JP3559142B2 - Locator device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method for identifying a current position on a road on which a vehicle is traveling, and more particularly to a locator device for identifying a position in a width direction of a road and estimating a lane in which the vehicle is traveling. Things.
[0002]
[Prior art]
A conventional locator device will be described. FIG. 16 is a block diagram showing a configuration of a locator device disclosed in, for example, Japanese Patent Application Laid-Open No. 8-159788. In the figure, reference numeral 1 denotes a road network storage means, which stores the position of a road intersection or a turning point. Nodes to be shown, links connecting the nodes with straight lines, data on buildings around the road, and the like (collectively referred to as road data) are stored. Reference numeral 2 denotes a GPS receiver which measures a position by a radio wave from a satellite and outputs position data of the vehicle. Reference numeral 3 denotes an azimuth measuring unit that measures azimuth data of the vehicle using, for example, the angular velocity of the vehicle detected by a gyro. Reference numeral 4 denotes a distance measuring unit that measures distance data of the vehicle using a pulse signal of a distance sensor output according to a traveling distance of the vehicle, for example. Reference numeral 5 denotes a current position measuring means, which measures the current position of the vehicle based on the direction data of the direction measuring means 3 and the distance data of the distance measuring means 4 so as to represent the current position in longitude and latitude. Then, the current position of the vehicle is corrected as necessary using the position data from the GPS receiver 2. Numeral 11 denotes a 150 m determining means, which repeatedly integrates the distance data of the distance measuring means 4 every 150 m, and outputs a signal every time the vehicle travels 150 m. Numeral 12 denotes a 30 m determining means for repeatedly integrating the distance data of the distance measuring means 4 every 30 m travel and outputting a signal every time the vehicle travels 30 m. Reference numeral 6 denotes a traveling locus storage unit that stores the traveling locus of the vehicle based on the direction data of the direction measuring unit 3 and the current position of the current position measuring unit 5. That is, each time the vehicle travels 15 m, a traveling vector that is the azimuth data of the azimuth measuring means 3 having a magnitude of 15 and an azimuth is generated and sequentially stored.
[0003]
Reference numeral 7 denotes a vehicle position candidate setting unit. The unit 7 sets a vehicle position candidate based on the direction data of the direction measuring unit 3, the distance data of the distance measuring unit 4, and the road data of the road network storage unit 1 every time the vehicle passes through the intersection. Each time the vehicle travels 15 m in all the extending directions of the road, a position candidate of the vehicle on each road in the road data is set. Numeral 8 denotes a road shape generating means, which generates and sequentially stores each road shape vector when it is assumed that each position candidate of the position candidate setting means 7 has run on the corresponding road. Each time a signal is output from the 150 m determination means 11, reference numeral 91 denotes a pattern matching means which collates the traveling locus of the traveling locus storage means 6 with each road shape vector of the traveling road shape generating means 8 and most correlates with the traveling locus. Is selected, and the current position of the vehicle is corrected to a candidate position on the road corresponding to the road shape vector. Reference numeral 92 denotes a projection matching unit, which compares the current position of the current position measuring unit 5 with each position candidate of the position candidate setting unit 7 every time a signal is output from the 30 m determining unit 12 to determine the current position of the vehicle. A position candidate that is closest in distance to the vehicle and that has the closest traveling direction is selected. Then, while correcting the current position of the vehicle to the selected position candidate point, the traveling locus of the traveling locus storage means 8 is also modified. Reference numeral 101 denotes a display control unit which reads a map around the current position of the vehicle from the road network storage unit 1 based on the current position of the vehicle by the current position measurement unit 5 and displays the map with a vehicle mark indicating the current position of the vehicle. To display.
