JP7401192B2 - Vehicle position presentation system, onboard equipment used therein, vehicle position presentation method, and program for vehicle position presentation - Google Patents

Description

The present invention relates to a vehicle position presentation system capable of recognizing the position of a vehicle moving in an indoor space where GPS (Global Positioning System) radio waves cannot be received, an onboard device used therein, a vehicle position presentation method, and a vehicle position presentation system. Regarding programs for

In car navigation systems that have become popular in recent years, current position information of the own vehicle is acquired by receiving GPS radio waves with an on-vehicle device mounted on the vehicle. By acquiring the current location information of the own vehicle with an on-board device, the current location information can be presented to the driver on the map information displayed on the monitor installed in the vehicle, or when executing autonomous driving by remote monitoring. It can be used as information.

JP2017-207821A

The above-described car navigation system has a problem in that it cannot be used in places where GPS radio waves cannot reach, such as indoor parking lots.

The present invention has been made in view of the above circumstances, and provides a vehicle position presentation system capable of recognizing the current position of a vehicle even in an indoor space where GPS information cannot be obtained, an onboard device used therein, and a vehicle position presentation system. The present invention aims to provide a method and a program for presenting a vehicle position.

To achieve the above object, the vehicle position presentation system of the present invention includes a control device and an entrance sign object installed near the vehicle entrance of a building having an indoor space where GPS radio waves cannot be received, and The control device includes an installed indoor sign object and an on-vehicle device loaded on a vehicle that uses the building, and the control device includes absolute position information of the entrance sign object and absolute position information of the indoor sign object. a three-dimensional map information storage unit that stores three-dimensional map information inside the building; a vehicle detection unit that detects a vehicle entering the building; and when the vehicle detection unit detects a vehicle entering the building; and a map information transmission control section that wirelessly transmits the three-dimensional map information stored in the three-dimensional map information storage section to the on-vehicle device, and the on-vehicle device transmits the three-dimensional map information transmitted from the control device. a three-dimensional map information acquisition unit to acquire; a vector measurement unit to measure a vector indicating a distance and direction to a sign object within a predetermined distance among the entrance sign object and the indoor sign object; and the vector measurement unit. When the vector indicating the distance and direction to the entrance sign object is measured, the absolute position information of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit and the measured The absolute position information of the vehicle is calculated based on the distance to the entrance sign object and a vector indicating the direction, and when the vehicle enters the building and runs, the steering angle and running speed of the vehicle are calculated. Based on this, the estimated absolute position information of the destination of the vehicle is calculated at predetermined time intervals, and when the vehicle approaches the indoor sign object and the vector to the indoor sign object is measured by the vector measuring unit, the three-dimensional map a vehicle position information calculation unit that calculates absolute position information of the vehicle based on absolute position information of the indoor marked object included in the information and a vector indicating a measured distance and direction to the indoor marked object; a display information generation section that generates map display information in which a predetermined mark is added to a position corresponding to the absolute position information of the vehicle on the three-dimensional map information; and a display information generation section that generates map display information that is generated by the display information generation section. The present invention is characterized by comprising a display information output unit that presents current position information of the vehicle by displaying it.

Further, the on-vehicle device of the present invention is located near the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position. a three-dimensional map information storage unit that is installed and stores three-dimensional map information within the building, including absolute position information of the entrance sign object and absolute position information of the indoor sign object; and detects a vehicle entering the building. and a map information transmission control that wirelessly transmits three-dimensional map information stored in the three-dimensional map information storage unit to the on-vehicle device when the vehicle detecting unit detects a vehicle entering the building. a three-dimensional map information acquisition unit that is wirelessly connected to a control device having a control device, is loaded on a vehicle that uses the building, and acquires the three-dimensional map information transmitted from the control device; A vector measurement unit that measures a vector indicating a distance and direction to a sign object within a predetermined distance among the indoor sign objects, and a vector indicating a distance and direction to the entrance sign object is measured by the vector measurement unit. Based on absolute position information of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit and a vector indicating the measured distance and direction to the entrance sign object, The absolute position information of the vehicle is calculated, and when the vehicle enters the building and runs, the estimated absolute position information of the destination of the vehicle is calculated for a predetermined period of time based on the operating angle of the steering wheel and the traveling speed of the vehicle. When the vector measuring unit approaches the indoor marked object and measures the vector to the indoor marked object, the absolute position information of the indoor marked object included in the three-dimensional map information and the measured a vehicle position information calculation unit that calculates absolute position information of the vehicle based on a vector indicating the distance and direction to the indoor sign object; and a vehicle position information calculation unit that corresponds to the absolute position information of the vehicle on the three-dimensional map information. a display information generation unit that generates map display information with a predetermined mark added to a position to be displayed; and display information that presents current position information of the vehicle by displaying the map display information generated by the display information generation unit. It is characterized by having an output section.

