JP5760803B2 - Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer program - Google Patents

Description

  The present invention relates to a mobile body position detection system, a mobile body position detection device, a mobile body position detection method, and a computer program that detect the position of a mobile body.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. The guidance route set based on the search result is displayed on the display screen, and when approaching a branch point (hereinafter referred to as a guidance branch point) for guidance such as turning left or right, a voice or display screen is displayed. By performing the guidance used, the user is surely guided to a desired destination. In recent years, some cellular phones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance branch point, it is important to perform guidance at an appropriate timing. In order to perform the guidance at an appropriate timing, it is necessary to accurately detect the current position of the vehicle or the like. Here, as one method for accurately detecting the position of the vehicle or the like, for example, in Japanese Patent Application Laid-Open No. 2007-309670, white line and road surface paint information captured from a camera behind the vehicle is detected by image recognition, It describes a technique for detecting a detailed current position of a vehicle by comparing white line and road surface paint information with a map information DB stored in advance.

JP 2007-309670 A (page 5)

  Here, in the technique of the above-mentioned Patent Document 1, it is necessary to separately install a camera for detecting a feature in a vehicle, and further, there is a processing burden for performing image recognition processing for detecting a feature from a captured image. It was big. Moreover, in the technique of patent document 1, while the vehicle is moving straight after detecting a feature, it is possible to continuously detect an accurate position based on the travel distance during that time. However, if the vehicle makes a right or left turn at a branch point, the accurate position cannot be detected continuously thereafter, and the vehicle's accurate position is detected until the vehicle detects a new feature. I couldn't.

  The present invention has been made to solve the above-described problems in the prior art, and when the mobile body makes a right or left turn at a branch point without requiring a special device or image processing, the mobile body after a right or left turn It is an object of the present invention to provide a moving body position detection system, a moving body position detection device, a moving body position detection method, and a computer program that can quickly and accurately detect and correct the position of the moving body.

In order to achieve the above object, the mobile body position detection system (1) according to claim 1 of the present application includes mobile body position detection means (13) for detecting the position of the mobile body (60) and the branch point (51). A left / right turn detection means (13) for detecting that the mobile body has made a right / left turn, and an approach road to the branch point of the mobile body when the right / left turn detection means has detected that the mobile body has made a right / left turn. Based on the number of lanes of the approach road acquired by the lane number acquisition means, the lane number acquisition means (13) for detecting the number of lanes of the mobile body detected by the mobile body position detection means after a right or left turn An error calculating means (13) for calculating a detection error occurring in the position, and a position correction for correcting the position of the moving body detected by the moving body position detecting means based on the detection error calculated by the error calculating means. It possesses a means (13), wherein the error calculation means, the maximum of the detection error from the position of the mobile body detected by the moving body position detecting means after the right or left turn may occur with respect to the traveling direction of the moving body A first error calculating means for calculating the first error distance, and a maximum error that can occur in the direction opposite to the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after turning right or left Second error calculating means for calculating a second error distance that is the detection error, and the position correcting means moves the moving body relative to the position of the moving body detected by the moving body position detecting means after turning right or left. Correcting the position of the moving body from a position separated by the first error distance in the moving direction of the body to a position spaced by the second error distance in the direction opposite to the moving direction of the moving body. Features.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.

Moreover, the mobile body position detection system (1) according to claim 2 is the mobile body position detection system according to claim 1 , wherein the lane number acquisition means (13) 60) obtains the number of lanes of the moving lane and the oncoming lane when there is an oncoming lane that is a moving lane that is a moving lane, and the first error calculating means (13) detects the right / left turn detection When it is detected by means (13) that the moving body has turned right at the branch point, the value obtained by multiplying the number of lanes of the opposite lane by the lane width of the lane and the lane width of the moving lane are divided into two equal parts. When the addition value obtained by adding the value is calculated as the first error distance, the second error calculation means (13) detects that the mobile body has made a right turn at the branch point by the right / left turn detection means. , The number of lanes of the moving lane And calculates the subtraction value from the value obtained by multiplying the lane width of the traffic lane obtained by subtracting a value obtained by bisecting the lane width as said second error distance.

Moreover, the mobile body position detection system (1) according to claim 3 is the mobile body position detection system according to claim 1 , wherein the lane number acquisition means (13) includes the mobile body ( 60) obtains the number of lanes of the moving lane and the oncoming lane when there is an oncoming lane that is a moving lane that is a moving lane, and the first error calculating means (13) detects the right / left turn detection When it is detected by means (13) that the moving body has turned left at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts is calculated as the first error distance, and the second error calculating means (13) When the moving body detects that the mobile body has made a left turn at the branch point, the value obtained by multiplying the total number of lanes of the moving lane and the opposite lane by the lane width of the lane Dividing the lane width into two equal parts And calculates the subtraction value obtained by subtracting the as said second error distance.

