JP5015021B2 - Own vehicle position detection device - Google Patents
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Description
本発明は、主として、ＧＰＳ衛星を利用した衛星測位を行うナビゲーション装置において、衛星測位が不能となる駐車場の退出直後に、自車位置/進行方位を修正する技術に関するものである。 The present invention mainly relates to a technique for correcting a vehicle position / traveling direction immediately after leaving a parking lot where satellite positioning becomes impossible in a navigation device that performs satellite positioning using GPS satellites.
ＧＰＳ衛星を利用した衛星測位を行うナビゲーション装置において、衛星測位が不能となる駐車場の退出直後に、自車位置/進行方位を修正する技術としては、衛星測位が不能な期間は自律航法によって自車位置/進行方位を算定し、駐車場退出直後に衛星測位が可能となった時点で、それまでの自律航法によって算出された自車位置と、衛星測位によって求められた自車位置との、所定の基準位置から見た角度差を求め、求めた角度差が所定値より大きい場合には、衛星測位によって求められた自車位置/進行方位と地図データとのマップマッチングによって自車位置/進行方位を求め、求めた角度差が所定値より大きくない場合には、それまでの自律航法によって算出された自車位置/進行方位と地図データとのマップマッチングによって自車位置/進行方位を求める技術が知られている（たとえば、特許文献１）。なお、この技術において、上述した基準位置は、たとえば、イグニッションキーをオンした時点の自車位置とされる。
前記特許文献１記載の技術によれば、次のような問題がある。
すなわち、いま、図５ａの実線５１で軌跡を示すように、車両が、道路５０１から衛星測位が不能となる立体駐車場５００内に進入し、立体駐車場内の旋回路で旋回した後に、再度、立体駐車場５００から道路５１上に進出した場合に、ナビゲーション装置において、立体駐車場内における自律航法によって、図５ｂに破線５２で軌跡を示すように自車位置/進行方位が求まった場合を考える。
According to the technique described in Patent Document 1, there are the following problems.
That is, as shown by the solid line 51 in FIG. 5a, after the vehicle enters the multistory parking lot 500 where satellite positioning is impossible from the road 501, and turns at the turning circuit in the multistory parking lot, Let us consider a case where when the vehicle advances from the multistory parking lot 500 onto the road 51, the navigation apparatus finds the vehicle position / advance direction as shown by the broken line 52 in FIG. 5b by autonomous navigation in the multistory parking lot.
この場合、立体駐車場５００の退出直後に衛星測位が可能となった時点においてナビゲーション装置が算出している自車位置/進行方位は、図５ｂに５１０で示す位置/進行方位となる。そして、この時に、マルチパス等の影響のために衛星測位の誤差が比較的大きく、当該衛星測位によって求まる自車位置が、図５ｂに５２０で示す、近くに真の自車位置がその上に存在しない道路５０２が存在する位置であった場合には、この衛星測位によって求まる自車位置/進行方位５２０と地図データとのマップマッチングによって自車位置/進行方位を求めると、道路５０２上の位置５３０に誤って自車位置/進行方位が算出されてしまうことがある。また、衛星測位によって求まる自車位置の近くに真の現在位置がその上に存在しない道路５０２が存在しない場合にも、衛星測位によって求まる自車位置/進行方位５２０と地図データとのマップマッチングによって、道路５０１上の真の自車位置から離れた位置５４０が誤って自車位置/進行方位として算出されてしまうことがある。 In this case, the vehicle position / traveling direction calculated by the navigation device at the time when satellite positioning becomes possible immediately after leaving the multistory parking lot 500 is the position / traveling direction indicated by 510 in FIG. At this time, the error in satellite positioning is relatively large due to the influence of multipath, etc., and the vehicle position determined by the satellite positioning is indicated by 520 in FIG. In the case where there is a road 502 that does not exist, the vehicle position / traveling direction 520 obtained by this satellite positioning and the vehicle position / traveling direction are obtained by map matching with map data. The vehicle position / traveling direction may be calculated by mistake in 530. In addition, even when there is no road 502 on which the true current position does not exist near the own vehicle position obtained by satellite positioning, map matching between the own vehicle position / traveling direction 520 obtained by satellite positioning and map data is performed. A position 540 that is distant from the true vehicle position on the road 501 may be erroneously calculated as the vehicle position / traveling direction.
そこで、本発明は、衛星測位が不能となる駐車場の退出直後に、より正確に自車位置/進行方位を修正することを課題とする。 Accordingly, an object of the present invention is to correct the vehicle position / traveling direction more accurately immediately after leaving the parking lot where satellite positioning becomes impossible.
前記課題達成のために、本発明は、自動車に搭載された自車位置検出装置を、衛星からの受信電波に基づく衛星測位によって自車の位置と進行方位を算出する衛星測位手段と、自律航法によって、自車の位置と進行方位を算出する自律航法測位手段と、前記自律航法測位手段が算出した自車の位置と進行方位と、前記衛星測位手段が算出した自車の位置と進行方位と、地図データとに基づいて自車位置と自車進行方位を算定する自車位置/進行方位算定手段と、自車位置/進行方位修正部とを含めて構成したものである。ここで、前記自車位置/進行方位算定手段は、前記衛星測位が不能な場合には、前記自律航法測位手段が算出した自車の位置と進行方位に基づいて自車位置/進行方位を算定するものである。また、前記自車位置/進行方位修正部は、前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を、所定の基準点を回転中心として、回転後の前記自車位置が前記基準点と前記衛星測位手段が衛星測位によって算出した自車の位置を通る直線上に位置するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定する第１修正手段と、前記第１仮自車位置と第１仮自車進行方位に整合する道路を前記地図データに基づいて抽出する抽出手段と、前記第１仮自車進行方位を、回転後の第１仮自車進行方位が前記抽出手段が抽出した道路の方向に一致するように回転すると共に、当該回転の回転角度分、前記第１仮自車位置を、前記基準点を回転中心として回転し、回転後の前記第１仮自車位置と第１仮自車進行方位を、第２仮自車位置と第２仮自車進行方位に設定する第２修正手段と、前記抽出した道路上の、前記第２仮自車位置と第２仮自車進行方位に最も整合する位置と、前記抽出した道路の方向に、前記自車位置と自車進行方位を修正する第３修正手段とより構成されるものである。また、前記所定の基準点は、前記衛星測位が不能な状態である期間中に、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置と自車進行方位より求まる、当該期間中に、自車が行った旋回の中心点である。 In order to achieve the above object, the present invention provides a self-vehicle position detection device mounted on an automobile, satellite positioning means for calculating the position and traveling direction of the vehicle by satellite positioning based on radio waves received from the satellite, and autonomous navigation. The autonomous navigation positioning means for calculating the position and traveling direction of the own vehicle, the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means, the position and traveling direction of the own vehicle calculated by the satellite positioning means, The vehicle position / traveling direction calculating means for calculating the vehicle position and the traveling direction of the vehicle based on the map data and the vehicle position / traveling direction correcting unit are configured. Here, when the satellite positioning is impossible, the vehicle position / traveling direction calculation means calculates the vehicle position / traveling direction based on the position and travel direction of the vehicle calculated by the autonomous navigation positioning means. To do. Further, the own vehicle position / traveling direction correcting unit, when the satellite positioning is changed from an impossible state to a possible state, the own vehicle position / traveling direction calculating unit calculates the own vehicle calculated by the autonomous navigation positioning unit. The vehicle position calculated based on the position and the traveling direction of the vehicle, the vehicle position after rotation with the reference point and the satellite positioning means calculated by satellite positioning with a predetermined reference point as the rotation center Based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit by the rotation angle of the rotation. A first correction means for rotating the calculated own vehicle traveling direction and setting the rotated own vehicle position and the own vehicle traveling direction to a first temporary own vehicle position and a first temporary own vehicle traveling direction; A road that matches the temporary vehicle position and the first temporary vehicle traveling direction The extraction means for extracting based on the data and the first temporary vehicle traveling direction rotate so that the first temporary vehicle traveling direction after rotation matches the direction of the road extracted by the extracting unit, and The first temporary vehicle position is rotated about the reference point as a rotation center by the rotation angle of the rotation, and the first temporary vehicle position and the first temporary vehicle traveling direction after the rotation are determined as the second temporary vehicle. Second correction means for setting the position and the second temporary vehicle traveling direction, a position on the extracted road that best matches the second temporary vehicle position and the second temporary vehicle traveling direction, and the extracted The vehicle is composed of third correction means for correcting the vehicle position and the vehicle traveling direction in the direction of the road. Further, the predetermined reference point is based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit during a period in which the satellite positioning is impossible. This is the center point of the turn made by the vehicle during the period, which is obtained from the calculated vehicle position and the traveling direction of the vehicle.