Further, the vehicle position presentation method of the present invention provides the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position. a three-dimensional map information storage unit installed nearby and storing three-dimensional map information within the building, including absolute position information of the entrance sign object and absolute position information of the indoor sign object; and a vehicle entering the building. a vehicle detection unit that detects a vehicle entering the building; and a map information transmission control unit that wirelessly transmits the three-dimensional map information stored in the three-dimensional map information storage unit when the vehicle detection unit detects a vehicle entering the building. a three-dimensional map information acquisition step in which an on-vehicle device wirelessly connected to a control device having a controller and loaded on a vehicle using the building acquires the three-dimensional map information transmitted from the control device; and a step of acquiring the three-dimensional map information transmitted from the control device; a vector measuring step of measuring a vector indicating the distance and direction to the sign object within a predetermined distance among the object and the indoor sign object; and a vector indicating the distance and direction to the entrance sign object in the vector measuring step. When measured, absolute position information of the entrance sign object included in the three-dimensional map information acquired in the three-dimensional map information acquisition step and a vector indicating the measured distance and direction to the entrance sign object are included. When the vehicle enters the building and runs, estimated absolute position information of the destination of the vehicle is calculated based on the operating angle of the steering wheel and the traveling speed of the vehicle. Absolute position information of the indoor marked object included in the three-dimensional map information, calculated at predetermined time intervals and when a vector approaching the indoor marked object and measured in the vector measurement step; a vehicle position information calculation step of calculating absolute position information of the vehicle based on a vector indicating the measured distance and direction to the indoor sign object; and absolute position information of the vehicle on the three-dimensional map information. a display information generation step of generating map display information with a predetermined mark added to a position corresponding to the position; and displaying the map display information generated in the display information generation step to present current position information of the vehicle. and a display information output step.

Further, the vehicle position presentation program of the present invention provides for the vehicle located in a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position. a three-dimensional map information storage unit that is installed near an entrance and stores three-dimensional map information within the building, including absolute position information of the entrance sign object and absolute position information of the indoor sign object; a vehicle detection unit that detects a vehicle; and a map information transmission control unit that wirelessly transmits three-dimensional map information stored in the three-dimensional map information storage unit when the vehicle detection unit detects a vehicle entering the building. a three-dimensional map information acquisition function that is wirelessly connected to a control device and acquires the three-dimensional map information transmitted from the control device to an on-vehicle device loaded on a vehicle using the building, and the entrance; A vector measurement function that measures a vector indicating the distance and direction to a sign object that is within a predetermined distance among the sign object and the indoor sign object, and a vector that indicates the distance and direction to the entrance sign object by the vector measurement function. is measured, absolute position information of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition function, and a vector indicating the measured distance and direction to the entrance sign object. When the vehicle enters the building and runs, estimated absolute position information of the destination of the vehicle is calculated based on the operating angle of the steering wheel and the running speed of the vehicle. is calculated at predetermined time intervals, and when the vector approaching the indoor marked object is measured by the vector measurement function, the absolute position information of the indoor marked object included in the three-dimensional map information and , a vehicle position information calculation function that calculates absolute position information of the vehicle based on a vector indicating the measured distance and direction to the indoor sign object; and an absolute position of the vehicle on the three-dimensional map information. Presenting current position information of the vehicle by displaying a display information generation function that generates map display information with a predetermined mark added to a position corresponding to the information, and the map display information generated by the display information generation function. A display information output function is executed.

According to the vehicle position presentation system, the on-vehicle device used therein, the vehicle position presentation method, and the vehicle position presentation program of the present invention, the current position of the vehicle can be recognized even in an indoor space where GPS information cannot be obtained. .

1 is an overall diagram showing the configuration of a vehicle position presentation system according to first and second embodiments. FIG. 1 is a block diagram showing the configuration of a vehicle position presentation system according to first and second embodiments. It is a flowchart which shows the operation|movement performed by the vehicle-mounted device used in the vehicle position presentation system by 1st Embodiment. It is a flowchart which shows the operation|movement performed by the vehicle-mounted device used in the vehicle position presentation system by 2nd Embodiment.

《First embodiment》
<Configuration of vehicle position presentation system according to first embodiment>
The configuration of a vehicle position presentation system according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. The vehicle position presentation system 1A according to the present embodiment recognizes the position of a vehicle Y using a parking lot X that has a parking space in an indoor space where GPS radio waves cannot be received, and is installed near the vehicle entrance of the parking lot X. parking lot control device 10 and entrance sign objects 20a-1, 20a-2, indoor sign objects 20b-1 to 20b-4 installed at predetermined intervals (for example, every 5 m) in the parking lot The on-vehicle device 30A loaded on Y is provided. Although FIG. 1 shows a case where four indoor sign objects are installed in parking lot Good too.