A mobile body position detection system (1) according to claim 4 is the mobile body position detection system according to claim 1 , wherein the lane number acquisition means (13) 60), when there is no opposite lane opposite to the moving lane that is the moving lane, the number of lanes of the moving lane is acquired, and the first error calculating means (13) is detected by the right / left turn detecting means (13). When it is detected that the mobile body has made a right turn at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts is calculated as the first error distance, and the second error calculating means (13) A value obtained by dividing the lane width into two equal parts from the value obtained by multiplying the number of lanes of the moving lane by the lane width of the lane when the moving body detects that the mobile body has made a right turn at the branch point. The subtracted subtraction value is the second error distance. And calculating Te.

Moreover, the mobile body position detection system (1) according to claim 5 is the mobile body position detection system according to claim 1 , wherein the lane number acquisition means (13) 60), when there is no opposite lane opposite to the moving lane that is the moving lane, the number of lanes of the moving lane is acquired, and the first error calculating means (13) is detected by the right / left turn detecting means (13). When it is detected that the mobile body has made a left turn at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts is calculated as the first error distance, and the second error calculating means (13) A value obtained by dividing the lane width into two equal parts from the value obtained by multiplying the number of lanes of the moving lane by the lane width of the lane when the moving body detects that the moving body has made a left turn at the branch point. The subtracted subtraction value is the second error distance. And calculating Te.

Further, the mobile body position detecting device (1) according to claim 6 includes a mobile body position detecting means (13) for detecting the position of the mobile body (60), and the mobile body turns right and left at the branch point (51). When the right and left turn detection means (13) and the right and left turn detection means detect that the mobile body has made a right / left turn, the number of lanes on the approach road to the branch point of the mobile body is detected. Based on the number of lanes of the approach road acquired by the lane number acquisition means (13) and the lane number acquisition means, a detection error occurring at the position of the moving body detected by the moving body position detection means after a right or left turn is detected. An error calculating means (13) for calculating, and a position correcting means (13) for correcting the position of the moving body detected by the moving body position detecting means based on the detection error calculated by the error calculating means. Yes, and The error calculating means calculates a first error distance that is the maximum detection error that can occur in the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after turning right or left. A second error distance that is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after the left and right turns; Second position calculating means for calculating, wherein the position correcting means is the first error distance in the traveling direction of the moving body with respect to the position of the moving body detected by the moving body position detecting means after turning right or left. The position of the moving body is corrected between a position separated by a distance from the position separated by the second error distance in a direction opposite to the traveling direction of the moving body .

The moving object position detecting method according to claim 7, wherein the moving the moving position detecting means, and away step to detect the position of the moving body (60), right turn detecting means, at a branch point (51) and Luz steps to detect that the body has right and left turns, if the number of lanes acquiring means, wherein the moving body is detected to turn right or left by the right or left turn detecting means, entry into the branch point of the moving body and Luz step detecting the number of lanes of a road, the error calculating means, based on the number of lanes of the approach road, which is acquired by the lane number obtaining means, the movement is detected by the movable body position detecting means after the right turn fixes and Luz step to calculate the detection error occurring position of the body, the position correcting means, on the basis of the detection error calculated by said error calculation means, the position of the mobile body detected by the moving body position detecting means to Luz Te' If, have a, the error calculating means, first, the largest of the detected errors from the position of the mobile body detected by the moving body position detecting means after the right or left turn may occur with respect to the traveling direction of the moving body An error distance is calculated, and a second error distance that is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after turning right or left is obtained. And the position correcting means calculates the moving body from a position separated by the first error distance in the moving direction of the moving body with respect to the position of the moving body detected by the moving body position detecting means after turning right or left. The position of the movable body is corrected until the position separated by the second error distance in the direction opposite to the traveling direction .

