JPH0783693A - Position detector - Google Patents

Abstract

PURPOSE:To provide a mobile position detector mounted on a vehicle for detecting the position of vehicle accurately by correcting the detected position automatically when the vehicle is running. CONSTITUTION:Upon decision of the type of road when a vehicle is running, the image of specific road facility concerning the running road is recognized S20, S21. When the specific road facility is present, the position thereof is detected S22, S23. A series of variation in XY coordinates of a specific road facility and the running direction of vehicle between the specific road facilities are then calculated thus updating the series of variation in XY coordinates of relevant road facility and the variation of running direction S24. When the series of positional coordinates of specific road facility can be determined uniquely based on the calculation results S25, S26, the position of specific road facility determined based on the series of positional coordinates 15 compared with that for which the vehicle detecting position is determined S27, S28. When the difference is within a predetermined value, the vehicle detecting position is corrected based on the recognized position of specific road facility S29, S30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device which is mounted on a vehicle and detects the position of the running vehicle. More specifically, a position detection processing device that detects the position of a vehicle that is running based on vehicle distance data, vehicle heading data, and in some cases road map data, and a specific road based on image information acquired by an in-vehicle camera. The present invention relates to a position detection device that combines with an image recognition processing device that recognizes a facility and takes in position information of a specific road facility recognized by the image recognition processing device as support information to make the vehicle position detection more accurate.

[0002]

2. Description of the Related Art Conventionally, various position detecting devices have been proposed which detect the position of a running vehicle and support the running of the vehicle based on the detected position of the vehicle. ing. In this position detecting device, the position of the traveling vehicle is detected on the basis of the outputs from the distance sensor and the direction sensor and, in some cases, the road map data. The detected vehicle traveling position is displayed in an overlapping manner on the road map read from the map memory. As described above, by capturing the relative position change of the vehicle only by the distance sensor, the direction sensor, and, in some cases, the road map data mounted on the vehicle, the vehicle running A device capable of detecting the position of a vehicle is called a self-supporting position detecting device, particularly a map matching self-supporting position detecting device when road map data is used.

In the above-mentioned self-supporting position detecting device, the position of the vehicle may not be correctly obtained due to errors or the like that the distance sensor and the direction sensor themselves necessarily have. In particular, when the vehicle continuously travels on a highway or a general road for a long time, the detected vehicle position may deviate significantly from the actual vehicle position because the error of each sensor accumulates. Therefore, it is desirable that the detected vehicle position be corrected at intervals as short as possible even when the vehicle is traveling.

Therefore, at present, a method is generally used in which the road map data is also used to compare the traveling locus of the vehicle obtained from the sensor with the road map data to specify the position of the vehicle. However, even in this method, there is a problem that the position shifts sometime. The present invention has been made in view of the above technical problem, and provides a position detection device capable of automatically correcting a vehicle detection position while the vehicle is traveling and more accurately exhibiting the position detection function of the vehicle. With the goal.

[0005]

In order to achieve the above object, a position detecting device according to claim 1 of the present invention is a device for detecting the position of a vehicle, which is mounted on a vehicle and used. Position detection means for detecting the position of the vehicle, vehicle-mounted camera capable of imaging the road and its surroundings while the vehicle is traveling, recognition for recognizing specific road facilities related to the road based on image information acquired by the vehicle-mounted camera Means for calculating the change in the two-dimensional coordinates of the specific road facility related to the traveling road recognized by the recognizing means and the change in the traveling direction of the vehicle between the specific road facilities, and the specific means for calculating the traveling road. A database is stored in which the positional coordinates of a specific road facility related to a traveling road can be known by using the change in the two-dimensional coordinates of the road facility and the change in the traveling direction of the vehicle between the specific road facilities as keys. The storage means stores the change in the two-dimensional coordinates of the specific road facility related to the traveling road obtained by the calculating means and the change in the traveling direction of the vehicle between the specific road facilities. Based on the position coordinate string of the specific road facility related to the traveling road extracted by the extracting unit, and the position coordinate string of the specific road facility related to the traveling road by searching the database, A correction means for correcting the vehicle detection position obtained by the position detection means is included.

A position detecting device according to a second aspect of the present invention is the position detecting device according to the first aspect, further comprising a determining means for determining whether or not the vehicle is traveling on a highway, and the recognizing means is the above-mentioned. When the determining means determines that the vehicle is traveling on a highway, it recognizes a specific road facility related to the highway based on the image information acquired by the vehicle-mounted camera. The means is for calculating a change in the two-dimensional coordinates of a specific road facility related to the expressway recognized by the recognition means, and a change in the traveling direction of the vehicle between the specific road facilities, and the storage means is A high-speed system that makes it possible to know the position coordinates of a specific road facility related to a highway using the changes in the two-dimensional coordinates of the specific road facility related to the highway and the change in the traveling direction of the vehicle between the specific road facilities as keys. road The extraction means is based on the change in the two-dimensional coordinates of the specific road facility related to the expressway obtained by the calculation means and the change in the traveling direction of the vehicle between the specific road facilities. Further, the database for highways stored in the storage means is searched to extract the position coordinate sequence of the specific road facility related to the highway. The correction means is extracted by the extraction means. The vehicle detection position obtained by the position detecting means is corrected based on the position coordinate sequence of the specific road facility related to the expressway.

