JPH08338733A - Device for calculating direction of travel of vehicle - Google Patents
Device for calculating direction of travel of vehicleInfo
- Publication number
- JPH08338733A JPH08338733A JP14602695A JP14602695A JPH08338733A JP H08338733 A JPH08338733 A JP H08338733A JP 14602695 A JP14602695 A JP 14602695A JP 14602695 A JP14602695 A JP 14602695A JP H08338733 A JPH08338733 A JP H08338733A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- road
- traveling
- azimuth
- correction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、車両の位置、方位及び
周囲の地図情報を表示する車載用ナビゲーションシステ
ムに使用される車両走行方位算出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling direction calculation device used in an on-vehicle navigation system for displaying the position, direction and surrounding map information of a vehicle.
【０００２】[0002]
【従来の技術】従来の車載用ナビゲーション装置におい
ては、振動ジャイロや光ファイバジャイロのような角速
度を検出するジャイロを使用して車両の角速度を検出
し、検出した角速度を積分することによって、車両の走
行方位を算出していた。同時に、車両のタイヤの回転速
度を検出する車速パルスのパルス数を計数し、予め定め
た１パルス当たりの走行距離を計数されたパルス数に掛
けることにより、走行距離を算出していた。そして、こ
れら車両の走行方位及び走行距離から車両が走行した軌
跡を求め、走行軌跡と道路地図データの形状の一致する
ところに整合させて推定位置を算出する。或いは、算出
した走行距離に従って、推測位置を走行方位の一致する
道路上を移動させていき、推定位置とするなどして、車
両の現在推定位置を求めていた。この時、振動ジャイロ
や光ファイバジャイロの検出した角速度に誤差がある
と、車両の走行方位の誤差が増大し、実際の進行方位が
推定できないという問題があった。2. Description of the Related Art In conventional vehicle-mounted navigation devices, a gyro that detects an angular velocity, such as a vibration gyro or an optical fiber gyro, is used to detect the angular velocity of the vehicle, and the detected angular velocity is integrated to detect the angular velocity of the vehicle. I was calculating the running direction. At the same time, the number of vehicle speed pulses for detecting the rotation speed of the tire of the vehicle is counted, and the traveling distance is calculated by multiplying the counted number of pulses by a predetermined traveling distance per pulse. Then, the locus traveled by the vehicle is obtained from the traveling direction and the traveling distance of the vehicle, and the estimated position is calculated by matching the traveling locus and the shape of the road map data. Alternatively, the current estimated position of the vehicle is obtained by moving the estimated position on the road having the same traveling direction according to the calculated traveling distance and using the estimated position as the estimated position. At this time, if there is an error in the angular velocity detected by the vibration gyro or the optical fiber gyro, the error in the traveling direction of the vehicle increases, and the actual traveling direction cannot be estimated.
【０００３】そこで、推定した現在位置の道路方位と角
速度を積分して求めた走行方位との方位差を求め、方位
差に予め定めた割合を乗じた方位分走行方位を修正する
方法や、道路方位に走行方位を合わせるなどの修正方法
が提案されている。また、ＧＰＳ受信機が算出した方位
データを使用して、道路方位データを使用した場合と同
様に、走行方位を修正する方法が提案されている。これ
らの中には、所定区間の方位差の平均値を求め、この平
均値を使用して方位修正を行うものもある。Therefore, a method for obtaining a heading difference between a road heading at the current estimated position and a traveling heading obtained by integrating angular velocity, and correcting the heading for the heading by multiplying the heading difference by a predetermined ratio, or a road Correction methods such as adjusting the traveling direction to the direction have been proposed. Further, there is proposed a method of correcting the traveling azimuth by using the azimuth data calculated by the GPS receiver as in the case of using the road azimuth data. Among these, there is also one that obtains an average value of the orientation difference in a predetermined section and uses the average value to perform orientation correction.
【０００４】これらの方法によつて、角速度に誤差があ
った場合でも、走行方位の誤差の増大を抑え、走行方位
の精度を上げることができる。According to these methods, even if there is an error in the angular velocity, it is possible to suppress an increase in the error in the traveling direction and improve the accuracy in the traveling direction.
【０００５】[0005]
【発明が解決しようとする課題】しかし、従来の方法で
は、例えばＧＰＳ受信機で測定した道路方位データに局
所的に比較的大きな誤差が生じ、推定した位置が誤差を
持ち、修正対象とする道路方位が誤っていることがあ
る。このために、修正時の修正量或いは方位差に対する
修正率を大きくすると、方位修正によってかえって走行
方位が誤った方向を向いてしまう事態が発生するため
に、小量・少率の修正しかできず、角速度誤差が比較的
大きいジャイロ或いは角速度センサを使用する場合に
は、方位修正量が走行方位誤差の発生量に追い付くこと
ができず、車両の走行方位の推定ができなくなるという
問題が生じる。However, in the conventional method, for example, a relatively large error locally occurs in the road direction data measured by the GPS receiver, the estimated position has an error, and the road to be corrected is The orientation may be wrong. For this reason, if the correction amount at the time of correction or the correction ratio for the heading difference is increased, the traveling heading may turn to the wrong direction due to the heading correction, so only a small amount or small ratio can be corrected. However, when a gyro or an angular velocity sensor with a relatively large angular velocity error is used, the amount of heading correction cannot keep up with the amount of running heading error, and the running heading of the vehicle cannot be estimated.
【０００６】本発明は、このような従来の問題を解決す
るものであり、ジャイロ或いは角速度センサに、所定の
角速度誤差が存在しても、車両の走行方位を高精度で推
定可能な車両走行方位算出装置を提供することを目的と
する。The present invention solves such a conventional problem. The vehicle traveling direction capable of accurately estimating the traveling direction of the vehicle even if the gyro or the angular velocity sensor has a predetermined angular velocity error. An object is to provide a calculation device.
【０００７】[0007]
【課題を解決するための手段】前記目的を達成するため
に、請求項１記載の発明は、車両走行時の角速度を積分
して車両の走行方位を算出する車両走行方位算出手段
と、車両の走行速度を積分して車両の走行距離を算出す
る車両走行距離算出手段と、道路データを格納する道路
データ格納手段と、前記車両走行距離算出手段が算出し
た走行距離に基づいて、前記道路データ格納手段から取
込んだ道路データに対応する道路上で、車両の現在推定
位置を移動させる道路上位置移動手段と、車両の現在推
定位置を移動させる道路に交差点或いは分岐点がある
と、交差点或いは分岐点前後で、前記車両走行方位算出
手段が算出した方位の方位差に基づいて、交差点或いは
分岐点通過後に現在推定位置を移動させる道路を選択す
る移動道路選択手段と、車両の走行方位と車両の推定位
置が存在する道路の方位との方位差に基づいて、車両の
走行方位を修正する走行方位修正手段とを有することを
特徴とするものである。In order to achieve the above-mentioned object, the invention according to claim 1 is a vehicle traveling direction calculating means for calculating a traveling direction of a vehicle by integrating an angular velocity when the vehicle is traveling, Based on the traveling distance calculated by the vehicle traveling distance calculating means, the vehicle traveling distance calculating means for calculating the traveling distance of the vehicle by integrating the traveling speed, the road data storing means for storing the road data, and the road data storing means. If there is an intersection or a branch point on the road position moving means for moving the current estimated position of the vehicle and the road for moving the current estimated position of the vehicle on the road corresponding to the road data acquired from the means, the intersection or the branch point Moving road selecting means for selecting a road on which to move the current estimated position after passing through an intersection or a branching point, based on the heading difference of the heading before and after the point calculated by the vehicle traveling heading calculating means; Based on the orientation difference between the orientation of the road estimated position of the traveling azimuth and the vehicle of the vehicle is present, is characterized in that it has a traveling azimuth correction means for correcting the travel azimuth of the vehicle.
