JP5798329B2 - Information processing apparatus for vehicle - Google Patents

Description

  The present invention relates to a vehicle information processing apparatus, and more particularly to a vehicle information processing apparatus that detects a parking lot with a turntable.

  The navigation device may detect the vehicle speed and the steering angle of the host vehicle, obtain the travel position of the host vehicle based on the detection results, and perform route guidance in some cases. Also, when the host vehicle starts to travel from a parking lot with a turntable (hereinafter referred to as a “turntable-added parking lot”), the turntable indicates the direction of the host vehicle while the navigation device is not activated. It can be changed. When route guidance is performed by the navigation device at this time, the direction at the start of traveling of the host vehicle is different from the recognition of the navigation device, and the traveling position of the host vehicle may not be obtained with high accuracy.

  Therefore, a navigation device that stores in advance the position of a parking lot with a turntable is disclosed (for example, see Patent Document 1). In this navigation device, the position of the own vehicle obtained by GPS positioning is compared with the position of the head of the traveling locus obtained from the direction change amount and the movement distance of the own vehicle, and a shift between the two positions is detected. When this positional deviation is greater than or equal to a predetermined value, the rotation conversion starting point in the travel locus is determined as the turntable installation location and stored in the database.

JP 2010-190721 A

  However, in the navigation device disclosed in Patent Document 1, the position of the host vehicle obtained by GPS positioning and the position of the head of the traveling locus obtained by the direction change amount and the movement distance of the host vehicle are used. Judging where the turntable is installed. For this reason, for example, when a failure occurs in a device that performs GPS positioning or a device that detects the amount of azimuth change or travel distance of the host vehicle, a turntable installation location (a parking lot with a turntable) can be determined Therefore, there are problems that the number of opportunities to detect the parking lot with the turntable is reduced, and the detection accuracy is lowered.

  Then, the subject of this invention is providing the information processing apparatus for vehicles which can detect a parking lot with a turntable in more opportunities, and can improve the detection accuracy of a parking lot with a turntable.

  The vehicle information processing apparatus according to the present invention that has solved the above problems is based on own vehicle position detection means for detecting own vehicle position information representing the position of the own vehicle based on a GPS signal, and on the running history of the own vehicle. When the travel position detecting means for detecting travel position information representing the travel position of the host vehicle and the position of the host vehicle after starting the travel from the travel start position and the travel position of the host vehicle are separated by a predetermined distance or more, Based on own vehicle travel position information correcting means for correcting the vehicle travel position information to the own vehicle position, and based on the travel start position of the own vehicle, the own vehicle position, and the own vehicle travel position, the travel start position is a parking lot candidate with a turntable. Parking lot candidate judging means for judging whether or not, and the number of judgments of a plurality of turntable attached parking lot candidates are counted, and the total number of turntable attached parking lot candidates is a predetermined number or more In some case, to the parking determination means for determining a turntable attached parking candidate turntable attached parking, comprising: a.

  In the vehicle information processing apparatus according to the present invention, the number of determinations of a plurality of turntable attached parking lot candidates is totaled, and when the total number of turntable attached parking lot candidates is a predetermined number or more, the turntable attached The parking lot candidate is judged as a parking lot with a turntable. For this reason, for example, even if a sensor or the like in a vehicle breaks down and a turntable attached parking lot candidate cannot be judged, the turntable attached parking lot can be judged based on information on other vehicles or other opportunities. it can. Therefore, the parking lot with a turntable can be detected at more opportunities, and the detection accuracy of the parking lot with a turntable can be increased.

  Here, the turntable rotation that determines the angle between the line connecting the travel start position and the host vehicle travel position in the turntable candidate parking lot candidate and the line connecting the travel start position and the host vehicle position as the turntable rotation angle An angle determination means, and a plurality of turntable rotation angles, and based on the total number of turntable rotation angles, a turntable rotation angle acquisition means for acquiring a turntable rotation angle in a parking lot with a turntable; It can be set as the aspect further provided.

  Thus, by counting the plurality of turntable rotation angles, and obtaining the rotation angle of the turntable in the turntable-attached parking lot based on the total number of turntable rotation angles, in the turntable-attached parking lot You can also learn about the characteristics of the turntable. Therefore, when the vehicle departs from the turntable parking lot, the accuracy of guiding the vehicle in the correct direction can be improved.