[0004]
Next, a method of identifying the current position of a vehicle on a road in a conventional locator device will be described. For example, FIG. 17 shows an operation example of the pattern matching means 91. Each time a signal is output from the 150 m determination unit 11, the pattern matching unit 91 reads the travel locus of the travel locus storage unit 6 and each road shape vector of the travel road shape generation unit 8 by 2 km. Then, a correlation with the traveling locus is calculated for each road shape vector, and a road shape vector having the highest correlation is selected. At the same time, it determines that the route of the selected road is correct, corrects the current position to a position candidate position on the road corresponding to the road shape vector, and also corrects the traveling locus of the traveling locus storage means 6. Conversely, if there is no correlation between the road shape vector and the travel locus, the road shape vector and the corresponding position candidate on the road are deleted. In FIG. 17, a route indicated by a dotted line is a traveling locus when the vehicle travels 150 m from the departure point Ps, and each triangle on the road drawn by a solid line is a position candidate. Then, an example is shown in which the current position P0 is corrected to the position of the position candidate P0-1 on the road corresponding to the road shape vector having the highest correlation with the traveling locus.
[0005]
FIG. 18 shows an operation example of the projection matching means 92. In the figure, Ps is a starting point, and P0, P1, P2,... P5 are current positions sequentially measured by the current position measuring means 5. P0-1 is a position candidate set on a road near the current position P0 based on the traveling direction Y at the time of departure and the road data at the time when the vehicle has traveled 15 m after the start of traveling of the vehicle. P1-1, P1-2, and P1-3 are position candidates set when the vehicle travels 30 m after the departure, and P1--P1--P1 are position candidates that are closest to the current position P1 in terms of distance and in the traveling direction. 3 is selected. Then, the current position P1 is corrected for the selected position candidate P1-3, and the traveling locus of the traveling locus storage unit 6 is also modified.
[0006]
[Problems to be solved by the invention]
For example, since the locator device disclosed in Japanese Patent Application Laid-Open No. 8-159788 is configured as described above, in any of the map matching methods of the pattern matching means and the projection matching means, the position set on a plurality of roads is determined. When a position candidate having the highest correlation with the traveling locus of the vehicle is selected from the candidates, the point indicated by the position candidate is set as the current position of the vehicle, and the current position of the vehicle identified so far is corrected. However, since the position candidates are set on the data link indicating the center of the road, the current position of the vehicle is also identified at the center of the road, and the actual position of the actual vehicle is accurately represented. Was impossible.
[0007]
This means that not only is it impossible to measure the position of the vehicle in the width direction of the road and determine the lane in which the vehicle is traveling, but also if you turn right or left from a wide road such as a main road in a large city, This has caused a serious problem of causing an error at a position almost at most near the width. Also, it has been impossible to notify the driver of information on a specific lane.
[0008]
In view of the above, the present invention has been made in order to solve the problem that, in the conventional map matching method, when a right or left turn is made from a road having a large width such as a main road in a large city, an error of a position at most almost the width occurs after the right or left turn. It is an object of the present invention to provide a locator device capable of measuring a position of a road in a width direction.
[0009]
Another object of the present invention is to solve the problem that the lane in which the vehicle is traveling cannot be determined in the conventional map matching method, and a locator device that can estimate the lane in which the vehicle is traveling. To provide.
[0010]
Still another object of the present invention is to solve the problem that the current position of the vehicle is displayed only at the center of the road in the conventional map matching method and display method, and is provided on the lane where the vehicle is traveling. To provide a locator device capable of displaying a current position.
[0011]
[Means for Solving the Problems]
A locator device according to claim 1, wherein a current position measuring means for measuring a current position of the vehicle, a traveling locus storage means for storing a history of the position measured by the current position measuring means as a traveling locus of the vehicle, A road network storage means for storing road data relating to lanes including a width and the number of lanes in a predetermined range in which the vehicle travels, and a passing course of a vehicle using a travel locus of the travel locus storage means and road data of the road network storage means. Identify the current position of the vehicle on the passing course, further generate a template using the width of the road data of the passing course, and make the running locus of the vehicle so that the running locus of the vehicle falls within the template or Position identification means for correcting the traveling direction and identifying the current position of the vehicle in consideration of the width of the road data; In which and a locator device and a display means for displaying the current position of the vehicle identification means.