【０００８】同様に前記目的を達成するために、請求項
２記載の発明は、請求項１記載の車両走行方位算出装置
に対して、前記道路データ格納手段から取込んだ車両の
現在推定位置前後の道路の直線部分の長さを算出する直
線道路長算出手段と、該直線道路長算出手段が算出した
前記道路の直線部分の長さに基づいて、車両の走行方位
の修正量を変更して、前記走行方位修正手段に車両の走
行方位の修正を行わせる制御手段とが設けられているこ
とを特徴とするものである。[0008] Similarly, in order to achieve the above-mentioned object, the invention according to claim 2 provides the vehicle traveling direction calculation device according to claim 1, in which before and after the current estimated position of the vehicle fetched from the road data storage means. A straight road length calculating means for calculating the length of the straight portion of the road, and a correction amount of the traveling direction of the vehicle is changed based on the length of the straight portion of the road calculated by the straight road length calculating means. A control means for causing the traveling direction correcting means to correct the traveling direction of the vehicle is provided.
【０００９】同様に前記目的を達成するために、請求項
３記載の発明は、請求項１記載の車両走行方位算出装置
に対して、前記道路データ格納手段から取込んだ車両の
現在推定位置前後の道路の曲折量を算出する道路曲折量
算出手段と、該走行方位修正手段が算出した前記道路の
曲折量に基づいて、車両の走行方位の修正量を変更し
て、前記走行方位修正手段に車両の走行方位の修正を行
わせる制御手段とが設けられていることを特徴とするも
のである。[0009] Similarly, in order to achieve the above-mentioned object, the invention according to claim 3 is the vehicle traveling direction calculation device according to claim 1, in which the estimated vehicle position before and after the current vehicle position taken from the road data storage means. Road bending amount calculation means for calculating the road bending amount, and based on the road bending amount calculated by the driving direction correction means, the correction amount of the traveling direction of the vehicle is changed to the driving direction correction means. A control means for correcting the traveling direction of the vehicle is provided.
【００１０】同様に前記目的を達成するために、請求項
４記載の発明は、請求項１記載の車両走行方位算出装置
に対して、車両の走行速度に基づいて、車両の走行方位
の修正量を変更して、前記走行方位修正手段に車両の走
行方位の修正を行わせる制御手段が設けられていること
を特徴とするものである。Similarly, in order to achieve the above object, the invention according to claim 4 provides the vehicle traveling direction calculating device according to claim 1 with a correction amount of the traveling direction of the vehicle based on the traveling speed of the vehicle. Is provided to control the traveling azimuth to correct the traveling azimuth of the vehicle.
【００１１】同様に前記目的を達成するために、請求項
５記載の発明は、請求項１記載の車両走行方位算出装置
に対して、予め設定した所定期間の車両の方位変化量を
算出する方位変化量算出手段と、車両の走行方位変化量
に基づいて、車両の走行方位の修正量を変更して、前記
走行方位修正手段に車両の走行方位の修正を行わせる制
御手段とが設けられていることを特徴とするものであ
る。Similarly, in order to achieve the above object, the invention according to claim 5 is directed to the vehicle traveling direction calculation device according to claim 1 for calculating the direction change amount of the vehicle for a predetermined period set in advance. Change amount calculation means and control means for changing the correction amount of the traveling azimuth of the vehicle based on the amount of change of the traveling azimuth of the vehicle, and causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle, are provided. It is characterized by being present.
【００１２】同様に前記目的を達成するために、請求項
６記載の発明は、請求項１記載の車両走行方位算出装置
に対して、車両の現在推定位置周辺の交差点数と道路数
の少なくとも一方を算出する交差点・道路数算出手段
と、車両の現在推定位置周辺の交差点・道路数に基づい
て、車両の走行方位の修正量を変更して、前記走行方位
修正手段に車両の走行方位の修正を行わせる制御手段と
が設けられていることを特徴とするものである。[0012] Similarly, in order to achieve the above object, the invention according to claim 6 provides the vehicle traveling direction calculation device according to claim 1, wherein at least one of the number of intersections and the number of roads around the current estimated position of the vehicle. Based on the number of intersections / roads around the current estimated position of the vehicle and the number of intersections / roads around the current estimated position of the vehicle, the correction amount of the traveling direction of the vehicle is changed, and the traveling direction correction means corrects the traveling direction of the vehicle. And a control means for performing the above are provided.
【００１３】同様に前記目的を達成するために、請求項
７記載の発明は、請求項１記載の車両走行方位算出装置
に対して、前記道路データ格納手段から道路種別データ
を取込む道路種別取得手段と、車両の現在推定位置にお
ける道路の道路種別に基づいて、車両の走行方位の修正
量を変更して、前記走行方位修正手段に車両の走行方位
の修正を行わせる制御手段とが設けられていることを特
徴とするものである。Similarly, in order to achieve the above object, the invention according to claim 7 provides the vehicle traveling direction calculation device according to claim 1, in which the road type is acquired from the road data storage means. Means and control means for changing the correction amount of the traveling azimuth of the vehicle on the basis of the road type of the road at the current estimated position of the vehicle and causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle. It is characterized by that.
【００１４】同様に前記目的を達成するために、請求項
８記載の発明は、請求項１記載の車両走行方位算出装置
に対して、前記道路データ格納手段から道路幅員データ
を取込む道路幅員取得手段と、車両の現在推定位置にお
ける道路の道路幅員に基づいて、車両の走行方位の修正
量を変更して、前記走行方位修正手段に車両の走行方位
の修正を行わせる制御手段とが設けられていることを特
徴とするものである。[0014] Similarly, in order to achieve the above object, the invention according to claim 8 relates to the vehicle traveling direction calculation device according to claim 1, and acquires road width data by taking in road width data from the road data storage means. Means and control means for changing the correction amount of the traveling azimuth of the vehicle based on the road width of the road at the current estimated position of the vehicle and causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle. It is characterized by that.
【００１５】同様に前記目的を達成するために、請求項
９記載の発明は、請求項１記載の車両走行方位算出装置
に対して、衛星からの電波により、車両に関する測定を
行うＧＰＳ受信手段と、該ＧＰＳ受信手段が測定した車
両の走行方位に基づいて、車両の走行方位の修正量を変
更して、前記走行方位修正手段に車両の走行方位の修正
を行わせる制御手段とが設けられていることを特徴とす
るものである。[0015] Similarly, in order to achieve the above-mentioned object, the invention according to claim 9 relates to the vehicle traveling direction calculation device according to claim 1, and GPS receiving means for measuring the vehicle by radio waves from a satellite. Control means for changing the correction amount of the traveling azimuth of the vehicle based on the traveling azimuth of the vehicle measured by the GPS receiving means so that the traveling azimuth correcting means corrects the traveling azimuth of the vehicle. It is characterized by being present.
【００１６】同様に前記目的を達成するために、請求項
１０記載の発明は、請求項１記載の車両走行方位算出装
置に対して、前記道路データ格納手段から道路情報の精
度データを取込む道路精度取得手段と、該道路精度取得
手段が取込んだ精度データに基づいて、車両の走行方位
の修正量を変更して、前記車両走行方位に車両の走行方
位の修正を行わせる制御手段とが設けられていることを
特徴とするものである。[0016] Similarly, in order to achieve the above object, the invention according to claim 10 relates to the vehicle traveling azimuth calculation device according to claim 1, wherein the road data storage means takes in accuracy data of road information. An accuracy acquisition unit and a control unit for changing the correction amount of the traveling azimuth of the vehicle based on the accuracy data captured by the road accuracy acquisition unit to make the traveling azimuth of the vehicle correct the traveling azimuth of the vehicle. It is characterized by being provided.