  According to the vehicle information processing apparatus of the present invention, it is possible to detect the turntable-attached parking lot at more opportunities, and to increase the detection accuracy of the turntable-attached parking lot.

It is a block block diagram of the vehicle information processing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process sequence of the information processing apparatus for vehicles. It is an image figure which shows the communication state of a vehicle and an information center. (A) is a diagram showing the travel route of the vehicle on the map, (b) is a diagram showing the position of the vehicle when the location correction occurrence event is performed, and (c) is stored in the location information holding unit. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.

  FIG. 1 is a block diagram of a vehicle information processing apparatus according to an embodiment of the present invention. As shown in FIG. 1, the vehicle information processing apparatus according to the present embodiment includes an in-vehicle apparatus 1 and an information center server 2. The in-vehicle device 1 includes a navigation device 11, a vehicle speed sensor 12, a steering sensor 13, a navigation information holding device 14, and a vehicle side communication device 15. The information center server 2 also includes a center side communication device 21 and a parking lot determination device 22. Furthermore, the parking lot determination device 22 includes a location information extraction unit 31, a rotation angle calculation unit 32, a location information holding unit 33, and a parking lot detection unit 34.

  The navigation device 11 in the in-vehicle device 1 is a device that detects the current position of the host vehicle and guides the route to the destination, and stores map information over a wide range in which the host vehicle may travel. . The navigation device 11 constitutes own vehicle position detection means. The navigation device 11 includes a GPS antenna and a processing device, and estimates the position of the host vehicle. The navigation device 11 receives GPS signals from GPS satellites with a GPS antenna.

  In the navigation device 11, the GPS signal is demodulated by the processing device, and the position of the own vehicle is calculated based on the demodulated position data of each GPS satellite and the stored map information. Further, the navigation device 11 generates host vehicle position information indicating the position of the host vehicle calculated based on the GPS signal. The own vehicle position information includes latitude information and longitude information of the own vehicle position. Incidentally, since the position data of three or more GPS satellites are required to calculate the current position, the navigation apparatus 11 receives GPS signals from three or more different GPS satellites.

  The vehicle speed sensor 12 is a sensor that detects the vehicle speed. The vehicle speed sensor 12 detects, for example, the rotational speed of the wheel, calculates the detected rotational speed of the wheel, and then detects the vehicle speed. The vehicle speed sensor 12 transmits the detected vehicle speed to the navigation device 11 as a vehicle speed signal.

  The steering sensor 13 is a sensor that detects the steering angle of the steering wheel. The steering sensor 13 transmits the detected steering angle to the navigation device 11 as a steering signal.

  The navigation device 11 generates a travel history of the host vehicle based on the vehicle speed signal transmitted from the vehicle speed sensor 12 and the steering signal transmitted from the steering sensor. The navigation device 11 starts generating the travel history of the host vehicle after the host vehicle turns on the accessory switch.

  Further, the navigation device 11 generates host vehicle travel position information representing the travel position of the host vehicle based on the generated travel history and map information of the host vehicle. The own vehicle traveling position information includes latitude information and longitude information of the own vehicle traveling position. Further, the position at which the host vehicle turns on the accessory switch is the previous parking position. The navigation device 11 generates previous parking position information related to the previous parking position. The previous parking position information includes latitude information and longitude information of the previous parking position. The navigation device 11 constitutes a traveling position detection unit. Further, the previous parking position is the travel start position.

  When the navigation apparatus 11 generates the host vehicle travel position information and the previous parking position information, the navigation apparatus 11 compares the host vehicle position generated based on the GPS signal with the host vehicle travel position generated based on the travel history. Here, when the host vehicle position and the host vehicle traveling position are separated by a predetermined distance or more, a location correction occurrence event is performed. When the location correction occurrence event is performed, it is considered that the host vehicle is rotated by the turntable at the previous parking position. For this reason, the last parking position when the location correction occurrence event is performed becomes the parking lot candidate position. The navigation device 11 constitutes parking lot candidate determination means.