With such a configuration, the position identification unit corrects the traveling trajectory or the traveling direction so that the traveling trajectory of the vehicle falls within the road surface having the width indicated by the width of the traveling road, and the position of the vehicle is displayed on the road surface. Identify the current location.
[0012]
The locator device according to claim 2, wherein the position identification means calculates the lane of the road data from the data on the lane including the width and the number of lanes of the road data with respect to the road data of the passing course. It is configured to estimate a lane overlapping with the traveling locus or the current position of the vehicle identified on the road surface of the data as the lane in which the vehicle is traveling.
With such a configuration, the position identification means calculates each lane by equally dividing the width of the road on which the vehicle is traveling by the number of lanes, and allows the vehicle to travel along a lane overlapping with the traveling locus of the vehicle or the current position. It is assumed that the lane is running.
[0013]
A locator device according to a third aspect of the present invention is the locator device, wherein the display means displays the number of lanes in the road data so that the number of lanes can be recognized, and the current position of the vehicle on the lane in which the vehicle estimated by the position identification means is traveling It is configured to display the position.
With such a configuration, the display unit displays the lane of the traveling road calculated by the position identification unit and the current position of the vehicle identified on the lane.
[0014]
A locator device according to a fourth aspect of the present invention is configured such that the road network storage means stores in advance the lane width for each lane in the road data.
[0015]
The locator device according to claim 4, wherein the road network storage means stores a restriction direction for each lane of the road data, or stores a restriction direction for each of up and down traffic directions. The lane regulation direction is determined based on the regulation direction for each lane and the regulation direction for each of the up and down traffic directions stored in the storage means.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0017]
Embodiment 1 FIG.
First, a locator device according to Embodiment 1 of the present invention will be described. FIG. 1 is a block diagram showing the configuration of the locator device. In FIG. 1, reference numeral 1 denotes a road network storage unit, which includes nodes indicating positions of road intersections or bending points, links connecting nodes with straight lines, data relating to road width, one-way traffic, and the like (these are collectively described). Road data). Reference numeral 2 denotes a GPS receiver, which is connected to a GPS antenna for receiving a radio wave from a satellite, measures a position using a radio wave from the satellite, and outputs position data of the vehicle. Reference numeral 3 denotes an azimuth measuring means, which measures azimuth data such as the traveling azimuth of the vehicle using, for example, the angular velocity of the vehicle detected by a gyro. Numeral 4 denotes a distance measuring means which measures distance data such as the traveling distance of the vehicle by using a pulse signal of a distance sensor output according to the traveling distance of the vehicle. Reference numeral 5 denotes a current position measuring means, which measures the current position of the vehicle so as to represent the current position by longitude and latitude based on the direction data of the direction measuring means 3, the distance data of the distance measuring means 4, and the position data of the GPS receiver 2. . Reference numeral 6 denotes a traveling locus storage unit that records the current position of the vehicle measured by the current position measuring unit 5 every time the vehicle changes its course by a predetermined distance or more than a predetermined angle.
[0018]
Reference numeral 7 denotes a position candidate setting unit which compares the travel locus stored in the travel locus storage unit 6 with the road data in the road network storage unit 1 and determines that there is a possibility that the vehicle is traveling. Vehicle position candidates are set on a set of road data groups. Reference numeral 8 denotes a passage course candidate storage unit which records a history of road data (start point node, end node, width, lane number, vertical separation, regulation direction) in which a plurality of sets of position candidates are set, and stores a plurality of sets of vehicles. The candidate of the passing course corresponding to the position candidate is stored. Numeral 9 denotes a position identification means, which selects only one passing course of the vehicle from a plurality of sets of candidates of the passing course stored by the passing course candidate storage means 8 and also determines the current position of the vehicle on the passing course. Identify. Reference numeral 10 denotes a display unit, which superimposes and displays the current position of the vehicle identified by the position identification unit 9 on the road data in the road network storage unit 1.