【００１７】[0017]
【作用】請求項１記載の発明では、車両走行方位算出手
段によって 車両走行時の角速度が積分されて車両の走
行方位が算出され、車両走行距離算出手段によって、車
両の走行速度が積分されて車両の走行距離が算出され、
走行方位の算出が行われる。この場合、車両走行距離算
出手段が算出した走行距離に基づいて、道路データ格納
手段から取込まれた道路データに対応する道路上で、道
路上位置移動手段によって、車両の現在推定位置が移動
され、車両の現在推定位置を移動させる道路に交差点或
いは分岐点があると、移動道路選択手段によって、交差
点或いは分岐点前後で、車両走行方位算出手段が算出し
た方位の方位差に従って、交差点或いは分岐点通過後に
現在推定位置を移動させる道路が選択される。According to the first aspect of the invention, the vehicle traveling azimuth calculating means integrates the angular velocity during traveling of the vehicle to calculate the traveling azimuth of the vehicle, and the vehicle traveling distance calculating means integrates the traveling speed of the vehicle. Is calculated,
The traveling direction is calculated. In this case, based on the traveling distance calculated by the vehicle traveling distance calculating means, the current estimated position of the vehicle is moved by the on-road position moving means on the road corresponding to the road data fetched from the road data storage means. If there is an intersection or a branch point on the road on which the current estimated position of the vehicle is to be moved, the moving road selection means determines the intersection or the branch point before and after the intersection or the branch point according to the bearing difference calculated by the vehicle running bearing calculation means. The road to which the current estimated position is moved after passing is selected.
【００１８】そして、走行方位修正手段によつて、車両
の走行方位と車両の推定位置が存在する道路の方位との
方位差に基づいて、車両走行方位算出手段が算出した車
両の走行方位が修正される。The traveling azimuth correcting means corrects the traveling azimuth of the vehicle calculated by the vehicle traveling azimuth calculating means on the basis of the azimuth difference between the traveling azimuth of the vehicle and the azimuth of the road on which the estimated position of the vehicle exists. To be done.
【００１９】請求項２記載の発明では、請求項１記載の
発明での作用に加えて、直線道路長算出手段によつて、
道路データ格納手段から取込んだ車両の現在推定位置前
後の道路の直線部分の長さが算出され、制御手段によっ
て、直線道路長算出手段が算出した道路の直線部分の長
さに基づいて、車両の走行方位の修正量が変更されて、
走行方位修正手段による車両の走行方位の修正が行われ
る。According to the invention of claim 2, in addition to the operation of the invention of claim 1, the straight road length calculating means
The length of the straight line portion of the road before and after the current estimated position of the vehicle fetched from the road data storage means is calculated, and the vehicle is calculated based on the length of the straight line portion of the road calculated by the straight road length calculation means by the control means. The correction amount of the traveling direction of has been changed,
The traveling azimuth correcting means corrects the traveling azimuth of the vehicle.
【００２０】請求項３記載の発明では、請求項１記載の
発明での作用に加えて、道路曲折量算出手段によって、
道路データ格納手段から取込んだ車両の現在推定位置前
後の道路の曲折量が算出され、制御手段によつて、走行
方位修正手段が算出した道路の曲折量に基づいて、車両
の走行方位の修正量が変更されて、走行方位修正手段に
よる車両の走行方位の修正が行われる。According to the invention of claim 3, in addition to the operation of the invention of claim 1, by the road turn amount calculating means,
The bend amount of the road before and after the current estimated position of the vehicle taken from the road data storage means is calculated, and the control means corrects the running direction of the vehicle based on the bend amount of the road calculated by the running direction correction means. The amount is changed, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２１】請求項４記載の発明では、請求項１記載の
発明での作用に加えて、制御手段によって、車両の走行
速度に基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われる。According to the invention of claim 4, in addition to the operation of the invention of claim 1, the control means changes the correction amount of the traveling direction of the vehicle on the basis of the traveling speed of the vehicle, and the traveling direction of the vehicle is changed. The traveling direction of the vehicle is corrected by the correction means.
【００２２】請求項５記載の発明では、請求項１記載の
発明での作用に加えて、方位変化量算出手段によって、
予め設定した所定期間の車両の方位変化量が算出され、
制御手段によって、該走行方位変化量に基づいて、車両
の走行方位の修正量が変更されて、走行方位修正手段に
よる車両の走行方位の修正が行われる。According to the invention of claim 5, in addition to the operation of the invention of claim 1, the azimuth change amount calculation means
The direction change amount of the vehicle for a predetermined period set in advance is calculated,
The control means changes the correction amount of the traveling azimuth of the vehicle based on the amount of change in the traveling azimuth, and the traveling azimuth correction means corrects the traveling azimuth of the vehicle.
【００２３】請求項６記載の発明では、請求項１記載の
発明での作用に加えて、交差点・道路数算出手段によっ
て、車両の現在推定位置周辺の交差点数と道路数の少な
くとも一方が算出され、制御手段によって、該車両の現
在推定位置周辺の交差点・道路数に基づいて、車両の走
行方位の修正量が変更されて、走行方位修正手段による
車両の走行方位の修正が行われる。According to the invention of claim 6, in addition to the operation of the invention of claim 1, at least one of the number of intersections and the number of roads around the current estimated position of the vehicle is calculated by the intersection / road number calculation means. The control unit changes the correction amount of the traveling azimuth of the vehicle based on the number of intersections / roads around the current estimated position of the vehicle, and the traveling azimuth correction unit corrects the traveling azimuth of the vehicle.
【００２４】請求項７記載の発明では、請求項１記載の
発明での作用に加えて、道路種別取得手段によって、道
路データ格納手段から道路種別データが取り込まれ、制
御手段によつて、車両の現在推定位置における道路の道
路種別に基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われる。According to the seventh aspect of the invention, in addition to the operation of the first aspect of the invention, the road type acquisition means fetches the road type data from the road data storage means, and the control means controls the vehicle The correction amount of the traveling direction of the vehicle is changed based on the road type of the road at the current estimated position, and the traveling direction of the vehicle is corrected by the traveling direction correction means.
【００２５】請求項８記載の発明では、請求項１記載の
発明での作用に加えて、道路幅員取得手段によつて、道
路データ格納手段から道路幅員データが取込まれ、制御
手段によって、車両の現在推定位置における道路の道路
幅員に基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われる。In the eighth aspect of the invention, in addition to the operation of the first aspect of the invention, the road width acquisition means fetches the road width data from the road data storage means, and the control means controls the vehicle width. Based on the road width of the road at the current estimated position, the correction amount of the traveling direction of the vehicle is changed, and the traveling direction of the vehicle is corrected by the traveling direction correcting means.
【００２６】請求項９記載の発明では、請求項１記載の
発明での作用に加えて、ＧＰＳ受信手段により車両の走
行方位データが測定され、制御手段によって、ＧＰＳ受
信手段により測定された車両の走行方位データに基づい
て、車両の走行方位の修正量が変更されて、走行方位修
正手段による車両の走行方位の修正が行われる。According to the ninth aspect of the present invention, in addition to the operation of the first aspect of the invention, the traveling direction data of the vehicle is measured by the GPS receiving means, and the vehicle of the vehicle measured by the GPS receiving means is measured by the control means. The correction amount of the traveling azimuth of the vehicle is changed based on the traveling azimuth data, and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means.
【００２７】請求項１０記載の発明では、請求項１記載
の発明での作用に加えて、道路精度取得手段によって、
道路データ格納手段から道路精度データが取込まれ、制
御手段によって、車両の現在推定位置における道路精度
データに基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われる。According to the invention of claim 10, in addition to the operation of the invention of claim 1, by the road accuracy acquisition means,
The road accuracy data is fetched from the road data storage means, the control means changes the correction amount of the traveling direction of the vehicle based on the road accuracy data at the current estimated position of the vehicle, and the traveling direction correction means drives the vehicle. The azimuth is corrected.
【００２８】[0028]
［第１の実施例］本発明の第１の実施例を、図１及び図
２を参照して説明する。[First Embodiment] A first embodiment of the present invention will be described with reference to FIGS.