  In the location correction occurrence event, the navigation device 11 performs correction using the host vehicle traveling position as a location before location correction and the location of the host vehicle as a location after location correction. The navigation device 11 constitutes own vehicle traveling position information correcting means. When the navigation device 11 performs a location correction occurrence event, the navigation device 11 transmits location correction occurrence event information related to the location correction occurrence event to the navigation information holding device 14.

  In addition, the navigation device 11 transmits location information before location correction related to the location before location correction and location information after location correction related to the location after location correction to the navigation information holding device 14 at this time. Further, when a location correction occurrence event is performed, the previous parking position information related to the position of the previous parking position at which the host vehicle turned on the accessory switch is transmitted to the navigation information holding device 14.

  The navigation information holding device 14 stores a lot of parking lot-attached parking lot information on a map. The navigation information holding device 14 stores various information such as location occurrence event information, location correction pre-location information, location correction post-location information, and previous parking position information transmitted from the navigation device 11. In addition, the navigation information holding device 14 transmits various stored information to the vehicle-side communication device 15 at predetermined time intervals.

  The vehicle side communication device 15 can transmit and receive various signals to and from the center side communication device 21 in the information center server 2. When various information is transmitted from the navigation information holding device 14, the vehicle-side communication device 15 transmits the transmitted information to the center-side communication device 21.

  The center side communication device 21 in the information center server 2 receives various information transmitted from the vehicle side communication device 15 in the in-vehicle device 1 and transmits it to the parking lot determination device 22. Various information is transmitted from the vehicle-side communication device 15 to the center-side communication device 15 at predetermined time intervals. The center side communication device 21 transmits these various pieces of information transmitted to the parking lot determination device 22.

  The location information extraction unit 31 in the parking lot determination device 22 extracts location correction occurrence event information from various information transmitted from the center side communication device 15. When a location correction occurrence event is extracted, location information before location correction, location information after location correction, and previous parking position information are extracted. The location information extraction unit 31 outputs the extracted information to the rotation angle calculation unit 32.

  The rotation angle calculation unit 32 outputs the location information before location correction, the location information after location correction, and the location information before location correction, the location after location correction, and the previous parking location from the location information after location correction and the previous parking location information output from the location information extraction unit 31. Check the position. The rotation angle calculation unit 32 calculates the rotation angle of the vehicle at the previous parking position from the location before location correction, the location after location correction, and the previous parking position. The rotation angle calculation unit 32 adds the rotation angle information regarding the calculated rotation angle to the previous parking position information and outputs it to the location information holding unit 33. The rotation angle calculation unit 32 constitutes a turntable rotation angle determination unit.

  The location information holding unit 33 stores the previous parking position information and the rotation angle information output from the rotation angle calculation unit 32. Each time the previous parking position information is output from the rotation angle calculation unit 32, the location information holding unit 33 counts and accumulates the number of times the previous parking position information is determined for each previous parking position and rotation angle related to the previous parking position information. To go. Therefore, the location information holding unit 33 accumulates and stores a plurality of previous parking position information transmitted from a plurality of vehicles or transmitted from one vehicle a plurality of times.

  Furthermore, in the location information holding unit 33, the rotation angle is also accumulated and accumulated for each of the plurality of previous parking positions. For example, the rotation angle at the previous parking position A point is 90 degrees, the rotation angle is AX times, the rotation angle is 180 degrees, the rotation angle is 90 degrees, and the previous parking position B point is 90 degrees. The case where the rotation angle is BX times and 180 times is stored as BY times. The location information holding unit 33 outputs the accumulated previous parking position information to the parking lot detection unit 34.

  The parking lot detection unit 34 detects a parking lot with a turntable based on the previous parking position information stored in the location information holding unit 33. The parking lot detection unit 34 transmits the turntable attached parking lot information and the turntable rotation angle information related to the detected turntable attached parking lot to the center side communication device 21. The parking lot detection unit 34 constitutes a parking lot determination unit and a turntable rotation angle acquisition unit.

  The center side communication device 21 transmits the transmitted turntable attached parking lot information to the vehicle side communication device 15 in the in-vehicle device 1. The vehicle side communication device 15 transmits the transmitted turntable attached parking lot information to the navigation information holding device 14. In the navigation information holding device 14, when the turntable attached parking lot information is transmitted from the vehicle side communication device 15, the stored turntable attached parking lot information is updated.