The parking lot control device 10 includes a three-dimensional map information storage section 11, a control device wireless communication section 12, a vehicle detection section 13, and a map information transmission control section 14. The three-dimensional map information storage unit 11 stores three-dimensional map information within the parking lot X configured in a GPS coordinate system using latitude and longitude information. The three-dimensional map information includes absolute position information indicated by latitude and longitude information of each of the entrance sign objects 20a-1 and 20a-2 and the indoor sign objects 20b-1 to 20b-4 in the parking lot X. The control device wireless communication unit 12 communicates with the onboard device 30A of the vehicle Y. The vehicle detection unit 13 detects the vehicle Y entering the parking lot X based on the communication state of the control device wireless communication unit 12 with the on-vehicle device 30A. When the vehicle detection unit 13 detects the vehicle Y entering the parking lot X, the map information transmission control unit 14 acquires the three-dimensional map information of the parking lot X stored in the three-dimensional map information storage unit 11. , wireless transmission is made from the control device wireless communication section 12 to the on-vehicle device 30A.

The entrance sign objects 20a-1, 20a-2 and the indoor sign objects 20b-1 to 20b-4 each consist of an optical transmitter, and transmit an optical ID signal indicating the identification information of the own transmitter by flashing a light source within a predetermined range. send.

The onboard device 30A includes a GPS information acquisition section 31, an onboard device wireless communication section 32, a three-dimensional map information acquisition section 33, a vector measurement section 34, a vehicle position information calculation section 35A, a display information generation section 36A, It has a display information output section 37.

The GPS information acquisition unit 31 acquires the current absolute position information of the vehicle Y using GPS when the vehicle Y is in a place where GPS radio waves can be received. The onboard device wireless communication unit 32 performs wireless communication with the parking lot control device 10. The three-dimensional map information acquisition unit 33 acquires three-dimensional map information of the parking lot X transmitted from the parking lot control device 10. The vector measurement unit 34 is configured using a compound-eye camera such as a stereo camera and LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) technology, and is configured to detect the entrance sign objects 20a-1, 20a-2 and the indoor sign object 20b. -1 to 20b-4, when an optical ID signal transmitted from a marked object within a predetermined distance is received, a vector indicating the distance and direction to the corresponding marked object is measured. The vehicle position information calculation unit 35A calculates the absolute positions in the GPS coordinate system of the marked objects 20a-1, 20a-2, 20b-1 to 20b-4 included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit 33. Based on the information and the vector measurement value measured by the vector measurement unit 34, absolute position information of the vehicle Y is calculated.

The display information generation unit 36A generates GPS coordinate system map display information in which a predetermined mark is added to a position corresponding to the absolute position information of the vehicle Y on the GPS coordinate system map information acquired in advance based on latitude and longitude information. generate. At that time, if the vehicle Y is in a place where GPS radio waves can be received and the current absolute position information of the vehicle Y has been acquired by the GPS information acquisition unit 31, the GPS coordinate system map display information is generated using the absolute position information. do. Further, if vehicle Y is in a place where GPS radio waves cannot be received, the three-dimensional map information acquisition unit 33 acquires three-dimensional map information of the parking lot X, and the vehicle position information calculation unit 35A calculates the absolute position information of the vehicle Y. When calculated, GPS coordinate system map display information is generated using the three-dimensional map information and the calculated absolute position information of the vehicle Y.

The display information output section 37 is configured with a monitor, and presents the current position information of the vehicle Y by displaying the display information generated by the display information generation section 36A.

<Operation of the vehicle position presentation system according to the first embodiment>
Next, the operation of the vehicle position presentation system 1A according to this embodiment will be explained with reference to the sequence diagram of FIG. 3. In this embodiment, when the vehicle Y is in a position where the GPS radio waves can be received outdoors, the GPS information acquisition unit 31 of the on-board device 30A of the vehicle Y receives the GPS radio waves at predetermined time intervals to obtain the current absolute information of the vehicle Y. Position information P1 is acquired (S1). Then, the display information generation unit 36A generates GPS coordinate system map display information in which a predetermined mark is added to the position corresponding to the absolute position information P1 of the vehicle Y on the previously acquired GPS coordinate system map information, and displays the It is displayed on the output section 37 (S2). This process of generating and displaying the GPS coordinate system map display information is repeated at predetermined time intervals, and the information is updated as the vehicle Y moves.

Then, when the vehicle Y approaches the entrance to use the parking lot Y is detected. When the vehicle Y is detected by the vehicle detection unit 13, the map information transmission control unit 14 acquires the three-dimensional map information of the parking lot It is wirelessly transmitted to the onboard device 30A.