Further, a computer program according to claim 8, right and left turns computer, a mobile location detecting means for detecting a position of the moving body (60), said movable body at a branch point (51) detects that it has left or right turn detection means, when the moving body by the right or left turn detecting means detects that the right or left turn, the number of lanes obtaining means for detecting the number of lanes of the entrance road to the branching point of the moving body, the number of lanes Based on the number of lanes of the approach road acquired by the acquiring means, an error calculating means for calculating a detection error occurring at the position of the moving body detected by the moving body position detecting means after a left or right turn, and the error calculating means on the basis of the calculated detection error, a position correction means for correcting the position of said mobile body detected by the moving body position detecting means, a computer for causing to function pro The error calculation means is a first error that is the maximum detection error that can occur in the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after turning right or left. A distance is calculated, and a second error distance, which is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body, is calculated from the position of the moving body detected by the moving body position detecting means after turning right or left. Then, the position correcting means is configured to move the moving body from a position separated from the position of the moving body detected by the moving body position detecting means after the right or left turn by the first error distance in the moving direction of the moving body. The position of the movable body is corrected until the position separated by the second error distance in the direction opposite to the traveling direction .

  According to the moving body position detection system according to claim 1 having the above-described configuration, when the moving body turns right or left at a branch point without requiring a special device or image processing, the moving body after turning right or left It is possible to quickly and accurately detect and correct the position. As a result, it is possible to execute guidance and control for the moving body at an appropriate timing based on the accurate position of the moving body.

According to the moving body position detection system of claim 1 , the maximum detection error that can occur in the traveling direction of the moving body from the detection position of the moving body after the right or left turn, and the detection position of the moving body after the right or left turn. The detection position of the moving body is corrected in consideration of the maximum detection error that can occur in the opposite direction to the moving direction of the moving body. It becomes possible to specify. Since the actual moving body position is surely included in the corrected moving body position detection range, it is possible to prevent the guidance and control for the moving body from being executed at an incorrect timing. Become.

Moreover, according to the mobile body position detection system of claim 2, when the mobile body turns right at a branch point and enters a road with an opposite lane, the road shape is taken into consideration, and the mobile body position detection system The maximum detection error that can occur from the detection position to the traveling direction of the moving body and the maximum detection error that can occur from the detection position of the moving body after the right turn to the traveling direction of the moving body are accurately specified. It becomes possible.

Further, according to the moving body position detection system according to claim 3, when the moving body turns left at the branch point and enters the road with the oncoming lane, the road shape is taken into consideration, so that The maximum detection error that can occur from the detection position to the traveling direction of the moving body and the maximum detection error that can occur from the detection position of the moving body after the left turn to the traveling direction of the moving body are accurately specified. It becomes possible.

Further, according to the moving body position detection system according to claim 4, when the moving body turns right at a branch point and enters a road without an oncoming lane, the road shape is taken into consideration, and then the moving body is detected after the right turn. The maximum detection error that can occur from the detection position to the traveling direction of the moving body and the maximum detection error that can occur from the detection position of the moving body after the right turn to the traveling direction of the moving body are accurately specified. It becomes possible.

Further, according to the moving body position detection system according to claim 5, when the moving body turns left at a branch point and enters a road without an oncoming lane, the road shape is taken into consideration, and the moving body position is detected after the left turn. The maximum detection error that can occur from the detection position to the traveling direction of the moving body and the maximum detection error that can occur from the detection position of the moving body after the left turn to the traveling direction of the moving body are accurately specified. It becomes possible.

Further, according to the moving body position detecting device according to claim 6 , the position of the moving body after the right / left turn can be obtained when the moving body makes a right / left turn at a branch point without requiring a special device or image processing. Can be detected and corrected quickly and accurately. As a result, it is possible to execute guidance and control for the moving body at an appropriate timing based on the accurate position of the moving body.

Moreover, according to the moving body position detection method of Claim 7 , when the moving body makes a right or left turn at a branch point without requiring a special device or image processing, the position of the moving body after a right or left turn Can be detected and corrected quickly and accurately. As a result, it is possible to execute guidance and control for the moving body at an appropriate timing based on the accurate position of the moving body.

Furthermore, according to the computer program according to claim 8 , when the mobile body makes a right or left turn at a branch point without requiring a special device or image processing, the position of the mobile body after the right or left turn can be quickly and It can be detected and corrected accurately. As a result, it is possible to execute guidance and control for the moving body at an appropriate timing based on the accurate position of the moving body.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the branch point. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the vehicle position detection processing program which concerns on this embodiment. It is the figure which showed the example of calculation of the front gap | deviation amount M at the time of the left turn of a branch point. It is the figure which showed the example of calculation of the back shift amount N at the time of the left turn of a branch point. It is the figure which showed the example of calculation of the front gap | deviation amount M at the time of the right turn of a branch point. It is the figure which showed the example of calculation of the back shift amount N at the time of the right turn of a branch point.