A position detecting device according to a third aspect is the second aspect.
In the position detecting device described above, the determining means includes means for recognizing a white line of the road based on the image information acquired by the vehicle-mounted camera, and when the white line of the road is continuously recognized for a certain distance or more, the vehicle Determines that the vehicle is traveling on a highway. The position detecting device according to claim 4 is the position detecting device according to claim 2 or 3, wherein the determining means includes means for recognizing a traffic light based on image information acquired by the vehicle-mounted camera, and the traffic light has a constant distance. When the above is not recognized, it is determined that the vehicle is traveling on a highway.

A position detecting device according to a fifth aspect is the second aspect.
In the position detecting device according to any one of claims 1 to 4, when the determining unit includes a direction change detecting unit that detects a change in the traveling direction of the vehicle, and the change in the traveling direction of the vehicle at a constant distance is within a certain range. First, it is determined that the vehicle is traveling on a highway.

A position detecting device according to a sixth aspect is the second aspect.
In the position detecting device according to any one of 1 to 5, the specific road facility is an elevated road that passes over a highway. A position detecting device according to a seventh aspect is the position detecting device according to any one of the second to sixth aspects, wherein the specific road facility is a parking area or a service area.

A position detecting device according to an eighth aspect is the position detecting device according to the first aspect, further comprising a determining means for determining whether or not the vehicle is traveling on a general road, and the recognizing means is the above-mentioned. When the determination means determines that the vehicle is traveling on a general road, the specific road facility related to the general road is recognized based on the image information acquired by the vehicle-mounted camera, and the calculation is performed. The means is for calculating the change in the two-dimensional coordinates of the specific road facility related to the general road recognized by the recognition means, and the change in the traveling direction of the vehicle between the specific road facilities, and the storage means, General so that the position coordinates of a specific road facility related to a general road can be known by using the change in the two-dimensional coordinates of a specific road facility related to a general road and the change in the traveling direction of the vehicle between the specific road facilities as a key. road The extraction means stores the change in the two-dimensional coordinates of the specific road facility related to the general road obtained by the calculation means and the change in the traveling direction of the vehicle between the specific road facilities. The database for general roads stored in the storage means is searched to extract the position coordinate string of the specific road facility related to the general road, and the correction means is extracted by the extraction means. The vehicle detection position obtained by the position detecting means is corrected based on the position coordinate sequence of the specific road facility related to the general road.

A position detecting device according to a ninth aspect is the eighth aspect.
In the position detecting device described above, the determining means includes means for recognizing a white line of the road based on the image information acquired by the vehicle-mounted camera, and when it is recognized that the white line of the road is not continuous for a certain distance or more. First, it is determined that the vehicle is traveling on a general road. A position detecting device according to claim 10 is the position detecting device according to claim 8 or 9, wherein the determining means includes means for recognizing a traffic signal based on image information acquired by the vehicle-mounted camera, and the traffic signal has a constant distance. When it is recognized within, it is determined that the vehicle is traveling on a general road.

A position detecting device according to an eleventh aspect is the position detecting device according to any one of the eighth to tenth aspects,
The determining means includes an azimuth change detecting means for detecting a change in the traveling azimuth of the vehicle, and determines that the vehicle is traveling on a general road when the change in the traveling azimuth of the vehicle at a constant distance is equal to or more than a certain value. To do.

A position detecting apparatus according to a twelfth aspect is the position detecting apparatus according to any one of the eighth to eleventh aspects,
The particular road facility is a traffic light. A position detecting device according to claim 13 is the position detecting device according to any one of claims 8 to 1.
In the position detecting device according to any one of 2), the specific road facility is an elevated road that passes over an ordinary road.

[0014]

In the position detecting device according to the first aspect, the position detecting means detects the position of the vehicle. At the same time, while the vehicle is traveling, the vehicle-mounted camera images the traveling road and its surroundings. The recognition unit recognizes a specific road facility related to the traveling road based on the image information acquired by the vehicle-mounted camera. The calculation means is a change in the two-dimensional coordinates of a specific road facility related to the traveling road recognized by the recognition means,
The traveling direction change of the vehicle between specific road facilities is calculated.
The extraction means is a database stored in the storage means based on the change in the two-dimensional coordinates of the specific road facility related to the traveling road obtained by the calculation means and the change in the traveling direction of the vehicle between the specific road facilities. And a position coordinate string of a specific road facility related to the traveling road is extracted. The correcting means corrects the vehicle detection position obtained by the position detecting means based on the position coordinate sequence of the specific road facility related to the traveling road extracted by the extracting means.

As described above, the change in the two-dimensional coordinates of the specific road facility related to the image-recognized road and the change in the traveling direction of the vehicle between the specific road facilities are calculated, and the calculation result is obtained. As a result of automatically correcting the vehicle position detected by the position detecting means based on the position coordinate sequence of the specific road facility, the position detecting device can more accurately exert the vehicle position detecting function.

In the position detecting device according to the second aspect, when the determining means determines that the vehicle is traveling on the highway, the recognizing means determines the highway based on the image information acquired by the vehicle-mounted camera. Recognize the specific road installations of interest. The calculation means calculates a change in the two-dimensional coordinates of the specific road facility associated with the expressway recognized by the recognition means and a change in the traveling direction of the vehicle between the specific road facilities. The extraction means is
A database for the highway stored in the storage means based on the change in the two-dimensional coordinates of the specific road facility related to the highway obtained by the calculation means and the change in the traveling direction of the vehicle between the specific road facilities. And a position coordinate string of a specific road facility related to the expressway is extracted. The correction unit corrects the vehicle detection position obtained by the position detection unit based on the position coordinate sequence of the specific road facility related to the expressway extracted by the extraction unit.