【００２９】図１は本実施例の構成を示すブロック図、
図２は本実施例の動作を示す説明図である。FIG. 1 is a block diagram showing the configuration of this embodiment,
FIG. 2 is an explanatory diagram showing the operation of this embodiment.
【００３０】本実施例は、図１に示すように、車両のタ
イヤの回転に応じて車速パルスを出力する車速センサ２
０１に、検出した車速パルスに基づいて、車両の走行距
離を算出する車両走行距離算出手段２０２が接続されて
いる。また、車両の旋回の角速度を検出するジャイロを
使用した角速度センサ２０３が設けられ、この角速度セ
ンサ２０３には、検出した角速度を積分して車両の走行
方位を算出する車両走行方位算出手段２０４が接続され
ている。In the present embodiment, as shown in FIG. 1, a vehicle speed sensor 2 for outputting a vehicle speed pulse according to the rotation of the tire of the vehicle.
01 is connected to a vehicle travel distance calculation means 202 for calculating the travel distance of the vehicle based on the detected vehicle speed pulse. Further, an angular velocity sensor 203 using a gyro that detects the angular velocity of the turning of the vehicle is provided, and the angular velocity sensor 203 is connected to a vehicle traveling direction calculation means 204 that integrates the detected angular velocity to calculate the traveling direction of the vehicle. Has been done.
【００３１】一方、道路データが格納された道路データ
格納手段２０５が設けられ、この道路データ格納手段２
０５と、車両走行距離算出手段２０２とが、道路データ
格納手段２０５から取込んだ道路データの道路上を、車
両の現在推定位置を移動させる道路上位置移動手段２０
５に接続されている。On the other hand, a road data storage means 205 for storing road data is provided, and this road data storage means 2 is provided.
05 and the vehicle travel distance calculation means 202 move the current estimated position of the vehicle on the road of the road data fetched from the road data storage means 205.
Connected to 5.
【００３２】車両走行方位算出手段２０４には、車両の
現在推定位置を移動させている道路に、交差点或いは分
岐点が存在すると、交差点或いは分岐点の前後で車両走
行方位算出手段２０４が算出した方位に基づいて、交差
点或いは分岐点通過後の現在推定位置を移動させる道路
を選択する移動道路選択手段２０７が接続され、この移
動道路選択手段２０７には、道路データ格納手段２０５
も接続されている。If an intersection or a branch point exists on the road that is moving the current estimated position of the vehicle, the vehicle traveling direction calculation means 204 calculates the directions calculated by the vehicle traveling direction calculation means 204 before and after the intersection or the branch point. On the basis of the above, the moving road selecting means 207 for selecting the road to move the current estimated position after passing through the intersection or the branch point is connected to the moving road selecting means 207.
Is also connected.
【００３３】道路上位置移動手段２０６と、移動道路選
択手段２０７とには、道路上位置移動手段２０６からの
位置移動データと、移動道路選択手段２０７からの選択
データに基づいて、車両の現在位置を推定する現在推定
位置算出手段２０８が接続されている。The on-road position moving means 206 and the moving road selecting means 207 have the current position of the vehicle based on the position moving data from the on-road position moving means 206 and the selected data from the moving road selecting means 207. The current estimated position calculation means 208 for estimating the current position is connected.
【００３４】道路データ格納手段２０５、車両走行方位
算出手段２０４及び現在推定位置算出手段２０８は、車
両の走行方位と現在推定位置が存在する道路の方位との
方位差に従って、車両の走行方位を修正する車両走行方
位修正手段２０９に接続され、車両走行方位修正手段２
０９には、車両走行方位修正手段２０９によって走行方
位が修正された車両の走行方位を算出する走行方位算出
手段２１０が接続されている。The road data storage means 205, the vehicle traveling azimuth calculating means 204, and the current estimated position calculating means 208 correct the traveling azimuth of the vehicle according to the azimuth difference between the traveling azimuth of the vehicle and the azimuth of the road on which the current estimated position exists. Connected to the vehicle traveling direction correcting means 209, and the vehicle traveling direction correcting means 2
09 is connected to a traveling azimuth calculating means 210 for calculating the traveling azimuth of the vehicle whose traveling azimuth is corrected by the vehicle traveling azimuth correcting means 209.
【００３５】このような構成の本実施例の動作を説明す
る。先ず、図２（ａ），（ｂ）に示す車両の現在推定位
置１０１は、道路１０３上を道路上板移動手段２０６の
動作によって移動する。道路１０３に交差点或いは分岐
点があった場合は、車両走行方位算出手段２０４が算出
した車両走行方位データ１０２に基づいて、移動道路選
択手段２０７が、どの道路上に現在推定位置を置くかの
判定をし、現在推定位置算出手段２０８によつて、車両
の現在位置が推定される。The operation of this embodiment having such a configuration will be described. First, the current estimated position 101 of the vehicle shown in FIGS. 2A and 2B moves on the road 103 by the operation of the road upper plate moving means 206. When there is an intersection or a branch point on the road 103, the moving road selecting means 207 determines on which road the current estimated position should be placed based on the vehicle traveling direction data 102 calculated by the vehicle traveling direction calculating means 204. Then, the current estimated position calculating means 208 estimates the current position of the vehicle.
【００３６】車両走行方位修正手段２０９では、車両走
行方位データ１０２と道路データ格納手段２０５から取
り込んだ道路１０３の道路方位データとの方位差を求
め、得られた方位差データに修正率を乗じた値を修正量
として演算し、車両走行方位算出手段２１０が演算され
た修正量データに基づいて、車両の走行方位１０４を演
算する。この手順を道路上を走行しながら繰り返すこと
によって、車両走行方位の方位誤差の発生を抑えてい
る。この時、車両の現在位置の求め方としては、走行距
離と走行方位から走行軌跡を求め、最も走行軌跡と道路
形状が一致する場所を現在推定位置としてもよく、方位
の修正量として予め定められた修正量を使用してもよ
い。The vehicle running azimuth correcting means 209 obtains the azimuth difference between the vehicle running azimuth data 102 and the road azimuth data of the road 103 fetched from the road data storage means 205, and the obtained azimuth difference data is multiplied by the correction rate. The value is calculated as the correction amount, and the vehicle traveling direction calculation means 210 calculates the traveling direction 104 of the vehicle based on the calculated correction amount data. By repeating this procedure while traveling on the road, the occurrence of heading error in the vehicle heading is suppressed. At this time, as a method of obtaining the current position of the vehicle, a traveling locus may be obtained from the traveling distance and the traveling azimuth, and a location where the traveling locus and the road shape are most coincident may be set as the current estimated position, which is predetermined as a correction amount of the azimuth. Modified amounts may be used.
【００３７】このようにして、本実施例によると、角速
度に検出誤差が存在しても、車両の高精度の走行方位の
算出が可能になる。As described above, according to this embodiment, even if there is a detection error in the angular velocity, it is possible to calculate the traveling direction of the vehicle with high accuracy.
【００３８】［第２の実施例］本発明の第２の実施例
を、図３を参照して説明する。[Second Embodiment] A second embodiment of the present invention will be described with reference to FIG.
【００３９】図３は本実施例の構成を示すブロック図で
ある。本実施例は、図３に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データに基づいて、直線道路
長を算出する直線道路長算出手段３０１が接続されてい
る。FIG. 3 is a block diagram showing the configuration of this embodiment. As shown in FIG. 3, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. The straight road length calculating means 301 for calculating the straight road length based on the stored data of is connected.
【００４０】そして、本実施例では、車両走行方位修正
手段２０９が、直線道路長算出手段３０１からの道路長
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In the present embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the road length data from the straight road length calculating means 301 to change the traveling direction of the vehicle. It has the function of making corrections.