  Hereinafter, a mobile body position detection system and a mobile body position detection apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all of the above five types of sensors, and the navigation device 1 may include only one or more of these types of sensors.

  The data recording unit 12 is a driver for reading out an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 and a predetermined program recorded in the hard disk, and writing predetermined data in the hard disk And a recording head (not shown). The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 includes, for example, link data 35 relating to roads (links), node data 36 relating to node points, branch point data 37 relating to each branch point, point data relating to points such as facilities, and a map for displaying a map. The storage means stores display data, search data for searching for a route, search data for searching for a point, and the like.

  Here, as the link data 35, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, road type of the road constituting the link, number of lanes, opposite The presence or absence of a lane is stored. As the node data 36, a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like are stored. Further, as the branch point data 37, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), and the like are stored. Is done.

Here, the node of the branch point stored as the branch point data 37 is set at a position that does not protrude from the road width. For example, as shown in FIG. 2, at a branch point 51 where two lanes on one side intersect, a road 52 connected upward with respect to the branch point 51 and a road 53 connected downward with respect to the branch point 51. A region 56 in which a connection region connecting the road 54 connected in the left direction to the branch point 51 and a connection region connecting the road 55 connected in the right direction to the branch point 51 overlap each other. A node of the branch point 51 is set at any of the points. Accordingly, the coordinates specifying the node of the branch point 51 may have a width of the maximum distance X in the left-right direction. Similarly, a width of the maximum distance Y can be generated in the vertical direction.
When the vehicle makes a right or left turn at the branch point, the navigation ECU 13 determines the right side based on the number of lanes of the road on which the vehicle entered the branch point (hereinafter referred to as the approach road), the traveling mode of the vehicle at the branch point, and the like. The detailed current position of the vehicle after the left turn is detected (or the position already detected is corrected).

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. As well as a RAM 42 for storing route data when a route is searched, a control program, a branch point guidance processing program (see FIG. 3) and a vehicle position detection processing program (see FIG. 4). And the like, and an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. The navigation ECU 13 constitutes various means as processing algorithms. For example, the moving body position detection means detects the position of the vehicle (moving body), and the right / left turn detection means detects that the vehicle has made a right / left turn at a branch point. The lane number acquisition means detects the number of lanes of the approach road to the branch point of the vehicle when detecting that the vehicle has turned right or left. The error calculation means calculates a detection error that occurs at the position of the vehicle after the right or left turn based on the number of lanes on the approach road. The position correcting means corrects the position of the vehicle detected by the moving body position detecting means based on the detection error calculated by the error calculating means.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, the current position of the vehicle, traffic information, operation guidance, an operation menu, key guidance, a guidance route from the departure point to the destination, guidance information along the guidance route, News, weather forecast, time, mail, TV program, etc. are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 3 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at a predetermined interval (for example, every detection cycle of the current position of the vehicle) after the vehicle ACC is turned on, and guides the guidance branch point on the guidance route. . 3 and 4 are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the branch point guidance processing program, the CPU 41 determines whether route guidance based on the guidance route set in the navigation device 1 is being performed. Here, the guidance route is a recommended route from the departure point (for example, the current position of the host vehicle) to the destination selected by the user, and is set based on the result of the route search process. The route search process is performed by a known Dijkstra method using the link data 35 and node data 36 stored in the map information DB 31, traffic information obtained from the VICS center, and the like.

  And when it determines with the route guidance based on the guidance route set in the navigation apparatus 1 being performed (S1: YES), it transfers to S2. On the other hand, when it is determined that route guidance based on the guidance route set in the navigation device 1 is not performed (S1: NO), the branch point guidance processing program is terminated.

In S <b> 2, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Further, when detecting the current position of the vehicle, the CPU 41 performs detection by dead reckoning using the vehicle speed sensor 22, the steering sensor 23, and the gyro sensor 24 in addition to the detection by the GPS 21. In dead reckoning, the vehicle travel distance and travel direction are detected by the vehicle speed sensor 22 and the like, and the current position of the vehicle is detected by integrating these values with respect to the reference position. Furthermore, the current position of the vehicle is corrected when turning right or left at the branch point of the vehicle in a vehicle position detection processing program (FIG. 4) described later.
The current position of the vehicle may be specified in detail using a high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Next, in S <b> 3, the CPU 41 obtains a guidance route (including a guidance branch point in the guidance route) set in the navigation device 1.

  Subsequently, in S4, the CPU 41 determines a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S2 and the guidance route acquired in S3. It is determined whether or not there is. Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 guides traveling according to the guidance route set in the navigation device 1 as described above.