[0019]
Next, regarding the operation until the vehicle position is identified on the road from the traveling locus of the vehicle, the position candidate setting means 7 and the passing course candidate storage means 8 use two candidates as shown in FIGS. explain. FIG. 2 is a diagram showing a passing course (thick line) from the starting point (double circle) and a measured traveling locus (dotted line). FIG. 3 is a flowchart showing a process of storing the traveling locus by the traveling locus storage means 6. FIG. 4 shows that the vehicle is at a position P in the figure._i5 shows a traveling locus obtained by sequentially connecting the vehicle position (circled in FIG. 4B) stored by the traveling locus storage means 6 with each position, and FIG. 5 shows a position candidate setting means 7. FIG. 6 shows two position candidates a and b set by collating road data with the traveling locus in FIG. 4 according to FIG. 4. FIG. 6 shows a road where the position candidate a in FIG. FIG. 7 is a diagram showing a state in which data is stored in order and a candidate of a passing course (a). FIG. 7 shows a state in which road data in which the position candidate b in FIG. FIG. 8 is a diagram showing a method of specifying a passing course from two candidates a and b of the passing course by the position identifying means 9, and FIG. FIG. 7 is a diagram showing an example displayed by means 10 That.
[0020]
FIG. 10 shows that the vehicle is positioned at a position P in the figure._jFIG. 11 is a diagram showing a traveling locus in which the element points (current position and past position of the vehicle) of the traveling locus stored by the traveling locus storage means 6 are sequentially connected. FIG. 12 is a view showing a procedure for displaying the current position, FIG. 12 is a view showing a state after the traveling locus of the vehicle and the current position are corrected based on the passing course, and FIG. FIG. 9 is a diagram illustrating a process for displaying a current position of a vehicle on road data of a candidate b for a passing course, if b is temporarily specified as a passing course.
[0021]
In FIG. 3, a traveling locus storage unit 6 stores the current position of the vehicle as a past position of the traveling locus using the vehicle position data, azimuth data, and distance data measured by the current position measuring unit 5, and then stores a predetermined distance. L_v1It is determined in step ST1 whether or not the movement has been made. Then, the predetermined distance L_v1If it is determined that the movement has occurred, the process proceeds to step ST2, and conversely, the predetermined distance L_v1If it is determined that it has not moved, the process proceeds to step ST3. In step ST2, the current position of the vehicle is stored as a past position of the traveling locus as an element point forming the traveling locus, and then the process proceeds to step ST4. In step ST3, after storing the past position of the traveling locus, the predetermined distance L_v2Moves at a predetermined angle α_v1It is determined whether the course has been changed. After storing the past position of the traveling locus, the predetermined distance L_v2Moves at a predetermined angle α_v1When it is determined that the course has been changed, the process proceeds to step ST2, and conversely, after storing the past position of the traveling locus, the predetermined distance L_v2Has not moved by more than a predetermined angle α_v1When it is determined that the course has not been changed, the process proceeds to step ST4. In step ST4, the current position of the vehicle is stored as the current position of the traveling locus as an element point for forming the traveling locus, and then the process proceeds to step ST5. In step ST5, the traveling locus storage processing ends.
[0022]
FIG. 4 shows the processing result of the traveling locus storage means 6. In FIG. 4 (a), the point PR0 indicates the starting point, and the arrow extending from the starting point indicates the movement of the vehicle. The points N1 and N2 are road data nodes located at the intersection where the vehicle has changed course. Then, P in FIG._iIf there is a current position of the vehicle at the point, the traveling locus storage means 6 stores the points PR0 to PR6 as past positions of the traveling locus as shown in FIG. 4C by the method shown in FIG. .
