JP3932975B2 - Position detection device - Google Patents

Description

【００４９】
ここで、ｘ、ｙ、ｚは自車位置の座標、ｔは自車１１のＧＰＳ時計の示す時刻である。また、ｘn 、ｙn 、ｚn はｎ番目のＧＰＳ衛星４１−ｎの座標（ｎ＝１、２、３、４）、ｔn はｎ番目のＧＰＳ衛星４１−ｎのＧＰＳ時計の示す時刻であり、ＧＰＳ衛星４１−１〜４１−４から受信したＧＰＳ情報に含まれている。なお、ｃは光速を示している。これにより、時刻ｔにおける自車位置の座標（ｘ、ｙ、ｚ）が特定される。
【００５０】
また、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が四つ以上でない場合、前記位置検出装置２０は、ＧＰＳ受信装置２４がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つであるか否かを判断する。そして、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つである場合、前記位置検出装置２０は、三つのＧＰＳ衛星４１−１〜４１−３から受信したＧＰＳ情報に基づいて、自車位置を特定するための自車位置特定演算処理を実行する。
【００５１】
この場合、算出すべき未知数が、時刻ｔ及び自車位置の座標（ｘ、ｙ、ｚ）の四つであるのに対し、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つしかないので、ＧＰＳ情報に含まれる数値を使用した四元連立方程式を解くことができなくなってしまう。そのため、一般的に、変化量が極めて少ないと考えられる自車位置における高さ方向の座標成分であるｚの数値に、前回の周期における自車位置特定演算処理で算出されたｚの数値を代入して、既知数として取り扱うこととする。すなわち、自車位置の高さであるｚを固定する。これにより、ＧＰＳ情報に含まれる各種数値を前記式（１）〜（３）から成る三元連立方程式に代入することによって、三つの未知数である自車位置の座標（但し、ｚは既知数）及び自車１１のＧＰＳ時計の時刻を算出することができる。
【００５２】
さらに、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つでない場合、すなわち、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が二つ以下である場合には、ＧＰＳ情報に基づいて、自車位置を正確に特定することができないので、前記位置検出装置２０は、センサ情報受信装置２８が検出した車両状態情報に基づく位置特定処理を実行して、時刻ｔにおける自車位置の座標（ｘ、ｙ、ｚ）を特定する。なお、車両状態情報に基づく位置特定処理については後述する。
【００５３】
そして、時刻ｔにおける自車位置の座標（ｘ、ｙ、ｚ）が特定されると、前記位置検出装置２０は、自車データ発信処理を実行する。この場合、ＧＰＳ受信装置２４が受信したＧＰＳ情報、センサ情報受信装置２８が検出した車速、ヨーレイト等の車両状態情報、ナビ制御装置２１の記録する自車１１の走行軌跡等の情報が信号発信装置２３によって、他車３１に送信される。
【００５４】
続いて、前記位置検出装置２０は、他者データ受信処理を実行する。この場合、信号受信装置２５は、他車３１が受信したＧＰＳ情報、他車３１のセンサが検出した他車３１の車速、ヨーレイト等の車両状態情報、他車３１の走行軌跡等の情報を、他車３１から受信する。
【００５５】
次に、フローチャートについて説明する。
ステップＳ２−１ 受信することができたＧＰＳ衛星４１の数が四つ以上であるか否かを判断する。受信することができたＧＰＳ衛星４１の数が四つ以上である場合はステップＳ２−４に進み、四つより少ない場合はステップＳ２−２に進む。
ステップＳ２−２ 受信することができたＧＰＳ衛星４１の数が三つであるか否かを判断する。受信することができたＧＰＳ衛星４１の数が三つである場合はステップＳ２−３に進み、三つより少ない場合はステップＳ２−５に進む。
ステップＳ２−３ 自車位置の高さｚを固定する。
ステップＳ２−４ 自車位置特定演算処理を行う。
ステップＳ２−５ 車両状態情報に基づく位置特定処理を行う。
ステップＳ２−６ 自車データ発信処理を行う。
ステップＳ２−７ 他車データ受信処理を行い、処理を終了する。
【００５６】
次に、車両状態情報に基づく位置特定処理について説明する。
【００５７】
図７は本発明の実施の形態におけるヨーレイトに基づいて自車位置を更新する方法を示す図、図８は本発明の実施の形態における車両状態情報に基づく位置特定処理の動作を示すフローチャートである。
【００５８】
まず、位置検出装置２０は、位置特定処理の対象が自車１１であるか否か、すなわち、自車１１の位置を特定するのか他車３１の位置を特定するのかを判断する。そして、自車１１の位置を特定する場合、前記位置検出装置２０は、センサ情報受信装置２８が検出した車速、ヨーレイト等の車両状態情報、ナビ制御装置２１の記録する自車１１の走行軌跡等の情報を取得する。一方、他車３１の位置を特定する場合、前記位置検出装置２０は、信号受信装置２５が他車３１から受信した情報の中から、他車３１のセンサが検出した他車３１の車速、ヨーレイト等の車両状態情報、他車３１の走行軌跡等の情報を取得する。
【００５９】
次に、前記位置検出装置２０は、現在位置特定処理を実行する。なお、該現在位置特定処理は、自車１１の位置を特定する場合も他車３１の位置を特定する場合も同様なので、ここでは、自車１１の位置を特定する場合の現在位置特定処理について、図７を参照して説明する。なお、図７（ａ）は、前回の周期における現在位置特定処理で算出された現在位置、すなわち、更新前の現在位置の状態を示し、図７（ｂ）は、今回の周期における現在位置特定処理で算出された現時点における現在位置、すなわち、更新後の現在位置の状態を示している。
【００６０】
この場合、前記位置検出装置２０は、まず、前回の周期における現在位置特定処理で算出された現在位置、すなわち、更新前の現在位置３３ａから現時点における現在位置、すなわち、更新後の現在位置３３ｂまでの距離としての移動距離ｄを、車速に基づいて算出する。この場合、移動距離ｄは、次の式（５）によって算出される。
ｄ＝ｖ×Ｔ・・・（５）
ここで、ｖは車速であり、Ｔは前回の周期において現在位置特定処理を実行した時点から、現行の現在位置特定処理を実行する時点までの時間であり、位置検出装置２０が現在位置特定処理を繰り返し実行する周期（例えば、１６〔ｍｓｅｃ〕）である。なお、前記Ｔは、計測してもよいし、受信したＧＰＳ情報に含まれる時刻ｔに基づいて求めてもよい。
【００６１】
続いて、前記位置検出装置２０は、更新前の現在位置３３ａにおける自車１１の進行方向３５ａを、取得した自車１１の走行軌跡３４に基づいて設定する。なお、図７（ａ）において前記進行方向３５ａを示す矢印の長さは移動距離ｄを示している。続いて、自車１１の向いている方位の変化を示すヨーレイト３６に基づいて、前記進行方向３５ａを修正して、現在の進行方向３５ｂを決定する。この場合、現在の進行方向３５ｂを示す矢印の長さは、前記進行方向３５ａを示す矢印の長さに等しく移動距離ｄを示している。したがって、図７（ａ）において、現在の進行方向３５ｂを示す矢印の先端の位置３５ｃは、現時点における現在位置、すなわち、図７（ｂ）における更新後の現在位置３３ｂに相当する。
【００６２】
なお、前記進行方向３５ａを示す矢印の長さが移動距離ｄを示していなくてもよい。この場合、前記進行方向３５ａを修正して、現在の進行方向３５ｂを決定した後に、該現在の進行方向３５ｂを示す矢印の長さが移動距離ｄの長さとなるように調整する。
【００６３】
最後に、前記位置検出装置２０は、現在位置を更新前の現在位置３３ａから更新後の現在位置３３ｂに更新して、車両状態情報に基づく現在位置特定処理を終了する。これにより、三つ以上のＧＰＳ衛星４１からＧＰＳ情報を受信することができない場合であっても、自車１１の自車位置を特定することができる。
【００６４】
なお、他車３１の位置を特定する場合、前記位置検出装置２０は、信号受信装置２５が受信した前記他車３１の車速、ヨーレイト等の車両状態情報、他車３１の走行軌跡等の情報に基づいて、前記現在位置特定処理を実行する。これにより、他車３１が三つ以上のＧＰＳ衛星４１からＧＰＳ情報を受信することができない場合であっても、前記他車３１の自車位置を特定することができる。
【００６５】
次に、フローチャートについて説明する。
ステップＳ２−５−１ 自車１１であるか否かを判断する。自車１１である場合はステップＳ２−５−２に進み、他車３１である場合はステップＳ２−５−３に進む。
ステップＳ２−５−２ 自車情報を取得する。
ステップＳ２−５−３ 他車情報を取得する。
ステップＳ２−５−４ 現在位置特定処理を行い、処理を終了する。
【００６６】
次に、相対位置演算処理について説明する。
【００６７】
図９は本発明の実施の形態における車両状態情報に基づく他車位置特定演算処理の概略を示す図、図１０は本発明の実施の形態における相対位置演算処理の動作を示すフローチャート、図１１は本発明の実施の形態における第１の他車相対位置演算処理の動作を示すフローチャート、図１２は本発明の実施の形態における第２の他車相対位置演算処理の動作を示すフローチャートである。
【００６８】
この場合、位置検出装置２０は、他車３１が受信したＧＰＳ情報、他車３１の車速、ヨーレイト等の車両状態情報、他車３１の走行軌跡等の情報を取得して、自車１１に対する他車３１の相対的な位置（Δｘ、Δｙ、Δｚ）を演算するようになっている。
【００６９】
まず、位置検出装置２０は、ＧＰＳ受信装置２４が受信したＧＰＳ情報、及び、信号受信装置２５が受信した他車３１から送信されたＧＰＳ情報に基づいて、共通衛星の数をカウントする。ここで、共通衛星とは、自車１１がＧＰＳ情報を受信することができるとともに、他車３１もＧＰＳ情報を受信することができるＧＰＳ衛星４１である。そして、前記位置検出装置２０は、共通衛星の数が三つ以上である場合、第１の他車相対位置演算処理を実行し、共通衛星の数が三つ以上でない場合、すなわち、二つ以下である場合、第２の他車相対位置演算処理を実行する。
【００７０】
ここで、共通衛星の数が三つ以上である場合、前記位置検出装置２０は、共通衛星の数が四つ以上であるか否かを判断する。そして、共通衛星の数が四つ以上である場合、前記位置検出装置２０は、四つの共通衛星であるＧＰＳ衛星４１−１〜４１−４から受信したＧＰＳ情報に基づいて、自車位置を基準とした他車３１の相対的な位置を演算する。この場合、四つの共通衛星であるＧＰＳ衛星４１−１〜４１−４から受信したＧＰＳ情報に含まれる各種数値を次の式（６）〜（９）で示される四元連立方程式に代入し、解くことによって、四つの未知数である他車３１の相対的な位置の座標及び他車３１のＧＰＳ時計の時刻を算出する。
【００７１】
【数２】

【００７２】
ここで、ｘ、ｙ、ｚは自車位置の座標、Δｘ、Δｙ、Δｚは自車位置に対する他車３１の相対位置を示す座標、すなわち、自車位置の座標ｘ、ｙ、ｚに対する他車位置の座標の偏差である。したがって、他車位置の座標はｘ＋Δｘ、ｙ＋Δｙ、ｚ＋Δｚとなる。また、ｔβは他車３１のＧＰＳ時計の示す時刻である。なお、自車位置の座標ｘ、ｙ、ｚは、前述された自車位置特定演算処理（ステップＳ２−４）によって、算出される。さらに、ｘn 、ｙn 、ｚn はｎ番目のＧＰＳ衛星４１−ｎの座標（ｎ＝１、２、３、４）、ｔn はｎ番目のＧＰＳ衛星４１−ｎのＧＰＳ時計の示す時刻であり、ＧＰＳ衛星４１−１〜４１−４から受信したＧＰＳ情報に含まれている。なお、ｃは光速を示している。これにより、時刻ｔβにおける自車位置に対する他車３１の相対位置を示す座標（Δｘ、Δｙ、Δｚ）が算出される。
【００７３】
また、共通衛星の数が四つ以上でない場合、すなわち、共通衛星の数が三つである場合、前記位置検出装置２０は、三つの共通衛星であるＧＰＳ衛星４１−１〜４１−３から受信したＧＰＳ情報に基づいて、自車位置を基準とした他車３１の相対的な位置を演算する。
【００７４】
この場合、算出すべき未知数が、時刻ｔβ及び自車位置に対する他車３１の相対位置を示す座標（Δｘ、Δｙ、Δｚ）の四つであるのに対し、ＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つしかないので、ＧＰＳ情報に含まれる数値を使用した四元連立方程式を解くことができなくなってしまう。そのため、一般的に、変化量が極めて少ないと考えられる自車位置における高さ方向の座標成分であるｚの数値に、前回の周期における自車位置特定演算処理で算出されたｚの数値を代入し、Δｚの数値に、前回の周期における第１の他車相対位置演算処理で算出されたΔｚの数値を代入して、既知数として取り扱うこととする。これにより、ＧＰＳ情報に含まれる各種数値を前記式（６）〜（８）から成る三元連立方程式に代入し、解くことによって、三つの未知数である自車位置の座標（但し、ｚ及びΔｚは既知数）及びＧＰＳ時計の時刻ｔβを算出することができる。
【００７５】
また、共通衛星の数が三つ以上でない場合、すなわち、共通衛星の数が二つ以下である場合、前記位置検出装置２０は、第２の他車相対位置演算処理を実行する。この場合、前記位置検出装置２０は、信号受信装置２５が受信した他車３１から送信されたＧＰＳ情報に基づいて、他車３１が三つ以上のＧＰＳ衛星４１からＧＰＳ情報を受信することができたか否かを判断する。そして、他車３１がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つ以上である場合、前記位置検出装置２０は、他車位置特定演算処理を実行して他車位置を特定する。
【００７６】
ここで、該他車位置特定演算処理は、前述された自車位置特定演算処理（ステップＳ２−４）と同様の処理を他車３１について実行するものである。すなわち、他車３１がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が四つ以上である場合、位置検出装置２０は、他車３１が四つのＧＰＳ衛星４１−１〜４１−４から受信したＧＰＳ情報に基づいて、該ＧＰＳ情報に含まれる各種数値を前記式（１）〜（４）で示される四元連立方程式に代入し、解くことによって、四つの未知数である他車位置の座標及び他車３１のＧＰＳ時計の時刻を算出する。この場合、ｘ、ｙ、ｚは他車位置の座標、ｔは他車３１のＧＰＳ時計の示す時刻である。これにより、時刻ｔにおける他車位置の座標（ｘ、ｙ、ｚ）が特定される。
【００７７】
また、他車３１がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つである場合、一般的に、変化量が極めて少ないと考えられる他車位置における高さ方向の座標成分であるｚの数値に、前回の周期における他車位置特定演算処理で算出されたｚの数値を代入して、既知数として取り扱うこととする。すなわち、他車位置の高さであるｚを固定する。これにより、ＧＰＳ情報に含まれる各種数値を前記式（１）〜（３）から成る三元連立方程式に代入し、解くことによって、三つの未知数である他車位置の座標（但し、ｚは既知数）及び他車３１のＧＰＳ時計の時刻を算出することができる。
【００７８】
さらに、他車３１がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が三つ以上でない場合、すなわち、他車３１がＧＰＳ情報を受信することができたＧＰＳ衛星４１の数が二つ以下である場合には、ＧＰＳ情報に基づいて、他車位置を正確に特定することができないので、前記位置検出装置２０は、他車３１の車速、ヨーレイト等の車両状態情報に基づく他車位置特定処理を実行して、時刻ｔにおける他車位置の座標（ｘ、ｙ、ｚ）を特定する。ここで、前記他車位置特定処理は、前述された車両状態情報に基づく位置特定処理（ステップＳ２−５）において、他車３１の位置を特定する場合の現在位置特定処理（ステップＳ２−５−４）と同一であるので、他車３１の位置を特定する場合の現在位置特定処理の説明及び図７の記載を援用する。これにより、図９に示されるように、他車３１がＧＰＳ衛星４１からＧＰＳ情報を受信することができない場合であっても、自車１１の位置検出装置２０は、前記他車３１の位置を特定することができる。
【００７９】
次に、フローチャートについて説明する。まず、相対位置演算処理の動作を示すフローチャートについて説明する。
ステップＳ３−１ 共通衛星の数をカウントする。
ステップＳ３−２ 共通衛星が三つ以上であるか否かを判断する。共通衛星が三つ以上である場合はステップＳ３−３に進み、共通衛星が三つより少ない場合はステップＳ３−４に進む。
ステップＳ３−３ 第１の他車相対位置演算処理を行い、処理を終了する。
ステップＳ３−４ 第２の他車相対位置演算処理を行い、処理を終了する。
。
【００８０】
次に、第１の他車相対位置演算処理の動作を示すフローチャートについて説明する。
ステップＳ３−３−１ 共通衛星が四つ以上であるか否かを判断する。共通衛星が四つ以上である場合はステップＳ３−３−２に進み、共通衛星が三つである場合はステップＳ３−３−３に進む。
ステップＳ３−３−２ 四つの共通衛星から受信したＧＰＳ情報に基づいて他車３１の相対位置（Δｘ，Δｙ，Δｚ）を演算し、処理を終了する。
ステップＳ３−３−３ 三つの共通衛星から受信したＧＰＳ情報に基づいて他車３１の相対位置（Δｘ，Δｙ，Δｚ）を演算し、処理を終了する。
【００８１】
次に、第２の他車相対位置演算処理の動作を示すフローチャートについて説明する。