  Next, processing of the vehicle information processing apparatus according to the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure of the vehicle information processing apparatus. As shown in FIG. 2, in the vehicle information processing apparatus according to the present embodiment, first, a location correction event is detected in the navigation apparatus 11 of the in-vehicle apparatus 1 (S1). The location correction event is detected when the difference between the own vehicle position based on the GPS signal and the own vehicle travel position based on the travel history is equal to or greater than a predetermined distance.

  When the location correction event is detected, the transmission vehicle 1A shown in FIG. 3 shows the location correction pre-location location, the location post-location correction location, and the location correction pre-location information, location post-location correction location information, and the previous parking location information regarding the previous parking location. To the information center 2A (S2). Subsequently, in the information center 2A, the location information extraction unit 31 in the parking lot determination device 22 extracts each information and then calculates the rotation angle of the vehicle at the previous parking position (S3).

  When calculating the rotation angle of the vehicle at the previous parking position, as shown in FIG. 4A, the rotation angle calculation unit 32 sets the location correction pre-location point P1, the location correction post-location point P2, and the previous parking position P3. Check. Next, as shown in FIG. 4B, a first straight line L1 connecting the location correction pre-location point P1 and the previous parking position P3 and a second straight line L2 connecting the location correction post-location point P2 and the previous parking position P3 are generated. To do.

  When the first straight line L1 and the second straight line L2 are generated, an angle θ (θ ≦ 180 degrees) formed by the first straight line L1 and the second straight line L2 is calculated. Since the angle formed by the first straight line L1 and the second straight line L2 is assumed to be the same angle as the angle at which the vehicle was rotated on the turntable at the previous parking position, the first straight line L1 and the second straight line L2 are formed. The angle θ is calculated (S3).

  After calculating the angle θ between the first straight line L1 and the second straight line L2, the location information holding unit 33 stores the angle θ calculated by the rotation angle calculation unit 32 as a rotation angle (S4). When storing the rotation angle, as shown in FIG. 4C, the number of times the previous parking position information has been output for each latitude and longitude information of the previous parking position, and for each rotation angle at the previous parking position. Accumulate.

  Then, the parking lot detection unit 34 determines whether or not the number of times the previous parking position information accumulated in the location information holding unit 33 has accumulated is equal to or greater than a predetermined number N (S5). Here, the predetermined number N can be arbitrarily set. In the present embodiment, N = 100 is set on the assumption that the previous parking position is in an area where there is a lot of traffic. As a result, if it is determined that the number of times the previous parking position information has been accumulated is not equal to or greater than the predetermined number N, the process ends without determining that the previous parking position is still a parking lot.

  On the other hand, if it is determined that the number of times the previous parking position information has been accumulated is equal to or greater than the predetermined number N, the previous parking position in the previous parking position information is determined as a turntable attached parking lot. If it is determined that the parking lot is a turntable-attached parking lot, among the rotation angles at the previous parking position, the rotation frequency of the turntable is determined as the rotation angle of the turntable.

  When the previous parking position is thus determined to be the turntable-attached parking lot, as shown in FIG. 3, the turntable-attached parking lot information to which the turntable rotation angle information is added is transmitted from the information center 2A to the receiving vehicle 1B (S7). ). The receiving vehicle 1B receives the turntable attached parking lot information transmitted from the information center 2A, and updates the turntable attached parking lot information stored in the navigation information holding device 14 (S8). In this way, the process in the vehicle information processing apparatus is finished.

  Thus, in the vehicle information processing apparatus according to the present embodiment, the previous parking is performed when the accumulated number of parking positions in the plurality of previous parking position information stored in the location information holding unit 33 is equal to or greater than the predetermined number N. The location is judged as a parking lot with a turntable. For this reason, for example, even if a sensor or the like in a vehicle breaks down and a turntable attached parking lot candidate cannot be judged, the turntable attached parking lot can be judged based on information on other vehicles or other opportunities. it can. Therefore, the parking lot with a turntable can be detected at more opportunities, and the detection accuracy of the parking lot with a turntable can be increased.