In the onboard device 30A, the three-dimensional map information of the parking lot X transmitted from the parking lot control device 10 is acquired by the three-dimensional map information acquisition unit 33 via the onboard device wireless communication unit 32 (“YES” in S3). ). Furthermore, when the vehicle Y approaches the entrance of the parking lot X, the vector measurement unit 34 receives the optical ID signals transmitted from the entrance marking objects 20a-1 and 20a-2 ("YES" in S4). When the optical ID signals of the entrance marking objects 20a-1 and 20a-2 are received, the vector measuring unit 34 measures vectors indicating the distances and directions to the entrance marking objects 20a-1 and 20a-2, respectively. S5). This vector measurement value indicates the relative position of the entrance marking objects 20a-1 and 20a-2 as seen from the vector measurement unit 34.

Next, the vehicle position information calculation unit 35A uses the absolute position information of the entrance sign objects 20a-1 and 20a-2 included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit 33 and the vector measurement unit 34. Based on the measured vector measurement value, absolute position information P2 of the vehicle Y is calculated (S6). When the absolute position information P2 of the vehicle Y is calculated, in the process of generating the GPS coordinate system map display information in the display information generation unit 36A, the absolute position information of the vehicle Y is converted into the absolute position information acquired using GPS. The absolute position information P1 is switched to the absolute position information P2 calculated by the vehicle position information calculation unit 35A. When the absolute position information of the vehicle Y is switched and new GPS coordinate system map display information is generated, the GPS coordinate system map display information is output from the display information output unit 37 (S7).

By switching the absolute position information of vehicle Y in this way, even if vehicle Y enters parking lot X where GPS radio waves cannot be received, the current position information of vehicle Y is displayed on the monitor of the onboard device 30A. .

Vehicle Y enters parking lot Until it is received by the vector measurement unit 34 (“NO” in S9), the vehicle position information calculation unit 35A determines the estimated absolute position of the destination of the vehicle X based on the operating angle of the steering wheel and the traveling speed of the vehicle X. Information Q is calculated at predetermined time intervals (S10). When the estimated absolute position information Q of the vehicle Y is calculated, the absolute position information of the vehicle Y is converted into the absolute position information P2 calculated in step S6 in the generation process of the GPS coordinate system map display information in the display information generation unit 36A. , and is switched to the estimated absolute position information Q calculated in step S10. When the absolute position information of the vehicle Y is switched and new GPS coordinate system map display information is generated, the GPS coordinate system map display information is output from the display information output unit 37 (S11).

Then, the vehicle Y further travels within the parking lot X under the condition that GPS radio waves cannot be received ("NO" in S8), approaches the indoor sign object 20b-1, and uses the vector measurement unit 34 of the on-vehicle device 30A to detect the indoor sign object 20b-1. When the optical ID signal of the object 20b-1 is received (“YES” in S9), the vector up to the indoor sign object 20b-1 is measured (S12), and the absolute value of the new vehicle Y is determined based on the vector measurement value. Position information P3 is calculated (S13). When the absolute position information P3 of the vehicle Y is calculated, the absolute position information of the vehicle Y is converted into the estimated absolute position information Q calculated in step S10 in the process of generating the GPS coordinate system map display information in the display information generation unit 36A. Then, the absolute position information P3 calculated in step S13 is switched. By switching the absolute position information of vehicle Y, the current position information of vehicle Y is corrected from the predicted value to the actual value, and new GPS coordinate system map display information is generated. The generated new GPS coordinate system map display information is output from the display information output unit 37 (S14).

The processes of steps S9 to S14 are repeated until the vehicle Y leaves the parking lot X and the GPS radio waves can be received ("NO" in S8). When the vehicle Y leaves the parking lot X and the GPS radio waves can be received ("YES" in S8), the process returns to step S1.

According to the above-described first embodiment, even in an indoor space where GPS information cannot be obtained, the current position information of the vehicle can be obtained with high accuracy and displayed on a monitor mounted on the vehicle to be presented to the driver. In addition, by installing the above-mentioned on-vehicle device in a vehicle with an automatic driving function and displaying the generated map display information on the monitor of a device operated by a guard, such as a parking lot control device, it is possible to move around the parking lot unattended. Vehicles traveling in the parking lot can be remotely monitored and parked in designated parking spaces within the parking lot.

《Second embodiment》
<Configuration of vehicle position presentation system according to second embodiment>
The configuration of a vehicle position presentation system according to a second embodiment of the present invention will be described with reference to FIGS. 1 and 2. The vehicle position presentation system 1B according to the present embodiment has the same configuration as the vehicle position presentation system 1A described in the first embodiment, except that it has an onboard device 30B instead of the onboard device 30A, so parts having the same functions A detailed explanation will be omitted.

