JPH07117419B2 - In-vehicle navigator - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation system.

2. Description of the Related Art FIG. 3 shows a main part of a conventional vehicle-mounted navigator. When the current position and traveling direction of a vehicle are estimated from data detected by a distance sensor and a direction sensor (not shown), It is determined whether or not the vehicle is traveling straight (straight traveling detection means 321).

This heading theta _l and unit time at time t _l (t
_{L-1 to} t _l ), using the traveled distance l _l , the predetermined distance section THC1 Even if the change Δθ _i of the traveling direction at And also at the distance THC3 at each calculation timing It is determined by not being.

Also, depending on the timing of the start and end of the straight running section,
formula The average θ _av of the traveling direction is calculated by (section traveling direction advancing means 322).

Now, when the straight running of the vehicle is detected (the straight running detection means 321), the position of the straight line on the map and the average θ of the running direction are detected.
_{Using av} , the road segment around the current estimated vehicle position and having a close traveling direction is selected by comparison with the map data read from the auxiliary storage means, and when one road segment is selected, The road segment is determined as the map segment corresponding to the detected straight section (match road searching means 323).

Next, the difference between the azimuth of the determined road segment and the average θ _av of the progress is calculated to calculate a corrected azimuth (correction azimuth calculation means 324), and the current position of the vehicle is corrected on the determined road segment. Yes (correction position calculation means
325).

The traveling direction and the position thus obtained are used for the next estimation by the position / azimuth estimating means.

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention However, in the above-described conventional vehicle-mounted navigator, on a road with a gentle curve such as a suburban highway,
Since the map data of the auxiliary storage means is stored by dividing the same route into single sections, there is a high possibility that a plurality of segments of the same route will exist in the estimated area, and in this case, the candidate road is not one. Therefore, there is a problem that the map data cannot be matched and the position cannot be restored to the actual road.

In addition, in order to solve this problem, there is also known a method of forcibly pulling the position to the nearest path, but with this method, in a place where multiple paths are mixed, such as an urban area, it becomes a wrong path. There is a problem of pulling in.

In view of the above conventional problems, it is an object of the present invention to provide a vehicle-mounted navigator capable of matching the vehicle position with the map data regardless of the suburbs or urban areas.

Means for Solving the Problems In order to achieve the above-mentioned object, the present invention, when a straight traveling of a vehicle is detected, matches a road segment with map data based on an estimated current position of the vehicle and an average of heading. When multiple road segments are selected, the route to which the route name is assigned is determined in advance, and when all road segments are the same route, the closest road segment is selected. is there.

Operation According to the present invention, when all the road segments have the same route, the closest road segment is selected. Therefore, a road with a gentle curve such as a highway in the suburbs or a plurality of road segments such as an urban area is selected. It is possible to match the position of the vehicle with the map data even in a place where the paths of are mixed.

Embodiments Embodiments of the present invention will be described below with reference to the drawings. First
FIG. 1 is a functional block diagram of an essential part showing an embodiment of a vehicle-mounted navigator according to the present invention, and FIG. 2 is a schematic functional block diagram showing an embodiment of a vehicle-mounted navigator according to the present invention. Blocks having the same functions as the blocks shown in FIG. 3 are designated by the same reference numerals.

First, referring to FIG. 2, a schematic structure of the vehicle-mounted navigator of the present invention will be described. 1 is a distance sensor that detects a traveling distance of the vehicle, 2 is a direction sensor that detects a traveling direction of the vehicle, and 3 is a direction sensor. , Calculation and control means for displaying the current position and map of the vehicle on the display means 5 on the basis of the traveling distance and traveling direction detected by the distance sensor 1 and the direction sensor 2 and the map data stored in the auxiliary storage means 4.

In the calculation / control means 3, 31 is a position / direction estimation means for estimating the current position and traveling direction of the vehicle based on the data detected by the distance sensor 1 and the direction sensor 2, respectively.
As shown in detail in FIG. 1, the map matching correction means 33 for comparing and matching the estimation result with the map data stored in the auxiliary storage means 4 to correct the position and direction of the vehicle is corrected by the map matching correction means 33. It is a display control means for displaying the position, direction and map of the vehicle on the display means 5.

Returning to FIG. 1, 321 is a straight-ahead detecting means for detecting whether or not the vehicle is going straight on the basis of the current position and traveling direction of the vehicle estimated by the position / azimuth estimating means 31, and 322 is a straight-ahead detecting means 321. Section azimuth azimuth calculating means 323 for calculating the average θ _av of the traveling direction in straight traveling according to the timing of the start and end of the straight traveling section from
When a straight traveling of the vehicle is detected by, the position on the map of the straight line and the average θ _av of the traveling direction calculated by the section traveling azimuth calculating means 322 are used to determine the vicinity of the current estimated vehicle position. It is a coincident road search means for selecting a road segment whose traveling direction is near by comparing it with the map data read from the correction storage means 4.