  If it is determined that there is a guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: YES), the process proceeds to S5. On the other hand, when it is determined that there is no guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: NO), the branch point guidance processing program is terminated.

  In S5, the CPU 41 determines whether or not guidance for a guidance branch point in front of the vehicle traveling direction has already been performed. In S5, it is determined whether or not voice guidance for instructing a right or left turn or the like at the guidance branch point among the guidance for the guidance branch point has been performed.

  And when it determines with guidance with respect to the guidance branch point ahead of the advancing direction of a vehicle having already been performed (S5: YES), the said branch point guidance process program is complete | finished. On the other hand, when it is determined that the guidance for the guidance branch point ahead of the traveling direction of the vehicle is not performed (S5: NO), the process proceeds to S6.

  In S6, the CPU 41 determines whether or not it is time to start guidance for a guidance branch point located forward in the traveling direction of the vehicle, based on the current vehicle position corrected by a vehicle position detection processing program (FIG. 4) described later. Judgment. The timing for starting the guidance for the guidance branch point includes, for example, a traffic light on the front side of the guidance branch point, a point a predetermined distance before the stop line, and the like.

  If it is determined that it is time to start guidance for a guidance branch point located ahead in the traveling direction of the vehicle (S6: YES), the process proceeds to S7. On the other hand, when it is determined that it is not time to start guidance for a guidance branch point located ahead in the traveling direction of the vehicle (S6: NO), the branch point guidance processing program is terminated.

In S7, the CPU 41 provides guidance related to the guidance branch point. Specifically, guidance for specifying the guidance branch point and the exit direction of the vehicle guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) is performed. For example, a phrase “the second signal is in the left (right) direction” is output from the speaker 16. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

  Next, a vehicle position detection processing program executed by the navigation ECU 13 in the navigation device 1 will be described with reference to FIG. FIG. 4 is a flowchart of the vehicle position detection processing program according to this embodiment. Here, the vehicle position detection processing program is repeatedly executed at predetermined intervals (for example, every detection cycle of the current position of the vehicle) after the ACC of the vehicle is turned on. When the vehicle turns right or left, the number of lanes or branch points on the approach road This is a program for detecting the detailed current position of the vehicle after turning right or left (or correcting the already detected position) based on the driving mode of the vehicle.

  First, in S11, the CPU 41 determines whether the vehicle has made a right turn or a left turn at a branch point. Specifically, the determination is made based on detection results of various sensors such as the GPS 21 and the gyro sensor 24 and map information.

  When it is determined that the vehicle has turned right or left at the branch point (S11: YES), the process proceeds to S12. On the other hand, when it is determined that the vehicle does not turn right or left at the branch point (S11: NO), the vehicle position detection processing program ends.

  Next, in S12, the CPU 41 obtains road information of an approach road that has newly entered when the vehicle turns right or left. The road information acquired in S12 includes the number of lanes and the presence or absence of oncoming lanes.

  Subsequently, in S13, the CPU 41 determines whether there is an oncoming lane on the approach road based on the road information of the approach road acquired in S12.

  If it is determined that there is an opposite lane on the approach road (S13: YES), the process proceeds to S14. On the other hand, if it is determined that there is no opposite lane on the approach road (S13: NO), that is, if the approach road is a one-way road or a road where the upper and lower roads are separated, S15 Migrate to

In S14, the CPU 41 sets values for the respective coefficients a to c as follows.
a = Total number of lanes on the approach road (including lanes on which the vehicle is traveling and oncoming lanes)
b = Number of lanes in the opposite lane of the approach road c = Number of lanes of the lane in which the host vehicle is traveling

On the other hand, in S15, the CPU 41 sets values for the respective coefficients a to c as follows.
a = Number of lanes in which the vehicle on the approaching road travels b = 0
c = Number of lanes on the approach road

  Next, in S16, the CPU 41 determines whether or not the vehicle has made a left turn at the branch point.

  If it is determined that the vehicle has turned left at the branch point (S16: YES), the process proceeds to S17. On the other hand, when it is determined that the vehicle turns right at the branch point (S16: NO), the process proceeds to S18.