ステップＳ３−４−１ 他車３１が三つ以上のＧＰＳ衛星４１から情報を受信しているか否かを判断する。三つ以上のＧＰＳ衛星４１から情報を受信している場合はステップＳ３−４−２に進み、三つ以上のＧＰＳ衛星４１から情報を受信していない場合はステップＳ３−４−３に進む。
ステップＳ３−４−２ 他車位置特定演算処理を行い、処理を終了する。
ステップＳ３−４−３ 車両状態情報に基づく他車位置特定処理を行い、処理を終了する。
【００８２】
次に、マップマッチング処理について説明する。
【００８３】
図１３は本発明の実施の形態におけるマップマッチング処理の動作の概略を示す図、図１４は本発明の実施の形態における第１の自他車位置補正処理の動作を示す図、図１５は本発明の実施の形態における第２の自他車位置補正処理の動作を示す図、図１６は本発明の実施の形態における第４の自他車位置補正処理の動作を示す図、図１７は本発明の実施の形態におけるマップマッチング処理の動作を示すフローチャート、図１８は本発明の実施の形態における第１の自他車位置補正処理の動作を示すフローチャート、図１９は本発明の実施の形態における自他車道路照合処理の動作を示すフローチャート、図２０は本発明の実施の形態における第２の自他車位置補正処理の動作を示すフローチャート、図２１は本発明の実施の形態における第３の自他車位置補正処理の動作を示すフローチャート、図２２は本発明の実施の形態における第４の自他車位置補正処理の動作を示すフローチャート、図２３は本発明の実施の形態における第５の自他車位置補正処理の動作を示すフローチャート、図２４は本発明の実施の形態における第６の自他車位置補正処理の動作を示すフローチャートである。
【００８４】
一般に、車両用のナビゲーション装置においては、ＧＰＳ情報に基づいて特定された車両の現在位置が地図における道路上に位置するように、マップマッチング処理が実行される。これは、図１３（ａ）に示されるように、ＧＰＳ情報に基づいて特定された車両の現在位置は、誤差が含まれているので、地図における道路からわずかに外れてしまう場合が多い。そこで、「車両は通常道路上を走っている」との前提に基づいて、ＧＰＳ情報に基づいて特定された車両の現在位置を地図における道路上にまで移動させるためのマップマッチング処理が実行される。これにより、図１３（ｂ）に示されるように、車両の現在位置が地図における道路上に位置することとなる。
【００８５】
ここで、本実施の形態において、位置検出装置２０は、共通衛星から受信したＧＰＳ情報に基づいて、自車１１及び他車３１の現在位置を特定するようになっている。この場合、自車１１と他車３１との相対位置及び相対距離は正確であると考えられる。そこで、本実施の形態におけるマップマッチング処理においては、図１３（ｃ）に示されるように、自車１１及び他車３１の現在位置が、共通衛星から受信したＧＰＳ情報に基づいて特定された場合、自車１１と他車３１との相対位置及び相対距離、すなわち、相対位置関係を崩さないようにして、自車１１及び他車３１の現在位置を地図における道路上にまで移動させるためのマップマッチング処理が実行される。これにより、図１３（ｄ）に示されるように、自車１１及び他車３１の現在位置が地図における道路上に位置することとなる。
【００８６】
まず、位置検出装置２０は、他車３１の相対位置を特定する時に、共通衛星から受信したＧＰＳ情報に基づいて演算を行ったか否かを判断する。すなわち、第１の他車相対位置演算処理（ステップＳ３−３）を実行したか、または、第２の他車相対位置演算処理（ステップＳ３−４）を実行したかを判断する。
【００８７】
そして、共通衛星から受信したＧＰＳ情報に基づいて演算を行った場合、前記位置検出装置２０は、自車位置と他車位置とが地図における道路上にあるか否かを走行軌跡に基づいて判断する。まず、前記位置検出装置２０は、自車位置が地図における道路上にあるか否かを自車１１の走行軌跡、車速及びヨーレイトに基づいて判断する。そして、自車位置が地図における道路上にあると判断した場合、前記位置検出装置２０は、他車位置が地図における道路上にあるか否かを他車３１の走行軌跡に基づいて判断する。これにより、他車位置が地図における道路上にあると判断した場合、前記位置検出装置２０は自車位置及び他車位置がともに実際の道路上にあると判断して、第１の自他車位置補正処理を実行する。
【００８８】
この場合、前記位置検出装置２０は、まず、ナビ制御装置２１の記憶手段に記録されているノードデータを取得する。そして、図１４（ａ）に示されるように、座標（ｘ₁ 、ｙ₁ 、ｚ₁ ）で表される位置にある自車１１の現在位置である自車位置４２を、自車１１の走行軌跡、車速及びヨーレイトに基づいて判断された位置、すなわち、走行軌跡、車速及びヨーレイトに基づく現在位置４２’に移動させる。ここで、前記車速及びヨーレイトに基づく現在位置４２’は地図における道路４４上のノード上にある。この時、座標（ｘ₂ 、ｙ₂ 、ｚ₂ ）で表される位置にある他車３１の現在位置である他車位置４３も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させる。なお、図１４は平面図であり、高さ方向の座標の変化は省略されている。また、４７は自車１１の進行方向、４８は他車３１の進行方向である。
【００８９】
続いて、前記位置検出装置２０は、他車位置４３が、他車３１の走行軌跡に基づいて判断された位置、すなわち、走行軌跡に基づく他車位置４３’と一致しているか否か判断する。ここで、走行軌跡に基づく他車位置４３’は地図における道路４５上のノード上にある。そして、他車位置４３が道路４５上にある走行軌跡に基づく他車位置４３’と一致している場合には、自車位置４２及び他車位置４３が共に地図における道路４４及び道路４５上に合致しているので、マップマッチング処理を終了する。
【００９０】
また、他車位置４３が走行軌跡に基づく他車位置４３’と一致しない場合、前記位置検出装置２０は自他車道路照合処理を実行する。この場合、自車位置４２及び他車位置４３は、図１４（ｂ）に示されるようになっている。ここで、自車位置４２は、道路４４上のノード上にまで移動し、他車位置４３は、前記自車位置４２との相対位置関係４６を崩さない位置にまで移動した状態となっている。すなわち、Δｘ及びΔｙは維持されている。なお、図１４（ｂ）において４２ａは移動前の自車位置、すなわち、図１４（ａ）における自車位置４２を示し、４３ａは移動前の他車位置、すなわち、図１４（ａ）における他車位置４３を示している。
【００９１】
続いて、前記位置検出装置２０は、他車位置４３が現時点で位置するであろうと考えられる道路４５及び他車位置４３’を、他車３１の走行軌跡、車速及びヨーレイトに基づいて決定する。そして、他車位置４３が、現時点で位置するであろうと考えられる道路４５上に位置するように、他車位置４３及び自車位置４２を移動させる。この時、道路４４上にある自車１１の現在位置である自車位置４２が道路４４上から外れないように、かつ、相対位置関係４６を崩さないようにして、他車位置４３及び自車位置４２が移動させられる。
【００９２】
そして、前記位置検出装置２０は、他車位置４３が現時点で位置するであろうと考えられる道路４５上にあるか否かを判断する。ここで、他車位置４３が道路４５上にあると判断した場合、自車位置４２及び他車位置４３は、図１４（ｃ）に示されるようになっている。なお、図１４（ｃ）において４２ｂは移動前の自車位置、すなわち、図１４（ｂ）における自車位置４２を示し、４３ｂは移動前の他車位置、すなわち、図１４（ｂ）における他車位置４３を示している。この場合、図１４（ｃ）における他車位置４３及び自車位置４２は、道路４４の方向に沿って移動させられたことが分かる。そして、他車位置４３が道路４５上にある場合には、自車位置４２及び他車位置４３が共に地図における道路４４及び４５上に合致しているので、マップマッチング処理を終了する。
【００９３】
また、他車位置４３が道路４５上にない場合には、他車３１は、例えば、駐車場に入る等して道路上から外れた可能性がある。そこで、前記位置検出装置２０は、再度、自車位置４２を、自車１１の走行軌跡、車速及びヨーレイトに基づいて現時点で位置するであろうと考えられる道路４４上のノード上に移動させる。この時、他車位置４３も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させられる。そして、マップマッチング処理を終了する。
【００９４】
そして、前記位置検出装置２０は、前述したように、他車位置４３が地図における道路４５上にあるか否かを他車３１の走行軌跡に基づいて判断した時に、他車位置４３が地図における道路４５上にない場合、自車位置が実際の道路上にあると判断して、第２の自他車位置補正処理を実行する。
【００９５】
この場合、前記位置検出装置２０は、まず、ナビ制御装置２１の記憶手段に記録されているノードデータを取得する。そして、図１５（ａ）に示されるように、座標（ｘ₁ 、ｙ₁ 、ｚ₁ ）で表される位置にある自車１１の現在位置である自車位置４２を、走行軌跡、車速及びヨーレイトに基づく現在位置４２’に移動させる。ここで、前記車速及びヨーレイトに基づく現在位置４２’は地図における道路４４上のノード上にある。この時、座標（ｘ₂ 、ｙ₂ 、ｚ₂ ）で表される位置にある他車３１の現在位置である他車位置４３も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させられる。なお、図１５は平面図であり、高さ方向の座標の変化は省略されている。また、図１５における符号は、図１４と同様であるので、その説明を省略する。
【００９６】
これにより、図１５（ｂ）に示されるように、自車位置４２は道路４４上のノード上に位置する。なお、第２の自他車位置補正処理は、他車位置４３が道路上にないと判断した場合に実行されるので、前記第２の自他車位置補正処理において、前記位置検出装置２０は、前記第１の自他車位置補正処理において行ったような他車位置４３を道路４５上に移動させるための処理を行わない。そして、マップマッチング処理を終了する。
【００９７】
また、前記位置検出装置２０は、前述したように、自車位置４２が地図における道路４４上にあるか否かを自車１１の走行軌跡に基づいて判断した時に、自車位置４２が地図における道路４４上にない場合、さらに、他車位置４３が地図における道路４５上にあるか否かを判断する。そして、他車位置４３が地図における道路４５上にある場合、前記位置検出装置２０は他車位置が実際の道路上にあると判断して、第３の自他車位置補正処理を実行する。
【００９８】
この場合、前記位置検出装置２０は、まず、ナビ制御装置２１の記憶手段に記録されているノードデータを取得する。そして、図１５（ａ）に示されるように、座標（ｘ₂ 、ｙ₂ 、ｚ₂ ）で表される位置にある他車３１の現在位置である他車位置４３を、走行軌跡に基づく他車位置４３’と一致しているか否か判断する。ここで、走行軌跡に基づく他車位置４３’は地図における道路４５上のノード上にあるとする。この時、座標（ｘ₁ 、ｙ₁ 、ｚ₁ ）で表される位置にある自車１１の現在位置である自車位置４２も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させられる。
【００９９】
これにより、他車位置４３は道路４５上のノード上に位置する。なお、第３の自他車位置補正処理は、自車位置４２が道路４４上にないと判断した場合に実行されるので、前記第３の自他車位置補正処理において、前記位置検出装置２０は、前記第１及び２の自他車位置補正処理において行ったような自車位置４２を道路４４上に移動させるための処理を行わない。そして、マップマッチング処理を終了する。
【０１００】
また、他車位置４３が地図における道路４５上にない場合、前記位置検出装置２０は、自車１１の車速が所定値（例えば、３０〔ｋｍ〕）以上であるか否か判断する。ここで、車速が所定値未満である場合には、自車１１は道路４４以外の場所、例えば、駐車場等を走行している可能性が高いのに対して、車速が所定値以上である場合、自車１１は道路４４上を走行している、すなわち、自車位置４２が道路４４上にある可能性が高いと考えられる。
【０１０１】
そこで、自車１１の車速が所定値以上である場合には、自車位置及び他車位置がともに実際の道路上になく、かつ、車速が所定値以上であると判断して、第４の自他車位置補正処理を実行する。この場合、まず、自車位置４２に基づいて、複数のマッチング候補点を選択する。すなわち、前記自車位置４２を中心とする所定半径内に存在する道路に対して、前記自車位置４２から垂線を引き、該垂線の足をマッチング候補点として選択する。
【０１０２】
続いて、自車１１の進行方向とマッチング候補点における進行方向との関係、自車位置４２からマッチング候補点までの距離等に基づいて、各マッチング候補点におけるペナルティを算出する。なお、マッチング候補点における進行方向は、計算で求めてもよいし、あらかじめ道路データとして持っているようにしてもよい。
【０１０３】
続いて、ペナルティの最も小さいマッチング候補点を現在位置として決定し、該現在位置に自車位置４２を移動させる。この時、他車位置４３も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させられる。
【０１０４】
なお、自車位置４２だけでなく、他車位置４３に基づく複数のマッチング候補点も選択し、自車位置４２及び他車位置４３に関してペナルティの最も小さいマッチング候補点の組合せを自車１１及び他車３１の現在位置として決定し、該現在位置に自車位置４２及び他車位置４３を移動させるようにしてもよい。また、すべてのッチング候補点の中からペナルティの最も小さいマッチング候補点を自車１１又は他車３１の現在位置として決定し、該現在位置に自車位置４２又は他車位置４３を移動させるようにしてもよい。
【０１０５】
一方、自車１１の車速が所定値未満であ場合には、自車位置及び他車位置がともに実際の道路上になく、かつ、車速が所定値以上であると判断して、第５の自他車位置補正処理を実行する。この場合、前記位置検出装置２０は、まず、ナビ制御装置２１の記憶手段に記録されているノードデータを取得する。そして、図１６（ａ）に示されるように、座標（ｘ₁ 、ｙ₁ 、ｚ₁ ）で表される位置にある自車１１の現在位置である自車位置４２を、走行軌跡、車速及びヨーレイトに基づく現在位置４２’に移動させる。この時、座標（ｘ₂ 、ｙ₂ 、ｚ₂ ）で表される位置にある他車３１の現在位置である他車位置４３も、相対位置関係４６を崩さないようにして、すなわち、Δｘ及びΔｙを維持したままで移動させられる。なお、図１６は平面図であり、高さ方向の座標の変化は省略されている。また、図１６における符号は、図１４と同様であるので、その説明を省略する。
【０１０６】
これにより、図１６（ｂ）に示されるように、自車位置４２は走行軌跡、車速及びヨーレイトに基づく現在位置４２’と一致する。なお、第５の自他車位置補正処理は、他車位置４３が道路上にないと判断した場合に実行されるので、前記第５の自他車位置補正処理において、前記位置検出装置２０は、前記第１の自他車位置補正処理において行ったような他車位置４３を道路４５上に移動させるための処理を行わない。そして、マップマッチング処理を終了する。
【０１０７】
なお、他車３１の相対位置を特定する時に、共通衛星から受信したＧＰＳ情報に基づいて演算を行わなかった場合、前記位置検出装置２０は第６の自他車位置補正処理を実行する。この場合、自車位置４２と他車位置４３とが独立した演算によって特定されているので、自車位置４２と他車位置４３との相対位置関係を維持する必要がない。そのため、前記位置検出装置２０は、自車位置４２と他車位置４３とに関して、それぞれ、別個にマップマッチング処理を実行する。
【０１０８】
まず、前記位置検出装置２０は、自車位置４２に関し、位置を特定する時に、ＧＰＳ衛星４１からのＧＰＳ情報を使用したか否かを判断する。そして、ＧＰＳ情報を使用した場合、前記位置検出装置２０は、自車１１の現在位置である自車位置４２を、自車１１の走行軌跡、車速及びヨーレイトに基づいて現時点で位置するであろうと考えられる地点に移動させる。なお、自車位置４２を特定する時にＧＰＳ情報を使用しない場合には、既に自車１１の走行軌跡、車速及びヨーレイトに基づいて、位置を特定しているので、自車１１の走行軌跡、車速及びヨーレイトに基づいて現時点で位置するであろうと考えられる地点に移動させる処理を実行しない。そして、マップマッチング処理を終了する。
【０１０９】
また、前記位置検出装置２０は、他車位置４３に関しても、前述された自車位置４２に関する場合と同様の処理を実行する。
【０１１０】
次に、フローチャートについて説明する。まず、マップマッチング処理の動作を示すフローチャートについて説明する。
ステップＳ４−１ 共通衛星から受信したＧＰＳ情報に基づいて演算を行ったか否かを判断する。共通衛星から受信したＧＰＳ情報に基づいて演算を行った場合はステップＳ４−２に進み、共通衛星から受信したＧＰＳ情報に基づいて演算を行わなかった場合はステップＳ４−１１に進む。
ステップＳ４−２ 自車位置４２が道路４４上に存在しているか否かを判断する。自車位置４２が道路４４上に存在している場合はステップＳ４−３に進み、自車位置４２が道路４４上に存在していない場合はステップＳ４−６に進む。
ステップＳ４−３ 他車位置４３が道路４５上に存在しているか否かを判断する。他車位置４５が道路４５上に存在している場合はステップＳ４−４に進み、他車位置４３が道路４５上に存在していない場合はステップＳ４−５に進む。