但し、このような自車位置検出装置は、前記第１修正手段を、前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を、回転後の前記自車進行方位が前記衛星測位手段が衛星測位によって算出した自車の進行方位と一致するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を所定の基準点を回転中心として回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定するものとして構成するようにしてもよい。 However, in such a vehicle position detection device, when the first correction means is changed from a state where the satellite positioning is impossible to a possible state, the vehicle position / traveling direction calculation means is configured to perform the autonomous navigation positioning. The vehicle traveling direction calculated based on the position and traveling direction of the own vehicle calculated by the means is the same as the traveling direction of the own vehicle calculated by the satellite positioning unit by satellite positioning. The vehicle position calculated by the vehicle position / traveling direction calculation means based on the position and travel direction of the vehicle calculated by the autonomous navigation positioning means for the rotation angle of the rotation. The vehicle may be rotated about a predetermined reference point as a rotation center, and the vehicle position and the vehicle traveling direction after the rotation may be set to the first temporary vehicle position and the first temporary vehicle traveling direction.
また、以上の自車位置検出装置は、前記抽出手段において、前記第１修正手段が設定した第１仮自車位置と第１仮自車進行方位に整合する道路が複数存在する場合には、当該複数の道路を抽出し、前記第２修正手段において、前記抽出手段が抽出した各道路について、第２仮自車位置と第２仮自車進行方位を設定し、前記第３修正手段において、前記抽出手段が抽出した各道路について、当該道路について前記第２修正手段が設定した前記第２仮自車位置と第２仮自車進行方位に最も整合する当該道路上の位置を、その整合度と共に求め、前記各道路について求めた道路上の位置の内の、最も求められた整合度が大きい位置と、当該位置が求められた道路の方向に、前記自車位置と自車進行方位を修正するように構成してもよい。 Further, in the above-described vehicle position detection device, in the extraction unit, when there are a plurality of roads that match the first temporary vehicle position and the first temporary vehicle traveling direction set by the first correction unit, The plurality of roads are extracted, and in the second correction unit, a second temporary vehicle position and a second temporary vehicle traveling direction are set for each road extracted by the extraction unit, and in the third correction unit, For each road extracted by the extraction means, the position on the road that best matches the second temporary vehicle position and the second temporary vehicle traveling direction set by the second correction means for the road The vehicle position and the traveling direction of the vehicle are corrected to the position with the highest degree of matching obtained among the positions on the road obtained for each road and the direction of the road from which the position is obtained. You may comprise.
これらのような自車位置検出装置によれば、車両が旋回した場合において、旋回中は旋回路の傾斜などの影響によって自律航法によって算定される進行方位の誤差が大きくなるが、旋回後の旋回中心点に対する相対的な軌跡は比較的正確であり、従って、立体駐車場退出直後の時点において自律航法に基づいて求められている自車位置と旋回中心点の間の距離と、当該自車位置から旋回中心点に向かう方向と立体駐車場退出直後の時点において自律航法に基づいて求められている自車進行方位との角度は比較的正確であることと、立体駐車場退出直後に衛星測位で求まる自車の位置と進行方位はおおよそ正確であることと、立体駐車場退出後の自車の進行方位は道路の方向と一致することとを利用して、立体駐車場退出直後に自車位置/進行方位を適正に修正することができるようになる。 According to the own vehicle position detection devices such as these, when the vehicle turns, an error in the traveling direction calculated by the autonomous navigation becomes large during the turn due to the influence of the inclination of the turning circuit, but the turn after the turn The trajectory relative to the center point is relatively accurate. Therefore, the distance between the vehicle position determined based on autonomous navigation and the turning center point immediately after leaving the multistory parking lot, and the vehicle position The angle between the direction from the vehicle to the turning center and the direction of travel of the vehicle determined based on autonomous navigation immediately after leaving the multistory parking lot is relatively accurate, and By using the fact that the position and direction of travel of the vehicle that is found are roughly accurate and that the direction of travel of the vehicle after exiting the multistory parking lot matches the direction of the road, / How to proceed The position can be corrected appropriately.
以上のように、本発明によれば、衛星測位が不能となる駐車場退出直後に、より正確に自車位置/進行方位を修正することが可能となる。 As described above, according to the present invention, it is possible to correct the vehicle position / traveling direction more accurately immediately after leaving the parking lot where satellite positioning becomes impossible.
以下、本発明の実施形態をとり説明する。
図１に、本実施形態に係る車載システムの構成を示す。
図示するように、車載システム１は、ナビゲーション装置１１、進行方位センサや車速センサなどのナビゲーション装置１１の自律航法用のセンサである自律航法センサ１２、地図データを記憶した地図データベース１３、ＧＰＳ受信機１４、表示装置１５、入力装置１６とを備えている。
Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows a configuration of an in-vehicle system according to the present embodiment.