  In S17 and S18, the CPU 41 calculates the vehicle front displacement amount M and the rear displacement amount N based on the coefficients set in S14 and S15 and the following equations (1) to (4). Here, the CPU 41 predicts that the vehicle travels along the link stored in the map information DB 31 when detecting the current position of the vehicle by dead reckoning navigation. However, as described above, the node at the branch point is not necessarily set at the center of the branch point, and has a certain width (X × Y region 56 in FIG. 2). As a result, an error occurs between the actual vehicle position and the detected vehicle position. The forward deviation amount M calculated in S17 and S18 is the maximum detection error that can occur in the vehicle traveling direction with respect to the actual vehicle position when the vehicle turns right or left at the branch point. On the other hand, the rear shift amount N is the maximum detection error that can occur in the direction opposite to the vehicle traveling direction with respect to the actual vehicle position when the vehicle turns right or left at the branch point.

Hereinafter, a method of calculating the front shift amount M and the rear shift amount N will be described with reference to FIGS.
First, the case where the vehicle turns left at a branch point will be described.
5 and 6, the vehicle 60 turns left at the branch point 51 and travels from the approach road 54 to the exit road 52. In this case, as described above, when the CPU 41 detects the current position of the vehicle by dead reckoning, the vehicle 60 is predicted to travel along the link L, and the current position of the vehicle 60 is detected. Therefore, when the node A at the branch point 51 is set closest to the exit road as shown in FIG. 5, the detection error that can occur in the traveling direction of the vehicle is maximized. On the other hand, as shown in FIG. 6, when the node A at the branch point 51 is set closest to the exit road side, the detection error that can occur in the direction opposite to the traveling direction of the vehicle is maximized. And since the maximum width of the lane is generally 3.5 m, the amount of forward misalignment M when turning left is calculated by the following equation (1).
M [m] = 0.5 × 3.5 (1)
Further, the amount of rear shift N at the time of a left turn is calculated by the following equation (2).
N [m] = a × 3.5−0.5 × 3.5 (2)

Next, a case where the vehicle turns right at a branch point will be described.
In FIGS. 7 and 8, the vehicle 60 turns right at the branch point 51 and travels from the approach road 54 to the exit road 53. In this case, as described above, when the CPU 41 detects the current position of the vehicle by dead reckoning, the vehicle 60 is predicted to travel along the link L, and the current position of the vehicle 60 is detected. Therefore, when the node A of the branch point 51 is set closest to the exit road as shown in FIG. 7, the detection error that can occur in the traveling direction of the vehicle is maximized. On the other hand, as shown in FIG. 8, when the node A at the branch point 51 is set closest to the exit road side, the detection error that can occur in the direction opposite to the traveling direction of the vehicle is maximized. And since the maximum width of the lane is generally 3.5 m, the amount of forward misalignment M when turning right is calculated by the following equation (3).
M [m] = b × 3.5 + 0.5 × 3.5 (3)
Further, the amount of rear shift N when turning right is calculated by the following equation (4).
N [m] = c × 3.5−0.5 × 3.5 (4)

Next, in S19, the CPU 41 corrects the position of the vehicle detected by dead reckoning based on the front shift amount M and the rear shift amount N calculated in S17 and S18, and specifies the detailed vehicle position. Specifically, assuming that the vehicle is located at any point between the front shift amount M and the rear shift amount N, the current position of the vehicle detected by dead reckoning navigation is corrected to have a width (error range). I do.
As a result, it becomes possible to detect the detailed current position of the vehicle after turning right or left at the branch point (or correct the already detected position). Then, it is possible to accurately determine whether or not it is time to start guidance for the guidance branch point in the branch point guidance processing program (FIG. 3) based on the corrected current position of the vehicle.

As described in detail above, according to the navigation device 1, the moving body position detection method using the navigation device 1, and the computer program executed by the navigation device 1, the vehicle has made a right or left turn at a branch point. , The presence / absence of the opposite lane and the number of lanes of the approach road where the vehicle entered at the branching point are acquired (S12), and the driving mode (whether it has turned right or left) at the branch point of the vehicle and the approaching road Based on the presence or absence of the opposite lane and the number of lanes, when the vehicle turns left or right at a branch point, the amount of front deviation M, which is the maximum detection error that can occur in the direction of travel of the vehicle with respect to the actual vehicle position, A rear shift amount N, which is the maximum detection error that can occur in the direction opposite to the vehicle traveling direction with respect to the actual vehicle position, is calculated (S17, S18), and the rear shift amount is calculated from the calculated front shift amount M. Between N Since the current position of the detected vehicle is corrected assuming that the vehicle is located at any point (S19), when the vehicle turns right and left at the branch point without requiring special equipment or image processing, It becomes possible to detect and correct the position of the vehicle after turning right and left quickly and accurately. As a result, it becomes possible to execute guidance and control for the vehicle at an appropriate timing based on the exact position of the vehicle.
Further, the amount of front deviation M, which is the maximum detection error that can occur from the vehicle detection position to the vehicle traveling direction after the right or left turn, and the vehicle detection position from the vehicle detection position to the direction opposite to the vehicle traveling direction after the right or left turn. Since the detection position of the vehicle is corrected in consideration of the amount of rearward displacement N that is the maximum detection error that can be obtained, it is possible to accurately specify an error range of position detection that can occur due to a left or right turn of the vehicle. Since the actual vehicle position is surely included in the corrected vehicle position detection range (between the front shift amount M and the rear shift amount N), guidance and control for the vehicle are executed at an incorrect timing. It is possible to prevent this.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, the width of the lane when calculating the front shift amount M and the rear shift amount N is 3.5 m, but other values may be used. Moreover, it is good also as a structure which acquires the width of the lane of an approach road from the link data 35, and uses the acquired width of a lane. Further, the presence or absence of the oncoming lane and the width of the lane may be detected based on a captured image captured by a camera installed in the vehicle.