【００４１】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００４２】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を直線道路長算出手段３０１が算出
した現在推定位置がある道路の直線部分の長さの関数と
して算出する。例えば、車両走行方位データ１０２と道
路１０３の方位との方位差を求め、求めた方位差に直線
部分の長さを予め定めた値で除した値を乗じて方位修正
量を求める。ここで、道路の直線部分の長さとしては、
現在推定位置の前後の道路の曲折点の間の距離が算出さ
れる。この場合、道路の曲折角度が予め定めた値に満た
ない場合には、直線と見做される。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction means 209 calculates the azimuth correction amount as a function of the length of the straight line portion of the road having the current estimated position calculated by the straight road length calculation means 301 when calculating the azimuth correction amount. For example, the azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by the value obtained by dividing the length of the straight line portion by a predetermined value. Here, as the length of the straight part of the road,
The distance between the turning points of the road before and after the current estimated position is calculated. In this case, when the bend angle of the road is less than a predetermined value, it is regarded as a straight line.
【００４３】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路の直線部分の長
さが長いほど、方位修正量或いは修正率を高くすると、
角速度誤差が大きくても、速やかに方位誤差増大分を修
正することが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment of, the longer the straight line portion of the road, the higher the direction correction amount or correction rate,
Even if the angular velocity error is large, it is possible to promptly correct the increased azimuth error.
【００４４】［第３の実施例］本発明の第３の実施例
を、図４を参照して説明する。[Third Embodiment] A third embodiment of the present invention will be described with reference to FIG.
【００４５】図３は本実施例の構成を示すブロック図で
ある。本実施例は、図４に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データから、道路曲折量を算
出する道路曲折量算出手段４０１が接続されている。FIG. 3 is a block diagram showing the configuration of this embodiment. As shown in FIG. 4, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. A road turn amount calculation means 401 for calculating the road turn amount from the stored data of is connected.
【００４６】そして、本実施例では、車両走行方位修正
手段２０９が、道路曲折量算出手段４０１からの曲折量
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in this embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the bending amount data from the road bending amount calculating means 401 to determine the traveling direction of the vehicle. It has the function of making corrections.
【００４７】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００４８】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路曲折量算出手段４０１が算出
した現在推定位置がある道路の前後の曲折量の関数とし
て算出する。例えば、車両走行方位データ１０２と道路
１０３の方位との方位差を求め、求めた方位差に予め定
めた値を、道路曲折量で除した値を乗じて方位修正量を
求める。ここで、道路の曲折量としては、現在推定位置
の前後の所定距離間の道路の方位の最も離れた道路間の
方位差を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the amount of bend before and after the road having the current estimated position calculated by the road bend amount calculation unit 401 when calculating the amount of azimuth correction. For example, the azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by a value obtained by dividing the predetermined value by the road bend amount. Here, as the amount of bend of the road, the heading difference between the furthest roads of the road headings for a predetermined distance before and after the current estimated position is obtained.
【００４９】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路の曲折量の大き
いほど、方位修正量或いは修正率を低くすると、誤った
方位への修正量を少なくすることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, if the direction correction amount or the correction ratio is decreased as the road bend amount is larger, the correction amount to the wrong direction can be reduced.
【００５０】［第４の実施例］本発明の第４の実施例
を、図５を参照して説明する。[Fourth Embodiment] A fourth embodiment of the present invention will be described with reference to FIG.
【００５１】図５は本実施例の構成を示すブロック図で
ある。本実施例は、図５に示すように、すでに図１を参
照して説明した第１の実施例に対して、車速センサ２０
１と車両走行方位修正手段２０９間に、車両の走行速度
を検出する走行速度検出手段５０１が接続されている。FIG. 5 is a block diagram showing the configuration of this embodiment. As shown in FIG. 5, this embodiment is different from the first embodiment already described with reference to FIG.
1 and the vehicle traveling direction correcting means 209, a traveling speed detecting means 501 for detecting the traveling speed of the vehicle is connected.
【００５２】そして、本実施例では、車両走行方位修正
手段２０９が、走行速度検出手段５０１からの走行速度
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In this embodiment, the vehicle traveling direction correcting means 209 changes the traveling direction correcting amount of the vehicle based on the traveling speed data from the traveling speed detecting means 501 to correct the traveling direction of the vehicle. Has the function of performing.
【００５３】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００５４】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を走行速度検出手段５０１が算出し
た車両の走行速度の関数として算出する。例えば、車両
走行方位データ１０２と道路１０３の方位との方位差を
求め、求めた方位差に走行速度を予め定めた所定値で除
した値を乗じて方位修正利用を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the traveling speed of the vehicle calculated by the traveling speed detection unit 501 when calculating the azimuth correction amount. For example, the azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the obtained azimuth difference is multiplied by a value obtained by dividing the traveling speed by a predetermined value to obtain the azimuth correction use.
【００５５】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、走行速度が大きいほ
ど方位修正量或いは修正のつを高くすると、角速度誤差
が大きくても、速やかに方位誤差増大分を修正すること
が可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, if the azimuth correction amount or one of the corrections is increased as the traveling speed increases, the azimuth error increase can be promptly corrected even if the angular velocity error is large.
【００５６】［第５の実施例］本発明の第５の実施例
を、図６を参照して説明する。[Fifth Embodiment] A fifth embodiment of the present invention will be described with reference to FIG.
【００５７】図６は本実施例の構成を示すブロック図で
ある。本実施例は、図６に示すように、すでに図１を参
照して説明した第１の実施例に対して、車両走行方位算
出手段２０４と車両走行方位修正手段２０９との間に、
車両走行方位算出手段２０４からの走行方位データか
ら、方位変化量を算出する方位変化量算出手段６０１が
接続されている。FIG. 6 is a block diagram showing the configuration of this embodiment. As shown in FIG. 6, this embodiment is different from the first embodiment already described with reference to FIG. 1 between the vehicle traveling azimuth calculating means 204 and the vehicle traveling azimuth correcting means 209.
An azimuth change amount calculating means 601 for calculating the azimuth change amount from the running azimuth data from the vehicle running azimuth calculating means 204 is connected.
【００５８】そして、本実施例では、車両走行方位修正
手段２０９が、方位変化量算出手段手段６０１からの方
位変化量データに基づいて、車両の走行方位の修正量を
変更して、車両の走行方位の修正を行う機能を有してい
る。In this embodiment, the vehicle traveling azimuth correcting means 209 changes the traveling azimuth correction amount of the vehicle based on the azimuth variation amount data from the azimuth variation calculating means 601 to drive the vehicle. It has the function of correcting the azimuth.
【００５９】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００６０】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を方位変化量算出手段６０１が算出
した車両の方位変化量の関数として算出する。例えば、
車両走行方位データ１０２と道路１０３の方位との方位
差を求め、求めた方位差に予め定めた値を方位修正量で
除した値を乗じて方位修正量を求める。ここで、車両の
方位修正量としては、一定時間前までの方位で最も離れ
た走行方位間の方位差を求める。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the azimuth change amount of the vehicle calculated by the azimuth change amount calculation unit 601 when calculating the azimuth correction amount. For example,
The azimuth difference between the vehicle traveling azimuth data 102 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by a value obtained by dividing a predetermined value by the azimuth correction amount. Here, as the azimuth correction amount of the vehicle, the azimuth difference between the most distant travel azimuths in the azimuth until a predetermined time is obtained.
【００６１】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、車両の走行方位変化
量が大きいほど、方位修正量或いは修正率を低くする
と、誤った方位への修正量を少なくすることが可能にな
る。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, the larger the traveling azimuth change amount of the vehicle is, the lower the azimuth correction amount or the correction rate is, so that the correction amount to the wrong azimuth can be reduced.
【００６２】［第６の実施例］本発明の第６の実施例
を、図７を参照して説明する。[Sixth Embodiment] A sixth embodiment of the present invention will be described with reference to FIG.
