JPH01195314A - Vehicle position setting method - Google Patents

Abstract

PURPOSE:To set a position in a short time in an arbitrary position by storing a telephone number of a prescribed building existing in a prescribed range of a road map and its position data in a position memory and setting an initial position, based on an input of the telephone number by an on-vehicle person. CONSTITUTION:A driver designates a road map containing the present position in a map memory 3 and displays it on a display 9, and supplies an initial position setting start signal to a spot setting part 5 by an operating panel 4. Subsequently, when the driver inputs a telephone number of a building, etc., being in the vicinity of the present place by operating ten keys 41 of the operating panel, the spot setting part 5 retrieves the inputted telephone number from a telephone number column which has been stored in the map memory 3. Also, stored coordinate data is read out together with the retrieved telephone number, and a coordinate position is displayed emphatically on the road map which has been displayed on the display 9. Next, in accordance with a position set input signal by operating a function key 42, an initial position is set.

Description

[Detailed description of the invention] Industrial application field> The present invention relates to a vehicle position detection method that employs a map matching method, and more specifically, the present invention relates to a vehicle position detection method that employs a map matching method. A vehicle position detection method (conventional technology) that detects the current position by comparing the travel trajectory data of the vehicle with a road map within a predetermined range stored in the map memory. Specifically, it is based on the premise that the distance sensor and
It is equipped with a direction sensor and a processing device that performs the necessary processing on the output signals from both sensors, and integrates the amount of distance change and the amount of direction change that occur as the vehicle travels from the initial setting position, and calculates the direction of the vehicle. Obtain travel trajectory data, compare this travel trajectory data with a road pattern previously stored in memory, calculate the amount of deviation between the travel trajectory data and the road pattern as a cumulative error, and calculate the current position data (trajectory data). head)
The current position data is corrected for the accumulated error to match the road position, and the vehicle position is displayed on the road.

The method for setting the initial position is as follows: 1. Register in advance a plurality of positions that can be initialized in the map memory,
Two methods are used: the driver selects and sets a predetermined position from among these, or the road map is displayed on the 00 screen and the predetermined position on the displayed road map is set as the initial position. .

<Problem> The above method (2) has the disadvantage that the initial setting possible positions are limited to those registered in the map memory, and therefore settings cannot be made at any arbitrary position.

Furthermore, the above method (2) has the advantage that the initial position can be set at any point on the screen, but it is necessary to accurately know one's own position (current position) as a prerequisite for initial setting. In other words, one of the purposes of navigation systems is to facilitate driving in unfamiliar territory, and in order for a person who is unfamiliar with the territory to set an initial position, it is necessary to find out where the current position is on the map. You need to search in the map guide and initialize it to the location corresponding to the map.
The disadvantage is that it takes time.

Furthermore, in the map matching method described above, it is assumed that the vehicle is traveling on the road, and the vehicle is traveling while correcting the cumulative error, but when approaching a truck, etc., or when driving under an elevated railway crossing, etc., external magnetic fields are Excessive errors may occur in the orientation sensor due to the influence of
If the current position is calculated based on the excessive error mentioned above,
There is a problem that a positional deviation occurs between the position data and the road position, and if this positional deviation continues, errors will further accumulate and it will become impossible to know where the vehicle is traveling.

In addition, errors in mileage data accumulate due to changes in tire air pressure, etc., and matching may become impossible.

Means for Solving the Problems and Effects> A vehicle position setting method of the first invention for solving the above problems is as follows:
The telephone number of a predetermined building existing within a predetermined range of the road map and the location data of the building attached to the telephone number are stored in the location memory, and the location memory is stored based on the telephone number input by the vehicle occupant. In this method, the position data of the building is read out from the computer, and the initial position is set based on the read position data.