  In addition to the navigation device, the present invention can be applied to a device having a function of detecting the position of a moving body. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described branch point guidance processing program (FIG. 3) and vehicle position detection processing program (FIG. 4) may be implemented by either a server or a mobile terminal. In addition, when the present invention is applied to a mobile terminal or the like, a mobile object other than a vehicle, for example, a user such as a mobile terminal or a current position of a two-wheeled vehicle may be detected.

1 Navigation device 13 Navigation ECU
19 Back camera 31 Map information DB
41 CPU
42 RAM
43 ROM
51 branch point 60 vehicle

Claims (8)

Moving body position detecting means for detecting the position of the moving body;
Right-left turn detection means for detecting that the mobile body has made a right-left turn at a branch point;
Lane number acquisition means for detecting the number of lanes of the approach road to the branch point of the mobile body when the right and left turn detection means detects that the mobile body has made a right or left turn;
Based on the number of lanes of the approach road acquired by the lane number acquisition unit, an error calculation unit that calculates a detection error that occurs in the position of the moving body detected by the moving body position detection unit after a right or left turn;
Based on the detected error calculated by said error calculation means, have a, a position correction means for correcting the position of said mobile body detected by the moving body position detecting means,
The error calculation means includes
First error calculating means for calculating a first error distance that is the maximum detection error that can occur in the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after a right or left turn;
Second error calculation for calculating the second error distance that is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after the left or right turn Means, and
The position correcting means is a moving direction of the moving body from a position separated from the position of the moving body detected by the moving body position detecting means after the right or left turn by the first error distance in the moving direction of the moving body. The position of the moving body is corrected between the position and the position separated by the second error distance in the opposite direction . The lane number acquisition means acquires the number of lanes of the moving lane and the opposite lane, respectively, when there is an opposite lane facing a moving lane that is a lane in which the moving body moves on the approach road,
The first error calculation means, when the right / left turn detection means detects that the mobile body has made a right turn at the branch point, the value obtained by multiplying the lane number of the opposite lane by the lane width of the lane and the movement An added value obtained by adding a value obtained by dividing the lane width of the lane into two equal parts is calculated as the first error distance;
The second error calculation means determines the lane from the value obtained by multiplying the number of lanes of the moving lane by the lane width of the lane when the right / left turn detection means detects that the moving body has made a right turn at the branch point. The moving body position detection system according to claim 1 , wherein a subtraction value obtained by subtracting a value obtained by dividing the width into two is calculated as the second error distance. The lane number acquisition means acquires the number of lanes of the moving lane and the opposite lane, respectively, when there is an opposite lane facing a moving lane that is a lane in which the moving body moves on the approach road,
The first error calculating means, when the right / left turn detecting means detects that the moving body has turned left at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts as the first error distance. Calculate
The second error calculating means multiplies the total lane number of the moving lane and the opposite lane by the lane width of the lane when the right / left turn detecting means detects that the moving body has made a left turn at the branch point. The moving body position detection system according to claim 1 , wherein a subtraction value obtained by subtracting a value obtained by dividing the lane width into two equal parts from the value is calculated as the second error distance. The lane number acquisition means acquires the lane number of the moving lane when there is no opposite lane facing the moving lane that is the lane in which the moving body moves on the approach road,
The first error calculation means, when the right / left turn detection means detects that the moving body has turned right at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts as the first error distance. Calculate
The second error calculation means determines the lane from the value obtained by multiplying the number of lanes of the moving lane by the lane width of the lane when the right / left turn detection means detects that the moving body has made a right turn at the branch point. The moving body position detection system according to claim 1 , wherein a subtraction value obtained by subtracting a value obtained by dividing the width into two is calculated as the second error distance. The lane number acquisition means acquires the lane number of the moving lane when there is no opposite lane facing the moving lane that is the lane in which the moving body moves on the approach road,
The first error calculating means, when the right / left turn detecting means detects that the moving body has turned left at the branch point, a value obtained by dividing the lane width of the moving lane into two equal parts as the first error distance. Calculate