【００６３】図７は本実施例の構成を示すブロック図で
ある。本実施例は、図７に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の格納データから、交差点数及び道
路数を算出する交差点数道路数算出手段７０１が接続さ
れている。FIG. 7 is a block diagram showing the configuration of this embodiment. As shown in FIG. 7, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. An intersection number road number calculation means 701 for calculating the number of intersections and the number of roads from the stored data is connected.
【００６４】そして、本実施例では、車両走行方位修正
手段２０９が、交差点数道路数算出手段７０１からの交
差点数及び道路数データに基づいて、車両の走行方位の
修正量を変更して、車両の走行方位の修正を行う機能を
有している。In this embodiment, the vehicle traveling direction correction means 209 changes the amount of correction of the traveling direction of the vehicle based on the number of intersections and the number of roads data from the number of intersections road number calculation means 701 to change the vehicle traveling direction. It has a function to correct the traveling direction of.
【００６５】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００６６】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を交差点数道路数算出手段７０１が
算出した車両の現在位置周囲の交差点数或いは道路数の
関数として算出する。例えば、車両走行方位データ１０
２と道路１０３の方位との方位差を求め、求めた方位差
に交差点数を予め定めた値で除した値を乗じて方位修正
量を求める。ここで、車両の現在推定位置周囲の交差点
数としては、現在推定位置からの距離が一定距離以内の
交差点の数を計数する。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount as a function of the number of intersections or the number of roads around the current position of the vehicle calculated by the number of intersections road number calculation unit 701 when calculating the amount of correction of the azimuth. For example, the vehicle traveling direction data 10
The azimuth difference between 2 and the azimuth of the road 103 is obtained, and the azimuth correction amount is obtained by multiplying the obtained azimuth difference by the number of intersections divided by a predetermined value. Here, as the number of intersections around the current estimated position of the vehicle, the number of intersections within a certain distance from the current estimated position is counted.
【００６７】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、周辺の交差点数或い
は道路数が多いほど、方位修正量或いは修正率を低くす
ると、誤った方位への修正量を少なくすることが可能に
なる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, as the number of intersections or the number of roads in the vicinity increases, the azimuth correction amount or the correction rate is lowered, so that the correction amount for an incorrect azimuth can be reduced.
【００６８】［第７の実施例］本発明の第７の実施例
を、図８を参照して説明する。[Seventh Embodiment] A seventh embodiment of the present invention will be described with reference to FIG.
【００６９】図８は本実施例の構成を示すブロック図で
ある。本実施例は、図８に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両走行方位修正手段２０９間に、道路デ
ータ格納手段２０５の道路データから道路種別データを
取込む道路種別取得手段８０１が接続されている。FIG. 8 is a block diagram showing the structure of this embodiment. As shown in FIG. 8, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle traveling direction correction means 209. A road type acquisition unit 801 for taking in road type data from the road data is connected.
【００７０】そして、本実施例では、車両走行方位修正
手段２０９が、道路種別取得手段８０１からの道路種別
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。In the present embodiment, the vehicle traveling direction correcting means 209 corrects the traveling direction of the vehicle by changing the correction amount of the traveling direction of the vehicle based on the road type data from the road type acquiring means 801. Has the function of performing.
【００７１】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００７２】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路種別取得手段８０１が取得し
た道路種別に基づいて変更する。例えば、道路種別が高
速道路、国道などの主要道路を示す場合には方位修正量
を増やし、その他の道路の場合には方位修正量を減ら
す。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 changes the azimuth correction amount based on the road type acquired by the road type acquisition unit 801 when the correction amount of the azimuth is calculated. For example, if the road type indicates a main road such as a highway or a national road, the direction correction amount is increased, and if the road type is any other road, the direction correction amount is decreased.
【００７３】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路種別が高速道路
或いは国道、県道などの主要道路である場合には、方位
修正量或いは修正率を高くして、角速度誤差が大きくて
も、速やかに方位誤差増大分を修正することが可能にな
り、その他の道路種別の場合には、方位修正量或いは修
正率を低くして、誤った方位への方位修正量を低く抑え
ることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment of, when the road type is a highway or a main road such as a national road or a prefectural road, the azimuth correction amount or the correction rate is increased to promptly increase the angular velocity error. It is possible to correct the increase in azimuth error, and in the case of other road types, it is possible to reduce the azimuth correction amount or the correction rate to suppress the azimuth correction amount to the wrong azimuth.
【００７４】［第８の実施例］本発明の第８の実施例
を、図９を参照して説明する。[Eighth Embodiment] An eighth embodiment of the present invention will be described with reference to FIG.
【００７５】図９は本実施例の構成を示すブロック図で
ある。本実施例は、図９に示すように、すでに図１を参
照して説明した第１の実施例に対して、道路データ格納
手段２０５と車両幅員取得手段９０１間に、道路データ
格納手段２０５に格納された道路データから、道路幅員
データを取込む道路幅員取得手段９０１が接続されてい
る。FIG. 9 is a block diagram showing the structure of this embodiment. As shown in FIG. 9, this embodiment is different from the first embodiment already described with reference to FIG. 1 in that the road data storage means 205 is provided between the road data storage means 205 and the vehicle width acquisition means 901. A road width acquisition means 901 for taking in road width data from the stored road data is connected.
【００７６】そして、本実施例では、車両走行方位修正
手段２０９が、道路幅員取得手段９０１からの道路種別
データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in this embodiment, the vehicle traveling azimuth correcting unit 209 changes the amount of correction of the traveling azimuth of the vehicle based on the road type data from the road width acquisition unit 901 to correct the traveling azimuth of the vehicle. Has the function of performing.
【００７７】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００７８】とのような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路幅員取得手段９０１が取込ん
だ道路幅員に基づいて変更する。例えば、道路幅員が予
め定めた値以上であれば方位修正量を増やし、予め定め
た値以下であれば、方位修正量を減少する。The operation of this embodiment having the above configuration will be described. The vehicle traveling azimuth correction unit 209 changes the azimuth correction amount based on the road width acquired by the road width acquisition unit 901 when calculating the correction amount of the azimuth. For example, if the road width is greater than or equal to a predetermined value, the direction correction amount is increased, and if the road width is less than or equal to the predetermined value, the direction correction amount is decreased.
【００７９】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路幅員が大きいほ
ど方位修正量或いは修正率を高くすることにより、角速
度誤差が大きくても、速やかに方位誤差増大分を修正す
ることが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, by increasing the azimuth correction amount or the correction rate as the road width increases, it becomes possible to quickly correct the increase in the azimuth error even if the angular velocity error is large.
【００８０】［第９の実施例］本発明の第９の実施例
を、図１０を参照して説明する。[Ninth Embodiment] A ninth embodiment of the present invention will be described with reference to FIG.
【００８１】図１０は本実施例の構成を示すブロック図
である。本実施例は、図１０に示すように、すでに図１
を参照して説明した第１の実施例に対して、衛星の電波
から車両に関する測定を行うＧＰＳ受信機１００１が設
けられ、ＧＰＳ受信機１００１には、ＧＰＳ受信機１０
０１からのデータに基づいて、車両の方位を算出するＧ
ＰＳ方位算出手段１００２が接続され、ＧＰＳ方位算出
手段１００２は、車両走行方位修正手段２０９に接続さ
れている。FIG. 10 is a block diagram showing the configuration of this embodiment. As shown in FIG. 10, this embodiment is already shown in FIG.
In contrast to the first embodiment described with reference to FIG. 1, a GPS receiver 1001 for measuring the vehicle from satellite radio waves is provided, and the GPS receiver 1001 includes the GPS receiver 10
G to calculate the direction of the vehicle based on the data from 01
The PS azimuth calculation means 1002 is connected, and the GPS azimuth calculation means 1002 is connected to the vehicle traveling azimuth correction means 209.
【００８２】そして、本実施例では、車両走行方位修正
手段２０９が、ＧＰＳ方位算出手段１００１からのＧＰ
Ｓ方位データに基づいて、車両の走行方位の修正量を変
更して、車両の走行方位の修正を行う機能を有してい
る。Then, in this embodiment, the vehicle traveling azimuth correcting means 209 makes the GP from the GPS azimuth calculating means 1001.