With the above method, the telephone number of a predetermined building that exists within a predetermined area of the road map and the location data of the building attached to the telephone number are stored in the location memory, so that when boarding the vehicle When a person inputs a phone number of a building near the current location, the phone number corresponding to the input phone number is searched from among the phone numbers stored in the location memory, and the phone number is stored along with the phone number. The position data of the building can be read, and the initial position can be set based on the read position data.

In other words, the phone numbers of buildings near the current location can be easily found by looking at the stone slabs of the buildings or by asking directly, so there is no need to go through the trouble of searching for the current location from a road map. Moreover, the initial position can be set in advance at an arbitrary point.

Further, the vehicle position setting method of the second invention stores the telephone number of a predetermined building existing within a predetermined range of the road map and the position data of the building attached to the telephone number in the position memory. In this method, position data of a building is read from a position memory based on a telephone number input by a vehicle occupant, and erroneously detected current position data is corrected based on the read position data.

According to the above invention, the traveling trajectory data of the vehicle calculated based on the cumulative distance data and the calculated direction data associated with traveling from the initial setting position, and the road map within a predetermined range stored in the map memory. When driving while detecting the current position, there may be an excessive error in the output of the direction sensor due to the influence of external magnetic fields when approaching trucks, etc., or when driving under elevated tracks or at railroad crossings. occurs,
If a misalignment occurs between the location data and the road location, and this misalignment continues, the vehicle occupant may enter the phone number of a building near the current location when he or she is unsure of where the vehicle is traveling. By doing so, it is possible to search for the telephone number corresponding to the input telephone number from the telephone numbers stored in the location memory, read out the location data of the building stored in association with the telephone number, and Based on the read position data, the current position data can be corrected to the position data of the building in question, allowing smooth driving.

Further, in the vehicle position setting method of the third invention, a wireless device is mounted on the vehicle, a telephone number of a predetermined building is transmitted by the wireless device, and position data of the predetermined building corresponding to the telephone number from the vehicle is transmitted. This is a method in which the vehicle position is initially set based on the position data from the ground station, and the current position data that is incorrectly detected is corrected on the vehicle side.

According to the above method, since the telephone number and location data are stored in the memory of the ground station, it is possible to store a large amount of data compared to storing data in the memory mounted on the vehicle. This makes it possible to provide all position data to the vehicle in response to inquiries from the vehicle.

<Embodiments> Hereinafter, embodiments of the present invention will be described in detail based on the accompanying drawings.

FIG. 1 shows a block diagram of a vehicle position detection device for implementing the vehicle position setting method of the first invention and the second invention, and the vehicle position detection device includes a wheel speed sensor ( 1), a geomagnetic azimuth sensor (2) that detects the direction of travel of the vehicle based on geomagnetism, and a road map within a predetermined range that is stored in advance, as well as predetermined buildings (stores, facilities, etc.) on the road map. a map memory (3) that stores the phone number of the phone number and location data of the building attached to the phone number, an operation key panel (4) for inputting the phone number, etc., and an operation key panel (4). A point setting section (5) that sets the initial position based on the telephone number input from 4) and corrects the current position data; and a point setting section (5) that sets the initial position based on the telephone number input from an integrating unit (6) that calculates cumulative distance data from the set position and cumulative azimuth data from the initial set position based on the traveling direction of the vehicle detected by the geomagnetic azimuth sensor (2); A travel trajectory calculation unit (7) that calculates a travel trajectory from the initial setting position based on the cumulative distance data and cumulative direction data from the unit (6), and the travel trajectory and roads stored in the map memory (3). The vehicle has a road position detection unit [F] that detects the current position on the road by comparing the road position with the pattern, and a display (9) that displays the road map, travel trajectory, and the like.

More specifically, the wheel speed sensor (1) is attached to both left and right wheels of a vehicle and detects the rotational speed of the side wheels.

The geomagnetic direction sensor (2) detects the traveling direction of the vehicle based on geomagnetism.