ステップＳ４−４ 第１の自他車位置補正処理を行い、処理を終了する。
ステップＳ４−５ 第２の自他車位置補正処理を行い、処理を終了する。
ステップＳ４−６ 他車位置４３が道路４５上に存在しているか否かを判断する。他車位置４３が道路４５上に存在している場合はステップＳ４−７に進み、他車位置４３が道路４５上に存在していない場合はステップＳ４−８に進む。
ステップＳ４−７ 第３の自他車位置補正処理を行い、処理を終了する。
ステップＳ４−８ 車速が所定値以上であるか否か判断する。車速が所定値以上である場合にはステップＳ４−９に進み、車速が所定値以上でない場合にはステップＳ４−１０に進む。
ステップＳ４−９ 第４の自他車位置補正処理を行い、処理を終了する。
ステップＳ４−１０ 第５の自他車位置補正処理を行い、処理を終了する。
ステップＳ４−１１ 第６の自他車位置補正処理を行い、処理を終了する。
【０１１１】
次に、第１の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−４−１ 自車位置４２を現在位置していると考えられる道路４４上のノード４４−１上に移動させる。
ステップＳ４−４−２ 他車位置４３が道路４５上のノード４５−１上に位置しているか否かを判断する。他車位置４３が道路４５上のノード４５−１上に位置している場合は処理を終了し、他車位置４３が道路４５上のノード４５−１上に位置していない場合はステップＳ４−４−３に進む。
ステップＳ４−４−３ 自他車道路照合処理を行い、処理を終了する。
【０１１２】
次に、自他車道路照合処理を示すフローチャートについて説明する。
ステップＳ４−４−３−１ 他車位置４３がどの道路上に存在しているかを決定する。
ステップＳ４−４−３−２ 自車位置４２及び他車位置４３を道路上に位置するように移動させる。
ステップＳ４−４−３−３ 他車位置４３が道路４５上にあるか否かを判断する。他車位置４３が道路４５上にある場合は処理を終了し、他車位置４３が道路４５上にない場合はステップＳ４−４−３−４に進む。
ステップＳ４−４−３−４ 自車位置４２を現在位置していると考えられる道路４４上のノード４４−１上に移動させ、処理を終了する。
【０１１３】
次に、第２の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−５−１ 自車位置４２を現在位置していると考えられる道路４４上のノード４４−１上に移動させ、処理を終了する。
【０１１４】
次に、第３の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−７−１ 他車位置４３を現在位置していると考えられる道路４５上のノード４５−１上に移動させ、処理を終了する。
【０１１５】
次に、第４の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−９−１ 自車位置４２に基づいてマッチング候補点を選択する。
ステップＳ４−９−２ マッチング候補点のペナルティを算出する。
ステップＳ４−９−３ ペナルティの最も小さいマッチング候補点を現在位置として決定する。
ステップＳ４−９−４ 自車位置４２をマッチング候補点に移動させる。
【０１１６】
次に、第５の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−１０−１ 自車位置４２を現在位置していると考えられる地点４２’に移動させ、処理を終了する。
【０１１７】
次に、第６の自他車位置補正処理を示すフローチャートについて説明する。
ステップＳ４−１１−１ 自車位置検出にＧＰＳ衛星４１からのＧＰＳ情報を使用したか否かを判断する。自車位置検出にＧＰＳ衛星４１からのＧＰＳ情報を使用した場合はステップＳ４−９−２に進み、自車位置検出にＧＰＳ衛星４１からのＧＰＳ情報を使用しない場合は処理を終了する。
ステップＳ４−１１−２ 自車位置４２を現在位置していると考えられる地点に移動させ、処理を終了する。
【０１１８】
前記マップマッチング処理における第１の自他車位置補正処理を実行することにより、自車１１と他車３１との相対位置関係を維持しながら位置の補正を行うことができるので、自車１１又は他車３１だけで行う位置補正よりも、処理精度が向上する。
【０１１９】
そして、第２又は第３の自他車位置補正処理を実行することにより、自車１１又は他車３１のいずれかが道路上にある場合、一方の車両の位置を制限しつつ、自車１１と他車３１との相対位置関係を維持しながら位置の補正を行うことができるので、車両の周辺に存在する道路上になるように位置補正を行う従来の補正に比較して、処理精度が向上する。
【０１２０】
また、第４の自他車位置補正処理を実行することにより、車速が所定値以上であって、自車１１は道路４４上を走行している、すなわち、自車位置４２が道路上にある可能性が高いと考えられる場合に、現在位置を道路上移動させるので、自車位置４２及び他車位置４３を適切な位置に移動させることができる。
【０１２１】
また、第５の自他車位置補正処理を実行することにより、車速が所定値未満であって、自車位置４２が道路上にない可能性が高いと考えられる場合に、自車位置４２を適切と判断するので、自車位置４２及び他車位置４３を適切な位置とすることができる。
【０１２２】
次に、報知処理について説明する。
【０１２３】
図２５は本発明の実施の形態における報知処理の動作を示すフローチャートである。
【０１２４】
まず、位置検出装置２０は、マップマッチング処理によって特定されたの自車１１の現在位置、及び、他車３１の現在位置を表示装置２７の画面に表示されている地図に重ね合わせて表示する。これにより、自車１１の運転者は、自車１１及び他車３１の位置を的確に把握することができる。
【０１２５】
また、前記位置検出装置２０は、自車１１及び他車３１の位置、進行方向、速度等の要素に基づいて、自車１１及び他車３１が接近し過ぎて、車両同士が接触したりする可能性があると判断した場合、警報装置２６に指令を送信する。すると、該警報装置２６は、自車１１の運転者に対して警報を発する。これにより、前記運転者は、他車３１と接近し過ぎないように適切な措置を取ることができる。なお、前記位置検出装置２０が車両の制御装置、例えば、エンジンの制御を実行するＥＣＵ等に直接指令を送信して、エンジン回転数を低下させる等の制御を行わせるようにしてもよい。
【０１２６】
次に、フローチャートについて説明する。
ステップＳ５−１ 自車１１及び他車３１の現在位置を表示装置２７の画面に表示する。
ステップＳ５−２ 自車１１と他車３１との接触を判断して報知し、処理を終了する。
【０１２７】
このように、本実施の形態において、位置検出装置２０は、他車３１の受信したＧＰＳ情報、他車３１の各種車両状態情報及び走行軌跡等の情報、すなわち、他車３１の測位情報を他車３１から受信するようになっている。そして、前記位置検出装置２０は、自車１１の受信したＧＰＳ情報、自車１１の各種車両状態情報及び走行軌跡等の情報、すなわち、自車１１の測位情報と前記他車３１の測位情報に基づいて、自車１１の現在位置、及び、他車３１の現在位置を特定する。そのため、自車１１と他車３１との相対位置及び相対距離、すなわち、相対位置関係４６を正確に把握することができる。
【０１２８】
例えば、他車３１の位置検出装置が位置検出装置２０と相違する機種である場合、データ処理、演算処理等の処理方法が相違することが多い。このような場合に、他車３１の位置検出装置が処理を実行して特定した他車３１の現在位置を受信し、該他車３１の現在位置に基づいて自車１１と他車３１との相対位置関係４６を算出した場合、算出された該相対位置関係４６に誤差が含まれてしまう。
【０１２９】
しかし、本実施の形態においては、他車３１の位置検出装置が処理を実行する前の情報、すなわち、生データとしての他車３１の測位情報を他車３１から受信し、該生データとしての他車３１の測位情報に基づいて、位置検出装置２０が演算を実行し他車３１の現在位置を特定する。そのため、同一の処理方法によって、自車１１及び他車３１の現在位置が特定されるので、自車１１と他車３１との相対位置関係４６を正確に把握することができる。
【０１３０】
また、本実施の形態におけるマップマッチング処理においては、自車１１及び他車３１の現在位置が、共通衛星から受信したＧＰＳ情報に基づいて特定された場合、自車１１と他車３１との相対位置及び相対距離、すなわち、相対位置関係４６を崩さないようにして、自車１１及び他車３１の現在位置を地図における道路上にまで移動させるためのマップマッチング処理が実行される。そのため、マップマッチング処理の精度が高く、自車１１及び他車３１の現在位置が地図における道路上に正確に位置する。
【０１３１】
さらに、本実施の形態においては、他車３１のＧＰＳ情報が受信することができない場合には、他車３１の各種車両状態情報、他車３１の走行軌跡等の情報等の情報に基づいて、他車位置４３を特定することができる。そのため、他車３１が大きな建物の陰等のように、ＧＰＳ衛星４１からのＧＰＳ情報を受信することができない状態にある時でも、自車１１と他車３１との相対位置関係４６を把握することができる。
【０１３２】
さらに、自車１１がＧＰＳ情報が受信することができない場合、自車１１の測位情報を送信するようになっている。そのため、他車３１において自車１１と他車３１との相対位置関係４６を把握することができる。
【０１３３】
なお、本発明は前記実施の形態に限定されるものではなく、本発明の趣旨に基づいて種々変形させることが可能であり、それらを本発明の範囲から排除するものではない。
【０１３４】
【発明の効果】
以上詳細に説明したように、本発明によれば、位置検出装置においては、自車位置情報を作成する自車情報作成部と、他車が作成した他車位置情報を受信する他車情報受信部と、地図を読み込む地図読込部と、前記自車位置情報に含まれるＧＰＳ情報と他車位置情報に含まれるＧＰＳ情報とに基づいて、自車と他車との相対位置関係を算出し、該相対位置関係を維持しながら、自車位置及び他車位置を読み込んだ地図上に合致させて特定する位置特定部とを有する。
【０１３５】
この場合、位置検出装置は、相対位置関係と地図とに基づいて自車位置及び他車位置を特定するので、誤差が減少し、高い精度で自車位置及び他車位置を特定することができる。また、他車から生のＧＰＳ情報を受信し、同一の処理方法によって算出した自車と他車の相対位置関係に基づいて自車位置及び他車位置を特定するので、自車と他車との相対位置関係を高い精度で検出することができる。
【０１３６】
他の位置検出装置においては、さらに、前記自車位置情報に含まれるＧＰＳ情報と他車位置情報に含まれるＧＰＳ情報とは、共通の衛星からのＧＰＳ情報である。
【０１３７】
この場合、共通のＧＰＳ情報に基づいて自車と他車の相対位置関係を特定するので、異なった衛星からのＧＰＳ情報に基づいて自車と他車の相対位置関係を特定する場合と比較して誤差が減少し、自車と他車との相対位置関係を極めて正確に把握することができる。また、自車位置及び他車位置も高い精度で特定することができる。
【０１３８】
更に他の位置検出装置においては、さらに、前記自車位置情報は、ヨーレート情報、車速情報又は走行軌跡情報に基づいて自車位置情報を作成する。
【０１３９】
この場合、ヨーレート情報、車速情報又は走行軌跡情報に基づいて自車位置情報を作成するので、自車位置の精度が向上する。
【０１４０】
更に他の位置検出装置においては、さらに、前記自車位置情報を他車に送信する自車情報送信部を有する。
【０１４１】
この場合、他車においても、自車と他車との相対位置関係を把握することができる。
【０１４２】
更に他の位置検出装置においては、さらに、前記位置特定部は、共通の衛星からのＧＰＳ情報に基づいて、自車と他車との相対位置関係を算出し、ヨーレート情報、車速情報又は走行軌跡情報に基づいて自車位置及び他車位置を補正する。
【０１４３】
この場合、ヨーレート情報、車速情報又は走行軌跡情報に基づいて自車位置及び他車位置を補正するので、自車位置及び他車位置を高い精度で特定することができる。
【０１４４】
更に他の位置検出装置においては、さらに、前記位置特定部は、前記自車位置及び他車位置がともに実際の道路上にあると判断した場合、前記自車と他車との相対位置関係を維持しながら、前記自車位置が地図上の道路上に合致するように前記自車位置及び他車位置を補正し、該他車位置が地図上の道路上に合致するように前記自車位置及び他車位置を補正する。
【０１４５】
この場合、自車位置及び他車位置を道路上に特定することができ、自車位置及び他車位置の精度が向上する。
【０１４６】
更に他の位置検出装置においては、さらに、前記位置特定部は、前記自車位置又は他車位置のいずれかが実際の道路上にあると判断した場合、前記自車と他車との相対位置関係を維持しながら、前記自車位置又は他車位置のいずれかを地図上の道路上に合致するように前記自車位置及び他車位置を補正する。
【０１４７】
この場合、自車位置又は他車位置を道路上に特定することができ、自車位置及び他車位置の精度が向上する。
【０１４８】
更に他の位置検出装置においては、さらに、前記位置特定部は、前記自車位置及び他車位置がともに実際の道路上になく、かつ、車速が所定値以上であると判断した場合、地図上の前記自車位置があると判断された地点のマッチング候補点を選択し、前記自車と他車との相対位置関係を維持しながら、地図上のペナルティの最も小さいマッチング候補点に前記自車位置が合致するように前記自車位置及び他車位置を補正する。
【０１４９】
この場合、自車位置又は他車位置を道路上に特定することができ、自車位置及び他車位置の精度が向上する。
【０１５０】
更に他の位置検出装置においては、さらに、前記位置特定部は、前記自車位置及び他車位置がともに実際の道路上になく、かつ、車速が所定値以上でないと判断した場合、前記自車と他車との相対位置関係を維持しながら、地図上の前記自車位置があると判断された地点に合致するように前記自車位置及び他車位置を補正する。
【０１５１】
この場合、自車位置及び他車位置が道路上になくても、自車位置及び他車位置を特定することができる。
【０１５２】
更に他の位置検出装置においては、さらに、前記位置特定部が特定した自車位置及び他車位置を画像又は音によって報知する報知部を有する。
【０１５３】
この場合、運転者は、他車と接近し過ぎないように適切な措置を取ることができる。
【図面の簡単な説明】
【図１】本発明の実施の形態における位置検出装置の構成を機能の観点から示すブロック図である。
【図２】本発明の実施の形態における位置検出装置の詳細な構成を示す図である。
【図３】本発明の実施の形態における位置検出装置の動作の概略を示す第１の図である。
【図４】本発明の実施の形態における位置検出装置の動作の概略を示す第２の図である。
【図５】本発明の実施の形態における位置検出装置の動作を示すフローチャートである。
【図６】本発明の実施の形態における自車位置特定処理及び車両情報送受信処理の動作を示すフローチャートである。
【図７】本発明の実施の形態におけるヨーレイトに基づいて自車位置を更新する方法を示す図である。
【図８】本発明の実施の形態における車両状態情報に基づく位置特定処理の動作を示すフローチャートである。
【図９】本発明の実施の形態における車両状態情報に基づく他車位置特定演算処理の概略を示す図である。
【図１０】本発明の実施の形態における相対位置演算処理の動作を示すフローチャートである。
【図１１】本発明の実施の形態における第１の他車相対位置演算処理の動作を示すフローチャートである。
【図１２】本発明の実施の形態における第２の他車相対位置演算処理の動作を示すフローチャートである。
【図１３】本発明の実施の形態におけるマップマッチング処理の動作の概略を示す図である。
【図１４】本発明の実施の形態における第１の自他車位置補正処理の動作を示す図である。
【図１５】本発明の実施の形態における第２の自他車位置補正処理の動作を示す図である。
【図１６】本発明の実施の形態における第４の自他車位置補正処理の動作を示す図である。
【図１７】本発明の実施の形態におけるマップマッチング処理の動作を示すフローチャートである。
【図１８】本発明の実施の形態における第１の自他車位置補正処理の動作を示すフローチャートである。
【図１９】本発明の実施の形態における自他車道路照合処理の動作を示すフローチャートである。
【図２０】本発明の実施の形態における第２の自他車位置補正処理の動作を示すフローチャートである。
【図２１】本発明の実施の形態における第３の自他車位置補正処理の動作を示すフローチャートである。
【図２２】本発明の実施の形態における第４の自他車位置補正処理の動作を示すフローチャートである。
【図２３】本発明の実施の形態における第５の自他車位置補正処理の動作を示すフローチャートである。
【図２４】本発明の実施の形態における第６の自他車位置補正処理の動作を示すフローチャートである。
【図２５】本発明の実施の形態における報知処理の動作を示すフローチャートである。
【符号の説明】
１１ 自車
１２ 自車情報作成部
１３ 他車情報受信部
１４ 位置特定部
１５ 報知部
１６ 自車情報送信部
２０ 位置検出部
２１ ナビ制御装置
２２ 位置検出制御装置
２３ 信号発信装置
２４ ＧＰＳ受信装置
２５ 信号受信装置
２６ 警報装置
２７ 表示装置
２８ センサ情報受信装置
３１ 他車
３４ 走行軌跡
４２、４２ｂ 自車位置
４３、４３ｂ 他車位置
４６ 相対位置関係[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position detection device.