As described above, the change in the two-dimensional coordinates of the specific road facility related to the image-recognized expressway and the change in the traveling direction of the vehicle between the specific road facilities are calculated, and the calculation result is obtained. The vehicle position on the expressway detected by the position detecting means is automatically corrected based on the position coordinate sequence of the specific road facility. In the position detecting device according to claim 3, the determining means recognizes the white line of the road based on the image information acquired by the vehicle-mounted camera, and when the white line of the road is continuously recognized for a certain distance or more, the vehicle is driven at high speed. Determine that you are traveling on the road.

As described above, by using the white line that is drawn continuously and long on a normal highway as the highway determination parameter, the highway can be determined by a simple method. In the position detecting device according to claim 4, the determining unit recognizes the traffic light based on the image information acquired by the vehicle-mounted camera, and determines that the vehicle is traveling on the highway when the traffic light is not recognized for a certain distance or more. To do.

In this way, by adding a traffic signal that does not normally exist on a highway to the highway determination parameters, the highway determination can be made accurate. In the position detecting device according to claim 5, a change in the traveling direction of the vehicle is detected,
It is determined that the vehicle is traveling on a highway when the change in the traveling direction of the vehicle for every certain distance is within a certain range.

Thus, paying attention to the fact that there is no right turn or left turn during normal highway traveling, and by adding the change in the traveling direction of the vehicle to the highway determination parameter, the road in the highway determination process When the identification parameters of the highway such as the white line and the traffic light are recognized, it is possible to determine whether or not the vehicle is traveling on the highway by referring to the change in the traveling direction of the vehicle. Therefore, the determination result becomes more accurate.

In the position detecting device according to the sixth aspect, the vehicle detection position on the highway obtained by the position detecting means can be corrected based on the position coordinate sequence of the elevated road passing over the highway. In the position detecting device according to the seventh aspect, the vehicle detected position on the highway obtained by the position detecting means can be corrected based on the position coordinates of the parking area or the service area.

In the position detecting device according to the eighth aspect, when the determining means determines that the vehicle is traveling on the general road, the recognizing means determines the general road based on the image information acquired by the vehicle-mounted camera. Recognize the specific road facilities involved.
The calculating means calculates the change in the two-dimensional coordinates of the specific road facility related to the general road recognized by the recognizing means and the change in the traveling direction of the vehicle between the specific road facilities. The extraction means is
A database for general roads stored in the storage means based on the change in the two-dimensional coordinates of the specific road facility related to the general road obtained by the calculation means and the change in the traveling direction of the vehicle between the specific road facilities. And a position coordinate string of a specific road facility related to a general road is extracted. The correction unit corrects the vehicle detection position obtained by the position detection unit based on the position coordinate sequence of the specific road facility related to the general road extracted by the extraction unit.

As described above, the change in the two-dimensional coordinates of the specific road facility related to the image-recognized general road and the change in the traveling direction of the vehicle between the specific road facilities are calculated, and the calculation result is obtained. Based on the position coordinate sequence of a specific road facility,
The vehicle position on the general road detected by the position detecting means is automatically corrected. In the position detecting device according to claim 9, the determining means recognizes the white line of the road based on the image information acquired by the vehicle-mounted camera, and when it is recognized that the white line of the road is not continuous for a certain distance or more, It is determined that the vehicle is traveling on a general road.

As described above, the ordinary road can be discriminated by a simple method by using the white line intermittently drawn at regular intervals on the ordinary road as the discrimination parameter of the ordinary road. In the position detecting device according to claim 10, the determining means recognizes the traffic light based on the image information acquired by the vehicle-mounted camera, and when the traffic light is recognized within a certain distance, the vehicle is traveling on a general road. To determine.

As described above, by adding the traffic signal, which is relatively frequently present on the ordinary road, to the parameter for discriminating the ordinary road, the ordinary road can be discriminated accurately. In the position detecting device according to claim 11, the discriminating means detects a change in the traveling direction of the vehicle, and when the change in the traveling direction of the vehicle at a constant distance is equal to or more than a certain value, the vehicle travels on the general road. Determine that there is.

As described above, paying attention to the fact that right turns and left turns are relatively frequent when the vehicle is traveling on a general road, and by adding the change in the traveling direction of the vehicle to the discrimination parameter of the general road, the discrimination of the general road In the process, when the identification parameters of the ordinary road such as the white line of the road and the traffic light are image-recognized, it is possible to determine whether or not the vehicle is traveling on the ordinary road by referring to the change of the traveling direction of the vehicle. Therefore, the determination result becomes more accurate.

In the position detecting device according to the twelfth aspect, the vehicle detected position on the general road obtained by the position detecting means can be corrected based on the position coordinates of the traffic signal. In the position detecting device according to the thirteenth aspect, the vehicle detection position on the general road obtained by the position detecting means can be corrected based on the position coordinates of the elevated road passing over the general road.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of a position detection device according to an embodiment of the present invention. Referring to FIG. 1, the position detection device of the present embodiment is mounted on a vehicle and used, and a position detection processing device D1 for detecting the position of the vehicle while traveling, and a traveling road and its surroundings while the vehicle is traveling. An image recognition processing device D2 for image recognition of information is provided, and image information recognized by the image recognition processing device D2 is given to the position detection processing device D1 at a predetermined timing.