In this embodiment, the three-dimensional map information stored in the three-dimensional map information storage unit 11 of the parking lot control device 10 is configured with a special coordinate system that is a coordinate system unique to the map information. The three-dimensional map information includes position information (special coordinate system position information) of each of the entrance sign objects 20a-1, 20a-2 and indoor sign objects 20b-1 to 20b-4 in the parking lot ) is included. Further, the three-dimensional map information includes absolute position information (latitude and longitude information) regarding three predetermined points within the parking lot X. These three predetermined points may be any position within the entrance marking objects 20a-1, 20a-2 and the indoor marking objects 20b-1 to 20b-4.

The vehicle position information calculation unit 35B of the onboard device 30B calculates special coordinates of the marked objects 20a-1, 20a-2, 20b-1 to 20b-4 included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit 33. The special coordinate system position information of the vehicle Y is calculated based on the system position information and the information on the vector measured by the vector measurement unit 34.

When the vehicle Y is outdoors where GPS radio waves can be received, the display information generation unit 36B displays a GPS coordinate system map with a predetermined mark added to a position corresponding to the absolute position information of the vehicle Y on the GPS coordinate system map information. Generate information. In addition, if vehicle Y is in parking lot When the coordinate system position information has been calculated, superimposed map information is generated by superimposing the display information of the three-dimensional map information on the GPS coordinate system map display information. Then, superimposed map display information is generated in which a predetermined mark is added to a position in the parking lot X corresponding to the special coordinate system position information of the vehicle Y.

The display information output unit 37 presents the current position information of the vehicle Y by displaying the GPS coordinate system map display information or the superimposed map display information generated by the display information generation unit 36B.

<Operation of vehicle position presentation system according to second embodiment>
Next, the operation of the vehicle position presentation system 1B according to this embodiment will be explained with reference to the flowchart of FIG. 4. In this embodiment, when the vehicle Y is in a position where it can receive GPS radio waves outdoors, the GPS information acquisition unit 31 of the onboard device 30B of the vehicle Y receives the GPS radio waves at predetermined time intervals, as in the first embodiment. Then, the current absolute position information P1 of the vehicle Y is acquired (S21), and GPS coordinate system map display information in which a predetermined mark is added to the position corresponding to the absolute position information P1 of the vehicle Y is generated, and the display information output unit 37 (S22).

Then, when the vehicle Y approaches the entrance to use the parking lot Three-dimensional map information is wirelessly transmitted to the onboard device 30B.

In the onboard device 30B, the three-dimensional map information of the parking lot X transmitted from the parking lot control device 10 is acquired by the three-dimensional map information acquisition unit 33 via the onboard device wireless communication unit 32 (“YES” in S23). ). Then, the display information generation unit 36B generates superimposed map information in which the three-dimensional map information is superimposed on the GPS coordinate system map display information (S24). The GPS coordinate system map display information used here is information generated based on the GPS coordinate system map information acquired in advance by the display information generation section 36B, and is information on the absolute position of three points within the three-dimensional map information. The three-dimensional map information is superimposed by aligning the indicated position with the corresponding position in the GPS coordinate system map. In this embodiment, a case has been described in which superimposed map information is generated using absolute position information of three predetermined points within three-dimensional map information, but absolute position information regarding four or more predetermined points within three-dimensional map information may be stored in advance, and the superimposed map information may be generated using the absolute position information of these four or more points.

At this time, the processes of steps S21 and S22 are continued, and based on the absolute position information P1 of the vehicle Y acquired by the GPS information acquisition unit 31, the correspondence of the absolute position information P1 of the vehicle Y on the superimposed map information is determined. A predetermined mark is added and displayed at the position (position near the entrance).

Further, when the vehicle Y approaches the entrance of the parking lot X, the vector measuring unit 34 receives the optical ID signals transmitted from the entrance marking objects 20a-1 and 20a-2 ("YES" in S25). When the optical ID signals of the entrance marking objects 20a-1 and 20a-2 are received, the vector measuring unit 34 measures vectors indicating the distance and direction to the entrance marking objects 20a-1 and 20a-2, respectively, and The position information calculation unit 35B obtains the information (S26).

Next, the special coordinate system position information of the entrance marking objects 20a-1 and 20a-2 included in the three-dimensional map information and the vector measurement values up to the entrance marking objects 20a-1 and 20a-2 acquired in step S26 are The special coordinate system position information P4 of the vehicle Y is calculated based on (S27). Then, the position of the mark on the superimposed map display information is changed from the position corresponding to the absolute position information P1 of the vehicle Y to the special coordinate system position information P4 of the vehicle Y (S28).