  Further, in the vehicle information processing apparatus according to the present embodiment, a plurality of turntable rotation angles are counted for each previous parking position, and a turn in a parking lot with a turntable is calculated based on the total number of turntable rotation angles. The rotation angle of the table is acquired. For this reason, it is possible to know the characteristics of the turntable in the parking lot with a turntable. Therefore, for example, when traveling guidance is given to the driver of the vehicle by the navigation device 11, the possibility of guiding the vehicle in the wrong direction when the vehicle departs from the turntable attached parking lot can be reduced. As a result, the accuracy of guiding the vehicle in the correct direction can be increased.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the predetermined number N = 100 is assumed on the assumption that the turntable attached parking lot candidate is in an area with a high traffic volume, but N = 10 assuming an area with a low traffic volume. And so on. Or it can also be set as the aspect which adjusts a predetermined number according to indicators, such as traffic volume and population density of an area with a turntable attached parking lot candidate.

  In the above embodiment, the navigation device 11 determines the presence / absence of the location correction occurrence event. However, the presence / absence of the location correction occurrence event may be executed by the information center server 2. In this case, the navigation device 11 does not have to determine the location correction occurrence event, so that the calculation load on the navigation device 11 can be reduced.

  Further, in the above embodiment, the location before location correction, the location after location correction, the previous parking location, and the calculation of the rotation angle are performed in the information center server 2. 1 may be performed. With this aspect, the load on the information center server 2 can be reduced.

  Or in the said embodiment, when the information center server 2 produces | generates turntable attached parking lot information, it is set as the aspect transmitted with respect to the vehicle-mounted apparatus 1, However, It can also be set as another aspect. For example, when the turntable-attached parking lot information is generated in the information center server 2, the turntable-attached parking lot information is stored, the turntable-attached parking lot is set from the in-vehicle device 1 as the destination, When an inquiry is made as to whether the ground is a turntable-attached parking lot, the turntable-attached parking lot information may be transmitted. With this aspect, it is possible to reduce the transmission load.

  DESCRIPTION OF SYMBOLS 1 ... In-vehicle device, 1A ... Transmission vehicle, 1B ... Reception vehicle, 2 ... Information center server, 2A ... Information center, 11 ... Navigation device, 12 ... Vehicle speed sensor, 13 ... Steering sensor, 14 ... Navigation information holding device, 15 ... Vehicle side communication device, 21 ... center side communication device, 22 ... parking lot determination device, 31 ... location information extraction unit, 32 ... rotation angle calculation unit, 33 ... location information holding unit, 34 ... parking lot information detection unit.

Claims (2)

An information processing device for a vehicle comprising an in-vehicle device and an information center server for a plurality of vehicles,
Each on-vehicle device is
Own vehicle position detecting means for detecting own vehicle position information representing the position of the own vehicle based on the GPS signal;
Travel position detection means for detecting host vehicle travel position information representing the travel position of the host vehicle based on the travel history of the host vehicle;
Self-vehicle travel position information correction for correcting the self-vehicle travel position information to the self-vehicle position when the position of the self-vehicle and the travel position of the self-vehicle are separated from each other by a predetermined distance after starting the travel from the travel start position. Means,
Based on the travel start position of the host vehicle, the host vehicle position, and the host vehicle travel position, the travel start position is determined when the host vehicle position and the host vehicle travel position are separated by a predetermined distance or more. It is determined that it is a turntable-attached parking lot candidate, but has a parking lot candidate determination means that does not determine that the travel start position is a turntable-attached parking lot candidate if it is not more than a predetermined distance away,
The information center server is
When the number of determinations of the plurality of turntable attached parking lot candidates transmitted from each in-vehicle device of the plurality of vehicles is totalized, and the number of times of judgment of the calculated turntable attached parking lot candidates is a predetermined number or more, An information processing apparatus for a vehicle, comprising: a parking lot determination unit that determines that the turntable-attached parking lot candidate is a turntable-attached parking lot and that does not determine the turntable-attached parking lot when the number is not greater than the predetermined number . The information center server is
A turn for determining a turntable rotation angle as an angle formed by a line connecting the travel start position and the host vehicle travel position in the turntable attached parking lot candidate and a line connecting the travel start position and the host vehicle position. Table rotation angle determination means;
A turntable rotation angle acquisition means for calculating a plurality of the turntable rotation angles, and acquiring a rotation angle of the turntable in the parking lot with the turntable based on the total number of the turntable rotation angles;
The vehicle information processing apparatus according to claim 1, further comprising:

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