The position detection processing device D1 is a self-supporting position detection processing device, and is provided only with a distance sensor 11 for detecting the traveling distance of the vehicle and a direction sensor 12 for detecting the traveling direction of the vehicle. Has been. The distance sensor 11 detects the traveling distance based on the speed of the vehicle, the number of rotations of the wheels, or the like.
A vehicle speed sensor is used. In addition, the orientation sensor 12
Is a sensor for detecting a change in azimuth as the vehicle travels, and a geomagnetic sensor, a gyro or a turning angle sensor for detecting a turning angle based on a difference in rotational speed between the left and right wheels is used. The distance data detected by the distance sensor 11 and the azimuth data detected by the azimuth sensor 12 are provided to the sensor processing circuit 20.

The sensor processing circuit 20 includes the distance sensor 1
The moving distance of the vehicle is obtained based on the distance data given by 1, and the azimuth of the vehicle is obtained based on the azimuth data given by the azimuth sensor 12. Each data of the direction of the vehicle and the moving distance of the vehicle is given to the position detection processing unit 30. The position detection processing unit 30 is provided with accurate initial data of the vehicle before the vehicle starts moving, for example. The position detection processing unit 30 detects the current position of the vehicle based on the initial data given in advance and each data of the direction of the vehicle and the moving distance of the vehicle given from the sensor processing circuit 20. The detected position of the vehicle based on the sensor output is
It is corrected by the so-called map matching method. That is,
Autonomous navigation vehicle trajectory obtained from sensor output,
The road map data read from the CD-ROM 42 is collated to obtain the current position of the vehicle, the road corresponding to this is specified, and the locus of the vehicle is corrected to the position on the road. At this time, as a result, it can be known to which of the expressway and the general road the specified road belongs. After that, a map relating to the current position and the current position mark of the vehicle on the map are generated. The map and the current position mark of the vehicle are displayed on the display device 50 such as a CRT. In addition, the detected road and the detected position (including the current position and the change in the traveling direction) are stored in the position information storage unit 41. In addition,
The road map data is composed of map data for identifying roads, place names, famous facilities, railways, rivers, and the like.

The image recognition processing device D2 has an on-vehicle camera 60 for picking up an image of a road and its surroundings while the vehicle is running.
Is provided. This camera 60 is located at the front of the vehicle,
Alternatively, it is installed in the rear part or both, and the captured image is given to the image processing circuit 70 as an analog signal. The image processing circuit 70 converts the analog image signal given from the camera 60 into digital image data. This image data is temporarily stored in the image information storage unit 90 through the image recognition processing unit 80. Then, the image data stored in the image information storage unit 90 is output to the image recognition processing unit 80.

The image recognition processing unit 80 recognizes a white line and a traffic signal of a road from the image data. In parallel with this,
The image recognition processing unit 80 takes in each data of the azimuth of the vehicle and the moving distance of the vehicle from the position detection processing device D1 side, and detects the azimuth change of the vehicle based on each of the data. Then, when the recognition of the white line and the traffic signal of the road and the detection of the change in the direction of the vehicle are completed, the image recognition processing unit 80 detects the road information indicating the attribute of the road corresponding to the current position of the vehicle from the position detection processing device D1 side. Take in and refer to. Specifically, when the white line on the road is continuously recognized for a certain distance or more, the traffic signal is not recognized for a certain distance or more, and the azimuth change angle of the vehicle for each certain distance is detected to be within a certain value. If the detected road belongs to the highway, it is determined that the vehicle is traveling on the highway. On the other hand, when it is recognized that the white line of the road is not continuous for a certain distance or more, the traffic signal is recognized within a certain distance, and the azimuth change angle of the vehicle for each certain distance is detected to be a certain value or more. If the detected road belongs to the general road, it is determined that the vehicle is traveling on the general road. The determination result of the road type is stored in the image information storage unit 90.

When the attribute of the traveling road of the vehicle is determined, the image recognition processing unit 80 recognizes a specific road facility related to the attribute of the road. Specifically, when it is determined that the vehicle is traveling on a highway, a specific road facility related to the highway is recognized from the image data. On the other hand, when it is determined that the vehicle is traveling on a general road, a specific road facility related to the general road is recognized from the image data.

The image recognition processing unit 80 includes a dictionary memory 10
0 is connected. The dictionary memory 100 includes feature amounts of all recognizable objects, average values and distribution states of the feature amounts,
The order in which each feature amount affects recognition is stored.
The image recognition processing unit 80 recognizes the target object as follows, for example. A partial image of the object to be recognized is cut out from the given image data, and the feature amount necessary for recognizing the object to be recognized is extracted. The extracted feature amount and the feature amounts of all the objects stored in the dictionary memory 100 are compared and collated. Then, for example, the target object having the smallest degree of difference is selected, and the recognition of each target object is completed.

Here, the specific facility recognized when the vehicle is determined to be traveling on an expressway is an elevated road that passes over the expressway. Alternatively, a parking area or a service area may be added to this elevated road. On the other hand, the specific facility recognized when the vehicle is determined to be traveling on an open road is an elevated road that passes over the open road. Alternatively, a traffic light on a general road may be added to this elevated road. To recognize an elevated road, for example, a horizontal line that crosses the upper portion of the screen may be recognized.
When recognizing a parking area or a service area, for example, it may be recognized that the road is branched and the white line on the leftmost side suddenly disappears, or a sign indicating the parking area or the service area is recognized. Good.