326, when a plurality of road segments are selected by the matching road search means 323, the route name is determined, and when all the road segments are the same route, the closest road segment corresponds to the detected straight section This is route determination means that is determined as map data to be executed.

324 is the average θ of the azimuth and traveling direction of the road segment determined by the coincident road search means 323 or the route determination means 326.
A correction azimuth calculation unit that calculates the correction azimuth by calculating the difference in _au , 325 is a correction position calculation unit that corrects the current position of the vehicle on the road segment determined by the coincident road search unit 323 or the route determination unit 326. is there.

Next, the operation of the above embodiment will be described.

In FIGS. 1 and 2, when the current position and the heading of the vehicle are estimated based on the data detected by the distance sensor 1 and the heading sensor 2, respectively (position / orientation estimating means 31),
Based on this estimation result, it is determined whether or not the vehicle is traveling straight (straight traveling detection means 321).

This heading theta _l and unit time at time t _l (t
_{L-1 to} t _l ), using the traveled distance l _l , the predetermined distance section THC1 Even if the change Δθ _i of the traveling direction at And also at the distance THC3 at each calculation timing It is determined by not being.

Also, depending on the timing of the start and end of the straight running section,
formula To calculate the average θ _av of the traveling direction (section traveling azimuth calculating means 322).

Now, when the straight running of the vehicle is detected (the straight running detection means 321), the position of the straight line on the map and the average θ of the running direction are detected.
_{Using av} , a road segment in the vicinity of the current estimated vehicle position and having a similar traveling direction is selected by comparison with the map data read from the auxiliary storage means 4, and one road segment is selected. , The road segment is determined as a map segment corresponding to the detected straight section (match road searching means 323).

On the other hand, when a plurality of road segments are selected by the matching road search means 323, the route determination means 326 determines the route name, and when all the road segments are the same route, the closest road segment is detected. Determined as map data corresponding to a straight section.

Next, the difference between the azimuth of the determined road segment and the average θ _av of the traveling direction is calculated to calculate the corrected azimuth (correction azimuth calculation means 324), and the current position of the vehicle is set on the determined road segment. Correction (correction position calculation means
325), the display control means 33 causes the display means 5 to display the current position and direction of the vehicle and road data.

The traveling azimuth and the position thus obtained are used for the next estimation by the position / azimuth estimating means 31.

Effect of the Invention As described above, the present invention selects a road segment in a manner consistent with map data, based on the estimated current position of the vehicle and the average of the heading, when the straight traveling of the vehicle is detected.
When multiple road segments are selected, the route to which the route name is assigned is determined in advance, and if all road segments are the same route, the closest road segment is selected. It is possible to match the position of the vehicle with the map data even on a road with a gentle curve such as a road or on a place where a plurality of paths are mixed such as an urban area.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a main part showing an embodiment of a vehicle-mounted navigator according to the present invention, and FIG. 2 is a schematic functional block diagram showing an embodiment of a vehicle-mounted navigator according to the present invention. FIG. 4 is a functional block diagram of a main part of a conventional vehicle-mounted navigator. 1 ... Distance sensor, 2 ... Direction sensor, 3 ... Calculation control means, 4 ... Auxiliary storage means (map data), 5 ... Display means, 31 ... Position / direction estimation means, 32 ... Map matching Compensation means, 33 ... Display control means, 321, ... Straight line detection means, 322
...... Section traveling azimuth calculation means, 323 …… Matched road search means, 324 …… Corrected azimuth calculation means, 325 …… Corrected position calculation means, 326 …… Route determination means.

Claims (1)

[Claims] 1. A means for estimating a current position and a traveling direction of a vehicle, a means for detecting whether or not the vehicle is traveling straight on the basis of the current position and the traveling direction of the vehicle estimated by the estimating means, and the detection. When the means detects the straight traveling of the vehicle, the means for calculating the average of the traveling azimuth in the straight traveling by the vehicle traveling azimuth estimated by the estimating means, and when the detecting means detects the straight traveling of the vehicle, A means for selecting a road segment in accordance with the map data based on the average of the current position of the vehicle estimated by the estimating means and the traveling direction calculated by the calculating means, and a case where the selecting means selects a plurality of road segments In addition, there is a means to determine the route to which the route name is assigned in advance and to select the closest road segment when all the road segments are the same route, and this selection method. The difference between the average of the calculated moving direction by the orientation and the calculating unit of the road segments,
A means for correcting the heading of the vehicle, a means for correcting the current position of the vehicle estimated by the estimating means on the selected road segment, a current position and heading of the corrected vehicle, and map data. An in-vehicle navigator having means for displaying.