As shown in the figure, an in-vehicle system 1 includes a navigation device 11, an autonomous navigation sensor 12 that is a sensor for autonomous navigation of the navigation device 11 such as a traveling direction sensor and a vehicle speed sensor, a map database 13 that stores map data, and a GPS receiver. 14, a display device 15, and an input device 16.
ここで、地図データベース１３に記憶されている地図データでは、道路を線分であるところのリンクの集合として表現している。
また、車載システム１において、ナビゲーション装置１１は、ＧＰＳ受信機１４が衛星測位した自車の位置/進行方位やこれらより求まる自車の軌跡と、自律航法センサ１２の出力に基づく自律航法によって求まる自車の位置/進行方位や自車の軌跡と、地図データベース１３に記憶された地図データとのマップマッチングによって自車位置/進行方位を算出する。但し、マップマッチングが成功しなかった場合には、たとえば、ＧＰＳ受信機１４が衛星測位した自車の位置/進行方位と、自律航法によって求まる自車の位置/進行方位のいずれかを、自車位置/進行方位として算出する。
Here, in the map data stored in the map database 13, the road is expressed as a set of links that are line segments.
Further, in the in-vehicle system 1, the navigation device 11 is determined by autonomous navigation based on the position / advance direction of the own vehicle that the GPS receiver 14 performs satellite positioning, the trajectory of the own vehicle obtained from these, and the output of the autonomous navigation sensor 12. The vehicle position / traveling direction is calculated by map matching between the position / traveling direction of the vehicle and the trajectory of the vehicle and the map data stored in the map database 13. However, if the map matching is not successful, for example, either the position / traveling direction of the own vehicle that the GPS receiver 14 performs satellite positioning or the position / advanced direction of the own vehicle obtained by autonomous navigation is Calculate as position / advance direction.
なお、ナビゲーション装置１１は、ＧＰＳ受信機１４による衛星測位が不能な期間中は、自律航法に基づいて求まる自車位置/進行方位や自車の軌跡との、地図データベース１３に記憶された地図データとのマップマッチングを行って、自車位置/進行方位を算出する。但し、この場合にもマップマッチングが成功しなかった場合には、自律航法に基づいて求まる自車の位置/進行方位を、自車位置/進行方位として算出することになる。 The navigation device 11 stores the map data stored in the map database 13 with the vehicle position / traveling azimuth and the vehicle trajectory obtained based on the autonomous navigation during a period when the satellite positioning by the GPS receiver 14 is not possible. And the vehicle position / traveling direction is calculated. In this case, however, if the map matching is not successful, the position / traveling direction of the own vehicle obtained based on the autonomous navigation is calculated as the own vehicle position / traveling direction.
また、ナビゲーション装置１１は、算出した自車位置/進行方位を地図データが表す地図上に表示した案内画像を生成し、表示装置１５に表示する処理を行う。また、ナビゲーション装置１１は、ユーザから入力装置１６を介して目的地の設定を受け付け、自車位置/進行方位から受け付けた目的地までの推奨されるルートを地図データに基づいて探索し、探索したルートを、表示装置１５に表示した前記案内画像上で案内する処理なども行う。 Further, the navigation device 11 performs a process of generating a guide image in which the calculated vehicle position / traveling direction is displayed on a map represented by the map data and displaying the guide image on the display device 15. In addition, the navigation device 11 receives a destination setting from the user via the input device 16 and searches for a recommended route from the vehicle position / traveling direction to the received destination based on the map data. Processing for guiding the route on the guide image displayed on the display device 15 is also performed.
以下、このような構成において、ナビゲーション装置１１が、衛星測位が不能となる立体駐車場退出直後に自車位置/進行方位を修正するために行う、立体駐車場退出後自車状態修正処理について説明する。
図２に、この立体駐車場退出後自車状態修正処理の手順を示す。
Hereinafter, in such a configuration, the navigation apparatus 11 will be described for correcting the own vehicle state after exiting the multi-story parking lot, which is performed in order to correct the vehicle position / advance direction immediately after leaving the multi-story parking lot where satellite positioning becomes impossible. To do.
FIG. 2 shows the procedure of the vehicle state correction process after leaving the multi-story parking lot.
図示するように、この処理では、ＧＰＳ受信機１４による衛星測位が不能な期間中における車両の旋回の発生を監視する（ステップ２０２）。ここで、車両の旋回は、たとえば、所定走行距離以上連続して一回転方向に自車進行方位が変化し続けたときに旋回が発生したものと判定することにより検出する。 As shown in the figure, in this process, the occurrence of turning of the vehicle during a period in which satellite positioning by the GPS receiver 14 is impossible is monitored (step 202). Here, the turning of the vehicle is detected, for example, by determining that the turning has occurred when the traveling direction of the vehicle continues to change in one rotation direction continuously for a predetermined traveling distance or more.
そして、ＧＰＳ受信機１４による衛星測位が不能な期間中における車両の旋回が発生したならば、ＧＰＳ受信機１４による衛星測位が可能となるのを待ち（ステップ２０４）、衛星測位が可能となったならば、ステップ２０２で検出した自車の旋回の中心である旋回中心点を、自律航法センサ１２の出力より推定される自車の軌跡より算定する（ステップ２０６）。この旋回中心点は、たとえば、連続して走行進行方位が一回転方向に変化している自車の軌跡上の区間を、旋回区間として、旋回区間中における軌跡の曲率中心の平均位置を旋回中心点とすることなどにより求める。 If the vehicle turns during a period in which the satellite positioning by the GPS receiver 14 is not possible, the system waits for the satellite positioning by the GPS receiver 14 (step 204), and the satellite positioning becomes possible. Then, the turning center point that is the center of turning of the own vehicle detected in step 202 is calculated from the locus of the own vehicle estimated from the output of the autonomous navigation sensor 12 (step 206). This turning center point is, for example, a section on the trajectory of the vehicle whose traveling direction is continuously changing in one rotation direction as a turning section, and the average position of the center of curvature of the trajectory in the turning section is the turning center. It is calculated by making a point.
すなわち、たとえば、図３ａの実線３１で軌跡を示すように、車両が、リンク３０１から衛星測位が不能となる立体駐車場３００内に進入し、立体駐車場３００内の旋回路で旋回した後に、再度、立体駐車場３００からリンク３０１上に進出した場合に、立体駐車場３００からリンク３０１上に進出し衛星測位が可能な状態に復帰した時点で、ナビゲーション装置１１において、それまでの立体駐車場３００内における自律航法によって、図３ｂに示すように、当該時点における自車位置/進行方位３１０と、軌跡３２が求まっている場合には、図３ｃに示すように、軌跡３２上の連続して走行進行方位が一回転方向に変化している区間３２１内における、軌跡３２の曲率中心の平均位置３３０を旋回中心点として算定するようにする。 That is, for example, as shown by the solid line 31 in FIG. 3 a, after the vehicle enters the multistory parking lot 300 where satellite positioning becomes impossible from the link 301 and turns in the turning circuit in the multistory parking lot 300, When the vehicle advances from the multilevel parking lot 300 onto the link 301 again, when the vehicle enters the link 301 from the multilevel parking lot 300 and returns to a state where satellite positioning is possible, the navigation device 11 uses the multilevel parking lot up to that point. As shown in FIG. 3b, when the vehicle position / traveling direction 310 and the trajectory 32 at the time point are obtained by autonomous navigation in 300, as shown in FIG. The average position 330 of the center of curvature of the trajectory 32 in the section 321 where the traveling direction is changing in one rotation direction is calculated as the turning center point.