[0002]
[Prior art]
Conventionally, many traffic accidents have occurred, and many casualties have been caused by traffic accidents. In addition, dangerous situations that may cause a traffic accident even if it does not lead to a traffic accident, for example, a situation where vehicles approach abnormally, are considered to occur more frequently. Preventing the situation from occurring can lead to a reduction in traffic accidents.
[0003]
When analyzing the causes of traffic accidents, it is said that about half of the traffic accidents that resulted in deaths were accidents caused by delayed discovery of vehicles. From this, it is clear that in order to reduce traffic accidents, it is necessary for drivers of vehicles to accurately grasp the position of each other's vehicles. Therefore, the driver of the vehicle can accurately grasp the position of the other vehicle traveling around the own vehicle, and the driver of the other vehicle traveling around the own vehicle can accurately grasp the position of the own vehicle. There is a need for a device to assist in driving.
[0004]
In view of this, a position detection device using GPS (Global Positioning System) has been proposed (see JP-A-8-43517). In this case, the position detection device receives the position information of the other vehicle transmitted by the other vehicle, specifies the position of the other vehicle based on the position information, and, on the other hand, determines the position of the other vehicle based on the GPS information received by the own vehicle. Identify the location of the car. And the present location of the own vehicle and the other vehicle is specified, and the positional relationship between the own vehicle and the other vehicle is displayed and notified to the driver.
[0005]
[Problems to be solved by the invention]
However, the conventional position detection device has a large error and cannot accurately detect the positional relationship between the own vehicle and the other vehicle. In this case, the position detection device receives the other vehicle position information transmitted by the other vehicle, specifies the other vehicle position based on the other vehicle position information, and based on the GPS information received from the GPS satellite. By specifying, the positional relationship between the vehicle and the other vehicle is specified. At this time, the position information is calculated and transmitted by different calculation methods for the own vehicle and the other vehicle. Here, when the calculation method of the position information is different, an error due to the different calculation method occurs in addition to the error originally included in the GPS information. Therefore, an error in position information between the own vehicle and the other vehicle becomes large.
[0006]
The present invention solves the problems of the conventional position detecting device, receives positioning information, which is information for detecting the position of the vehicle, from other vehicles traveling around the own vehicle, It is an object of the present invention to provide a position detection device that can detect the actual relative positional relationship between the host vehicle and the other vehicle with high accuracy by specifying the position of the other vehicle.
[0007]
[Means for Solving the Problems]
Therefore, in the position detection device of the present invention, the own vehicle information creation unit that creates the own vehicle position information, the other vehicle information reception unit that receives the other vehicle position information created by the other vehicle, and the map reading that reads the map And calculating the relative positional relationship between the own vehicle and the other vehicle based on the GPS information included in the vehicle position information and the GPS information included in the other vehicle position information, and maintaining the relative positional relationship And a position specifying unit that specifies the position of the host vehicle and the position of the other vehicle by matching them on the read map.
[0008]
In another position detection device of the present invention, the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information are GPS information from a common satellite.
[0009]
In still another position detection device of the present invention, the host vehicle position information is generated based on yaw rate information, vehicle speed information, or travel locus information.
[0010]
According to still another position detection apparatus of the present invention, the vehicle further includes a vehicle information transmission unit that transmits the vehicle position information to another vehicle.
[0011]
In still another position detection device of the present invention, the position specifying unit calculates a relative positional relationship between the own vehicle and the other vehicle based on GPS information from a common satellite, and calculates yaw rate information, vehicle speed information. Alternatively, the host vehicle position and the other vehicle position are corrected based on the travel locus information.
[0012]
In still another position detection device of the present invention, when the position specifying unit determines that the own vehicle position and the other vehicle position are both on an actual road, the relative position between the own vehicle and the other vehicle is determined. While maintaining the positional relationship, the host vehicle position and the other vehicle position are corrected so that the host vehicle position matches the road on the map, and the other vehicle position matches the road on the map. The own vehicle position and other vehicle position are corrected.
[0013]
In still another position detection device of the present invention, when the position specifying unit determines that either the own vehicle position or the other vehicle position is on an actual road, the own vehicle and the other vehicle While maintaining the relative positional relationship, the host vehicle position and the host vehicle position are corrected so that either the host vehicle position or the host vehicle position matches the road on the map.
[0014]
In still another position detection device of the present invention, the position specifying unit further determines that the own vehicle position and the other vehicle position are not on an actual road and the vehicle speed is equal to or higher than a predetermined value. Selecting a matching candidate point at a point where the vehicle position on the map is determined to be, and maintaining the relative positional relationship between the vehicle and the other vehicle, to the matching candidate point with the smallest penalty on the map The host vehicle position and the other vehicle position are corrected so that the host vehicle position matches.
[0015]
In still another position detection device of the present invention, when the position specifying unit determines that both the vehicle position and the other vehicle position are not on an actual road and the vehicle speed is not equal to or higher than a predetermined value, While maintaining the relative positional relationship between the host vehicle and the other vehicle, the host vehicle position and the other vehicle position are corrected so as to match the point on the map where the host vehicle position is determined to be present.
[0016]
In still another position detection device of the present invention, the position detection unit further includes a notification unit that notifies the vehicle position and the other vehicle position specified by the position specifying unit by an image or sound.
[0017]
In the position detection method of the present invention, the host vehicle position information is generated, the other vehicle position information generated by the other vehicle is received, the map is read, and the GPS information and the other vehicle position information included in the host vehicle position information are read. Based on the GPS information included in the vehicle, calculate the relative positional relationship between the vehicle and the other vehicle, while maintaining the relative positional relationship, match the vehicle position and the other vehicle position on the read map, The own vehicle position and the other vehicle position are specified.
[0018]
In the position detection program of the present invention, the computer includes a host vehicle information creation unit that creates host vehicle position information, another vehicle information reception unit that receives other vehicle position information created by another vehicle, a map reading unit that reads a map, In addition, based on the GPS information included in the vehicle position information and the GPS information included in the other vehicle position information, the relative position relationship between the own vehicle and the other vehicle is calculated, and the relative position relationship is maintained. It functions as a position specifying unit that specifies the position of the own vehicle and the position of the other vehicle by matching them on the read map.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0020]
FIG. 1 is a block diagram showing the configuration of the position detection device in the embodiment of the present invention from the viewpoint of function, and FIG. 2 is a diagram showing the detailed configuration of the position detection device in the embodiment of the present invention.
[0021]
In FIG. 2, reference numeral 11 denotes a host vehicle that is a vehicle such as a passenger car, a truck, a bus, a motorcycle, and a work vehicle that travels on a road, and reference numeral 31 denotes another vehicle that travels around the host vehicle 11, that is, another vehicle. A first other vehicle 31-1 and a second other vehicle 31-2 are included. Reference numeral 41 denotes a GPS satellite that orbits around the earth and transmits GPS information.
[0022]
Here, the number of the other vehicles 31 that travel around the host vehicle 11 may be any number, may be a single vehicle, or may be three or more. In FIG. The vehicle 31-1 and the second other vehicle 31-2 are shown as representatives of the other vehicle 31 as all the surrounding vehicles that travel around the host vehicle 11. Further, although there are actually a plurality of GPS satellites (for example, 24 in six orbits), in FIG. 2, a single GPS satellite 41 is shown as representative of all GPS satellites. Furthermore, although the said 1st other vehicle 31-1 and the 2nd other vehicle 31-2 also have a position detection apparatus similarly to the own vehicle 11, in this Embodiment, the position of the own vehicle 11 is shown. The configuration of the detection device 20 will be described, and the description of the configuration of the position detection device of the first other vehicle 31-1 and the second other vehicle 31-2 will be omitted.
[0023]
In the position detection device 20 of the own vehicle 11, reference numeral 21 denotes a navigation control device that executes basic processing as a navigation device such as displaying a map, recognizing the current position of the own vehicle 11, and route guidance. Reference numeral 22 denotes a position detection control device that executes processing for detecting the positions of the host vehicle 11 and the other vehicle 31, and transmits and receives various information to and from the navigation control device 21. Reference numeral 23 denotes a signal transmission device that wirelessly transmits information such as GPS information received by the host vehicle 11 and various vehicle state information indicating the state of the host vehicle 11 in accordance with a command from the position detection control device 22. is there. Reference numeral 24 denotes a GPS receiving device that receives GPS information from the GPS satellite 41 and transmits the GPS information to the navigation control device 21, and has the same configuration as that used in a normal navigation device. The vehicle state information includes the accelerator opening, the movement of the brake pedal operated by the driver, the steering angle of the steering operated by the driver, the movement of the blinker switch operated by the driver, and the driver's operation. It includes the movement of the shift lever of the transmission, the traveling speed of the vehicle, that is, the vehicle speed, the acceleration of the vehicle, the yaw rate indicating the change in the direction the vehicle is facing, and the like.
[0024]
Here, 25 is a signal receiving device that receives GPS information transmitted from the other vehicle 31 and various vehicle state information indicating the state of the other vehicle 31 and transmits the information to the position detection control device 22. Reference numeral 26 denotes an alarm device that includes a lamp, a buzzer, a speaker, and the like, and issues an alarm to the driver of the host vehicle 11 in accordance with a command from the position detection control device 22. In addition, 27 includes a CRT, a liquid crystal display, an LED (Light Emitting Diode) display, a holography device, and the like, and displays the positions, maps, routes, and the like of the own vehicle 11 and the other vehicle 31 according to the command of the position detection control device 22. Display device.
[0025]
Reference numeral 28 denotes a sensor information receiving device that receives various vehicle state information indicating the state of the host vehicle 11 from various sensors and transmits the information to the position detection control device 22. In this case, the sensor includes an accelerator opening sensor that detects the accelerator opening, a brake switch that detects the movement of the brake pedal operated by the driver, and a steering that detects the steering angle of the steering operated by the driver. A sensor, a winker sensor for detecting the movement of the winker switch operated by the driver, a shift lever sensor for detecting the movement of the shift lever of the transmission operated by the driver, and a vehicle speed for detecting the traveling speed of the own vehicle 11, that is, the vehicle speed. The sensor includes an acceleration sensor that detects the acceleration of the host vehicle 11, a yaw rate sensor that detects a yaw rate indicating a change in the direction in which the host vehicle 11 is facing, and the like.
[0026]
Here, the navigation control device 21 includes arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, a communication interface, and the like. The storage means includes a database comprising a map data file, an intersection data file, a node data file, a road data file, and a facility information data file in which information on facilities such as hotels and gas stations in each region is recorded. . In addition to the data for searching for the route, the storage means displays a guide map along the searched route on the screen of the display device 27, the distance to the next intersection, the next intersection Various data for displaying the direction of travel and the like and displaying other guidance information are recorded. The storage means also records various data for outputting predetermined information as audio. The storage means includes all forms of recording media such as magnetic tape, magnetic disk, magnetic drum, flash memory, CD-ROM, MD, DVD-ROM, optical disk, MO, IC card, optical card, and memory card. It is also possible to use a removable external storage medium.
[0027]
The intersection data file records intersection data, the node data file records node data, and the road data file records road data. The road data is indicated by the intersection data, node data, and road data. Displayed on the screen. The intersection data includes the type of intersection, that is, an intersection where a traffic signal lamp is installed or an intersection where no traffic signal lamp is installed. The node data constitutes at least the position and shape of the road in the map data recorded in the map data file, and includes actual road branch points (including intersections, T-junctions, etc.), node points , And data indicating a link connecting each node point. Further, the node point indicates at least the position of a road bending point.