When the recognition of the specific road facility related to the traveling road is completed, the image recognition processing unit 80 causes the position information storage unit 4 to operate via the position detection processing unit 30 on the position detection processing device D1 side.
The detection position of the own vehicle including the current position and the change in the traveling direction stored in 1 is taken in, and based on this vehicle detection position, a column of changes in the XY coordinates of the recognized specific road facility,
The traveling direction change of the vehicle between specific road facilities is calculated.
Specifically, when the recognition of the specific road facility related to the expressway is finished, the sequence of changes in the XY coordinates of the recognized specific road facility and the specific road facility based on the vehicle detection position on the expressway. The change in the traveling direction of the vehicle during the period is calculated. Similarly,
After recognizing specific road facilities related to general roads,
Based on the vehicle detection position on the general road, a sequence of changes in the XY coordinates of the recognized specific road facility and the traveling direction change of the vehicle between the specific road facilities are calculated. The sequence of changes in the XY coordinates of the specific road facility and the change in the traveling direction of the vehicle between the specific road facilities are updated and stored in the image information storage unit 90.

A database memory 110 is connected to the image recognition processing section 80. This database memory 110 is, for example, as shown in FIG. 5, a column of changes in the XY coordinates of a specific road facility related to an expressway, and a traveling direction change of a vehicle between specific road facilities (direction of a specific road facility). Change) as a key, a database for expressways in which a pair of specific road facilities related to the expressway and their position coordinates are known, and a column of changes in XY coordinates of the specific road facilities related to general roads. , A database for general roads that makes it possible to know a pair of specific road facilities related to general roads and their position coordinates by using the change in the vehicle heading between specific road facilities (direction change of specific road facilities) as a key. I remember.

XY of a specific road facility related to the road
When the calculation of the sequence of changes in coordinates and the change in the traveling direction of the vehicle between the specific road facilities is completed, the image recognition processing unit 80 includes a sequence of changes in the XY coordinates of the specific road facilities related to the traveling road, The database in the database memory 110 is searched from the change in the traveling direction of the vehicle between the specific road facilities,
A position coordinate string of a specific road facility related to the traveling road is extracted. Specifically, when the sequence of changes in the XY coordinates of a specific road facility related to a highway and the change in the traveling direction of the vehicle between the specific road facilities have been calculated, the calculation for the highway is performed based on this calculation result. The database is searched to extract the position coordinate sequence of the particular road facility associated with the highway. On the other hand, when the sequence of changes in the XY coordinates of the specific road facility related to the general road and the change in the traveling direction of the vehicle between the specific road facilities have been calculated, the database for the general road is searched based on this calculation result. Then, the position coordinate string of the specific road facility related to the general road is extracted. Then, when the extracted position coordinate sequence is uniquely determined, this position coordinate sequence is stored in the image information storage unit 90 as correction data for correcting the vehicle position detected on the position detection processing device D1 side. .

The correction data for correcting the vehicle position stored in the image information storage unit 90 is fetched by the position detection processing unit 30 on the side of the position detection processing device D1, and the distance sensor is based on this correction data. 11 and direction sensor 1
The vehicle position detected by catching the relative position change of the vehicle is corrected only by 2. Then, the position-detection processing unit 30 displays the position-corrected vehicle position on the display unit 50 in an overlapping manner on the map.

2 to 4 are flowcharts showing the flow of the correction operation of the detected position. Referring to FIG. 2, after the start, the distance sensor 1 is moved by the position detection processing device D1.
The position of the running vehicle is detected based on the distance data from 1 and the azimuth data from the azimuth sensor 12. In parallel with this, the image recognition processing device D2 recognizes the white line and the traffic signal of the road based on the image information acquired by the vehicle-mounted camera 60 (step S1).

When the image recognition of the white line of the road and the traffic light is completed, it is judged whether or not the road on which the vehicle is traveling is a highway (steps S2 to S6). That is, the white line of the road is continuously recognized by the image recognition processing unit 80 on the image recognition processing device D2 side for a certain traveling distance L ₁ or more, and the traffic light is not recognized for a certain traveling distance L ₂ or more, and the certain traveling distance L is further recognized.
_When it is detected that the change of the traveling direction of the vehicle for each ₃ is within a certain value (steps S2 to S4), the detected road information indicating the attribute of the road corresponding to the current position of the vehicle from the position detection processing device D1 side. Is taken in and the detected road information is referred to (step S5). If the detected road belongs to the expressway, it is determined that the vehicle is traveling on the expressway (step S6).

When it is determined that the vehicle is traveling on the highway, the image recognition processing device D2 determines the XY coordinates of the specific road facility related to the general road which is already stored in the image information storage unit 90. The change column and the change in the traveling direction of the vehicle between the specific road facilities are cleared (step S7). Then, attention is paid to a specific road facility related to the expressway (step S8). On the other hand, the detection road does not belong to the highway if the vehicle can not be concluded that the vehicle is traveling on an expressway, the monitoring distance L _1, L _2, L ₃ is whether is confirmed greater (step S9) . When it is monitoring the distance L _1, L _2, L ₃ greater is verified, the determination result of the road type of the image recognition processing device D2 side is given priority, already certain road facilities related to general road stored The sequence of changes in the XY coordinates and the change in the traveling direction of the vehicle between the specific road facilities are cleared, and the image recognition processing device D2 focuses on the specific road facilities related to the expressway (steps S7 and S8). Surveillance distance L
_{If 1,} L _{2 and} L ₃ are not large, the monitoring distances L _1, L _{2 and} L ₃ are changed to large values, and the process ends without performing position correction (step S10). The monitoring distances L _1, L _{2 and} L ₃ are
It can take two types of values, a small value and a large value.