It has a function of correcting the traveling direction of the vehicle by changing the correction amount of the traveling direction of the vehicle based on the S direction data.
【００８３】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The configuration of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００８４】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、車両走行方位データ１０２とＧＰＳ方位算出手
段１００２が算出したＧＰＳ方位との方位差に基づい
て、車両の走行方位の修正量を変更して、車両の走行方
位の修正を行っている。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 changes the amount of correction of the traveling azimuth of the vehicle based on the azimuth difference between the vehicle traveling azimuth data 102 and the GPS azimuth calculated by the GPS azimuth calculation unit 1002 when calculating the azimuth correction amount. Then, the traveling direction of the vehicle is corrected.
【００８５】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、方位誤差増大を早期
に修正し、誤った方位への修正を抑えることが可能にな
る。Thus, according to this embodiment, the first
In addition to the effect obtained in the above embodiment, it becomes possible to quickly correct the increase in the azimuth error and suppress the correction to the wrong azimuth.
【００８６】［第１０の実施例］本発明の第１０の実施
例を、図１１を参照して説明する。[Tenth Embodiment] A tenth embodiment of the present invention will be described with reference to FIG.
【００８７】図１１は本実施例の構成を示すブロック図
である。本実施例は、図１１に示すように、道路データ
格納手段２０５と車両走行方位修正手段２０９との間
に、道路データ格納手段２０５に格納された道路データ
から、道路精度データを取込む道路精度取得手段１１０
３が接続されている。FIG. 11 is a block diagram showing the structure of this embodiment. In the present embodiment, as shown in FIG. 11, the road accuracy that takes in road accuracy data from the road data stored in the road data storage means 205 between the road data storage means 205 and the vehicle traveling direction correction means 209. Acquisition means 110
3 is connected.
【００８８】そして、本実施例では、車両走行方位修正
手段２０９が、道路精度取得手段１００３からの道路精
度データに基づいて、車両の走行方位の修正量を変更し
て、車両の走行方位の修正を行う機能を有している。Then, in the present embodiment, the vehicle traveling azimuth correcting means 209 changes the traveling azimuth of the vehicle based on the road accuracy data from the road accuracy obtaining means 1003 to correct the traveling azimuth of the vehicle. Has the function of performing.
【００８９】本実施例のその他の部分の構成は、すでに
図１を参照して説明した第１の実施例と同一である。The structure of the other parts of this embodiment is the same as that of the first embodiment already described with reference to FIG.
【００９０】このような構成の本実施例の動作を説明す
る。車両走行方位修正手段２０９は、方位の修正量の算
出時に、方位修正量を道路精度取得手段１１０３から取
得した道路精度に基づいて算出する。例えば、道路情報
が予め定めた値以上であれば、方位修正量を増やし、予
め定めた値以下であれば、方位修正量を減らす。道路精
度としては、道路データの作成に使用された原図の縮尺
が使用される。The operation of this embodiment having such a configuration will be described. The vehicle traveling azimuth correction unit 209 calculates the azimuth correction amount based on the road accuracy acquired from the road accuracy acquisition unit 1103 when the correction amount of the azimuth is calculated. For example, if the road information is a predetermined value or more, the azimuth correction amount is increased, and if it is less than the predetermined value, the azimuth correction amount is decreased. As the road accuracy, the scale of the original map used to create the road data is used.
【００９１】このようにして、本実施例によると、第１
の実施例で得られる効果に加えて、道路精度が高いほど
方位修正量或いは修正率を高くすることにより、角速度
誤差が大きくても、速やかに方位誤差増大分を修正する
ことが可能になる。Thus, according to this embodiment, the first
In addition to the effect obtained in the embodiment described above, by increasing the azimuth correction amount or the correction rate as the road accuracy is higher, it is possible to quickly correct the increase in the azimuth error even if the angular velocity error is large.
【００９２】[0092]
【発明の効果】請求項１記載の発明によると、車両走行
方位算出手段により、車両走行時の角速度が積分されて
車両の走行方位が算出され、車両走行距離算出手段によ
り、車両の走行速度が積分されて車両の走行距離が算出
され、車両走行距離算出手段が算出した走行距離に基づ
いて、道路データ格納手段から取込まれた道路データに
対応する道路上で、道路上位置移動手段により、車両の
現在推定位置が移動され、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、移動道路選択
手段により、交差点或いは分岐点前後で、車両走行方位
算出手段が算出した方位の方位差に基づいて、交差点或
いは分岐点通過後に現在推定位置を移動させる道路が選
択され、走行方位修正手段により、車両の走行方位と車
両の推定位置が存在する道路の方位との方位差に従っ
て、車両の走行方位が修正されるので、車両の高精度の
走行方位の算出が可能になる。According to the first aspect of the invention, the vehicle traveling direction calculating means calculates the traveling direction of the vehicle by integrating the angular velocity during traveling of the vehicle, and the vehicle traveling distance calculating means calculates the traveling speed of the vehicle. The mileage of the vehicle is calculated by integration, based on the mileage calculated by the vehicle mileage calculation means, on the road corresponding to the road data taken from the road data storage means, by the on-road position moving means, When the current estimated position of the vehicle is moved and there is an intersection or a branch point on the road on which the current estimated position of the vehicle is moved, the moving road selection means determines the direction calculated by the vehicle traveling direction calculation means before and after the intersection or the branch point. A road on which the current estimated position is moved after passing through an intersection or a branch point is selected based on the heading difference, and the traveling direction correction means determines the traveling direction of the vehicle and the estimated position of the vehicle. Accordance orientation difference between the orientation of the road, since running direction of the vehicle is corrected, it is possible to calculate the traveling direction of the high precision of the vehicle.
【００９３】請求項２記載の発明によると、請求項１記
載の発明で得られる効果に加えて、直線道路長算出手段
により、道路データ格納手段から取込んだ車両の現在推
定位置前後の道路の直線部分の長さが算出され、制御手
段によって、直線道路長算出手段が算出した道路の直線
部分の長さに基づいて、車両の走行方位の修正量が変更
されて、走行方位修正手段による車両の走行方位の修正
が行われるので、道路の直線部分の長さが長いほど、方
位修正量或いは修正率を高くすると、角速度誤差が大き
くても、速やかに方位誤差増大分を修正することが可能
になる。According to the invention described in claim 2, in addition to the effect obtained in the invention described in claim 1, the straight road length calculating means detects the roads before and after the current estimated position of the vehicle taken from the road data storing means. The length of the straight line portion is calculated, and the correction amount of the traveling direction of the vehicle is changed by the control means based on the length of the straight line portion of the road calculated by the straight road length calculation means. Since the travel azimuth is corrected, the longer the length of the straight part of the road, the higher the azimuth correction amount or the correction rate can correct the increase in the azimuth error even if the angular velocity error is large. become.
【００９４】請求項３記載の発明によると、請求項１記
載の発明で得られる効果に加えて、道路曲折量算出手段
により、道路データ格納手段から取込んだ車両の現在推
定位置前後の道路の曲折量が算出され、制御手段によつ
て、走行方位修正手段が算出した道路の曲折量に基づい
て、車両の走行方位の修正量が変更されて、走行方位修
正手段による車両の走行方位の修正が行われるので、道
路の曲折量の大きいほど、方位修正量或いは修正率を低
くすると、誤った方位への修正量を少なくすることが可
能になる。According to the third aspect of the invention, in addition to the effect obtained by the first aspect of the invention, the road turn amount calculation means causes the roads before and after the current estimated position of the vehicle fetched from the road data storage means to be detected. The amount of bending is calculated, and the control means changes the correction amount of the traveling azimuth of the vehicle based on the amount of bending of the road calculated by the traveling azimuth correcting means, and the traveling azimuth correcting means corrects the traveling azimuth of the vehicle. Therefore, if the azimuth correction amount or the correction rate is lowered as the road bend amount is larger, the correction amount to the wrong azimuth can be reduced.
