control device 2 calculates the own vehicle position based on the information from each sensor, associates the set planned traveling route stored in the memory card 9 with the own vehicle position, and displays the display device via the display processing device 22. 3 is displayed. The display device 3 includes a display panel 30, a drive circuit 31, and an ON / OFF switch 32.
The display is executed on the display panel 30 in accordance with the display command from the display processing device 22 of the control device 2.

An embodiment of the traveling route matching method according to the present invention in the navigation device having the above configuration will be described. In FIGS. 1 and 2, it is assumed that a scheduled course X is set, and an error d in the distance shown in FIG. FIG. 1 shows a case where the estimated position exceeds the expected position, and FIG. 2 shows a case where the estimated position is less than the expected position. It is assumed that the vehicle has traveled straight a distance L from the previous course change point or the starting point G. When a course change of the vehicle is detected, an error d between the planned course change point O and the estimated course change point O 'is calculated first. Then, it is determined whether or not the error d is within a threshold value D. The threshold value D is changed according to the value of the straight traveling distance L. this is,
This is because the accumulated error d is naturally different between the case where the vehicle travels straight for a long distance and the case where the vehicle travels straight for a short distance, and accurate determination cannot be performed with the same threshold value D. That is, when the vehicle travels straight for a long distance with only one threshold D, the error d is almost equal to or larger than the threshold. From such a viewpoint, in this embodiment, the threshold value D is such that the distance L is equal to the predetermined distance K
(For example, 6000 m) according to the following formula,
One is set. When L is less than K: D1 = 45 × 0.035 × L (m) Formula 1 When L is K or more: D2 = 45 × 0.05 × L (m) Formula 2 Accordingly, the value is compared with the above D1 or D2, and if the difference is within the threshold value D1 or D2, the point O 'is made to coincide with the point O, and the calculation of the subsequent vehicle running course is continued from there. Note that any number of threshold values D may be set, and a function or the like for the straight traveling distance L may be used.

If the threshold value is outside the range of D1 or D2, the following method shown in FIG. 3 is executed. A circle having a predetermined linear distance L1 (for example, a radius of 500 m) from the point O is drawn on the calculation, and the intersection with the planned course X is A1 and the intersection with the vehicle traveling course Y is B1. Next, a circle (for example, a radius of 800 m) having a different linear distance L2 from O is drawn. Similarly, the intersection with the scheduled course X is A2, and the intersection with the vehicle traveling course Y is B2. Further, a circle (for example, a radius of 1000 m) having a different linear distance L3 is drawn. Similarly, the intersection with the scheduled course X is A3, and the intersection with the vehicle traveling course Y is B3. In this way, an arbitrary number of intersections An and Bn are obtained.
In this embodiment, three points of n = 3 are obtained. Next, the angle between the point on the scheduled travel course X, the starting point O, and the point on the vehicle travel course Y corresponding to the determined straight line distance Ln is determined. In this embodiment, ∠A1OB1 is first determined. It is calculated whether or not this angle ∠A1OB1 ≦ k (k is a constant, for example, 5.7 degrees). If 1A1OB1 ≦ k, ∠A
2OB2 and ∠A3OB3 are obtained, a ratio with ∠A1OB1 is obtained, and it is determined whether the ratio is within a predetermined range. That is, N ≦ (∠A2OB2 ÷ ∠A1OB1) ≦ M N ≦ (∠A3OB3 ÷ ∠A1OB1) ≦ M is calculated. If the calculated value is N or more and M or less, B3
To A3, and thereafter, the calculation of the position of the vehicle is executed based on this. In the above description, two angles are compared. However, all three obtained angles may be compared with each other, or only two arbitrary angles may be compared with each other. The combination, number, etc. may be arbitrarily selected.

The above operation is executed by the control device 2 shown in FIG. A flowchart of this operation will be described with reference to FIGS. First, it is constantly checked whether or not the current position is O '(step 30). When the traveling direction is changed at the point O', an error d from the point O which is a click point (planned course change point) is calculated (step 31). . At the same time, the immediately preceding linear distance L is read out (step 32), and the distance L
Is determined to be greater than or less than a predetermined value K (step 33).
If it is less than the predetermined value K, it is determined whether or not the error d is within the threshold value D1 set by the equation (1) (step 3).
4). If it is equal to or greater than the predetermined value K, it is similarly determined whether or not the error d is within the threshold value D2 set by the equation (2) (step 35). The error d is equal to the threshold value D1 or D2.
If so, the point O 'is matched with the point O (step 36).