[0023]
In FIG. 5, a position candidate setting means 7 sets a position candidate on road data having a high similarity to a traveling locus as in the related art. In the case of the traveling locus shown in FIG. 4, there is road data that substantially overlaps with the traveling locus, and thus a position candidate a is set on the road data. Then, a position candidate b is set on road data having a similarity to the traveling locus next to the neighboring road.
[0024]
6 and 7 show the processing results of the passing course candidate storage means 8. In FIG. 6, the passing course candidate storage means 8 stores the road data in which the position candidate a in FIG. Link L₁To L₃The road data (start point node, end point node, width, lane number, vertical separation, regulation direction) regarding the road data are sequentially stored as shown in FIG. Note that N in FIG.₁To N₃, And N₀Is the link L₁To L₃Node. In FIG. 7, the passing course candidate storage means 8 stores the link L of the road data in which the position candidate b in FIG.₁₀To L_ThirteenThe road data (similar to FIG. 6) is sequentially stored as shown in FIG. 7B as the position candidate b moves. Note that N in FIG.₁₀To N_Thirteen, And N₃Is the link L₁₀To L_ThirteenNode.
[0025]
The position identification means 9 uses the width of each link, the number of lanes, the vertical separation, and the restriction direction for the two candidates a and b of the passing courses shown in FIGS. 6 and 7, respectively, as shown in FIG. A template for each candidate of the passing course is generated, and the similarity between the template of each candidate of the passing course and the traveling locus shown in FIG. 4B is determined. The similarity is highest if all the element points of the traveling locus fall within the template of the candidate for the passing course. However, if not, the similarity of the candidate for the passing course and the course change point of the traveling locus, the length of the straight traveling portion, the traveling direction, and the like are compared. For the two candidates a and b of the passing course, as shown in FIG. 8, the candidate of the passing course, the change point of the course of the traveling locus, and the point of the length of the straight traveling portion are the candidates of the passing course b. Since it is closer to the candidate a, the candidate of the passing course is determined to have a high similarity, and is specified as the passing course of the vehicle. Further, when the passing course is specified, as shown in FIG. 9A, the element point (P) of the traveling locus of the vehicle is displayed in order to display the current position of the vehicle on the passing course._R5, P_R6, P_iThe element points are translated or rotated so as to fall within the template of the passing course, and the correction amounts of the traveling locus and the traveling direction are calculated. Then, as shown in FIG._iAfter the point, the current position of the vehicle is displayed on the road data by the display means 10 based on the travel locus and the correction amount of the traveling direction (within the dotted frame in FIG. 6A).
[0026]
In addition, as shown in FIG._jWhen the vehicle has traveled to the point, the travel locus storage means 6 stores the element points (current position and past position of the vehicle) of the travel locus as shown in FIG. At this time, as shown in FIG. 11 (a), right and left turns are performed about three times on the passing course, and thereafter, the current position of the vehicle is continuously displayed on the passing course (thick line). It is determined that the reliability of the passing course is very high, and the traveling path, the current position, and the traveling position are determined by the position identification means 9 so that the element points of the traveling path (dotted line) fall within the template of the passing course. Correct the bearing. After that, as shown in FIG. 12, the element points of the traveling locus located on the passing course are stored, and the current position of the vehicle is displayed.
[0027]
FIG. 11B is an enlarged view of the vicinity (within a dotted circle) of the current position Pj of the vehicle shown in FIG._jA solid line connected after indicates the history of the position of the vehicle displayed on the display unit 10. Therefore, the current position P of the vehicle_jIs the link L₅And link L₆Do not display on top of. Note that N in FIG.₄And N₅Is the link L₅Nodes of N₅And N₆Is the link L₆Node.