When it is not determined in step S2, S3 or S4 that the image recognition processing device D2 is traveling on a highway, the process shown in FIG. 3 is executed, and the road on which the vehicle is traveling is a general road. It is determined whether or not (steps S11 to S15). That is, the image recognition processing unit 80 recognizes that the white line of the road is not continuous for a certain mileage L ₁ or more, and the traffic light is recognized within the certain mileage L ₂ , and the vehicle for each certain mileage L ₃ is recognized. When it is detected that the change in the traveling azimuth exceeds a certain value (steps S11 to S13), the detected road information indicating the attribute of the road corresponding to the current position of the vehicle is fetched from the position detection processing device D1 side. Then, the detected road information is referred to (step S14). If the detected road belongs to the general road, it is determined that the vehicle is traveling on the general road (step S15).

When it is determined that the vehicle is traveling on a general road, the image recognition processing device D2 determines the XY coordinates of the specific road facility associated with the expressway which is already stored in the image information storage unit 90. The change column and the change in the traveling direction of the vehicle between the specific road facilities are cleared (step S16). Then, attention is paid to a specific road facility related to the general road (step S17). On the other hand, when the detected road does not belong to the general road and it cannot be determined that the vehicle is traveling on the general road, it is confirmed whether or not the monitoring distances L _1, L _{2 and} L ₃ are large (step S18). ). When it is confirmed that the monitoring distances L _1, L _{2 and} L ₃ are large, the determination result of the road type on the image recognition processing device D 2 side is prioritized, and the already stored specific road facility related to the highway is identified. Clear the row of changes in XY coordinates and the change in the direction of travel of the vehicle between specific road facilities,
Attention is paid to a specific road facility related to a general road by the image recognition processing device D2 (steps S16 and S17). It is large monitoring distance L _1, L _2, L _3, monitoring the distance L _1, L
_2, by increasing the L _3, ends without performing the position correction (step S19).

In step S2, S3, or S4, it is not determined that the image recognition processing device D2 is traveling on a highway, and step S11, S12, or S13.
In the case where it is not determined that the image recognition processing device D2 is traveling on a general road, the process ends without performing position correction. As described above, when the type of road on which the vehicle is traveling is determined and the specific facility related to the traveling road is focused by the image recognition processing device D2, the process moves to the process shown in FIG. The position of the vehicle detected on the D1 side is corrected. First, the image recognition processing unit 80 recognizes whether or not there is a specific road facility related to the traveling road of the vehicle (steps S20 and S21). If there is a specific road facility, the image recognition processing unit 80 determines that the position detection processing device D1
The vehicle detection position including the current position and the change in the traveling direction is fetched from the side, and the position of the recognized road facility is detected based on the vehicle detection position. Then, it is determined whether or not the position can be detected (steps S22 and S23). When the position of the specific road facility is detected, the image recognition processing unit 80
At, the change in the XY coordinates of the specific road facility and the change in the traveling direction of the vehicle between the specific road facilities are calculated, and the change sequence of the XY coordinates of the specific road facility calculated up to that point, and the specific change It is added to the change in the driving direction of the vehicle between road facilities. As a result, the column of changes in the XY coordinates of the specific road facility and the change in the traveling direction of the vehicle between the specific road facilities are updated (step S24).

If the specific road facility related to the traveling road is not recognized in step S21, or if the position of the specific road facility related to the traveling road is not detected in step S23, position correction is performed. End without. When a column of changes in XY coordinates of a specific road facility related to a traveling road and a change in traveling direction of a vehicle between the specific road facilities are calculated, a position coordinate sequence of the specific road facility is calculated based on this calculation result. Is extracted, and it is checked whether the position coordinate sequence is uniquely determined (step S
25 and step S26). That is, the image recognition processing unit 80
Retrieves the database stored in the database memory 110 from the sequence of changes in the XY coordinates of the specific road facility related to the travel road and the travel direction change of the vehicle between the specific road facilities, and Extract the position coordinate sequence of the related specific road facility. Specifically, when a sequence of changes in XY coordinates of a specific road facility related to an expressway and a change in traveling direction of a vehicle between the specific road facilities are calculated, a database for the expressway is calculated from this calculation result. Is searched and a position coordinate string of a specific road facility related to the expressway is extracted. On the other hand, XY of specific road facilities related to general roads
When the column of changes in coordinates and the change in the driving direction of the vehicle between specific road facilities are calculated, the database for general roads is searched from this calculation result, and the position coordinates of the specific road facilities related to general roads are searched. The columns are extracted. After that, it is checked whether the extracted position coordinate sequence is uniquely determined.

When the position coordinate sequence of the specific road facility related to the traveling road is uniquely determined, the position of the specific road facility related to the traveling road is determined based on this position coordinate sequence (step S27). ). On the other hand, when the position coordinate sequence of the specific road facility related to the traveling road is not uniquely determined,
The process ends without performing position correction. When the position of the specific road facility is determined based on the position coordinate sequence, the determined road facility position and the road facility calculated based on the vehicle position detected by the position detection processing device D1 side. Is compared with the position (step S28). As a result of this comparison,
If the difference between the position of the specific road facility recognized and determined on the image recognition processing device D2 side and the position of the road facility calculated based on the vehicle position detected on the position detection processing device D1 side is within a certain value. Assuming that the position of the specific road facility recognized and determined by the image recognition processing device D2 is correct, the vehicle position detected by the position detection processing device D1 is corrected (steps S29 and S30).