After that, when vehicle Y enters parking lot X and moves within parking lot X in a situation where GPS radio waves cannot be received ("NO" in S29), the optical ID of the next indoor sign object 20b-1 approaches. Until the signal is received ("NO" in S30), the vehicle position information calculation unit 35B calculates the estimated special coordinate system position information of the destination of the vehicle X based on the operating angle of the steering wheel and the traveling speed of the vehicle X. R is calculated at predetermined time intervals (S31). When the estimated special coordinate system position information R of the vehicle Y is calculated, in the generation process of the superimposed map display information in the display information generation unit 36B, the special coordinate system position information of the vehicle Y is calculated based on the special coordinates calculated in step S27. The system position information P4 is switched to the estimated special coordinate system position information R calculated in step S31. When the special coordinate system position information of the vehicle Y is switched and new superimposed map display information is generated, the superimposed map display information is output from the display information output unit 37 (S32).

Then, the vehicle Y further travels within the parking lot X under the condition that GPS radio waves cannot be received ("NO" in S29), approaches the indoor sign object 20b-1, and uses the vector measurement unit 34 of the on-vehicle device 30B to detect the indoor sign object 20b-1. When the optical ID signal of the object 20b-1 is received (“YES” in S30), the vector up to the indoor sign object 20b-1 is measured (S33), and a special Coordinate system position information P5 is calculated (S34). When the special coordinate system position information P5 of the vehicle Y is calculated, in the generation process of the superimposed map display information in the display information generation unit 36B, the special coordinate system position information of the vehicle Y is calculated based on the estimated special coordinates acquired in step S31. The system position information R is switched to the special coordinate system position information P5 calculated in step S34. By switching the special coordinate system position information of vehicle Y, the current position information of vehicle Y is corrected from a predicted value to an actual value, and new superimposed map display information is generated. The generated new superimposed map display information is output from the display information output unit 37 (S35).

The processing of steps S30 to S35 is repeated until the vehicle Y leaves the parking lot X and the GPS radio waves can be received ("NO" in S29). When the vehicle Y moves out of the parking lot The process is switched to display information generation processing using the system map information (S36), and the process returns to step S21.

According to the second embodiment described above, even in an indoor space where GPS information cannot be obtained, the current position information of the vehicle can be acquired with high precision and displayed on the monitor mounted on the vehicle, as in the first embodiment, and the vehicle can be operated. It can be presented in the hand or used for automatic driving processing.

In the first and second embodiments described above, the entrance sign objects 20a-1 and 20a-2 of the parking lot X and the indoor sign objects 20b-1 to 20b-4 are each configured with an optical transmitter, and the on-vehicle device 30A, A case has been described in which, when the vector measuring unit 34 of the optical transmitter 30B receives the optical ID signals transmitted from these optical transmitters, the vector to the corresponding marker object is measured. However, the shape is not limited to this, and each of the entrance sign objects 20a-1, 20a-2 and the indoor sign objects 20b-1 to 20b-4 may have a shape that can be distinguished from other sign objects, such as a round shape or a square shape. When a marked object of any shape is detected from the imaging information taken by the vector measurement unit 34, which is composed of a star shape or the like and constituted by a camera device, the vector to the corresponding marked object may be measured. good.

By programming the functions installed in the on-vehicle device of the above-described vehicle position presentation system and incorporating it into a computer, it is also possible to construct a vehicle position presentation program for causing the computer to function as the on-vehicle device.

1A, 1B Vehicle position presentation system 10 Parking lot control device 11 Three-dimensional map information storage section 12 Control device wireless communication section 13 Vehicle detection section 14 Map information transmission control section 20a-1, 20a-2 Entrance sign object 20b-1 to 20b -4 Indoor sign object 30A, 30B On-vehicle device 31 GPS information acquisition section 32 On-board device wireless communication section 33 Three-dimensional map information acquisition section 34 Vector measurement section 35A, 35B Vehicle position information calculation section 36A, 36B Display information generation section 37 Display information Output section

Claims (9)