[0028]
On the other hand, if the current position of the vehicle is identified on the link in the same manner as in the conventional map matching method, the current position of the vehicle becomes the node N as shown in FIG.₅When turning right at the intersection where is located, link L₆Link L once again₆Identify above. However, node N₅Before turning right at the intersection where is located, link L from the actual position₅Error δP caused by the identification at the center of the road₁After turning right at the same intersection, link L₆Error δP caused by correcting the position (arrow) near the center of a certain road₂Accordingly, the current position Pj 'of the vehicle is a magnitude error (([delta] P₁ ²+ ΔP₂ ²)^1/2). In addition, P in the figure_jThe point is the current position of the vehicle displayed according to the present embodiment, and P_jThe dotted line connecting the points is P_jThe history of the position displayed up to the point is shown.
[0029]
Next, a case will be described in which the position identifying means 9 temporarily specifies the passing course candidate b as the passing course. In this case, as shown in FIG. 13, since the similarity between the passing course candidate b and the traveling locus (dotted line) is low, the current position of the vehicle deviates from the passing course candidate b (I within the dotted frame).₁). At this time, since the passing course candidate b is continuously generated, the current position of the vehicle can be displayed again on the passing course candidate b (thick line). However, if the passing course candidate b cannot be generated ( I in dotted frame₂), The current position of the vehicle deviates again from the passing course candidate b. In this case, I₂Thereafter, since the similarity with the traveling locus decreases, the correlation of other candidates of the passing course increases, and the current position of the vehicle is displayed on other candidates of the passing course.
[0030]
Embodiment 2 FIG.
Hereinafter, another embodiment 2, which has the same device configuration as that of the first embodiment and is different from the first embodiment only in the operation of the position identification means 9 in FIG. 1, will be described with reference to FIGS. FIG. 14 is a diagram illustrating a general example of calculating a lane of road data, and FIG. 15 is a diagram illustrating an example of estimating a lane in which the vehicle is traveling from the calculated lane and the traveling locus of the vehicle. Note that the processing other than the position identification means 9 is the same as that of the first embodiment, and thus the description is omitted.
[0031]
The position identifying means 9 identifies the current position of the vehicle on the road surface according to the width of the traveling road, as described in the first embodiment. Then, as shown in FIG. 14, the width of the link is equally divided by the number of lanes to calculate the lane of the road data, and based on the regulation direction (forward / reverse / no) and vertical separation (presence / absence). Set a regulation direction for each lane. Specifically, when the road data related to the link in FIG. 14A is as shown in FIG. 14B, the vertical separation is “none” and the number of lanes is “2”. Judge that there are lanes. In addition, since the regulation direction is "reverse direction", the link end node N_DiFrom start node N_SiIt is determined that the direction toward the vehicle is regulated (the direction of the arrow indicating OK in the figure is allowed to pass). The width of each lane is width W_iIs half of
[0032]
In the case where the road data relating to the link in FIG. 14A is as shown in FIG. 14C, the vertical separation is “Yes” and the number of lanes is “2”, so it is determined that there are two lanes on a one-way road. I do. Others are the same as in the case of FIG. In the case of FIG. 14D, since the vertical separation is “present” and the number of lanes is “2”, it is determined that there are two lanes on a one-way road. And since the regulation direction is "forward direction", the link start node N_SiTo end node N_DiIt is determined that the direction toward is regulated. In the case of FIG. 14E, the vertical separation is “none”, the number of lanes is “1”, and the regulation direction is “none”, so that a one-lane road is used both up and down.
[0033]
Then, in FIG. 15A, the current position of the vehicle is P_jLink L at the point and on the passing course₆As shown in the figure, the start node is "N₅”And the end node is“ N₆If the width is "10 m", the number of lanes is "4", the vertical separation is "none", and the regulation direction is "reverse", the position identification means 9 will be as shown in FIG. First, the link L from the road data on the link₆Has four lanes with a width of 2.5 m, and the two lanes Lane1 and Lane2 are the starting node N₅To end node N₆It is determined that the direction toward the traffic lane is the traffic direction, and the two lanes Lane 3 and Lane 4 are the traffic directions in the opposite directions. Then, the traveling locus of the vehicle (current position P_jIt is determined that the lane (Lane1) overlapping with the solid line connected to) is the lane in which the vehicle is traveling. The display means 10 performs display so that the lane and the current position of the road data can be understood, as shown in FIG.