The map memory (3) stores layer groups classified into road networks, intersections, place names, names, railway transportation networks, etc. in a predetermined range, as well as 7 of buildings (stores, facilities, etc.), as is conventionally known. It also has a telephone number field in which location data (coordinates) are stored in addition to the telephone number of the building. Note that a CD-ROM5DAT, a semiconductor memory, etc. can be used as the storage medium, and the telephone number column can also be stored in a storage medium separate from the road map.

The operation key panel (4) includes a numeric keypad (41) for inputting telephone numbers, etc. of buildings near the current location, and a plurality of function keys (42) for setting the initial location or correcting the current location data. Initial position setting start person key 1 current position correction start input key - 1 position set input key etc.)
and a cursor key (43). The cursor key (43) is for specifying a predetermined position on the road map displayed on the display (9),
For example, after placing the cursor on a predetermined point in the display position,
A point setting signal is input using the function key (42) to specify a point. That is, it is possible to set an initial position when there are no stores or the like near the current position.

In response to the input, the telephone number location setting section (5) starts an initial position setting flow in response to the initial setting start input from the function key (42), and inputs the telephone number of a predetermined building by operating the numeric keypad (41). In response to the number input, the corresponding telephone number is searched from the map memory (3), the location data (coordinates) stored along with the telephone number is read out, and in response to the location set input from the function key (42). The initial position is set to the coordinates read above, and the current position correction flow is started in response to the current position correction start input from the function key (42). Search the map memory (3) for the corresponding phone number according to the phone number input,
The position data (coordinates) stored in association with the telephone number is read out, and the initial position is set to the read coordinates in response to a position set input from the function key (42).

The integration unit (6) multiplies the average value of the rotational speeds from both the left and right wheel speed sensors (1) by a predetermined coefficient, further integrates the travel distance at predetermined time intervals, and also multiplies the running distance by a geomagnetic direction sensor (2).
) is detected at predetermined time intervals to calculate integrated azimuth data.

Note that the vehicle's progress is determined based on the traveling direction data from the geomagnetic direction sensor (2) and the turning direction data calculated based on the difference in rotational speed of the left and right wheel speed sensors (1). It is possible to calculate direction data.

The traveling trajectory calculating section (7) calculates the traveling trajectory of the vehicle from the initial setting position based on the cumulative distance data and cumulative azimuth data from the integrating section (6).

The road position detection section (8) detects the current position by comparing the estimated position data with the road pattern stored in the map memory (3).

The display (9) has a liquid crystal screen capable of two-dimensional display. In addition, it is also possible to use a CRT, plasma display, EL display, etc. as a display device.

The operation of the vehicle position detection method having the above configuration will be explained.

First, the driver specifies a road map in a predetermined range including the current location in the map memory (3), displays it on the display (9), and presses the function key (
42) to send the initial position setting start signal to the point setting section (
5).

The point setting section (5) starts an initial position setting flow in response to the initial position setting start signal, and waits for a telephone number to be input from the ten key (41) on the operation panel.

Next, when the driver inputs the telephone number of a building, etc. near the current location by operating the numeric keypad (41) on the operation panel, the telephone number corresponding to the telephone number input in the point setting section (5) is displayed. is searched from the telephone number column stored in the map memory (3). Then, the coordinate data stored along with the searched telephone number is read out, and the coordinate position is highlighted on the road map displayed on the display (9).

Next, the initial position is set in response to a position set input signal generated by operating the function key (42).

In addition, if the phone number corresponding to the phone number from the numeric keypad (41>) is not stored in the map memory (3), a message indicating that there is no corresponding phone number will be displayed on the display (9), and the road map will be displayed. Search for the current location from a handbook or the like, set the cursor key (43) to the current location, input the location setting using the function key (42), and set the initial location.