If the error d is not within the threshold value D1 or D2, the process proceeds to step 41 shown in FIG. That is, the position of the deviated point on the scheduled traveling course X is stored as O (step 41). Then, after waiting for the vehicle to travel from O to L1 (steps 42, 57, 58),
The intersections A1 and B1 of L1, the scheduled course X and the vehicle course Y are stored (step 43). And ∠A
1OB1 is calculated (step 44), and it is determined whether ∠A1OB1 ≦ k. Next, after waiting for the vehicle to travel from O to L2 (steps 46, 59, 60), the intersections A2 and B2 of L2, the planned course X and the vehicle course Y are stored (step 47). . And @ A2OB
2 is calculated (step 48), and {A2OB2} A1OB1
Is calculated (step 49), and it is determined whether or not the calculation result is within a predetermined range (step 50). Wait for the vehicle to travel from O to L3 (steps 51 and 6).
1, 62), the intersections A3 and B3 of L3, the scheduled course X and the vehicle course Y are stored (step 5).
2). Then, ∠A3OB3 is calculated (step 53), and ∠
A3OB3 ÷ ∠A1OB1 is calculated (step 54), and it is determined whether the calculation result is within a predetermined range (step 5).
5). If it is within the predetermined range, B3 is replaced with A3.

[0010]

As described above, according to the traveling route matching method in the navigation device of the present invention, the vehicle is recognized as being outside the planned traveling route despite traveling on the planned traveling route due to an error of the distance sensor or the like. There is an effect that an error can be corrected accurately.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing one embodiment of the method of the present invention.

FIG. 2 is an explanatory view showing one embodiment of the method of the present invention.

FIG. 3 is an explanatory view showing one embodiment of the method of the present invention.

FIG. 4 is a flowchart showing an embodiment of the method of the present invention.

FIG. 5 is a flowchart showing an embodiment of the method of the present invention.

FIG. 6 is a flowchart showing an embodiment of the method of the present invention.

FIG. 7 is a block diagram showing an example of an apparatus for carrying out an embodiment of the method of the present invention.

FIG. 8 is an explanatory view of a conventional method.

[Explanation of symbols]

1: digitizer, 2: control device, 3: display device, 4: speed sensor, 5: wheel rotation sensor, 6: geomagnetic sensor, 7: diffuser shunt, 8: gyroscope
, 9: memory card, 10: coordinate reading plate, 11: drive circuit, 12: scale switch, 13: scale indicator
, 14: clip, 15: memory card slot, 1
6: memory card slot, 19: ON / OFF switch, 20: program device, 21: arithmetic device, 22: display processing device, 23: correction device, 24: correction device, 25:
Correction device, 26: correction device, 30: display panel, 31:
Drive circuit, 32: ON / OFF switch.

Continuation of the front page (56) References JP-A-2-141613 (JP, A) JP-A-2-110316 (JP, A) JP-A-2-168111 (JP, A) JP-A-3-226623 (JP) , A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (3)

(57) [Claims] 1. A vehicle travel route is calculated by detecting a change in a travel distance and a route of a vehicle, and the current vehicle position is calculated by comparing the vehicle travel route with a predetermined planned travel route. In the navigation device corresponding to the upper position, when a change in the route of the vehicle is detected, a deviation between the detected position and a planned position (O) where the change in the route is planned on the planned traveling route is calculated, and A threshold is set based on the straight traveling distance immediately before the course change, and when the deviation is within the set threshold, the detected position matches the planned position (O) on the planned traveling route. From there, the calculation of the vehicle travel route is continued. On the other hand, when the deviation exceeds the threshold value, the vehicle position (Bn) detected after that and the predetermined position (O) at a predetermined distance from the predetermined position (O). Scheduled driving Predetermined position of the road (A
n), and an angle formed by a line segment between the predetermined position (An) and the planned position (O) and a line segment between the vehicle position (Bn) and the planned position (O). (∠AnOBn) is obtained for an arbitrary number of n = 1 or more, and if the angle is within a predetermined value, the current vehicle position (Bn) is corrected to the predetermined position (An). Route matching method. 2. A vehicle travel route is calculated by detecting a change in a travel distance and a course of the vehicle, and the current vehicle position is calculated by comparing the vehicle travel route with a predetermined planned travel route. In the navigation device corresponding to the upper position, when a change in the course of the vehicle is detected, the deviation between the detected position and the planned position where the change in the course is planned on the planned traveling route is calculated, and the deviation immediately before the change in the course of the vehicle is calculated. A threshold is set based on the straight traveling distance of the vehicle. If the deviation is within the set threshold, the detected position is made coincident with the planned position on the planned traveling route, and the vehicle travels therefrom. The calculation of the route is continued, and if the deviation exceeds the threshold value, the planned position is set as a starting point O and at least 2
At least two or more points An separated by the predetermined linear distance Ln are obtained, and at least two points An are determined from the starting point O on the vehicle traveling route.
At least two or more points B separated by the linear distance Ln
n, and the angle ∠AnO between the point on the scheduled travel route and the point on the vehicle travel route corresponding to the determined linear distance Ln and the starting point.
Comparing the angles for a plurality of angles selected as appropriate from Bn, and when the difference between the angles is within a predetermined range according to the comparison result, match the point Bn with An; Route matching method. 3. The travel route in the navigation device according to claim 1, wherein the threshold value is set using different formulas when the straight traveling distance is equal to or less than a predetermined value and when the straight traveling distance exceeds the predetermined value. Matching method