図２に戻り、旋回中心点を求めたならば（ステップ２０６）、次に、復帰した衛星測位で求まる自車の位置へ旋回中心点から向かう方向にのばした線分上に、現時点で自律航法に基づいて求まっている自車位置が移動するまで、現時点で自律航法に基づいて求まっている自車位置を旋回中心点を回転中心として回転すると共に、当該回転の回転角度分、自車進行方位を回転し、回転後の自車位置/進行方位を第１仮自車位置/進行方位に設定する（ステップ２０８）。 Returning to FIG. 2, if the turning center point is obtained (step 206), then it is autonomous at the present time on the line segment extending in the direction from the turning center point to the position of the own vehicle obtained by the returned satellite positioning. Until the vehicle position determined based on the navigation moves, the vehicle position currently determined based on the autonomous navigation rotates around the turning center point as the rotation center, and the vehicle travels by the rotation angle of the rotation. The direction is rotated, and the vehicle position / traveling direction after rotation is set to the first temporary vehicle position / traveling direction (step 208).
すなわち、たとえば、図３ｃに示すように、衛星測位可能に復帰した衛星測位で求まる自車の位置/進行方位３２０であった場合には、図３ｄに示すように、旋回中心点３３０から自律航法に基づいて求まっている自車位置３１０へ向かう方向と、旋回中心点３３０から衛星測位で求まる自車の位置/進行方位３２０へ向かう方向との角度差θ分、自律航法に基づいて求まっている自車位置/進行方位３１０を旋回中心点３３０を回転中心として回転した位置/進行方位３１１を、第１仮自車位置/進行方位とする。なお、図３では、自車位置/進行方位３１０、第１仮自車位置/進行方位３１２、衛星測位した自車の位置/進行方位３２０は、各々矢印の位置でその位置を、矢印の向きでその進行方位を表している。 That is, for example, as shown in FIG. 3c, in the case of the position / traveling direction 320 of the own vehicle obtained by the satellite positioning returned to the satellite positioning enabled, as shown in FIG. Is obtained based on the autonomous navigation, the angle difference θ between the direction toward the own vehicle position 310 determined based on the vehicle and the direction from the turning center point 330 toward the position / traveling direction 320 of the own vehicle determined by satellite positioning. The position / traveling direction 311 obtained by rotating the own vehicle position / traveling direction 310 with the turning center point 330 as the rotation center is defined as the first temporary own vehicle position / traveling direction. In FIG. 3, the own vehicle position / advance direction 310, the first provisional own vehicle position / advance direction 312 and the position / advance direction 320 of the satellite-measured own vehicle are indicated by the arrows, respectively. Represents the direction of travel.
次に、このようにして第１仮自車位置/進行方位が求まったならば（ステップ２０８）、第１仮自車位置/進行方位と、地図データベース１３の地図データとのマップマッチングを施して、第１仮自車位置/進行方位との整合度が所定レベル以上大きいリンクを全て抽出する（ステップ２０８）。ここで、マップマッチングにおいて、ある位置/進行方位とリンクとの整合度は、当該位置とリンクとの最短距離が小さいほど整合度が大きくなり、当該進行方位とリンクの向きとの差が小さいほど整合度が大きくなるように求める。 Next, when the first temporary vehicle position / traveling direction is obtained in this way (step 208), map matching between the first temporary vehicle position / traveling direction and the map data in the map database 13 is performed. Then, all the links whose degree of matching with the first temporary vehicle position / traveling direction is greater than a predetermined level are extracted (step 208). Here, in map matching, the degree of matching between a certain position / traveling direction and a link increases as the shortest distance between the position and the link decreases, and the smaller the difference between the traveling direction and the direction of the link, the smaller the degree of matching. It asks for the degree of consistency to increase.
そして、抽出した各リンクについて（ステップ２１２、２１８、２２４）、以下の処理を行う。
すなわち、まず、第１仮自車進行方位がリンクの向きと一致する回転角度分、第１仮自車進行方位を回転すると共に、旋回中心点３３０を回転中心として、当該回転角度分、第１仮自車位置を回転し、第２仮自車位置/進行方位とする（ステップ２１４）。
そして、第２仮自車位置/進行方位と、リンクとのマップマッチングを行って、第２仮自車位置/進行方位に最も整合するリンク上の位置と、その整合度を算出する（ステップ２１８）。
そして、抽出した全てのリンクについて、第２仮自車位置/進行方位の算出と、算出した第２仮自車位置/進行方位の算出とリンクとのマップマッチングによるリンク上の位置の算出及び当該位置の整合度の算出が完了したならば（ステップ２１８）、求めた整合度が最大となったリンクを算定し（ステップ２２０）、算定したリンクについて算出した第２仮自車位置/進行方位とのマップマッチングによって求めた当該算定したリンク上の位置に自車位置を、当該リンクの向きに自車進行方位を修正する（ステップ２２２）。
Then, the following processing is performed for each extracted link (steps 212, 218, and 224).
That is, first, the first temporary vehicle traveling direction is rotated by the rotation angle at which the first temporary vehicle traveling direction coincides with the direction of the link, and the first rotational angle by the rotation center point 330 is set as the rotational angle. The temporary host vehicle position is rotated to obtain the second temporary host vehicle position / traveling direction (step 214).
Then, map matching between the second temporary vehicle position / traveling direction and the link is performed, and the position on the link that most closely matches the second temporary vehicle position / traveling direction and the degree of matching are calculated (step 218). ).
Then, for all the extracted links, the calculation of the second temporary vehicle position / traveling azimuth, the calculation of the calculated second temporary vehicle position / traveling azimuth, and the map matching with the link, When the calculation of the degree of matching of the position is completed (step 218), the link having the maximum degree of matching obtained is calculated (step 220), and the second temporary vehicle position / traveling direction calculated for the calculated link is calculated. The vehicle position is corrected to the calculated position on the link obtained by map matching, and the vehicle traveling direction is corrected to the direction of the link (step 222).