When the vehicle detection position is corrected, the sequence of changes in the XY coordinates of the specific road facility related to the traveling road and the change in the traveling direction of the vehicle between the specific road facilities are cleared (step S31). . Then, the monitoring distance L _1, L _2, L ₃
Is returned to the initial value (for example, a small value), and the process ends (step S32). Further, the position coordinate sequence of the specific road facility is uniquely determined, and based on the position of the specific road facility determined based on the position coordinate sequence and the vehicle position detected by the position detection processing device D1 side. If the calculated difference from the position of the road facility exceeds a certain value, the monitoring of the position coordinate sequence is continued (step S33). That is, the monitoring operation of steps S20 to S29 is continued. The position coordinate sequence of the specific road facility is uniquely determined until the monitoring continuation distance becomes a certain value or more, and the position of the specific road facility determined based on the position coordinate sequence and the position detection process are performed. It is determined whether or not the state in which the difference from the position of the road facility calculated based on the vehicle position detected on the device D1 side continues to exceed a certain value (step S34).

If the above-mentioned state continues to appear even if the monitoring continuation distance exceeds a certain value, the position of the specific road facility determined based on the position coordinate sequence is given priority, and the specific road facility Based on the position, the vehicle detection position on the position detection processing device D1 side is corrected (step S30). On the other hand, if a change occurs in the above state before the monitoring continuation distance reaches a constant value in the above state, the process ends without performing position correction.

FIG. 5 is a diagram showing an example of a position coordinate database of a specific road facility pair with the XY coordinate change and the road facility direction change as keys, and FIG. 6 shows the position coordinate sequence of the specific road facility uniquely. It is a figure which shows the procedure to determine manually. Referring to the figure, assume that the vehicle is traveling on a highway and pays attention to an elevated road on the highway as a specific road facility related to the highway. The procedure for uniquely determining will be described. For example, when the elevated road (1) on the highway is recognized at a certain point during traveling on the highway and then the elevated road (2) on the highway is recognized, X from the elevated road (1) is recognized.
The change in Y coordinate is (Δx1, Δy1), the change in the traveling direction of the vehicle between the elevated road (1) and the elevated road (2) is c1, and the elevated road (3) on the expressway is recognized. When the change of the XY coordinates from the elevated road (2) at the time of being performed is (Δx1, Δy2), and the traveling direction change of the vehicle between the elevated road (2) and the elevated road (3) is c2, X
Change sequence of Y coordinates (Δx1, Δy1), (Δx1, Δy
2) and changes in the traveling direction of the vehicle between the elevated roads (1) (2) and (2) (3) (direction changes of the respective elevated roads (1) to (3)) c1 and c2 are calculated. . Then, the change sequence of XY coordinates (Δx1, Δy1), (Δx1, Δy2)
Then, the position coordinate sequence (position coordinate 1, position coordinate 2) of the elevated road corresponding to the orientation changes c1, c2 of each of the elevated roads (1) to (3) is extracted from the database. If the extracted position coordinate sequence is only the combination of (b1, b2) and (b2, b3), the position coordinate sequences of the elevated roads (1) to (3) are (b1, b2), (b2). , B3) is uniquely determined. In this case, the position coordinates of the elevated road (3) are b
3 is determined, and correction data for correcting the vehicle position detected on the position detection processing device D1 side is created based on this position coordinate b3.

As described above, in the position detecting device, when the type of the road on which the vehicle is traveling is determined, the image recognition processing device D2 is associated with the traveling road based on the image information acquired by the vehicle-mounted camera. A specific road facility is recognized, and a sequence of changes in the XY coordinates of the specific road facility related to the traveling road and a change in traveling direction of the vehicle between the specific road facilities are calculated. Then, the database corresponding to the traveling road is searched based on the sequence of changes in the XY coordinates of the specific road facility related to the traveling road obtained as a result of the calculation and the traveling direction change of the vehicle between the specific road facilities. Then, the position coordinate string of the specific road facility related to the traveling road is extracted. As a result, when the position coordinate sequence of the specific road facility related to the extracted traveling road is uniquely determined, the position detection processing device D1 is based on this.
The vehicle detection position obtained on the side is corrected. As a result of automatically correcting the vehicle position detected by the position detection processing device D1 based on the position coordinate sequence of the specific road facility related to the traveling road recognized by the image recognition processing device D2, the position detection device The position detection function of can be exerted more accurately.
That is, the detected position can be corrected at short time intervals even while the vehicle is running, so that it is possible to prevent the sensor error and the like from accumulating and to achieve accurate position detection.

The present invention is not limited to the above embodiments, and it goes without saying that many modifications and changes can be made within the scope of the present invention.

[0053]

As is apparent from the above description, according to the present invention, the change in the two-dimensional coordinates of a specific road facility related to the image-recognized road, and the change in the traveling direction of the vehicle between the specific road facilities. Is calculated, and the vehicle position detected by the position detection means is automatically corrected based on the position coordinate sequence of the specific road facility obtained by the calculation result. As a result, the position detecting device has an excellent effect that the position detecting function of the vehicle can be more accurately exhibited.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a position detection device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing the flow of a detection position correction operation.

FIG. 3 is a flowchart showing the flow of a detection position correction operation.

FIG. 4 is a flowchart showing a flow of a correction operation of a detected position.

FIG. 5 is a diagram showing an example of a position coordinate database of a specific road facility pair with a change in XY coordinates and a change in road facility direction as keys.

FIG. 6 is a diagram schematically showing a procedure for uniquely determining a position coordinate sequence of a specific road facility.