[0028]
In addition, the road data includes data such as width, slope, cant, altitude, bank, number of road lanes, points where the number of lanes decreases, points where the width becomes narrower, etc. . In the case of an expressway or a main road, each lane in the opposite direction is stored as separate road data and processed as a double road. For example, in the case of a main road having two or more lanes on one side, it is processed as a two-way road, and the upward lane and the downward lane are stored in the road data as independent roads. The corner includes data such as a radius of curvature, an intersection, a T-junction, and a corner entrance. Further, the road attributes include data such as railroad crossings, highway entrance / exit rampways, highway toll gates, road types (national roads, major local roads, general roads, highways, etc.).
[0029]
Further, the communication interface of the navigation control device 21 communicates with the position detection control device 22 and transmits / receives various data to / from an FM transmitter, a telephone line network, the Internet, a mobile phone network, and the like. It is desirable to be able to do that. For example, it is desirable to receive various data such as road information such as traffic jams, traffic accident information, and D-GPS information for detecting detection errors of the GPS sensor received by an information sensor (not shown).
[0030]
The navigation control device 21 executes various processes such as searching for a route to the destination, driving guidance in the route, determining a specific section, searching for points, facilities, etc., and displaying the map on the screen of the display device 27. And the current position of the vehicle, the route from the current position to the destination, guidance information along the route, and the like are displayed on the map. The guidance information may be output as a sound by a sound generation means. Further, the navigation control device 21 may detect the current position of the other vehicle 31 based on information such as GPS information from the other vehicle 31 received by the signal receiving device 25, a travel locus, signals of various sensors, and the like. it can.
[0031]
Further, the position detection control device 22 includes arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, a communication interface, and the like. Here, the storage means may be any type of recording medium such as magnetic tape, magnetic disk, magnetic drum, flash memory, CD-ROM, MD, DVD-ROM, optical disk, MO, IC card, optical card, memory card, etc. A removable external storage medium can also be used.
[0032]
Then, the position detection control device 22 receives GPS information received from the GPS satellite 41 via the GPS receiving device 24 and various vehicle state information received from the sensor information receiving device 28 according to the control program stored in the storage means, And the relative position of the own vehicle 11 and the other vehicle 31, a relative distance, etc. are output based on the GPS information and the various vehicle state information which the other vehicle 31 transmitted received via the signal receiver 25. In this case, map matching is performed to correct the relative position, relative distance, etc. between the host vehicle 11 and the other vehicle 31.
[0033]
In the present embodiment, as shown in FIG. 1, the position detection device 20 has a host vehicle information creation unit 12 that creates positioning information of the host vehicle 11 as host vehicle position information and another vehicle 31 from the viewpoint of function. The other vehicle information receiving unit 13 that receives the positioning information of the own vehicle 31 as the other vehicle position information created by the vehicle, based on the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information. A position specifying unit 14 that calculates the relative positional relationship between the vehicle 11 and the other vehicle 31 and specifies the own vehicle position and the other vehicle position by matching them on the read map while maintaining the relative positional relationship, the position specifying Notifying unit 15 for notifying vehicle position and other vehicle position specified by unit 14 by image or sound, own vehicle information transmitting unit 16 for transmitting positioning information of own vehicle 11 to other vehicle 31, and reading a map (not shown) It has a map reader
[0034]
Here, when the positioning information is traveling state information, the sensor information receiving device 28 and the navigation control device 21 function as the own vehicle information creating unit 12. When the positioning information includes GPS information, the GPS receiving device 24 is also used. It functions as the own vehicle information creation unit 12. The signal receiving device 25 functions as the other vehicle information receiving unit 13. The navigation control device 21 and the position detection control device 22 function as the position specifying unit 14. Further, the alarm device 26 and the display device 27 function as the notification unit 15, and the signal transmission device 23 functions as the host vehicle information transmission unit 16.
[0035]
The traveling state information is yaw rate information, vehicle speed information, or traveling locus information. In this case, the yaw rate information includes an absolute direction or an advancing direction detected by a geomagnetic sensor or the like in addition to a yaw rate detected by a yaw rate sensor such as a vibration gyro, a gas rate gyro, or an optical fiber gyro. Further, the yaw rate information includes information similar to the yaw rate calculated based on the deviation from the white line on the road detected by the steering angle, CCD, laser detector, or the like. In addition to the vehicle speed, the vehicle speed information includes information for calculating the travel distance of the vehicle such as the travel distance of the vehicle. Further, the traveling locus information is a traveling locus when the yaw rate information is a yaw rate, but when the yaw rate information is an absolute direction or an absolute traveling direction, the point where the vehicle is located immediately before is uniquely determined. Any information may be used as long as the position information can be used.
[0036]
Next, the operation of the position detection device 20 having the above configuration will be described.
[0037]
FIG. 3 is a first diagram showing an outline of the operation of the position detection device according to the embodiment of the present invention. FIG. 4 is a second diagram showing an outline of the operation of the position detection device according to the embodiment of the present invention. These are flowcharts which show operation | movement of the position detection apparatus in embodiment of this invention. In FIG. 3, 41-1 to 41-5 are GPS satellites, and in this case, five GPS satellites are shown.
[0038]
Here, an overall flow of the operation of the position detection device 20 will be described. First, the position detection device 20 executes a basic navigation process. In this case, detection of the current position of the host vehicle 11, search for a route to the destination, travel guidance in the route, determination of a specific section, search for points, facilities, etc. are performed, and a map is displayed on the screen of the display device 27. The current position of the vehicle 11, the route from the current position to the destination, guidance information along the route, and the like are displayed on the map.
[0039]
Next, the position detection device 20 executes a vehicle position specifying process and a vehicle information transmission / reception process. Note that a part of the vehicle position specifying process and the vehicle information transmission / reception process overlaps with the navigation basic process. In this case, based on the GPS information received by the GPS receiver 24, the vehicle state information such as the vehicle speed detected by the sensor information receiver 28, and the information such as the travel locus of the host vehicle 11 recorded by the navigation control device 21. 11 current positions, that is, the vehicle position is specified. The GPS information received by the GPS receiver 24, the vehicle state information detected by the sensor information receiver 28, and the information such as the travel locus of the host vehicle 11 recorded by the navigation control device 21 are transmitted via the signal transmitter 23. As shown in FIG. 3, it is transmitted to the other vehicle 31 traveling around the host vehicle 11. Further, the GPS information received by the other vehicle 31 transmitted by the other vehicle 31, the vehicle status information of the other vehicle 31, and information such as the travel locus are received via the signal receiving device 25 as shown in FIG. Is done.
[0040]
Next, the position detection device 20 executes a relative position calculation process. In this case, as shown in FIG. 4, GPS information received by the GPS receiver 24, vehicle state information detected by the sensor information receiver 28, information such as the travel locus of the host vehicle 11 recorded by the navigation control device 21, And based on the GPS information received by the other vehicle 31 received via the signal receiving device 25, the vehicle state information of the other vehicle 31 and the information such as the traveling locus, the relative position of the other vehicle 31 with the own vehicle position as a reference. The correct position is calculated.
[0041]
Next, the position detection device 20 executes a map matching process. In this case, the host vehicle position specified by the host vehicle position specifying process and the vehicle information transmission / reception process, and the relative position of the other vehicle 31 calculated by the relative position calculation process are recorded in the storage means of the navigation control device 21. Map matching is performed so that the position of the own vehicle and the position of the other vehicle coincide with each other on the road in the map in light of the map data. In the map matching process, the relative position and the relative distance between the host vehicle 11 and the other vehicle 31 calculated by the relative position calculation process are not changed.
[0042]
Finally, the position detection device 20 executes a notification process. In this case, the own vehicle position and the other vehicle position specified by the map matching process are displayed superimposed on the map displayed on the screen of the display device 27. Thereby, the driver | operator of the own vehicle 11 can grasp | ascertain an own vehicle position and an other vehicle position exactly. Further, when the possibility that the own vehicle 11 approaches the surrounding vehicle is high, the alarm device 26 gives the driver of the own vehicle 11 to the driver of the own vehicle 11 as shown in FIG. Alarm. Thereby, the driver can take measures so as not to approach the other vehicle 31.
[0043]
The navigation basic process, the vehicle position specifying process, the vehicle information transmission / reception process, the relative position calculation process, the map matching process, and the notification process are repeatedly executed at a predetermined cycle (for example, 16 [msec]).
[0044]
Next, a flowchart will be described.
Step S1: The basic navigation process is executed.
Step S2: Car position identification processing and vehicle information transmission / reception processing are executed.
Step S3: Relative position calculation processing is executed.
Step S4: A map matching process is executed.
Step S5 A notification process is executed.
[0045]
Next, the own vehicle position specifying process and the vehicle information transmission / reception process will be described.
[0046]
FIG. 6 is a flowchart showing operations of the own vehicle position specifying process and the vehicle information transmitting / receiving process in the embodiment of the present invention.
[0047]
First, the position detection device 20 determines whether or not the number of GPS satellites 41 from which the GPS receiver 24 can receive GPS information is four or more. When the number of GPS satellites 41 that can receive GPS information is four or more, the position detection device 20 is based on the GPS information received from the four GPS satellites 41-1 to 41-4. The vehicle position specifying calculation process for specifying the vehicle position is executed. For example, in this case, by substituting various numerical values included in the GPS information into the quaternary simultaneous equations represented by the following formulas (1) to (4) and solving, The time of the GPS clock of the car 11 is calculated.
[0048]
[Expression 1]

[0049]
Here, x, y, and z are the coordinates of the vehicle position, and t is the time indicated by the GPS clock of the vehicle 11. Xn, yn and zn are the coordinates of the nth GPS satellite 41-n (n = 1, 2, 3, 4), tn is the time indicated by the GPS clock of the nth GPS satellite 41-n, and GPS It is included in the GPS information received from the satellites 41-1 to 41-4. Here, c represents the speed of light. As a result, the coordinates (x, y, z) of the vehicle position at time t are specified.
[0050]
In addition, when the number of GPS satellites 41 that can receive GPS information is not four or more, the position detection device 20 has the number of GPS satellites 41 that the GPS receiver 24 can receive GPS information. Judge whether there are three. When the number of GPS satellites 41 that can receive GPS information is three, the position detection device 20 is based on the GPS information received from the three GPS satellites 41-1 to 41-3. A vehicle position specifying calculation process for specifying the vehicle position is executed.
[0051]
In this case, there are four unknowns to be calculated: time t and the coordinates (x, y, z) of the vehicle position, whereas there are three GPS satellites 41 that can receive GPS information. Therefore, it becomes impossible to solve the quaternary simultaneous equations using numerical values included in the GPS information. Therefore, in general, the numerical value of z calculated by the vehicle position specifying calculation processing in the previous cycle is substituted for the numerical value of z, which is a coordinate component in the height direction at the vehicle position where the amount of change is considered to be extremely small. Therefore, it will be handled as a known number. That is, z, which is the height of the vehicle position, is fixed. Thus, by substituting various numerical values included in the GPS information into the ternary simultaneous equations composed of the equations (1) to (3), the coordinates of the vehicle position that are three unknowns (where z is a known number) And the time of the GPS clock of the own vehicle 11 can be calculated.
[0052]
Furthermore, if the number of GPS satellites 41 that can receive GPS information is not three, that is, if the number of GPS satellites 41 that can receive GPS information is two or less, the GPS information Therefore, the position detection device 20 executes position specification processing based on the vehicle state information detected by the sensor information reception device 28, and the vehicle at time t is determined. The coordinates (x, y, z) of the position are specified. The position specifying process based on the vehicle state information will be described later.
[0053]
And if the coordinate (x, y, z) of the own vehicle position in the time t is specified, the said position detection apparatus 20 will perform an own vehicle data transmission process. In this case, the GPS information received by the GPS receiver 24, the vehicle speed information detected by the sensor information receiver 28, the vehicle state information such as the yaw rate, and the information such as the travel locus of the host vehicle 11 recorded by the navigation control device 21 are signal transmitting devices. 23 to the other vehicle 31.
[0054]
Subsequently, the position detection device 20 executes another person data reception processing. In this case, the signal receiving device 25 receives the GPS information received by the other vehicle 31, the vehicle speed information of the other vehicle 31 detected by the sensor of the other vehicle 31, the vehicle state information such as the yaw rate, the information such as the travel locus of the other vehicle 31, Receive from another vehicle 31.
[0055]
Next, a flowchart will be described.
Step S2-1: It is determined whether or not the number of GPS satellites 41 that can be received is four or more. When the number of GPS satellites 41 that can be received is four or more, the process proceeds to step S2-4, and when it is less than four, the process proceeds to step S2-2.
Step S2-2: It is determined whether or not the number of GPS satellites 41 that can be received is three. If the number of GPS satellites 41 that can be received is three, the process proceeds to step S2-3. If the number is less than three, the process proceeds to step S2-5.
Step S2-3: The height z of the vehicle position is fixed.
Step S2-4: Car position specifying calculation processing is performed.
Step S2-5 A position specifying process based on the vehicle state information is performed.
Step S2-6 Car data transmission processing is performed.
Step S2-7 The other vehicle data reception process is performed and the process is terminated.
[0056]
Next, the position specifying process based on the vehicle state information will be described.
[0057]
FIG. 7 is a diagram showing a method of updating the vehicle position based on the yaw rate in the embodiment of the present invention, and FIG. 8 is a flowchart showing the operation of the position specifying process based on the vehicle state information in the embodiment of the present invention. .
[0058]
First, the position detection device 20 determines whether or not the target of the position specifying process is the own vehicle 11, that is, whether to specify the position of the own vehicle 11 or the position of the other vehicle 31. When the position of the host vehicle 11 is specified, the position detection device 20 includes vehicle state information such as the vehicle speed and yaw rate detected by the sensor information receiving device 28, the travel locus of the host vehicle 11 recorded by the navigation control device 21, and the like. Get information about. On the other hand, when specifying the position of the other vehicle 31, the position detection device 20 detects the vehicle speed and yaw rate of the other vehicle 31 detected by the sensor of the other vehicle 31 from the information received by the signal receiving device 25 from the other vehicle 31. The vehicle state information such as, the information such as the travel locus of the other vehicle 31 is acquired.
[0059]
Next, the position detection device 20 executes a current position specifying process. Note that the current position specifying process is the same when specifying the position of the own vehicle 11 and when specifying the position of the other vehicle 31, so here the current position specifying process when specifying the position of the own vehicle 11 is described. This will be described with reference to FIG. 7A shows the current position calculated by the current position specifying process in the previous cycle, that is, the current position before the update, and FIG. 7B shows the current position specified in the current cycle. The current position calculated at the present time, that is, the state of the updated current position is shown.
[0060]
In this case, the position detection device 20 firstly calculates from the current position calculated in the current position specifying process in the previous cycle, that is, the current position 33a before the update to the current position at the current time, that is, the current position 33b after the update. Is calculated based on the vehicle speed. In this case, the movement distance d is calculated by the following equation (5).
d = v × T (5)
Here, v is the vehicle speed, T is the time from the time when the current position specifying process is executed in the previous cycle to the time when the current current position specifying process is executed, and the position detection device 20 performs the current position specifying process. Is a cycle of repeatedly executing (for example, 16 [msec]). The T may be measured or may be obtained based on the time t included in the received GPS information.