すなわち、たとえば、ステップ２１０において、図３ｄの第１仮自車位置/進行方位３１１との整合度が所定レベル以上大きいリンクとしてリンク３０１とリンク３０２が抽出された場合には、リンク３０１とリンク３０２のそれぞれについて、図４ａ、ｂに示すように、第１仮自車位置/進行方位３１１を、第１仮自車進行方位がリンクの向きと一致するまで、旋回中心点３３０を回転中心として回転して第２仮自車位置/進行方位３１２、３１３を得る。なお、図４では、第１仮自車位置/進行方位３１１、第２仮自車位置/進行方位３１２、３１３は、矢印の位置でその位置を、矢印の向きでその進行方位を表している。 That is, for example, when the link 301 and the link 302 are extracted as links whose degree of matching with the first temporary vehicle position / traveling direction 311 in FIG. 4a and 4b, the first temporary vehicle position / traveling direction 311 is rotated about the turning center point 330 until the first temporary vehicle traveling direction matches the direction of the link. Then, the second temporary vehicle position / traveling direction 312 and 313 are obtained. In FIG. 4, the first temporary vehicle position / traveling azimuth 311 and the second temporary vehicle position / traveling azimuth 312, 313 represent the positions at the positions of the arrows and the traveling azimuths in the directions of the arrows. .
そして、第２仮自車位置/進行方位３１２とリンク３０１とのマップマッチングによってリンク３０１上の位置３０１１を、第２仮自車位置/進行方位３１３とリンク３０２とのマップマッチングによってリンク３０２上の位置３０２１を各々求める。 Then, the position 3011 on the link 301 is set by map matching between the second temporary vehicle position / traveling direction 312 and the link 301, and the link 302 is set by map matching between the second temporary vehicle position / traveling direction 313 and the link 302. Each position 3021 is determined.
そして、この結果、第２仮自車位置/進行方位と、より整合度の大きいリンク上の位置が求まるのは、第２仮自車位置/進行方位とリンクとの最短距離Ｌがより短い、図４ａの第２仮自車位置/進行方位３１２とリンク３０１とのマップマッチングであり、当該リンク３０１上の位置は、図４ａのリンク３０１上の３０１１となる。そこで、図４ｃの３１０に示すように、当該リンク３０１上の位置３０１１に、自車位置が修正され、当該リンク３０１の位置３０１１における方向に自車進行方位が修正される。結果、衛星測位で求まる自車の位置３２０の近くに真の自車位置が存在しないリンク３０２が存在する場合でも、正しくリンク３０１上のほぼ正確な位置の進行方位に、自車位置/進行方位が修正される。 As a result, the second temporary vehicle position / traveling direction and the position on the link having a higher degree of matching are obtained because the shortest distance L between the second temporary vehicle position / traveling direction and the link is shorter. This is map matching between the second temporary vehicle position / traveling azimuth 312 of FIG. 4a and the link 301, and the position on the link 301 is 3011 on the link 301 of FIG. 4a. Therefore, as shown at 310 in FIG. 4 c, the vehicle position is corrected to the position 3011 on the link 301, and the vehicle traveling direction is corrected to the direction at the position 3011 of the link 301. As a result, even when the link 302 where the true vehicle position does not exist is present near the own vehicle position 320 obtained by satellite positioning, the own vehicle position / traveling direction is correctly set to the traveling direction of the almost accurate position on the link 301. Is fixed.
さて、図２に戻り、以上のように自車位置/進行方位を修正したならばステップ２０２からの処理に戻る。
以上、立体駐車場退出後自車状態修正処理について説明した。
ところで、立体駐車場退出後自車状態修正処理のステップ２０８は、図３ｅに示すように、その時点で自律航法に基づいて求まっている自車進行方位３２０が、復帰した衛星測位で求まる自車の進行方位と一致することになる回転角度分、その時点で自律航法に基づいて求まっている自車進行方位３１０を回転すると共に、自車位置３１０を、当該回転角度分、旋回中心点３３０を回転中心として回転し、回転した後の自車位置/進行方位を、第１仮自車位置/進行方位３１１に設定する処理としても良い。
Now, returning to FIG. 2, if the vehicle position / traveling direction is corrected as described above, the processing returns to step 202.
The self-vehicle state correction process after leaving the multistory parking lot has been described above.
By the way, as shown in FIG. 3e, in step 208 of the own vehicle state correction process after leaving the multistory parking lot, the own vehicle traveling direction 320 determined based on the autonomous navigation at that time is determined by the returned satellite positioning. The vehicle travel direction 310 determined based on the autonomous navigation at that time is rotated by the rotation angle that coincides with the travel direction of the vehicle, and the vehicle position 310 is rotated by the rotation angle by the rotation center point 330. It is good also as a process which rotates as a rotation center and sets the own vehicle position / advance direction after rotating to the 1st temporary own vehicle position / advance direction 311.
以上のように本実施形態に係る立体駐車場退出後自車状態修正処理によれば、車両が旋回した場合において、旋回中は旋回路の傾斜などの影響によって自律航法によって算定される進行方位の誤差が大きくなるが、旋回後の旋回中心点に対する相対的な軌跡は比較的正確であり、従って、立体駐車場退出後の自車位置と旋回中心点の間の距離と、立体駐車場退出後の自車位置から旋回中心点に向かう方向と立体駐車場退出後の自車進行方位との角度は比較的正確であることと、立体駐車場退出後に衛星測位で求まる自車の位置と進行方位はおおよそ正確であることと、立体駐車場退出後の自車の進行方位はリンクの進行方位と一致することを利用して、自車位置/進行方位を適正に修正することができる。 As described above, according to the self-vehicle state correction process after exiting the multi-story parking lot according to the present embodiment, when the vehicle turns, the traveling direction calculated by the autonomous navigation is influenced by the influence of the inclination of the turning circuit during the turning. Although the error becomes large, the relative trajectory with respect to the turning center point after turning is relatively accurate. Therefore, the distance between the own vehicle position and the turning center point after leaving the multistory parking lot, and after leaving the multistory parking lot The angle between the direction of the vehicle from the position of the vehicle toward the turning center and the direction of travel of the vehicle after leaving the multistory parking lot is relatively accurate, and the position and direction of travel of the vehicle determined by satellite positioning after leaving the multistory parking lot The vehicle position / advance direction can be appropriately corrected by utilizing the fact that the vehicle is approximately accurate and that the traveling direction of the vehicle after leaving the multi-story parking lot matches the traveling direction of the link.
すなわち、本実施形に係る立体駐車場退出後自車状態修正処理では、まず、自律航法によって求まっている自車位置/進行方位を、旋回中心点までの距離及び旋回中心点方向と自車進行方位との角度との関係を維持できる範囲内において、衛星測位位置または進行方位にできるだけ一致するように修正し、第１仮自車位置/進行方位を算出する（ステップ２０８）。 That is, in the own vehicle state correction process after exiting the multi-story parking lot according to the present embodiment, first, the vehicle position / traveling direction obtained by the autonomous navigation, the distance to the turning center point, the turning center point direction, and the own vehicle traveling The first temporary vehicle position / traveling azimuth is calculated by making correction so as to match the satellite positioning position or traveling azimuth as much as possible within a range in which the relationship with the angle can be maintained (step 208).