After completing the above series of initial settings, the vehicle is started, and the integration unit (6) calculates the cumulative mileage data from the initial position based on the wheel rotation speed from the wheel speed sensor (1). ) is used to calculate integrated azimuth data based on vehicle traveling direction data. Then, a travel trajectory calculation unit (7) calculates travel trajectory data based on both of the above-mentioned integrated data, and a road position detection unit (8) compares the travel trajectory data with the road pattern of the road map. If the road pattern and the road pattern are within a certain error range, the vehicle position is displayed on the road while ignoring the error, and if it exceeds the certain error range, the vehicle position is displayed as is.

If the vehicle continues to travel beyond the above-described certain error range and the errors accumulate until it is no longer possible to recover, it becomes impossible to tell where the vehicle is traveling.

Therefore, in the same way as when setting the initial position, enter the telephone number of a building near the current location from the operation key panel (4), read the position data from the map memory (3),
Based on this position data, the current position data erroneously detected by the road position detection section (8) is matched with the coordinate position of the building.

FIG. 2 is a flowchart showing an initial position setting method in the vehicle position detection system configured as described above. In step (3), the driver specifies a road map of a predetermined range including the current position and displays it on the display (9). In step (2), the function key (42) of the operation key panel (4) is operated to cause the point setting section (5) to start the initial position setting flow. In step (2), the telephone number of the building written on the signboard etc. of the building near the current location is input by operating the numeric keypad (41). Step■
In the step, the point setting section (5) searches the map memory (3) for a telephone number corresponding to the input telephone number. In step (2), the location setting unit (5) determines whether or not there is a corresponding telephone number to the input telephone number, and if it is determined that there is no corresponding telephone number, the process of step (2) is performed. If it is determined that there is a corresponding telephone number, the coordinate position data stored in association with the telephone number is read out in step (3). In step (3), the position corresponding to the coordinate position data is highlighted on the road map displayed on the screen. In step (2), the function key (42) is operated to input a position set, and the highlighted display position is set as the initial position. The initial position setting routine ends in step (3).

In addition, if it is determined that there is no corresponding telephone number for the telephone number input in the above step After adjusting the position to a position that the driver can recognize, this position may be set as the initial position by operating the function key (42).

FIG. 3 is a flowchart showing the current position correction method in the vehicle position detection method configured as described above. If the driver or the like determines that the road pattern and the travel trajectory do not match, in step ) to operate the function key (42) to select the point setting section (5).
) starts the current position correction flow. In step (2), the telephone number of the building written on the signboard etc. of the building near the current location is input by operating the numeric keypad (41). A telephone number corresponding to the telephone number input in step (2) is searched from the map memory (3). In step (2), it is determined whether or not there is a telephone number corresponding to the input telephone number, and if it is determined that there is no corresponding telephone number, the process of step (2) is performed.

If it is determined that there is a corresponding phone number, proceed to step ■
The coordinate position data stored in association with the telephone number is read out. In step (3), the position corresponding to the coordinate position data is highlighted on the road map displayed on the screen. In step (2), the function key (42) is operated to input a position set, and the highlighted position is set as the current position. In step (3), the current position correction routine is ended.

In addition, if it is determined that there is no corresponding telephone number for the telephone number input in the above step After adjusting the position to a position that can be recognized by the driver, this position may be set as the current position by operating the function key (42).

FIG. 4 shows a block diagram of a vehicle position detection device for carrying out the vehicle position setting method of the third invention. It is equipped with a wireless device and obtains position data of the building from the ground station (B) via the wireless device.

More specifically, the vehicle-side wireless device includes an antenna (AI) and a transceiver (A2), and the transceiver is connected to the point setting section. The ground station (B) includes an antenna (Bl), a transceiver (B2), a convenience store (B3), and a memory (B4) that stores the telephone number and the location data of the building corresponding to the telephone number. ).

The operation of the above configuration will be explained.

From the vehicle (A) side, a radio wave modulated with a data signal containing the building's telephone number and its own ID is emitted from the antenna (B1).

The ground station (13) uses a transceiver (B2) to transmit signals to the vehicle (A).
), the computer (B3) searches the memory (B4) for the location data of the building based on the phone number of the inquiry, and along with the location data of the detected building, The vehicle ID number is transmitted from the antenna.