[0034]
Embodiment 3 FIG.
In the second embodiment, it has been described that the position identifying means 9 determines that the lane overlapping with the traveling locus of the vehicle is the lane in which the vehicle is traveling, but the lane in which the vehicle is traveling in the lane in which the current position of the vehicle overlaps. It is good.
[0035]
Embodiment 4 FIG.
In the second embodiment, the position identification means 9 calculates the lanes by dividing the width of the road data equally by the number of lanes. However, the lane width is stored in advance in the road network storage means 1 for each lane of the road data. You may do it. This eliminates the need for the position identification means 9 to calculate the lane by dividing the width of the road data equally by the number of lanes, and thus can immediately determine the lane.
[0036]
Embodiment 5 FIG.
In the second embodiment, the position identification unit 9 is described as determining the lane restriction direction assuming that there is one restriction direction regarding the traffic direction of the vehicle. Alternatively, the restriction direction may be stored, or the restriction direction may be stored for each of the up and down traffic directions, and the position identification means 9 may determine the lane restriction direction.
[0037]
【The invention's effect】
According to the first aspect of the present invention, the road network storing means for storing the width of the link of the road data, and such that the running locus of the vehicle falls within the width of the road data after specifying the running road of the vehicle. Since the traveling locus or heading direction is corrected and the point indicated by the head of the traveling locus is set as the current position of the vehicle, the position on the road where the vehicle actually exists can be measured, and therefore, the main road of a large city, etc. There is an effect that no positional error occurs even when turning right or left from a road having a large width.
[0038]
According to the invention of claim 2, the width of the road data is equally divided by the number of lanes with respect to the traveling road to calculate each lane, and the vehicle travels on the lane overlapping with the traveling locus of the vehicle or the current position. Since it is determined that the vehicle is in a traffic lane, there is an effect that the traffic lane in which the vehicle is traveling can be estimated.
[0039]
Further, according to the invention of claim 3, since the lane of the traveling road is calculated and the current position of the vehicle is identified on the lane, which lane of the road the vehicle is traveling on and which lane is traveling There is an effect that the driver can be notified of whether or not the vehicle is performing.
[0040]
Furthermore, according to the invention of claim 4, since the lane width is stored in advance in the road network storage means for each lane of the road data, the position identifying means equally divides the width of the road data by the number of lanes. There is no need to calculate the lane, so that the lane can be immediately determined, and the processing can be performed very quickly.
[0041]
According to the fifth aspect of the present invention, the restriction direction is stored in the road network storage means for each lane of the road data, or the restriction direction is stored for each of the up and down traffic directions, and the lane marking is stored by the position identification means. Since the restriction direction is determined, there is an effect that finer control becomes possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a locator device according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a passing course from a starting point and a measured traveling trajectory in the operation of the locator device according to the first embodiment of the present invention.
FIG. 3 is a flowchart illustrating a process of storing a traveling locus by a traveling locus storage unit in the operation of the locator device according to the first embodiment of the present invention;
FIG. 4 is a diagram showing a traveling locus obtained by connecting the vehicle positions stored in the traveling locus storage means and the respective positions in order in the operation of the locator device according to the first embodiment of the present invention;
FIG. 5 is a diagram illustrating position candidates set by collating road data and a running locus by position candidate setting means in the operation of the locator device according to the first embodiment of the present invention;
FIG. 6 is a diagram showing, in the operation of the locator device according to the first embodiment of the present invention, a state in which road data in which one of the position candidates is set by the passage course candidate storage means is stored in order and candidates for the passage course;
FIG. 7 is a diagram showing, in the operation of the locator device according to the first embodiment of the present invention, a state in which road data in which one of the position candidates is set by the passage course candidate storage means is stored in order and candidates for the passage course;
FIG. 8 is a diagram illustrating a method of specifying a passing course from two candidates of the passing course by the position identification means for the operation of the locator device according to the first embodiment of the present invention.