[Explanation of symbols]

 D1 position detection processing device 11 distance sensor 12 direction sensor 20 sensor processing circuit 30 position detection processing unit 41 position information storage unit 41 CD-ROM D2 image recognition processing device 60 vehicle-mounted camera 70 image processing circuit 80 image recognition processing unit 90 image information storage Department 100 Dictionary memory 110 Database memory

Claims (13)

[Claims] 1. A device for detecting the position of a vehicle mounted on a vehicle, the position detecting means for detecting the position of the vehicle, and the vehicle-mounted camera capable of capturing an image of a traveling road and its surroundings while the vehicle is traveling. A recognition means for recognizing a specific road facility related to the traveling road based on the image information acquired by the vehicle-mounted camera; and a change in the two-dimensional coordinates of the specific road facility related to the traveling road recognized by the recognition means. , A calculation means for calculating a change in the traveling direction of the vehicle between the specific road facilities, a change in the two-dimensional coordinates of the specific road facility related to the traveling road, and a change in the traveling direction of the vehicle between the specific road facilities As a storage means that stores a database that allows the position coordinates of a specific road facility related to the traveling road to be known, the two-dimensional coordinates of the specific road facility related to the traveling road obtained by the calculating means. Extraction and extracting the position coordinate sequence of the specific road facility related to the traveling road by searching the database stored in the storage means based on the And a correction unit for correcting the vehicle detection position obtained by the position detection unit based on the position coordinate sequence of the specific road facility related to the traveling road extracted by the extraction unit. Detection device. 2. A determination means for determining whether or not the vehicle is traveling on a highway is further included, wherein the recognition means determines when the determination means determines that the vehicle is traveling on a highway. , The specific road facility related to the highway is recognized based on the image information acquired by the vehicle-mounted camera, and the calculating means is the specific road facility related to the highway recognized by the recognition means. A change in the two-dimensional coordinates and a change in the traveling direction of the vehicle between the specific road facilities are calculated, and the storage means changes the two-dimensional coordinates of the specific road facilities related to the expressway and A highway database is stored in which the position coordinates of a specific road facility related to a highway can be known by using the change in the traveling direction of the vehicle between the road facilities as a key. Got high Based on the change in the two-dimensional coordinates of the specific road facility related to the expressway and the change in the traveling direction of the vehicle between the specific road facilities, the database for the highway stored in the storage means is searched. , A position coordinate sequence of a specific road facility related to the expressway is extracted, wherein the correction means is based on the position coordinate sequence of the specific road facility related to the expressway extracted by the extracting means, The position detecting device according to claim 1, wherein the position detecting means corrects the vehicle detected position obtained by the position detecting means. 3. The determining means includes means for recognizing a white line of a road based on image information acquired by the vehicle-mounted camera, and when the white line of the road is continuously recognized for a certain distance or more, the vehicle is driven at high speed. The position detecting device according to claim 2, wherein the position detecting device determines that the vehicle is traveling on a road. 4. The determining means includes means for recognizing a traffic signal based on image information acquired by the vehicle-mounted camera, and when the traffic signal is not recognized for a certain distance or more, it is determined that the vehicle is traveling on a highway. The position detecting device according to claim 2 or 3, characterized in that 5. The discriminating means includes a heading change detecting means for detecting a change in a traveling heading of the vehicle, and the vehicle travels on a highway when the change in the traveling heading of the vehicle at a constant distance is within a predetermined range. The position detecting device according to claim 2, wherein the position detecting device determines that the position detecting device is operating. 6. The position detecting device according to any one of claims 2 to 5, wherein the specific road facility is an elevated road that passes over a highway. 7. The position detecting device according to any one of claims 2 to 6, wherein the specific road facility is a parking area or a service area. 8. A discrimination means for discriminating whether or not the vehicle is traveling on a general road, further comprising: a discrimination means for recognizing that the vehicle is traveling on the general road. , The specific road facility related to the general road is recognized based on the image information acquired by the vehicle-mounted camera, and the calculation unit is the specific road facility related to the general road recognized by the recognition unit. The calculation unit calculates a change in two-dimensional coordinates and a change in traveling direction of a vehicle between specific road facilities, and the storage means changes the two-dimensional coordinates of specific road facilities related to the general road and a specific road facility. It stores a database for general roads that allows the position coordinates of a specific road facility related to the general road to be understood by using the change in the traveling direction of the vehicle between the road facilities as a key. Got one Based on the change in the two-dimensional coordinates of the specific road facility related to the general road and the change in the traveling direction of the vehicle between the specific road facilities, the database for general roads stored in the storage means is searched. , A position coordinate sequence of a specific road facility related to the general road is extracted, the correction means, based on the position coordinate sequence of the specific road facility related to the general road extracted by the extraction means, The position detecting device according to claim 1, wherein the position detecting means corrects the vehicle detected position obtained by the position detecting means. 9. The determining means includes means for recognizing a white line of a road based on image information acquired by the vehicle-mounted camera, and when it is recognized that the white line of the road is not continuous for a certain distance or more, 9. The position detecting device according to claim 8, wherein the position detecting device determines that the vehicle is traveling on a general road. 10. The determining means includes means for recognizing a traffic light based on image information acquired by the vehicle-mounted camera,
The position detecting device according to claim 8 or 9, wherein when the traffic signal is recognized within a certain distance, it is determined that the vehicle is traveling on a general road. 11. The discriminating means includes a heading change detecting means for detecting a change in a traveling heading of the vehicle, and the vehicle travels on a general road when the change in the traveling heading of the vehicle at a constant distance is equal to or larger than a predetermined value. The position detecting device according to any one of claims 8 to 10, wherein the position detecting device determines that the position is detected. 12. The position detecting device according to any one of claims 8 to 11, wherein the specific road facility is a traffic light. 13. The position detecting device according to claim 8, wherein the specific road facility is an elevated road passing over an ordinary road.