[0061]
Subsequently, the position detection device 20 sets the traveling direction 35a of the host vehicle 11 at the current position 33a before the update based on the acquired travel locus 34 of the host vehicle 11. In FIG. 7A, the length of the arrow indicating the traveling direction 35a indicates the moving distance d. Subsequently, the traveling direction 35a is corrected based on the yaw rate 36 indicating the change in the direction in which the host vehicle 11 is facing, and the current traveling direction 35b is determined. In this case, the length of the arrow indicating the current traveling direction 35b is equal to the length of the arrow indicating the traveling direction 35a and indicates the moving distance d. Accordingly, in FIG. 7A, the position 35c at the tip of the arrow indicating the current traveling direction 35b corresponds to the current position at the current time, that is, the updated current position 33b in FIG. 7B.
[0062]
Note that the length of the arrow indicating the traveling direction 35a may not indicate the movement distance d. In this case, after correcting the traveling direction 35a and determining the current traveling direction 35b, the length of the arrow indicating the current traveling direction 35b is adjusted to be the length of the moving distance d.
[0063]
Finally, the position detecting device 20 updates the current position from the current position 33a before the update to the current position 33b after the update, and ends the current position specifying process based on the vehicle state information. Thereby, even if it is a case where GPS information cannot be received from three or more GPS satellites 41, the own vehicle position of the own vehicle 11 can be specified.
[0064]
When the position of the other vehicle 31 is specified, the position detection device 20 uses the vehicle speed information of the other vehicle 31, the vehicle state information such as the yaw rate, the travel locus of the other vehicle 31 and the like received by the signal receiving device 25. Based on this, the current position specifying process is executed. Thereby, even if the other vehicle 31 cannot receive GPS information from three or more GPS satellites 41, the own vehicle position of the other vehicle 31 can be specified.
[0065]
Next, a flowchart will be described.
Step S2-5-1: It is determined whether or not the host vehicle 11. If it is the host vehicle 11, the process proceeds to step S2-5-2, and if it is the other vehicle 31, the process proceeds to step S2-5-3.
Step S2-5-2: The own vehicle information is acquired.
Step S2-5-3 Other vehicle information is acquired.
Step S2-5-4: The current position specifying process is performed and the process is terminated.
[0066]
Next, the relative position calculation process will be described.
[0067]
FIG. 9 is a diagram showing an outline of the other vehicle position specifying calculation process based on the vehicle state information in the embodiment of the present invention, FIG. 10 is a flowchart showing the operation of the relative position calculation process in the embodiment of the present invention, and FIG. FIG. 12 is a flowchart showing the operation of the second other vehicle relative position calculation process in the embodiment of the present invention, and FIG. 12 is a flowchart showing the operation of the second other vehicle relative position calculation process in the embodiment of the present invention.
[0068]
In this case, the position detection device 20 acquires the GPS information received by the other vehicle 31, the vehicle state information such as the vehicle speed of the other vehicle 31, the yaw rate, and the information such as the travel locus of the other vehicle 31. The relative position (Δx, Δy, Δz) of the vehicle 31 is calculated.
[0069]
First, the position detection device 20 counts the number of common satellites based on the GPS information received by the GPS reception device 24 and the GPS information transmitted from the other vehicle 31 received by the signal reception device 25. Here, the common satellite is a GPS satellite 41 in which the own vehicle 11 can receive GPS information and the other vehicle 31 can also receive GPS information. When the number of common satellites is three or more, the position detection device 20 executes a first other vehicle relative position calculation process. When the number of common satellites is not three or more, that is, two or less. If so, the second relative vehicle relative position calculation process is executed.
[0070]
Here, when the number of common satellites is three or more, the position detection device 20 determines whether or not the number of common satellites is four or more. When the number of common satellites is four or more, the position detection device 20 uses the GPS information received from the four common satellites GPS satellites 41-1 to 41-4 as a reference for the vehicle position. The relative position of the other vehicle 31 is calculated. In this case, various numerical values included in the GPS information received from the four common satellites GPS satellites 41-1 to 41-4 are substituted into the quaternary simultaneous equations expressed by the following equations (6) to (9), By solving, the relative position coordinates of the other vehicle 31 and the time of the GPS clock of the other vehicle 31 are calculated.
[0071]
[Expression 2]

[0072]
Here, x, y, z are the coordinates of the own vehicle position, Δx, Δy, Δz are the coordinates indicating the relative position of the other vehicle 31 with respect to the own vehicle position, that is, the other vehicle with respect to the coordinates x, y, z of the own vehicle position. Deviation of position coordinates. Therefore, the coordinates of the other vehicle position are x + Δx, y + Δy, z + Δz. Tβ is the time indicated by the GPS clock of the other vehicle 31. In addition, the coordinates x, y, z of the own vehicle position are calculated by the above-described own vehicle position specifying calculation process (step S2-4). Further, xn, yn and zn are the coordinates of the nth GPS satellite 41-n (n = 1, 2, 3, 4), tn is the time indicated by the GPS clock of the nth GPS satellite 41-n, and GPS It is included in the GPS information received from the satellites 41-1 to 41-4. Here, c represents the speed of light. Thereby, the coordinates (Δx, Δy, Δz) indicating the relative position of the other vehicle 31 with respect to the own vehicle position at time tβ are calculated.
[0073]
When the number of common satellites is not four or more, that is, when the number of common satellites is three, the position detection device 20 receives from the three common satellites GPS satellites 41-1 to 41-3. Based on the GPS information thus obtained, the relative position of the other vehicle 31 with respect to the own vehicle position is calculated.
[0074]
In this case, GPS information can be received while the unknowns to be calculated are four coordinates (Δx, Δy, Δz) indicating the relative position of the other vehicle 31 with respect to the time tβ and the own vehicle position. Since there are only three GPS satellites 41, it becomes impossible to solve the quaternary simultaneous equations using numerical values included in the GPS information. Therefore, in general, the numerical value of z calculated by the vehicle position specifying calculation processing in the previous cycle is substituted for the numerical value of z that is a coordinate component in the height direction at the own vehicle position where the amount of change is considered to be extremely small. Then, the value of Δz calculated in the first other vehicle relative position calculation process in the previous cycle is substituted for the value of Δz and handled as a known number. Thus, by substituting various numerical values included in the GPS information into the ternary simultaneous equations consisting of the above formulas (6) to (8) and solving them, the coordinates of the vehicle position which are three unknowns (however, z and Δz Is a known number) and the time tβ of the GPS clock can be calculated.
[0075]
When the number of common satellites is not three or more, that is, when the number of common satellites is two or less, the position detection device 20 executes the second other vehicle relative position calculation process. In this case, the position detection device 20 can receive GPS information from three or more GPS satellites 41 based on the GPS information transmitted from the other vehicle 31 received by the signal receiving device 25. It is determined whether or not. When the number of GPS satellites 41 from which the other vehicle 31 has received the GPS information is three or more, the position detection device 20 executes the other vehicle position specifying calculation process to specify the other vehicle position. To do.
[0076]
Here, in the other vehicle position specifying calculation process, the same process as the above-described own vehicle position specifying calculation process (step S2-4) is executed for the other vehicle 31. That is, when the number of GPS satellites 41 from which the other vehicle 31 was able to receive GPS information is four or more, the position detection device 20 is configured so that the other vehicle 31 has four GPS satellites 41-1 to 41-4. Based on the received GPS information, by substituting various numerical values included in the GPS information into the quaternary simultaneous equations shown in the above formulas (1) to (4) and solving, The coordinates and the time of the GPS clock of the other vehicle 31 are calculated. In this case, x, y, and z are the coordinates of the position of the other vehicle, and t is the time indicated by the GPS clock of the other vehicle 31. Thereby, the coordinates (x, y, z) of the other vehicle position at the time t are specified.
[0077]
When the number of GPS satellites 41 from which the other vehicle 31 can receive GPS information is three, generally, the coordinate component in the height direction at the position of the other vehicle that is considered to have a very small change amount. The numerical value of z calculated by the other vehicle position specifying calculation processing in the previous cycle is substituted into a certain numerical value of z and handled as a known number. That is, z which is the height of the other vehicle position is fixed. Thus, by substituting various numerical values included in the GPS information into the ternary simultaneous equations consisting of the above formulas (1) to (3) and solving them, the coordinates of the other vehicle position which are three unknowns (however, z is known) Number) and the time of the GPS clock of the other vehicle 31 can be calculated.
[0078]
Furthermore, when the number of GPS satellites 41 from which the other vehicle 31 was able to receive GPS information is not three or more, that is, the number of GPS satellites 41 from which the other vehicle 31 was able to receive GPS information is two. In the following cases, the position of the other vehicle cannot be accurately specified based on the GPS information. Therefore, the position detection device 20 can detect the position of the other vehicle based on the vehicle state information such as the vehicle speed of the other vehicle 31 and the yaw rate. The specifying process is executed to specify the coordinates (x, y, z) of the other vehicle position at time t. Here, the other vehicle position specifying process is a current position specifying process (step S2-5-5) in the case of specifying the position of the other vehicle 31 in the position specifying process (step S2-5) based on the vehicle state information described above. Since it is the same as 4), the description of the current position specifying process when specifying the position of the other vehicle 31 and the description of FIG. As a result, as shown in FIG. 9, even when the other vehicle 31 cannot receive GPS information from the GPS satellite 41, the position detection device 20 of the own vehicle 11 determines the position of the other vehicle 31. Can be identified.
[0079]
Next, a flowchart will be described. First, a flowchart showing the operation of the relative position calculation process will be described.
Step S3-1: Count the number of common satellites.
Step S3-2: It is determined whether there are three or more common satellites. When there are three or more common satellites, the process proceeds to step S3-3, and when there are fewer than three common satellites, the process proceeds to step S3-4.
Step S3-3: The first other vehicle relative position calculation process is performed, and the process ends.
Step S3-4 A second other vehicle relative position calculation process is performed, and the process ends.
.
[0080]
Next, a flowchart illustrating the operation of the first other vehicle relative position calculation process will be described.
Step S3-3-1: Determine whether there are four or more common satellites. If there are four or more common satellites, the process proceeds to step S3-3-2, and if there are three common satellites, the process proceeds to step S3-3-3.
Step S3-3-2: The relative position (Δx, Δy, Δz) of the other vehicle 31 is calculated based on the GPS information received from the four common satellites, and the process ends.
Step S3-3-3: The relative position (Δx, Δy, Δz) of the other vehicle 31 is calculated based on the GPS information received from the three common satellites, and the process ends.
[0081]
Next, a flowchart showing the operation of the second other vehicle relative position calculation process will be described.
Step S3-4-1: It is determined whether or not the other vehicle 31 has received information from three or more GPS satellites 41. When information is received from three or more GPS satellites 41, the process proceeds to step S3-4-2, and when information is not received from three or more GPS satellites 41, the process proceeds to step S3-4-3.
Step S3-4-2: The other vehicle position specifying calculation process is performed, and the process ends.
Step S3-4-3 The other vehicle position specifying process based on the vehicle state information is performed, and the process is terminated.
[0082]
Next, map matching processing will be described.
[0083]
FIG. 13 is a diagram showing an outline of the operation of the map matching process in the embodiment of the present invention, FIG. 14 is a diagram showing the operation of the first host vehicle position correcting process in the embodiment of the present invention, and FIG. The figure which shows operation | movement of the 2nd own vehicle position correction process in embodiment of invention, FIG. 16 is the figure which shows operation | movement of the 4th own vehicle position correction process in embodiment of this invention, FIG. 18 is a flowchart showing the operation of the map matching process in the embodiment of the invention, FIG. 18 is a flowchart showing the operation of the first own vehicle position correction process in the embodiment of the invention, and FIG. 19 is in the embodiment of the invention. FIG. 20 is a flowchart showing the operation of the second host vehicle position correction process in the embodiment of the present invention, and FIG. 21 is the flowchart of the embodiment of the present invention. FIG. 22 is a flowchart showing the operation of the fourth host vehicle position correction process according to the embodiment of the present invention, and FIG. 23 is a flowchart showing the operation of the host vehicle position correction process according to the embodiment of the present invention. FIG. 24 is a flowchart showing the operation of the sixth own / other vehicle position correcting process according to the embodiment of the present invention.
[0084]
Generally, in a vehicle navigation apparatus, map matching processing is executed so that the current position of a vehicle specified based on GPS information is located on a road on a map. As shown in FIG. 13 (a), the current position of the vehicle specified based on the GPS information often includes an error, and thus often deviates slightly from the road on the map. Therefore, based on the premise that “the vehicle is running on a normal road”, a map matching process is executed to move the current position of the vehicle specified based on the GPS information to the road on the map. . Thereby, as shown in FIG. 13B, the current position of the vehicle is positioned on the road in the map.
[0085]
Here, in the present embodiment, the position detection device 20 specifies the current positions of the host vehicle 11 and the other vehicle 31 based on GPS information received from the common satellite. In this case, it is considered that the relative position and relative distance between the own vehicle 11 and the other vehicle 31 are accurate. Therefore, in the map matching process in the present embodiment, as shown in FIG. 13C, the current positions of the host vehicle 11 and the other vehicle 31 are specified based on the GPS information received from the common satellite. A map for moving the current position of the host vehicle 11 and the other vehicle 31 to the road on the map without destroying the relative position and relative distance between the host vehicle 11 and the other vehicle 31, that is, the relative positional relationship. A matching process is executed. Thereby, as FIG.13 (d) shows, the present position of the own vehicle 11 and the other vehicle 31 will be located on the road in a map.
[0086]
First, when the relative position of the other vehicle 31 is specified, the position detection device 20 determines whether or not calculation has been performed based on GPS information received from the common satellite. That is, it is determined whether the first other vehicle relative position calculation process (step S3-3) is executed or the second other vehicle relative position calculation process (step S3-4) is executed.
[0087]
When the calculation is performed based on the GPS information received from the common satellite, the position detection device 20 determines whether the own vehicle position and the other vehicle position are on the road on the map based on the traveling locus. To do. First, the position detection device 20 determines whether or not the vehicle position is on a road on the map based on the travel locus, vehicle speed, and yaw rate of the vehicle 11. When it is determined that the vehicle position is on the road on the map, the position detection device 20 determines whether the other vehicle position is on the road on the map based on the travel locus of the other vehicle 31. Accordingly, when it is determined that the position of the other vehicle is on the road in the map, the position detection device 20 determines that both the own vehicle position and the other vehicle position are on the actual road, and the first own vehicle Execute position correction processing.
[0088]
In this case, the position detection device 20 first acquires node data recorded in the storage means of the navigation control device 21. Then, as shown in FIG. 14A, the coordinates (x ₁ , Y ₁ , Z ₁ ) Based on the position determined based on the traveling locus, vehicle speed and yaw rate of the own vehicle 11, that is, the traveling locus, vehicle speed and yaw rate. Move to current position 42 '. Here, the current position 42 ′ based on the vehicle speed and the yaw rate is on a node on the road 44 in the map. At this time, coordinates (x ₂ , Y ₂ , Z ₂ The other vehicle position 43, which is the current position of the other vehicle 31 at the position represented by (), is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy. Note that FIG. 14 is a plan view, and changes in coordinates in the height direction are omitted. Further, 47 is the traveling direction of the host vehicle 11, and 48 is the traveling direction of the other vehicle 31.
[0089]
Subsequently, the position detection device 20 determines whether or not the other vehicle position 43 coincides with the position determined based on the traveling locus of the other vehicle 31, that is, the other vehicle position 43 ′ based on the traveling locus. . Here, the other vehicle position 43 ′ based on the travel locus is on a node on the road 45 in the map. When the other vehicle position 43 coincides with the other vehicle position 43 ′ based on the traveling locus on the road 45, both the own vehicle position 42 and the other vehicle position 43 are on the road 44 and the road 45 in the map. Since they match, the map matching process is terminated.