A control device and an entrance sign object installed near the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, an indoor sign object installed at a predetermined position in the building, and a vehicle loaded on the vehicle that uses the building. Equipped with an on-board device,
The control device includes:
A three-dimensional device that stores three-dimensional map information within the building, including special coordinate system position information of the entrance sign object and special coordinate system position information of the indoor sign object, which are indicated in a special coordinate system that is a unique coordinate system. a map information storage unit;
a vehicle detection unit that detects a vehicle entering the building;
a map information transmission control unit that wirelessly transmits three-dimensional map information stored in the three-dimensional map information storage unit to the on-vehicle device when a vehicle entering the building is detected by the vehicle detection unit;
The on-vehicle device is
a three-dimensional map information acquisition unit that acquires the three-dimensional map information transmitted from the control device;
a vector measurement unit that measures a vector indicating a distance and direction to a sign object within a predetermined distance among the entrance sign object and the indoor sign object;
When the vector measurement unit measures a vector indicating the distance and direction to the entrance sign object, the special coordinate system position of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit calculating special coordinate system position information of the vehicle based on the information and a vector indicating the measured distance and direction to the entrance sign object;
When the vehicle enters the building and runs, estimated special coordinate system position information of the destination of the vehicle is calculated at predetermined time intervals based on the operating angle of the steering wheel and the traveling speed of the vehicle,
When the indoor sign object approaches the indoor sign object and the vector to the indoor sign object is measured by the vector measuring unit, the special coordinate system position information of the indoor sign object included in the three-dimensional map information and the measured indoor sign object are measured. a vehicle position information calculation unit that calculates special coordinate system position information of the vehicle based on a vector indicating the distance and direction to the marked object;
When the vehicle is in a place where GPS radio waves can be received, a GPS coordinate system map in which a predetermined mark is added to a position on the GPS coordinate system map information corresponding to the absolute position information of the vehicle acquired by receiving GPS radio waves. Generate display information,
When the vehicle is in the indoor space, the three-dimensional map information is superimposed on previously acquired GPS coordinate system map information, and the special coordinate system position information or estimated special position information of the vehicle on the superimposed three-dimensional map information is A vehicle position presentation system comprising: a display information generation unit that generates superimposed map display information in which a predetermined mark is added to a position corresponding to coordinate system position information. The vehicle position presentation system according to claim 1 , further comprising a display information output device that presents the current position information of the vehicle by displaying the map display information generated by the display information generation section. installed near the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position;
A three-dimensional device that stores three-dimensional map information within the building, including special coordinate system position information of the entrance sign object and special coordinate system position information of the indoor sign object, which are indicated in a special coordinate system that is a unique coordinate system. a map information storage unit;
a vehicle detection unit that detects a vehicle entering the building;
When the vehicle entering the building is detected by the vehicle detection unit, the map information transmission control unit wirelessly transmits the three-dimensional map information stored in the three-dimensional map information storage unit. and loaded onto vehicles using the said building,
a three-dimensional map information acquisition unit that acquires the three-dimensional map information transmitted from the control device;
a vector measurement unit that measures a vector indicating a distance and direction to a sign object within a predetermined distance among the entrance sign object and the indoor sign object;
When the vector measurement unit measures a vector indicating the distance and direction to the entrance sign object, the special coordinate system position of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition unit calculating special coordinate system position information of the vehicle based on the information and a vector indicating the measured distance and direction to the entrance sign object;
When the vehicle enters the building and runs, estimated special coordinate system position information of the destination of the vehicle is calculated at predetermined time intervals based on the operating angle of the steering wheel and the traveling speed of the vehicle,
When the indoor sign object approaches the indoor sign object and the vector to the indoor sign object is measured by the vector measuring unit, the special coordinate system position information of the indoor sign object included in the three-dimensional map information and the measured indoor sign object are measured. a vehicle position information calculation unit that calculates special coordinate system position information of the vehicle based on a vector indicating the distance and direction to the marked object;
When the vehicle is in a place where GPS radio waves can be received, a GPS coordinate system map in which a predetermined mark is added to a position on the GPS coordinate system map information corresponding to the absolute position information of the vehicle acquired by receiving GPS radio waves. Generate display information,
When the vehicle is in the indoor space, the three-dimensional map information is superimposed on previously acquired GPS coordinate system map information, and special coordinate system position information or estimation of the vehicle on the superimposed three-dimensional map information is obtained. An on-vehicle device comprising: a display information generation section that generates superimposed map display information in which a predetermined mark is added to a position corresponding to the special coordinate system position information . The three-dimensional map information includes latitude and longitude information regarding at least three predetermined points in the indoor space,
The display information generation unit generates the superimposed map display information by aligning positions indicated by latitude and longitude information of at least three points in the three-dimensional map information with corresponding positions in the GPS coordinate system map information. The on-vehicle device according to claim 3 , characterized in that: The entrance marking object and the indoor marking object each include an optical transmitter, and each transmits an optical ID signal containing identification information of its own transmitter within a predetermined range;
5. The vehicle-mounted device according to claim 3, wherein the vector measurement unit measures a vector to the corresponding marked object when receiving an optical ID signal transmitted from any marked object. The entrance sign object and the indoor sign object each have a shape that is distinguishable from other sign objects,