The second error calculating means determines the lane from the value obtained by multiplying the number of lanes of the moving lane by the lane width of the lane when the moving body detects that the moving body has made a left turn at the branch point. The moving body position detection system according to claim 1 , wherein a subtraction value obtained by subtracting a value obtained by dividing the width into two is calculated as the second error distance. Moving body position detecting means for detecting the position of the moving body;
Right-left turn detection means for detecting that the mobile body has made a right-left turn at a branch point;
Lane number acquisition means for detecting the number of lanes of the approach road to the branch point of the mobile body when the right and left turn detection means detects that the mobile body has made a right or left turn;
Based on the number of lanes of the approach road acquired by the lane number acquisition unit, an error calculation unit that calculates a detection error that occurs in the position of the moving body detected by the moving body position detection unit after a right or left turn;
Based on the detected error calculated by said error calculation means, have a, a position correction means for correcting the position of said mobile body detected by the moving body position detecting means,
The error calculation means includes
First error calculating means for calculating a first error distance that is the maximum detection error that can occur in the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after a right or left turn;
Second error calculation for calculating the second error distance that is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body from the position of the moving body detected by the moving body position detecting means after the left or right turn Means, and
The position correcting means is a moving direction of the moving body from a position separated from the position of the moving body detected by the moving body position detecting means after the right or left turn by the first error distance in the moving direction of the moving body. The position of the moving body is corrected between the position separated by the second error distance in the opposite direction to the position of the moving body. Mobile location detecting means, and away step to detect the position of the moving body,
Right turn detecting means, the answering step to detect that the moving body is left or right turn at the branch point,
Number of lanes acquiring means, when the moving body by the right or left turn detecting means detects that the right or left turn, and Luz step detecting the number of lanes of the entrance road to the branching point of the moving body,
Error calculation means, based on the number of lanes of the approach road, which is acquired by the lane number obtaining means, to calculate the detection error occurring position of the mobile body detected by the moving body position detecting means after the right or left turn away Tep,
Position correcting means, on the basis of the said detected error calculated by the error calculating means, have a, and answering step to correct the position of the moving body detected by the moving body position detecting means,
The error calculation means includes
Calculating a first error distance, which is the maximum detection error that can occur in the traveling direction of the moving body, from the position of the moving body detected by the moving body position detecting means after turning left or right;
Calculating a second error distance, which is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body, from the position of the moving body detected by the moving body position detecting means after turning right or left;
The position correcting means is a moving direction of the moving body from a position separated from the position of the moving body detected by the moving body position detecting means after the right or left turn by the first error distance in the moving direction of the moving body. The position of the movable body is corrected between the position and the position separated by the second error distance in the opposite direction . The computer,
Moving body position detecting means for detecting the position of the moving body;
Right-left turn detection means for detecting that the mobile body has made a right-left turn at a branch point;
Lane number acquisition means for detecting the number of lanes of the approach road to the branch point of the mobile body when the right and left turn detection means detects that the mobile body has made a right or left turn;
Based on the number of lanes of the approach road acquired by the lane number acquisition unit, an error calculation unit that calculates a detection error that occurs in the position of the moving body detected by the moving body position detection unit after a right or left turn;
Position correcting means for correcting the position of the moving body detected by the moving body position detecting means based on the detection error calculated by the error calculating means ;
A computer program to make it function,
The error calculation means includes
Calculating a first error distance, which is the maximum detection error that can occur in the traveling direction of the moving body, from the position of the moving body detected by the moving body position detecting means after turning left or right;
Calculating a second error distance, which is the maximum detection error that can occur in the direction opposite to the traveling direction of the moving body, from the position of the moving body detected by the moving body position detecting means after turning right or left;
The position correcting means is a moving direction of the moving body from a position separated from the position of the moving body detected by the moving body position detecting means after the right or left turn by the first error distance in the moving direction of the moving body. A computer program for correcting the position of the moving body between the position and the position separated by the second error distance in the opposite direction .

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