そして、第１仮自車位置/進行方位に整合するリンク上に、真の自車位置が存在すると推定し、真の自車位置が存在すると推定されるリンクを抽出する（ステップ２１０）。
そして、自律航法によって求まっている自車位置/進行方位を、旋回中心点までの距離及び旋回中心点方向と自車進行方位との角度との関係を維持しつつ、抽出した各リンクについて、当該リンクが真の自車位置が存在するリンクとであると仮定して、当該リンクの向きと自車の進行方位が一致するように、第１仮自車位置/進行方位を修正し、第２仮自車位置/進行方位とする（ステップ２１４）。そして、第２仮自車位置/進行方位と当該第２仮自車位置/進行方位を求めたリンクのマップマッチングを施し（ステップ２１６）、当該マップマッチングの結果、最もよく第２仮自車位置/進行方位に整合するリンク上の位置が求まったリンクが、真に自車位置が存在するリンクであったと見なして、当該リンクについてのマップマッチングによって求まった位置に、自車位置/進行方位を修正する（ステップ２２０、２２２）。
Then, it is estimated that the true vehicle position exists on the link that matches the first temporary vehicle position / traveling direction, and a link that is estimated to have the true vehicle position is extracted (step 210).
For each link extracted while maintaining the relationship between the distance to the turning center point and the angle between the turning center point direction and the own vehicle traveling direction, the vehicle position / traveling direction obtained by autonomous navigation Assuming that the link is a link where the true vehicle position exists, the first temporary vehicle position / travel direction is corrected so that the direction of the link and the travel direction of the vehicle match, and the second The provisional vehicle position / traveling direction is set (step 214). Then, map matching between the second temporary vehicle position / traveling direction and the link for which the second temporary vehicle position / traveling direction has been obtained is performed (step 216). As a result of the map matching, the second temporary vehicle position is the best. Assume that the link where the position on the link that matches the heading direction is found is the link where the car position really exists, and set the car position / heading direction to the position obtained by map matching for the link. Correction is made (steps 220 and 222).
以上、本発明の実施形態について説明した。 The embodiment of the present invention has been described above.
１…車載システム、１１…ナビゲーション装置、１２…自律航法センサ、１３…地図データベース、１４…ＧＰＳ受信機、１５…表示装置、１６…入力装置、３００…立体駐車場。 DESCRIPTION OF SYMBOLS 1 ... Car-mounted system, 11 ... Navigation apparatus, 12 ... Autonomous navigation sensor, 13 ... Map database, 14 ... GPS receiver, 15 ... Display apparatus, 16 ... Input device, 300 ... Three-dimensional parking lot.
Claims (5)
衛星からの受信電波に基づく衛星測位によって自車の位置と進行方位を算出する衛星測位手段と、
自律航法によって、自車の位置と進行方位を算出する自律航法測位手段と、
前記自律航法測位手段が算出した自車の位置と進行方位と、前記衛星測位手段が算出した自車の位置と進行方位と、地図データとに基づいて自車位置と自車進行方位を算定する自車位置/進行方位算定手段と、
自車位置/進行方位修正部とを有し、
前記自車位置/進行方位算定手段は、前記衛星測位が不能な場合には、前記自律航法測位手段が算出した自車の位置と進行方位に基づいて自車位置/進行方位を算定し、
前記自車位置/進行方位修正部は、
前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を、所定の基準点を回転中心として、回転後の前記自車位置が前記基準点と前記衛星測位手段が衛星測位によって算出した自車の位置を通る直線上に位置するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定する第１修正手段と、
前記第１仮自車位置と第１仮自車進行方位に整合する道路を前記地図データに基づいて抽出する抽出手段と、
前記第１仮自車進行方位を、回転後の第１仮自車進行方位が前記抽出手段が抽出した道路の方向に一致するように回転すると共に、当該回転の回転角度分、前記第１仮自車位置を、前記基準点を回転中心として回転し、回転後の前記第１仮自車位置と第１仮自車進行方位を、第２仮自車位置と第２仮自車進行方位に設定する第２修正手段と、
前記抽出した道路上の、前記第２仮自車位置と第２仮自車進行方位に最も整合する位置と、前記抽出した道路の方向に、前記自車位置と自車進行方位を修正する第３修正手段とを有し、
前記所定の基準点は、前記衛星測位が不能な状態である期間中に、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置と自車進行方位より求まる、当該期間中に、自車が行った旋回の中心点であることを特徴とする自車位置検出装置。 A vehicle position detection device mounted on an automobile,
Satellite positioning means for calculating the position and traveling direction of the vehicle by satellite positioning based on radio waves received from the satellite;
Autonomous navigation positioning means for calculating the position and traveling direction of the vehicle by autonomous navigation;
Based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means, the position and traveling direction of the own vehicle calculated by the satellite positioning means, and the map data, the own vehicle position and the traveling direction of the own vehicle are calculated. The vehicle position / traveling direction calculation means,
Own vehicle position / advance direction correction unit,
The vehicle position / traveling direction calculation means calculates the vehicle position / traveling direction based on the position and travel direction of the vehicle calculated by the autonomous navigation positioning means when the satellite positioning is impossible.
The own vehicle position / traveling direction correction unit is
When the satellite positioning is changed from an impossible state to a possible state, the own vehicle position / traveling direction calculating means calculates based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means. The vehicle position is rotated with a predetermined reference point as the rotation center so that the vehicle position after rotation is located on a straight line passing through the reference point and the position of the vehicle calculated by satellite positioning by the satellite positioning means. Along with the rotation angle of the rotation, the own vehicle position / traveling direction calculating means rotates the own vehicle traveling direction calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means, and rotates. First correction means for setting a subsequent own vehicle position and own vehicle traveling direction to a first temporary own vehicle position and a first temporary own vehicle traveling direction;
Extraction means for extracting a road that matches the first temporary vehicle position and the first temporary vehicle traveling direction based on the map data;
The first temporary vehicle traveling direction is rotated so that the first temporary vehicle traveling direction after rotation coincides with the direction of the road extracted by the extracting means, and the first temporary vehicle traveling direction is rotated by the rotation angle of the first temporary vehicle. The own vehicle position is rotated about the reference point as the rotation center, and the first temporary vehicle position and the first temporary vehicle traveling direction after the rotation are changed to the second temporary vehicle position and the second temporary vehicle traveling direction. A second correction means for setting;
The vehicle position and the vehicle traveling direction are corrected to the position on the extracted road that most closely matches the second temporary vehicle position and the second temporary vehicle traveling direction and the direction of the extracted road. 3 correction means,
The predetermined reference point is calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit during a period in which the satellite positioning is impossible. A vehicle position detection device, which is a center point of a turn made by the vehicle during the period, which is obtained from the vehicle position and the vehicle traveling direction.