4. The vector measuring section is configured with a camera device, and measures a vector to the corresponding marked object when a marked object of any shape is detected from the photographed image information. On-vehicle equipment listed in. A plurality of the indoor sign objects are installed at predetermined intervals in the indoor space,
The vehicle position information calculation unit calculates the special coordinate system position information of the vehicle based on the vector measurement value up to one of the sign objects, and then the vector measurement unit measures the vector to the next indoor sign object. The on-vehicle device according to any one of claims 3 to 6, characterized in that the estimated special coordinate system position information of the destination of the vehicle is calculated at predetermined time intervals until the vehicle is moved. installed near the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position;
A three-dimensional device that stores three-dimensional map information within the building, including special coordinate system position information of the entrance sign object and special coordinate system position information of the indoor sign object, which are indicated in a special coordinate system that is a unique coordinate system. a map information storage unit;
a vehicle detection unit that detects a vehicle entering the building;
When the vehicle entering the building is detected by the vehicle detection unit, the map information transmission control unit wirelessly transmits the three-dimensional map information stored in the three-dimensional map information storage unit. The on-vehicle equipment loaded on the vehicle using the building is
a three-dimensional map information acquisition step of acquiring the three-dimensional map information transmitted from the control device;
a vector measuring step of measuring a vector indicating a distance and direction to a sign object within a predetermined distance among the entrance sign object and the indoor sign object;
When the vector indicating the distance and direction to the entrance sign object is measured in the vector measurement step, the special coordinate system position of the entrance sign object included in the three-dimensional map information acquired in the three-dimensional map information acquisition step. calculating special coordinate system position information of the vehicle based on the information and a vector indicating the measured distance and direction to the entrance sign object;
When the vehicle enters the building and runs, estimated special coordinate system position information of the destination of the vehicle is calculated at predetermined time intervals based on the operating angle of the steering wheel and the traveling speed of the vehicle,
When the indoor sign object is approached and the vector to the indoor sign object is measured in the vector measurement step, the special coordinate system position information of the indoor sign object included in the three-dimensional map information and the measured indoor sign object are a vehicle position information calculation step of calculating special coordinate system position information of the vehicle based on a vector indicating the distance and direction to the marked object;
When the vehicle is in a place where GPS radio waves can be received, a GPS coordinate system map in which a predetermined mark is added to a position on the GPS coordinate system map information corresponding to the absolute position information of the vehicle acquired by receiving GPS radio waves. Generate display information,
When the vehicle is in the indoor space, the three-dimensional map information is superimposed on previously acquired GPS coordinate system map information, and special coordinate system position information or estimation of the vehicle on the superimposed three-dimensional map information is obtained. a display information generation step of generating superimposed map display information in which a predetermined mark is added to a position corresponding to the special coordinate system position information ;
A vehicle position presentation method comprising: a display information output step of presenting current position information of the vehicle by displaying map display information generated in the display information generation step. installed near the vehicle entrance of a building that has an indoor space where GPS radio waves cannot be received, and has an entrance sign object installed near the vehicle entrance and an indoor sign object installed at a predetermined position;
A three-dimensional device that stores three-dimensional map information within the building, including special coordinate system position information of the entrance sign object and special coordinate system position information of the indoor sign object, which are indicated in a special coordinate system that is a unique coordinate system. a map information storage unit;
a vehicle detection unit that detects a vehicle entering the building;
When the vehicle entering the building is detected by the vehicle detection unit, the map information transmission control unit wirelessly transmits the three-dimensional map information stored in the three-dimensional map information storage unit. and on-vehicle equipment loaded on vehicles using the building,
a three-dimensional map information acquisition function that acquires the three-dimensional map information transmitted from the control device;
a vector measurement function that measures a vector indicating a distance and direction to a sign object within a predetermined distance among the entrance sign object and the indoor sign object;
When the vector measurement function measures a vector indicating the distance and direction to the entrance sign object, the special coordinate system position of the entrance sign object included in the three-dimensional map information acquired by the three-dimensional map information acquisition function. calculating special coordinate system position information of the vehicle based on the information and a vector indicating the measured distance and direction to the entrance sign object;
When the vehicle enters the building and runs, estimated special coordinate system position information of the destination of the vehicle is calculated at predetermined time intervals based on the operating angle of the steering wheel and the traveling speed of the vehicle,
When the indoor sign object is approached and the vector to the indoor sign object is measured by the vector measurement function, the special coordinate system position information of the indoor sign object included in the three-dimensional map information and the measured indoor sign object are a vehicle position information calculation function that calculates special coordinate system position information of the vehicle based on a vector indicating the distance and direction to the marked object;
When the vehicle is in a place where GPS radio waves can be received, a GPS coordinate system map in which a predetermined mark is added to a position on the GPS coordinate system map information corresponding to the absolute position information of the vehicle acquired by receiving GPS radio waves. Generate display information,
When the vehicle is in the indoor space, the three-dimensional map information is superimposed on previously acquired GPS coordinate system map information, and special coordinate system position information or estimation of the vehicle on the superimposed three-dimensional map information is obtained. a display information generation function that generates superimposed map display information with a predetermined mark added to a position corresponding to the special coordinate system position information ;
A vehicle position presentation program for executing a display information output function of presenting current position information of the vehicle by displaying map display information generated by the display information generation function.

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