The vehicle (A) side receives radio waves from the ground station (B) using a wireless device, and sets an initial position based on the position data of the building in a point setting section (5).

That is, the ground station (B) side has a database consisting of telephone numbers, position data of buildings corresponding to the telephone numbers, etc., and the map memory (3
) has the advantage of being able to reduce the capacity of the vehicle (A), but requires a wireless device on the vehicle (A) side and requires the installation of a ground station service center.

However, the problem of installing the above ground station service center is
There are plans to establish a ground station service center in the near future and exchange various information between vehicles and the ground station service center, and the above information should include telephone numbers and building location data. This can be easily achieved by

<Effects of the Invention> As described above, according to the vehicle position setting method of the first invention, the telephone number of a predetermined building existing within a predetermined range of a road map, and the telephone number of the predetermined building that is attached to the telephone number. Since the location data of objects is stored in the location memory, when the vehicle occupant enters the phone number of a building near the current location, the corresponding phone number can be searched from the phone numbers stored in the location memory. However, it has the unique effect of being able to read out the location data of buildings stored in association with the telephone number, and setting the initial location based on the read out location data.

Further, according to the second invention, when a positional deviation occurs between the position data and the road position and the vehicle occupant does not know where the vehicle is traveling, the vehicle occupant inputs the telephone number of a building near the current location. By doing so, it is possible to search for the telephone number corresponding to the telephone number from among the telephone numbers stored in the location memory, read out the location data of the building stored in association with the telephone number, and read out the location data of the building stored in association with the telephone number. Based on the data, the current position data can be corrected to the position data of the building in question, resulting in a unique effect that smooth driving can be performed.

Further, according to the vehicle position setting method of the third invention, since the telephone number and position data are stored in the memory on the ground station side, compared to storing data in the memory mounted on the vehicle side, It is possible to store a large amount of data, and has the unique effect of being able to provide position data to the vehicle without omission in response to inquiries from the vehicle.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a vehicle position detection device for implementing the vehicle position setting methods of the first and second inventions, and FIG. 2 is a flowchart showing an initial position setting method in the vehicle position detection method having the above configuration. FIG. 3 is a flowchart showing an initial position correction method in the vehicle position detection method having the above configuration, and FIG. 4 is a block diagram of a vehicle position detection device for carrying out the vehicle position setting method of the third invention. (3)...Map memory, (4)...Operation key panel, (5)...Point setting section, (8)...Road position detection section, (9)...Display, ( 41)...Numeric keypad, (42)...Function key Patent applicant: Sumitomo Electric Industries, Ltd. Figure 2 Figure 1 Figure 4

Claims (1)

[Claims] 1. Comparing vehicle travel trajectory data calculated based on cumulative distance data and cumulative direction data associated with driving with a road map within a predetermined range stored in a map memory. In a vehicle position detection method that detects the current position using 1. A vehicle position setting method comprising: reading position data of a building from a position memory based on a telephone number input by a vehicle occupant; and setting an initial position based on the read position data. 2. In the vehicle position detection method according to claim 1, the telephone number of a predetermined building existing within a predetermined range of the road map and the location data of the building attached to the telephone number are stored in the position memory. A vehicle position setting characterized in that the position data of a building is read from a position memory based on a telephone number input by a vehicle occupant, and the erroneously detected current position data is corrected based on the read position data. Method. 3. In the vehicle position detection method according to the above-mentioned patent claim 1 or the above-mentioned patent claim 2, a wireless device is mounted on the vehicle, the telephone number of a predetermined building is transmitted by the wireless device, and the telephone number of a predetermined building is transmitted from the ground station to the vehicle. The system transmits the position data of a predetermined building corresponding to the telephone number of the vehicle, and the vehicle side initializes the vehicle position based on the position data from the ground station and corrects the erroneously detected current position data. Vehicle position setting method.