[0090]
Further, when the other vehicle position 43 does not coincide with the other vehicle position 43 ′ based on the travel locus, the position detection device 20 executes the own other vehicle road matching process. In this case, the own vehicle position 42 and the other vehicle position 43 are as shown in FIG. Here, the own vehicle position 42 has moved to a node on the road 44, and the other vehicle position 43 has moved to a position where the relative positional relationship 46 with the own vehicle position 42 is not destroyed. . That is, Δx and Δy are maintained. In FIG. 14 (b), 42a indicates the own vehicle position before movement, that is, the own vehicle position 42 in FIG. 14 (a), and 43a indicates the other vehicle position before movement, that is, the other position in FIG. 14 (a). A car position 43 is shown.
[0091]
Subsequently, the position detection device 20 determines the road 45 and the other vehicle position 43 ′ where the other vehicle position 43 is considered to be located at the present time based on the travel locus, the vehicle speed, and the yaw rate of the other vehicle 31. And the other vehicle position 43 and the own vehicle position 42 are moved so that the other vehicle position 43 may be located on the road 45 considered to be located at the present time. At this time, the other vehicle position 43 and the own vehicle are set so that the own vehicle position 42 that is the current position of the own vehicle 11 on the road 44 does not deviate from the road 44 and the relative positional relationship 46 is not destroyed. Position 42 is moved.
[0092]
Then, the position detection device 20 determines whether or not the other vehicle position 43 is on the road 45 considered to be located at the present time. Here, when it is determined that the other vehicle position 43 is on the road 45, the own vehicle position 42 and the other vehicle position 43 are as shown in FIG. In FIG. 14 (c), 42b indicates the vehicle position before movement, that is, the vehicle position 42 in FIG. 14 (b), and 43b indicates the other vehicle position before movement, that is, the other vehicle position in FIG. 14 (b). A car position 43 is shown. In this case, it can be seen that the other vehicle position 43 and the own vehicle position 42 in FIG. 14C have been moved along the direction of the road 44. And when the other vehicle position 43 exists on the road 45, since the own vehicle position 42 and the other vehicle position 43 correspond on the roads 44 and 45 in a map, a map matching process is complete | finished.
[0093]
Further, when the other vehicle position 43 is not on the road 45, the other vehicle 31 may be off the road, for example, by entering a parking lot. Therefore, the position detection device 20 again moves the own vehicle position 42 on a node on the road 44 that is considered to be located at the present time based on the traveling locus, the vehicle speed, and the yaw rate of the own vehicle 11. At this time, the other vehicle position 43 is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy. Then, the map matching process ends.
[0094]
As described above, when the position detection device 20 determines whether the other vehicle position 43 is on the road 45 in the map based on the travel locus of the other vehicle 31, the other vehicle position 43 is in the map. If it is not on the road 45, it is determined that the host vehicle position is on the actual road, and the second host vehicle position correction process is executed.
[0095]
In this case, the position detection device 20 first acquires node data recorded in the storage means of the navigation control device 21. Then, as shown in FIG. 15A, the coordinates (x ₁ , Y ₁ , Z ₁ ) Is moved to the current position 42 ′ based on the travel locus, the vehicle speed, and the yaw rate. Here, the current position 42 ′ based on the vehicle speed and the yaw rate is on a node on the road 44 in the map. At this time, coordinates (x ₂ , Y ₂ , Z ₂ The other vehicle position 43, which is the current position of the other vehicle 31 at the position represented by (), is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy. Note that FIG. 15 is a plan view, and changes in coordinates in the height direction are omitted. Further, the reference numerals in FIG. 15 are the same as those in FIG.
[0096]
Accordingly, as shown in FIG. 15B, the own vehicle position 42 is located on the node on the road 44. Since the second own vehicle position correction process is executed when it is determined that the other vehicle position 43 is not on the road, in the second own vehicle position correction process, the position detection device 20 The process for moving the other vehicle position 43 on the road 45 as in the first own / other vehicle position correction process is not performed. Then, the map matching process ends.
[0097]
Further, as described above, when the position detection device 20 determines whether or not the own vehicle position 42 is on the road 44 in the map based on the traveling locus of the own vehicle 11, the own vehicle position 42 is determined in the map. If it is not on the road 44, it is further determined whether or not the other vehicle position 43 is on the road 45 in the map. When the other vehicle position 43 is on the road 45 in the map, the position detection device 20 determines that the other vehicle position is on the actual road, and executes a third own vehicle position correction process.
[0098]
In this case, the position detection device 20 first acquires node data recorded in the storage means of the navigation control device 21. Then, as shown in FIG. 15A, the coordinates (x ₂ , Y ₂ , Z ₂ It is determined whether or not the other vehicle position 43 that is the current position of the other vehicle 31 at the position represented by () matches the other vehicle position 43 ′ based on the travel locus. Here, it is assumed that the other vehicle position 43 ′ based on the travel locus is on a node on the road 45 in the map. At this time, coordinates (x ₁ , Y ₁ , Z ₁ The own vehicle position 42 that is the current position of the own vehicle 11 at the position represented by () is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy.
[0099]
As a result, the other vehicle position 43 is located on the node on the road 45. Since the third own vehicle position correction process is executed when it is determined that the own vehicle position 42 is not on the road 44, the position detecting device 20 in the third own vehicle position correction process is executed. Does not perform the process for moving the host vehicle position 42 on the road 44 as performed in the first and second host vehicle position correction processes. Then, the map matching process ends.
[0100]
When the other vehicle position 43 is not on the road 45 in the map, the position detection device 20 determines whether or not the vehicle speed of the host vehicle 11 is equal to or higher than a predetermined value (for example, 30 [km]). Here, when the vehicle speed is less than the predetermined value, the own vehicle 11 is likely to be traveling in a place other than the road 44, for example, a parking lot, but the vehicle speed is equal to or higher than the predetermined value. In this case, it is considered that the own vehicle 11 is traveling on the road 44, that is, the possibility that the own vehicle position 42 is on the road 44 is high.
[0101]
Therefore, when the vehicle speed of the host vehicle 11 is equal to or higher than the predetermined value, it is determined that neither the host vehicle position nor the position of the other vehicle is on the actual road and the vehicle speed is equal to or higher than the predetermined value. Car's own vehicle position correction process is executed. In this case, first, a plurality of matching candidate points are selected based on the vehicle position 42. That is, a perpendicular line is drawn from the own vehicle position 42 with respect to a road existing within a predetermined radius centered on the own vehicle position 42, and the legs of the perpendicular line are selected as matching candidate points.
[0102]
Subsequently, a penalty at each matching candidate point is calculated based on the relationship between the traveling direction of the vehicle 11 and the traveling direction at the matching candidate point, the distance from the vehicle position 42 to the matching candidate point, and the like. The traveling direction at the matching candidate point may be obtained by calculation or may be previously stored as road data.
[0103]
Subsequently, the matching candidate point with the smallest penalty is determined as the current position, and the vehicle position 42 is moved to the current position. At this time, the other vehicle position 43 is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy.
[0104]
In addition, not only the own vehicle position 42 but also a plurality of matching candidate points based on the other vehicle position 43 are selected, and the combination of the matching candidate points having the smallest penalty with respect to the own vehicle position 42 and the other vehicle position 43 is selected. The current position of the car 31 may be determined and the host vehicle position 42 and the other vehicle position 43 may be moved to the current position. In addition, the matching candidate point having the smallest penalty is determined as the current position of the own vehicle 11 or the other vehicle 31 from all the hatching candidate points, and the own vehicle position 42 or the other vehicle position 43 is moved to the current position. May be.
[0105]
On the other hand, when the vehicle speed of the host vehicle 11 is less than the predetermined value, it is determined that neither the host vehicle position nor the other vehicle position is on the actual road and the vehicle speed is equal to or higher than the predetermined value, Car's own vehicle position correction process is executed. In this case, the position detection device 20 first acquires node data recorded in the storage means of the navigation control device 21. Then, as shown in FIG. 16A, the coordinates (x ₁ , Y ₁ , Z ₁ ) Is moved to the current position 42 ′ based on the travel locus, the vehicle speed, and the yaw rate. At this time, coordinates (x ₂ , Y ₂ , Z ₂ The other vehicle position 43, which is the current position of the other vehicle 31 at the position represented by (), is also moved without breaking the relative positional relationship 46, that is, while maintaining Δx and Δy. Note that FIG. 16 is a plan view, and changes in coordinates in the height direction are omitted. Also, the reference numerals in FIG. 16 are the same as those in FIG.
[0106]
Accordingly, as shown in FIG. 16B, the own vehicle position 42 coincides with the current position 42 ′ based on the travel locus, the vehicle speed, and the yaw rate. Since the fifth own vehicle position correction process is executed when it is determined that the other vehicle position 43 is not on the road, in the fifth own vehicle position correction process, the position detection device 20 The process for moving the other vehicle position 43 on the road 45 as in the first own / other vehicle position correction process is not performed. Then, the map matching process ends.
[0107]
When the relative position of the other vehicle 31 is specified, if the calculation is not performed based on the GPS information received from the common satellite, the position detection device 20 executes a sixth own-other vehicle position correction process. In this case, since the own vehicle position 42 and the other vehicle position 43 are specified by independent calculation, it is not necessary to maintain the relative positional relationship between the own vehicle position 42 and the other vehicle position 43. Therefore, the position detection device 20 separately executes map matching processing for the own vehicle position 42 and the other vehicle position 43.
[0108]
First, the position detection device 20 determines whether or not the GPS information from the GPS satellite 41 is used when specifying the position regarding the own vehicle position 42. When the GPS information is used, the position detection device 20 is supposed to locate the current vehicle position 42 that is the current position of the own vehicle 11 based on the travel locus, the vehicle speed, and the yaw rate of the own vehicle 11. Move to a possible point. If the GPS information is not used when specifying the vehicle position 42, the position has already been specified based on the travel locus, vehicle speed, and yaw rate of the vehicle 11, so the travel locus, vehicle speed of the vehicle 11 is determined. In addition, the process of moving to a point where the current position is considered to be based on the yaw rate is not executed. Then, the map matching process ends.
[0109]
In addition, the position detection device 20 executes the same process as for the other vehicle position 43 as in the case of the vehicle position 42 described above.
[0110]
Next, a flowchart will be described. First, a flowchart showing the operation of the map matching process will be described.
Step S4-1: It is determined whether or not calculation has been performed based on the GPS information received from the common satellite. If the calculation is performed based on the GPS information received from the common satellite, the process proceeds to step S4-2. If the calculation is not performed based on the GPS information received from the common satellite, the process proceeds to step S4-11.
Step S4-2: It is determined whether or not the own vehicle position 42 exists on the road 44. When the own vehicle position 42 exists on the road 44, the process proceeds to step S4-3, and when the own vehicle position 42 does not exist on the road 44, the process proceeds to step S4-6.
Step S4-3: It is determined whether or not the other vehicle position 43 exists on the road 45. If the other vehicle position 45 exists on the road 45, the process proceeds to step S4-4. If the other vehicle position 43 does not exist on the road 45, the process proceeds to step S4-5.
Step S4-4 A first own / other vehicle position correction process is performed, and the process is terminated.
Step S4-5 The second own vehicle position correction process is performed, and the process is terminated.
Step S4-6: It is determined whether the other vehicle position 43 exists on the road 45. When the other vehicle position 43 exists on the road 45, it progresses to step S4-7, and when the other vehicle position 43 does not exist on the road 45, it progresses to step S4-8.
Step S4-7 A third own vehicle position correction process is performed, and the process ends.
Step S4-8: It is determined whether the vehicle speed is equal to or higher than a predetermined value. If the vehicle speed is equal to or higher than the predetermined value, the process proceeds to step S4-9. If the vehicle speed is not equal to or higher than the predetermined value, the process proceeds to step S4-10.
Step S4-9 The fourth own vehicle position correction process is performed, and the process is terminated.
Step S4-10: Perform fifth own-other vehicle position correction processing and end the processing.
Step S4-11 A sixth own-vehicle position correction process is performed, and the process ends.
[0111]
Next, a flowchart showing the first own / other vehicle position correction process will be described.
Step S4-4-1: The own vehicle position 42 is moved onto the node 44-1 on the road 44 considered to be currently located.
Step S4-4-2: It is determined whether or not the other vehicle position 43 is located on the node 45-1 on the road 45. If the other vehicle position 43 is located on the node 45-1 on the road 45, the processing is terminated, and if the other vehicle position 43 is not located on the node 45-1 on the road 45, step S4- Proceed to 4-3.
Step S4-4-3 Self-other vehicle road collation processing is performed and the processing is terminated.
[0112]
Next, a flowchart showing the self-other vehicle road matching process will be described.
Step S4-4-3-1: It is determined on which road the other vehicle position 43 exists.
Step S4-4-3-2: The own vehicle position 42 and the other vehicle position 43 are moved so as to be located on the road.
Step S4-4-3-3: It is determined whether the other vehicle position 43 is on the road 45 or not. If the other vehicle position 43 is on the road 45, the process ends. If the other vehicle position 43 is not on the road 45, the process proceeds to step S4-4-3-4.
Step S4-4-3-4: The own vehicle position 42 is moved onto the node 44-1 on the road 44 that is considered to be currently located, and the process is terminated.
[0113]
Next, a flowchart showing the second host vehicle position correction process will be described.
Step S4-5-1 The own vehicle position 42 is moved onto the node 44-1 on the road 44 considered to be currently located, and the process is terminated.
[0114]
Next, a flowchart showing the third host vehicle position correction process will be described.
Step S4-7-1: The other vehicle position 43 is moved onto the node 45-1 on the road 45 considered to be currently located, and the process is terminated.
[0115]
Next, a flowchart showing the fourth own / other vehicle position correction process will be described.
Step S4-9-1: A matching candidate point is selected based on the vehicle position 42.
Step S4-9-2: A penalty for matching candidate points is calculated.
Step S4-9-3: A matching candidate point with the smallest penalty is determined as the current position.
Step S4-9-4: The own vehicle position 42 is moved to the matching candidate point.
[0116]
Next, a flowchart showing the fifth host vehicle position correction process will be described.
Step S4-10-1: The own vehicle position 42 is moved to the point 42 'considered to be currently located, and the process is terminated.
[0117]
Next, a flowchart showing the sixth host vehicle position correction process will be described.
Step S4-11-1: It is determined whether or not the GPS information from the GPS satellite 41 is used for detecting the vehicle position. If the GPS information from the GPS satellite 41 is used for the vehicle position detection, the process proceeds to step S4-9-2. If the GPS information from the GPS satellite 41 is not used for the vehicle position detection, the process ends.
Step S4-11-2 Moves the own vehicle position 42 to a point considered to be currently located, and ends the process.
[0118]
By executing the first own / other vehicle position correction process in the map matching process, it is possible to correct the position while maintaining the relative positional relationship between the own vehicle 11 and the other vehicle 31. The processing accuracy is improved as compared with the position correction performed only by the other vehicle 31.
[0119]
And when either the own vehicle 11 or the other vehicle 31 is on the road by executing the second or third own-other vehicle position correction process, the own vehicle 11 is restricted while limiting the position of one of the vehicles. Since the position can be corrected while maintaining the relative positional relationship between the vehicle and the other vehicle 31, the processing accuracy is higher than the conventional correction in which the position is corrected so as to be on the road around the vehicle. improves.
[0120]
In addition, by executing the fourth host vehicle position correction process, the vehicle speed is equal to or higher than a predetermined value, and the host vehicle 11 is traveling on the road 44, that is, the host vehicle position 42 is on the road. When the possibility is high, the current position is moved on the road, so that the own vehicle position 42 and the other vehicle position 43 can be moved to appropriate positions.
[0121]
In addition, when the vehicle speed is less than the predetermined value and it is highly likely that the host vehicle position 42 is not on the road by executing the fifth host vehicle position correction process, the host vehicle position 42 is changed. Since it determines that it is appropriate, the own vehicle position 42 and the other vehicle position 43 can be set to appropriate positions.