FIG. 9 is a diagram showing a state in which a traveling locus is corrected in order to display the current position of the vehicle on a passage course specified by the position identifying means, regarding the operation of the locator device according to the first embodiment of the present invention. Yes, and is also a diagram displayed by the display means.
FIG. 10 is a diagram showing the element points of the traveling locus stored by the traveling locus storage means in the operation of the locator device according to the first embodiment of the present invention.
FIG. 11 is a diagram showing a process for displaying the current position of the vehicle on the road data of the passage course specified by the position identification means, for the operation of the locator device according to the first embodiment of the present invention.
FIG. 12 is a diagram illustrating a state after correcting a traveling locus and a current position of a vehicle based on a passing course in the operation of the locator device according to the first embodiment of the present invention.
FIG. 13 is a diagram illustrating an operation of the locator device according to the first embodiment of the present invention, in the case where a candidate for a passing course that is not originally specified by the position identification unit is specified as a passing course; It is a figure showing processing for displaying a current position.
FIG. 14 is a diagram illustrating a general example of calculating a lane from road data for the operation of the locator device according to the second embodiment of the present invention.
FIG. 15 is a diagram illustrating an example of estimating the lane in which the vehicle is traveling from the calculated lanes for the operation of the locator device according to the second embodiment of the present invention.
FIG. 16 is a block diagram showing a configuration of a conventional locator device.
FIG. 17 is a diagram showing a processing result of a pattern matching unit regarding an operation of a conventional locator device.
FIG. 18 is a diagram showing a processing result of a projection matching unit regarding the operation of the conventional locator device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Road network storage means, 2 GPS receivers, 3 direction measurement means, 4 distance measurement means, 5 current position measurement means, 6 travel locus storage means, 7 position candidate setting means, 8 passing course candidate storage means, 9 position identification means , 10 display means.

Claims (5)

Current position measuring means for measuring the current position of the vehicle,
Traveling locus storage means for storing a history of the position measured by the current position measuring means as a traveling locus of the vehicle,
Road network storage means for storing road data relating to lanes including the width and the number of lanes in a predetermined range in which the vehicle travels,
Using the traveling locus of the traveling locus storage means and the road data of the road network storage means, the passing course of the vehicle is specified, the current position of the vehicle is identified on the passing course, and the width of the road data of the passing course is further determined. Position identification means for generating a template using the vehicle, correcting the traveling locus or traveling direction of the vehicle so that the traveling locus of the vehicle falls within the template, and identifying the current position of the vehicle in consideration of the width of the road data;
Display means for displaying the road data of the road network storage means and the current position of the vehicle of the position identification means,
A locator device comprising: The position identification means calculates the lane of the road data from the data on the lane including the width of the road data and the number of lanes with respect to the road data of the passing course, and then calculates the travel locus of the vehicle identified on the road surface of the road data. The locator device according to claim 1, wherein a lane overlapping with the current position is estimated as a lane in which the vehicle is traveling. The display means displays the number of lanes in the road data so that the number of lanes can be recognized, and displays the current position of the vehicle on the lane in which the vehicle travels estimated by the position identification means. 3. The locator device according to 2. 3. The locator device according to claim 2, wherein said road network storage means stores a lane width in advance for each lane of the road data. The road network storage means stores a restriction direction for each lane of the road data, or stores a restriction direction for each of up and down traffic directions. 3. The locator device according to claim 2, wherein the lane control direction is determined on the basis of the restricted direction for each lane and the restricted direction for each of up and down traffic directions in the road data.

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