衛星からの受信電波に基づく衛星測位によって自車の位置と進行方位を算出する衛星測位手段と、
自律航法によって、自車の位置と進行方位を算出する自律航法測位手段と、
前記自律航法測位手段が算出した自車の位置と進行方位と、前記衛星測位手段が算出した自車の位置と進行方位と、地図データとに基づいて自車位置と自車進行方位を算定する自車位置/進行方位算定手段と、
自車位置/進行方位修正部とを有し、
前記自車位置/進行方位算定手段は、前記衛星測位が不能な場合には、前記自律航法測位手段が算出した自車の位置と進行方位に基づいて自車位置/進行方位を算定し、
前記自車位置/進行方位修正部は、
前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を、回転後の前記自車進行方位が前記衛星測位手段が衛星測位によって算出した自車の進行方位と一致するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を所定の基準点を回転中心として回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定する第１修正手段と、
前記第１仮自車位置と第１仮自車進行方位に整合する道路を前記地図データに基づいて抽出する抽出手段と、
前記第１仮自車進行方位を、回転後の第１仮自車進行方位が前記抽出手段が抽出した道路の方向に一致するように回転すると共に、当該回転の回転角度分、前記第１仮自車位置を、前記基準点を回転中心として回転し、回転後の前記第１仮自車位置と第１仮自車進行方位を、第２仮自車位置と第２仮自車進行方位に設定する第２修正手段と、
前記抽出した道路上の、前記第２仮自車位置と第２仮自車進行方位に最も整合する位置と、前記抽出した道路の方向に、前記自車位置と自車進行方位を修正する第３修正手段とを有し、
前記所定の基準点は、前記衛星測位が不能な状態である期間中に、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置と自車進行方位より求まる、当該期間中に、自車が行った旋回の中心点であることを特徴とする自車位置検出装置。 A vehicle position detection device mounted on an automobile,
Satellite positioning means for calculating the position and traveling direction of the vehicle by satellite positioning based on radio waves received from the satellite;
Autonomous navigation positioning means for calculating the position and traveling direction of the vehicle by autonomous navigation;
Based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means, the position and traveling direction of the own vehicle calculated by the satellite positioning means, and the map data, the own vehicle position and the traveling direction of the own vehicle are calculated. The vehicle position / traveling direction calculation means,
Own vehicle position / advance direction correction unit,
The vehicle position / traveling direction calculation means calculates the vehicle position / traveling direction based on the position and travel direction of the vehicle calculated by the autonomous navigation positioning means when the satellite positioning is impossible.
The own vehicle position / traveling direction correction unit is
When the satellite positioning is changed from an impossible state to a possible state, the own vehicle position / traveling direction calculating means calculates based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means. The vehicle travel direction is rotated so that the travel direction of the host vehicle after rotation coincides with the travel direction of the host vehicle calculated by the satellite positioning means by satellite positioning, and the vehicle position / The traveling direction calculation means rotates the own vehicle position calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means with a predetermined reference point as the center of rotation, and the First correction means for setting the vehicle traveling direction to the first temporary vehicle position and the first temporary vehicle traveling direction;
Extraction means for extracting a road that matches the first temporary vehicle position and the first temporary vehicle traveling direction based on the map data;
The first temporary vehicle traveling direction is rotated so that the first temporary vehicle traveling direction after rotation coincides with the direction of the road extracted by the extracting means, and the first temporary vehicle traveling direction is rotated by the rotation angle of the first temporary vehicle. The own vehicle position is rotated about the reference point as the rotation center, and the first temporary vehicle position and the first temporary vehicle traveling direction after the rotation are changed to the second temporary vehicle position and the second temporary vehicle traveling direction. A second correction means for setting;
The vehicle position and the vehicle traveling direction are corrected to the position on the extracted road that most closely matches the second temporary vehicle position and the second temporary vehicle traveling direction and the direction of the extracted road. 3 correction means,
The predetermined reference point is calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit during a period in which the satellite positioning is impossible. A vehicle position detection device, which is a center point of a turn made by the vehicle during the period, which is obtained from the vehicle position and the vehicle traveling direction.
前記抽出手段は、前記第１修正手段が設定した第１仮自車位置と第１仮自車進行方位に整合する道路が複数存在する場合には、当該複数の道路を抽出し、
前記第２修正手段は、前記抽出手段が抽出した各道路について、第２仮自車位置と第２仮自車進行方位を設定し、
前記第３修正手段は、前記抽出手段が抽出した各道路について、当該道路について前記第２修正手段が設定した前記第２仮自車位置と第２仮自車進行方位に最も整合する当該道路上の位置を、その整合度と共に求め、前記各道路について求めた道路上の位置の内の、最も求められた整合度が大きい位置と、当該位置が求められた道路の方向に、前記自車位置と自車進行方位を修正することを特徴とする自車位置検出装置。 The own vehicle position detecting device according to claim 1 or 2,
The extraction means extracts the plurality of roads when there are a plurality of roads that match the first temporary vehicle position and the first temporary vehicle traveling direction set by the first correction means,
The second correction means sets a second temporary vehicle position and a second temporary vehicle traveling direction for each road extracted by the extraction means,
The third correction unit is configured to select, for each road extracted by the extraction unit, the road on the road that most closely matches the second temporary vehicle position and the second temporary vehicle traveling direction set by the second correction unit for the road. The position of the vehicle is determined in the direction of the road from which the highest degree of matching is obtained and the direction of the road from which the position is obtained. And a vehicle position detecting device for correcting the traveling direction of the vehicle.