[0122]
Next, the notification process will be described.
[0123]
FIG. 25 is a flowchart showing the operation of the notification process in the embodiment of the present invention.
[0124]
First, the position detection device 20 displays the current position of the host vehicle 11 specified by the map matching process and the current position of the other vehicle 31 superimposed on a map displayed on the screen of the display device 27. Accordingly, the driver of the own vehicle 11 can accurately grasp the positions of the own vehicle 11 and the other vehicle 31.
[0125]
In addition, the position detection device 20 may cause the own vehicle 11 and the other vehicle 31 to be too close to each other based on factors such as the position, traveling direction, speed, and the like of the own vehicle 11 and the other vehicle 31. When it is determined that there is a possibility, a command is transmitted to the alarm device 26. Then, the warning device 26 issues a warning to the driver of the host vehicle 11. Thereby, the driver can take appropriate measures so as not to approach the other vehicle 31 too much. The position detection device 20 may directly send a command to a vehicle control device, for example, an ECU or the like that executes control of the engine, to perform control such as reducing the engine speed.
[0126]
Next, a flowchart will be described.
Step S5-1: Display the current positions of the host vehicle 11 and the other vehicle 31 on the screen of the display device 27.
Step S5-2: The contact between the host vehicle 11 and the other vehicle 31 is determined and notified, and the process ends.
[0127]
As described above, in the present embodiment, the position detection device 20 uses the GPS information received by the other vehicle 31, various vehicle state information of the other vehicle 31, and information such as the travel locus, that is, the positioning information of the other vehicle 31. It receives from the car 31. Then, the position detection device 20 uses the GPS information received by the host vehicle 11, various vehicle state information of the host vehicle 11, and information such as the travel locus, that is, the positioning information of the host vehicle 11 and the positioning information of the other vehicle 31. Based on this, the current position of the own vehicle 11 and the current position of the other vehicle 31 are specified. Therefore, the relative position and relative distance between the own vehicle 11 and the other vehicle 31, that is, the relative positional relationship 46 can be accurately grasped.
[0128]
For example, when the position detection device of the other vehicle 31 is a model different from the position detection device 20, processing methods such as data processing and arithmetic processing are often different. In such a case, the position detection device of the other vehicle 31 receives the current position of the other vehicle 31 specified by executing the process, and based on the current position of the other vehicle 31, When the relative positional relationship 46 is calculated, the calculated relative positional relationship 46 includes an error.
[0129]
However, in the present embodiment, the information before the position detection device of the other vehicle 31 executes the process, that is, the positioning information of the other vehicle 31 as raw data is received from the other vehicle 31 and is used as the raw data. Based on the positioning information of the other vehicle 31, the position detection device 20 performs a calculation to identify the current position of the other vehicle 31. Therefore, since the current positions of the own vehicle 11 and the other vehicle 31 are specified by the same processing method, the relative positional relationship 46 between the own vehicle 11 and the other vehicle 31 can be accurately grasped.
[0130]
Moreover, in the map matching process in this Embodiment, when the present position of the own vehicle 11 and the other vehicle 31 is specified based on the GPS information received from the common satellite, the relative between the own vehicle 11 and the other vehicle 31 is determined. A map matching process for moving the current positions of the host vehicle 11 and the other vehicle 31 to the road on the map is performed without breaking the position and relative distance, that is, the relative positional relationship 46. Therefore, the accuracy of the map matching process is high, and the current positions of the own vehicle 11 and the other vehicle 31 are accurately located on the road on the map.
[0131]
Furthermore, in this embodiment, when the GPS information of the other vehicle 31 cannot be received, based on information such as various vehicle state information of the other vehicle 31 and information such as the travel locus of the other vehicle 31, The other vehicle position 43 can be specified. Therefore, even when the other vehicle 31 cannot receive GPS information from the GPS satellite 41, such as behind a large building, the relative positional relationship 46 between the host vehicle 11 and the other vehicle 31 is grasped. be able to.
[0132]
Furthermore, when the own vehicle 11 cannot receive GPS information, the positioning information of the own vehicle 11 is transmitted. Therefore, the relative positional relationship 46 between the host vehicle 11 and the other vehicle 31 can be grasped in the other vehicle 31.
[0133]
In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.
[0134]
【The invention's effect】
As described above in detail, according to the present invention, in the position detection device, the own vehicle information creation unit that creates the own vehicle position information and the other vehicle information reception that receives the other vehicle position information created by the other vehicle. A relative position relationship between the vehicle and the other vehicle based on the GPS information included in the vehicle information, the map reading unit that reads the map, the GPS information included in the vehicle position information, and the GPS information included in the other vehicle position information, A position specifying unit that specifies the position of the host vehicle and the position of the other vehicle by matching them on the read map while maintaining the relative positional relationship.
[0135]
In this case, since the position detection device specifies the own vehicle position and the other vehicle position based on the relative positional relationship and the map, the error is reduced, and the own vehicle position and the other vehicle position can be specified with high accuracy. . Also, since the raw GPS information is received from the other vehicle and the own vehicle position and the other vehicle position are specified based on the relative positional relationship between the own vehicle and the other vehicle calculated by the same processing method, Can be detected with high accuracy.
[0136]
In another position detection device, the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information are GPS information from a common satellite.
[0137]
In this case, since the relative positional relationship between the own vehicle and the other vehicle is specified based on the common GPS information, the relative positional relationship between the own vehicle and the other vehicle is specified based on the GPS information from different satellites. Thus, the error is reduced and the relative positional relationship between the own vehicle and the other vehicle can be grasped very accurately. In addition, the own vehicle position and the other vehicle position can be specified with high accuracy.
[0138]
In still another position detection device, the vehicle position information is generated based on yaw rate information, vehicle speed information, or travel locus information.
[0139]
In this case, since the own vehicle position information is created based on the yaw rate information, the vehicle speed information, or the travel locus information, the accuracy of the own vehicle position is improved.
[0140]
Still another position detection apparatus further includes a host vehicle information transmission unit that transmits the host vehicle position information to another vehicle.
[0141]
In this case, the relative positional relationship between the own vehicle and the other vehicle can be grasped also in the other vehicle.
[0142]
In yet another position detection device, the position specifying unit further calculates a relative positional relationship between the own vehicle and the other vehicle based on GPS information from a common satellite, and calculates yaw rate information, vehicle speed information, or a travel locus. The own vehicle position and the other vehicle position are corrected based on the information.
[0143]
In this case, since the own vehicle position and the other vehicle position are corrected based on the yaw rate information, the vehicle speed information, or the travel locus information, the own vehicle position and the other vehicle position can be specified with high accuracy.
[0144]
In yet another position detection device, when the position specifying unit determines that the own vehicle position and the other vehicle position are both on an actual road, the relative position relationship between the own vehicle and the other vehicle is determined. While maintaining, the vehicle position and the other vehicle position are corrected so that the vehicle position matches the road on the map, and the vehicle position is adjusted so that the other vehicle position matches the road on the map. And correct the position of other vehicles.
[0145]
In this case, the own vehicle position and the other vehicle position can be specified on the road, and the accuracy of the own vehicle position and the other vehicle position is improved.
[0146]
In still another position detection device, when the position specifying unit determines that either the own vehicle position or the other vehicle position is on an actual road, the relative position between the own vehicle and the other vehicle is determined. While maintaining the relationship, the host vehicle position and the other vehicle position are corrected so that either the host vehicle position or the other vehicle position matches the road on the map.
[0147]
In this case, the own vehicle position or the other vehicle position can be specified on the road, and the accuracy of the own vehicle position and the other vehicle position is improved.
[0148]
In yet another position detection device, the position specifying unit may further determine whether the own vehicle position and the other vehicle position are not on an actual road and the vehicle speed is equal to or higher than a predetermined value. The matching candidate point of the point determined to have the vehicle position of the vehicle is selected, and the vehicle is selected as the matching candidate point with the smallest penalty on the map while maintaining the relative positional relationship between the vehicle and the other vehicle. The own vehicle position and the other vehicle position are corrected so that the positions match.
[0149]
In this case, the own vehicle position or the other vehicle position can be specified on the road, and the accuracy of the own vehicle position and the other vehicle position is improved.
[0150]
In still another position detection device, when the position specifying unit determines that neither the own vehicle position nor the other vehicle position is on an actual road and the vehicle speed is not equal to or higher than a predetermined value, the own vehicle While maintaining the relative positional relationship between the vehicle and the other vehicle, the vehicle position and the other vehicle position are corrected so as to match the point where the vehicle position is determined to be present on the map.
[0151]
In this case, even if the own vehicle position and the other vehicle position are not on the road, the own vehicle position and the other vehicle position can be specified.
[0152]
Still another position detection device further includes a notifying unit that notifies the vehicle position and the other vehicle position specified by the position specifying unit by an image or sound.
[0153]
In this case, the driver can take appropriate measures so as not to approach the other vehicle too much.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a position detection device according to an embodiment of the present invention from the viewpoint of functions.
FIG. 2 is a diagram showing a detailed configuration of a position detection device according to an embodiment of the present invention.
FIG. 3 is a first diagram showing an outline of the operation of the position detection device in the embodiment of the present invention.
FIG. 4 is a second diagram showing an outline of the operation of the position detection apparatus in the embodiment of the present invention.
FIG. 5 is a flowchart showing the operation of the position detection apparatus in the embodiment of the present invention.
FIG. 6 is a flowchart showing operations of own vehicle position specifying processing and vehicle information transmission / reception processing in the embodiment of the present invention.
FIG. 7 is a diagram showing a method for updating the vehicle position based on the yaw rate in the embodiment of the present invention.
FIG. 8 is a flowchart showing an operation of position specifying processing based on vehicle state information in the embodiment of the present invention.
FIG. 9 is a diagram showing an outline of other vehicle position specifying calculation processing based on vehicle state information in the embodiment of the present invention.
FIG. 10 is a flowchart showing an operation of a relative position calculation process in the embodiment of the present invention.
FIG. 11 is a flowchart showing an operation of a first other vehicle relative position calculation process in the embodiment of the present invention.
FIG. 12 is a flowchart showing an operation of a second other vehicle relative position calculation process in the embodiment of the present invention.
FIG. 13 is a diagram showing an outline of an operation of a map matching process in the embodiment of the present invention.
FIG. 14 is a diagram showing an operation of first own / other vehicle position correction processing in the embodiment of the present invention;
FIG. 15 is a diagram showing an operation of second own vehicle position correction processing in the embodiment of the present invention.
FIG. 16 is a diagram showing an operation of fourth own-other vehicle position correction processing in the embodiment of the present invention.
FIG. 17 is a flowchart showing an operation of map matching processing in the embodiment of the present invention.
FIG. 18 is a flowchart showing an operation of first own / other vehicle position correction processing in the embodiment of the present invention;
FIG. 19 is a flowchart showing an operation of own vehicle road matching processing in the embodiment of the present invention.
FIG. 20 is a flowchart showing an operation of second own / other vehicle position correction processing in the embodiment of the present invention;
FIG. 21 is a flowchart showing an operation of a third own vehicle position correction process in the embodiment of the present invention.
FIG. 22 is a flowchart showing the operation of a fourth own vehicle position correction process in the embodiment of the present invention.
FIG. 23 is a flowchart showing an operation of a fifth own vehicle position correction process in the embodiment of the present invention.
FIG. 24 is a flowchart showing an operation of a sixth own vehicle position correction process according to the embodiment of the present invention.
FIG. 25 is a flowchart showing an operation of notification processing in the embodiment of the present invention.
[Explanation of symbols]
11 Own car
12 Vehicle information creation department
13 Other vehicle information receiver
14 Position identification part
15 Notification unit
16 Vehicle information transmitter
20 Position detector
21 Navigation control device
22 Position detection control device
23 Signal transmitter
24 GPS receiver
25 Signal receiver
26 Alarm device
27 Display device
28 Sensor information receiver
31 Other cars
34 Traveling track
42, 42b Own vehicle position
43, 43b Other vehicle position
46 Relative positional relationship

Claims (12)

(A) A vehicle information creation unit that creates vehicle position information;
(B) another vehicle information receiving unit that receives other vehicle position information created by another vehicle;
(C) a map reading unit for reading a map;
(D) calculating the relative positional relationship between the host vehicle and the other vehicle based on the GPS information included in the host vehicle location information and the GPS information included in the other vehicle location information, and maintaining the relative position relationship And a position specifying unit that specifies the position of the host vehicle and the position of the other vehicle by matching them on the read map. The position detection device according to claim 1, wherein the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information are GPS information from a common satellite. The position detection device according to claim 1, wherein the own vehicle position information is generated based on yaw rate information, vehicle speed information, or travel locus information. The position detection device according to claim 1, further comprising a host vehicle information transmission unit that transmits the host vehicle position information to another vehicle. The position specifying unit calculates a relative positional relationship between the own vehicle and another vehicle based on GPS information from a common satellite, and determines the own vehicle position and other vehicle position based on yaw rate information, vehicle speed information, or travel locus information. The position detection device according to any one of claims 1 to 4, wherein the position detection device corrects. When the position identifying unit determines that both the own vehicle position and the other vehicle position are on an actual road, the position of the own vehicle is displayed on a map while maintaining a relative positional relationship between the own vehicle and the other vehicle. The vehicle position and the other vehicle position are corrected so as to coincide with each other on the road, and the vehicle position and the other vehicle position are corrected so that the other vehicle position coincides with the road on the map. The position detection device according to any one of 5. When the position specifying unit determines that either the own vehicle position or the other vehicle position is on an actual road, the position specifying unit maintains the relative positional relationship between the own vehicle and the other vehicle, The position detection apparatus according to claim 1, wherein the position of the host vehicle and the position of the other vehicle are corrected so that any one of the positions of the other vehicle matches a road on the map. When the position specifying unit determines that the own vehicle position and the other vehicle position are not on an actual road and the vehicle speed is equal to or higher than a predetermined value, it is determined that the own vehicle position is on a map. While selecting the matching candidate point of the point and maintaining the relative positional relationship between the vehicle and the other vehicle, the vehicle position and the vehicle position so that the vehicle position matches the matching candidate point with the smallest penalty on the map The position detection apparatus according to claim 1, wherein the position of the other vehicle is corrected. The position specifying unit maintains a relative positional relationship between the host vehicle and the other vehicle when the host vehicle position and the other vehicle position are not on an actual road and the vehicle speed is not equal to or higher than a predetermined value. However, the position detection device according to any one of claims 1 to 5, wherein the position of the host vehicle and the position of the other vehicle are corrected so as to match a point determined to have the host vehicle position on a map. The position detection device according to claim 1, further comprising: a notification unit that notifies the vehicle position and the other vehicle position specified by the position specification unit using an image or sound. (A) Create the vehicle location information,
(B) Receiving other vehicle position information created by another vehicle,
(C) Load the map
(D) Based on the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information, the relative position relationship between the own vehicle and the other vehicle is calculated, and the relative position relationship is maintained. However, a position detection method characterized by matching the position of the own vehicle and the position of the other vehicle on the read map, and specifying the position of the own vehicle and the other vehicle. (A) computer
(B) A vehicle information creation unit that creates vehicle position information;
(C) Other vehicle information receiving unit for receiving other vehicle position information created by another vehicle,
(D) a map reading unit for reading a map, and
(E) While calculating the relative positional relationship between the own vehicle and the other vehicle based on the GPS information included in the own vehicle position information and the GPS information included in the other vehicle position information, while maintaining the relative position relationship A position detection program that functions as a position specifying unit that specifies the position of the vehicle and the position of another vehicle by matching them on the read map.

Images