自車位置/進行方位算定手段において、前記衛星測位が不能な場合に、前記自律航法測位手段が算出した自車の位置と進行方位に基づいて自車位置/進行方位を算定するステップと、
前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を、所定の基準点を回転中心として、回転後の前記自車位置が前記基準点と前記衛星測位手段が衛星測位によって算出した自車の位置を通る直線上に位置するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定するステップと、
前記第１仮自車位置と第１仮自車進行方位に整合する道路を前記地図データに基づいて抽出するステップと、
前記第１仮自車進行方位を、回転後の第１仮自車進行方位が前記抽出手段が抽出した道路の方向に一致するように回転すると共に、当該回転の回転角度分、前記第１仮自車位置を、前記基準点を回転中心として回転し、回転後の前記第１仮自車位置と第１仮自車進行方位を、第２仮自車位置と第２仮自車進行方位に設定するステップと、
前記抽出した道路上の、前記第２仮自車位置と第２仮自車進行方位に最も整合する位置と、前記抽出した道路の方向に、前記自車位置と自車進行方位を修正するステップとを有し、
前記所定の基準点は、前記衛星測位が不能な状態である期間中に、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置と自車進行方位より求まる、当該期間中に、自車が行った旋回の中心点であることを特徴とする自車位置/進行方位修正方法。 A vehicle position detection device mounted on an automobile, which includes satellite positioning means for calculating the position and traveling direction of the vehicle by satellite positioning based on radio waves received from the satellite, and the position and traveling direction of the vehicle by autonomous navigation. Based on the autonomous navigation positioning means for calculating the position, the traveling direction of the own vehicle calculated by the autonomous navigation positioning means, the position and traveling direction of the own vehicle calculated by the satellite positioning means, and the map data A vehicle position / traveling direction correction method for correcting the vehicle position and the vehicle signal direction in a vehicle position detection device including a vehicle position / traveling direction calculation means for calculating a position and a traveling direction of the vehicle. ,
In the own vehicle position / traveling direction calculation means, when the satellite positioning is impossible, calculating the own vehicle position / traveling direction based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means;
When the satellite positioning is changed from an impossible state to a possible state, the own vehicle position / traveling direction calculating means calculates based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means. The vehicle position is rotated with a predetermined reference point as the rotation center so that the vehicle position after rotation is located on a straight line passing through the reference point and the position of the vehicle calculated by satellite positioning by the satellite positioning means. Along with the rotation angle of the rotation, the own vehicle position / traveling direction calculating means rotates the own vehicle traveling direction calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means, and rotates. Setting the subsequent own vehicle position and own vehicle traveling direction to the first temporary own vehicle position and first temporary own vehicle traveling direction;
Extracting a road that matches the first temporary vehicle position and the first temporary vehicle traveling direction based on the map data;
The first temporary vehicle traveling direction is rotated so that the first temporary vehicle traveling direction after rotation coincides with the direction of the road extracted by the extracting means, and the first temporary vehicle traveling direction is rotated by the rotation angle of the first temporary vehicle. The own vehicle position is rotated about the reference point as the rotation center, and the first temporary vehicle position and the first temporary vehicle traveling direction after the rotation are changed to the second temporary vehicle position and the second temporary vehicle traveling direction. Steps to set,
Correcting the own vehicle position and the own vehicle traveling direction on the extracted road so that the second temporary own vehicle position and the second temporary own vehicle traveling direction most closely match with each other and the extracted road direction; And
The predetermined reference point is calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit during a period in which the satellite positioning is impossible. The vehicle position / travel direction correcting method, which is obtained from the current vehicle position and the travel direction of the travel vehicle, and is a center point of a turn made by the vehicle during the period.
自車位置/進行方位算定手段において、前記衛星測位が不能な場合に、前記自律航法測位手段が算出した自車の位置と進行方位に基づいて自車位置/進行方位を算定するステップと、
前記衛星測位が不能な状態から可能な状態に変化したときに、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車進行方位を、回転後の前記自車進行方位が前記衛星測位手段が衛星測位によって算出した自車の進行方位と一致するように回転すると共に、当該回転の回転角度分、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置を所定の基準点を回転中心として回転し、回転後の自車位置と自車進行方位を第１仮自車位置と第１仮自車進行方位に設定するステップと、
前記第１仮自車位置と第１仮自車進行方位に整合する道路を前記地図データに基づいて抽出するステップと、
前記第１仮自車進行方位を、回転後の第１仮自車進行方位が前記抽出手段が抽出した道路の方向に一致するように回転すると共に、当該回転の回転角度分、前記第１仮自車位置を、前記基準点を回転中心として回転し、回転後の前記第１仮自車位置と第１仮自車進行方位を、第２仮自車位置と第２仮自車進行方位に設定するステップと、
前記抽出した道路上の、前記第２仮自車位置と第２仮自車進行方位に最も整合する位置と、前記抽出した道路の方向に、前記自車位置と自車進行方位を修正するステップとを有し、
前記所定の基準点は、前記衛星測位が不能な状態である期間中に、前記自車位置/進行方位算定手段が前記自律航法測位手段が算出した自車の位置と進行方位に基づいて算定している自車位置と自車進行方位より求まる、当該期間中に、自車が行った旋回の中心点であることを特徴とする自車位置/進行方位修正方法。 A vehicle position detection device mounted on an automobile, which includes satellite positioning means for calculating the position and traveling direction of the vehicle by satellite positioning based on radio waves received from the satellite, and the position and traveling direction of the vehicle by autonomous navigation. Based on the autonomous navigation positioning means for calculating the position, the traveling direction of the own vehicle calculated by the autonomous navigation positioning means, the position and traveling direction of the own vehicle calculated by the satellite positioning means, and the map data A vehicle position / traveling direction correction method for correcting the vehicle position and the vehicle signal direction in a vehicle position detection device including a vehicle position / traveling direction calculation means for calculating a position and a traveling direction of the vehicle. ,
In the own vehicle position / traveling direction calculation means, when the satellite positioning is impossible, calculating the own vehicle position / traveling direction based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means;
When the satellite positioning is changed from an impossible state to a possible state, the own vehicle position / traveling direction calculating means calculates based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means. The vehicle travel direction is rotated so that the travel direction of the host vehicle after rotation coincides with the travel direction of the host vehicle calculated by the satellite positioning means by satellite positioning, and the vehicle position / The traveling direction calculation means rotates the own vehicle position calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning means with a predetermined reference point as the center of rotation, and the Setting the vehicle traveling direction to the first temporary vehicle position and the first temporary vehicle traveling direction;
Extracting a road that matches the first temporary vehicle position and the first temporary vehicle traveling direction based on the map data;
The first temporary vehicle traveling direction is rotated so that the first temporary vehicle traveling direction after rotation coincides with the direction of the road extracted by the extracting means, and the first temporary vehicle traveling direction is rotated by the rotation angle of the first temporary vehicle. The own vehicle position is rotated about the reference point as the rotation center, and the first temporary vehicle position and the first temporary vehicle traveling direction after the rotation are changed to the second temporary vehicle position and the second temporary vehicle traveling direction. Steps to set,
Correcting the own vehicle position and the own vehicle traveling direction on the extracted road so that the second temporary own vehicle position and the second temporary own vehicle traveling direction most closely match with each other and the extracted road direction; And
The predetermined reference point is calculated based on the position and traveling direction of the own vehicle calculated by the autonomous navigation positioning unit by the own vehicle position / traveling direction calculating unit during a period in which the satellite positioning is impossible. The vehicle position / travel direction correcting method, which is obtained from the current vehicle position and the travel direction of the travel vehicle, and is a center point of a turn made by the vehicle during the period.
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