【００９５】請求項４記載の発明によると、請求項１記
載の発明で得られる効果に加えて、制御手段によって、
車両の走行速度に基づいて、車両の走行方位の修正量が
変更されて、走行方位修正手段による車両の走行方位の
修正が行われるので、走行速度が大きいほど方位修正量
或いは修正率を高くすると、角速度誤差が大きくても、
速やかに方位誤差増大分を修正することが可能になる。According to the invention described in claim 4, in addition to the effect obtained by the invention described in claim 1, by the control means,
Since the correction amount of the traveling azimuth of the vehicle is changed based on the traveling speed of the vehicle and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the higher the traveling speed, the higher the azimuth correction amount or the correction rate becomes. , Even if the angular velocity error is large,
It is possible to promptly correct the increased azimuth error.
【００９６】請求項５記載の発明によると、請求項１記
載の発明で得られる効果に加えて、方位変化量算出手段
により、予め設定した所定期間の車両の方位変化量が算
出され、制御手段によって、該走行方位変化量に基づい
て、車両の走行方位の修正量が変更されて、走行方位修
正手段による車両の走行方位の修正が行われるので、車
両の走行方位変化量が大きいほど、方位修正量或いは修
正率を低くすると、誤った方位への修正量を少なくする
ことが可能になる。According to the invention of claim 5, in addition to the effect obtained by the invention of claim 1, the azimuth change amount calculating means calculates the azimuth change amount of the vehicle for a preset predetermined period, and the control means The traveling azimuth change amount of the vehicle is changed based on the traveling azimuth variation amount, and the traveling azimuth correction unit corrects the traveling azimuth of the vehicle. When the correction amount or the correction rate is lowered, it is possible to reduce the correction amount in the wrong direction.
【００９７】請求項６記載の発明によると、請求項１記
載の発明で得られる効果に加えて、交差点・道路数算出
手段により、車両の現在推定位置周辺の交差点数と道路
数の少なくとも一方が算出され、制御手段によって、該
車両の現在推定位置周辺の交差点・道路数に基づいて、
車両の走行方位の修正量が変更されて、走行方位修正手
段による車両の走行方位の修正が行われるので、周辺の
交差点数或いは道路数が多いほど、方位修正量或いは修
正率を低くすると、誤った方位への修正量を少なくする
ことが可能になる。According to the invention of claim 6, in addition to the effect obtained by the invention of claim 1, at least one of the number of intersections and the number of roads around the current estimated position of the vehicle is calculated by the intersection / road number calculation means. Calculated, by the control means, based on the number of intersections and roads around the current estimated position of the vehicle,
Since the correction amount of the traveling azimuth of the vehicle is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the lower the azimuth correction amount or the correction rate is as the number of intersections or the number of roads in the vicinity is, It is possible to reduce the correction amount to the correct azimuth.
【００９８】請求項７記載の発明によると、請求項１記
載の発明で得られる効果に加えて、道路種別取得手段に
より、車両の現在推定位置の道路種別データが取込ま
れ、制御手段によつて、車両の現在推定位置における道
路の道路種別に基づいて、車両の走行方位の修正量が変
更されて、走行方位修正手段による車両の走行方位の修
正が行われるので、道路種別が高速道路或いは国道、県
道などの主要道路である場合には、方位修正量或いは修
正率を高くして、角速度誤差が大きくても、速やかに方
位誤差増大分を修正することが可能になり、その他の道
路種別の場合には、方位修正量或いは修正率を低くし
て、誤った方位への方位修正量を低く抑えることが可能
になる。According to the invention of claim 7, in addition to the effect obtained by the invention of claim 1, the road type acquisition means fetches the road type data of the current estimated position of the vehicle, and the control means Then, the correction amount of the traveling direction of the vehicle is changed based on the road type of the road at the current estimated position of the vehicle, and the traveling direction of the vehicle is corrected by the traveling direction correcting means. If the road is a major road such as a national highway or prefectural road, the direction correction amount or correction rate can be increased to quickly correct the increase in the direction error even if the angular velocity error is large. In this case, the azimuth correction amount or the correction rate can be lowered to suppress the azimuth correction amount to the wrong azimuth.
【００９９】請求項８記載の発明によると、請求項１記
載の発明で得られる効果に加えて、道路幅員取得手段に
より、車両の現在推定位置の道路幅員データが取込ま
れ、制御手段によって、車両の現在推定位置における道
路の道路幅員に基づいて、車両の走行方位の修正量を変
更されて、走行方位修正手段による車両の走行方位の修
正が行われるので、道路幅員が大きいほど方位修正量或
いは修正率を高くすることにより、角速度誤差が大きく
ても、速やかに方位誤差増大分を修正することが可能に
なる。According to the invention described in claim 8, in addition to the effect obtained by the invention described in claim 1, the road width data of the current estimated position of the vehicle is taken in by the road width acquisition means, and by the control means, The correction amount of the traveling direction of the vehicle is changed based on the road width of the road at the current estimated position of the vehicle, and the traveling direction of the vehicle is corrected by the traveling direction correction means. Alternatively, by increasing the correction rate, even if the angular velocity error is large, it is possible to quickly correct the increase in the azimuth error.
【０１００】請求項９記載の発明によると、請求項１記
載の発明で得られる効果に加えて、ＧＰＳ受信手段によ
り車両の走行方位データが測定され、制御手段によっ
て、ＧＰＳ受信手段により測定された車両の走行方位デ
ータに基づいて、車両の走行方位の修正量が変更され
て、走行方位修正手段による車両の走行方位の修正が行
われるので、車両の方位誤差増大を早期に修正し、誤っ
た方位への修正を抑えることが可能になる。According to the invention of claim 9, in addition to the effect obtained by the invention of claim 1, the traveling direction data of the vehicle is measured by the GPS receiving means and measured by the GPS receiving means by the control means. The correction amount of the traveling direction of the vehicle is changed based on the traveling direction data of the vehicle, and the traveling direction of the vehicle is corrected by the traveling direction correcting means. It becomes possible to suppress the correction to the azimuth.
【０１０１】請求項１０記載の発明によると、請求項１
記載の発明で得られる効果に加えて、道路精度取得手段
によって、道路データ格納手段から道路精度データが取
込まれ、制御手段によって、車両の現在推定位置におけ
る道路精度データに基づいて、車両の走行方位の修正量
が変更されて、走行方位修正手段による車両の走行方位
の修正が行われるので、道路精度が高いほど方位修正量
或いは修正率を高くすることにより、角速度誤差が大き
くても、速やかに方位誤差増大分を修正することが可能
になる。According to the invention of claim 10, claim 1
In addition to the effects obtained by the invention described above, the road accuracy acquisition means fetches road accuracy data from the road data storage means, and the control means drives the vehicle based on the road accuracy data at the current estimated position of the vehicle. Since the correction amount of the azimuth is changed and the traveling azimuth of the vehicle is corrected by the traveling azimuth correcting means, the azimuth correction amount or the correction rate is increased as the road accuracy is higher, so that the angular velocity error can be promptly increased. It is possible to correct the increase in azimuth error.
【図１】本発明の第１の実施例の構成を示すブロック図FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention.
【図２】（ａ），（ｂ）同実施例の動作を示す説明図2A and 2B are explanatory views showing the operation of the embodiment.
【図３】本発明の第２の実施例の構成を示すブロック図FIG. 3 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.
【図４】本発明の第３の実施例の構成を示すブロック図FIG. 4 is a block diagram showing a configuration of a third exemplary embodiment of the present invention.
【図５】本発明の第４の実施例の構成を示すブロック図FIG. 5 is a block diagram showing a configuration of a fourth exemplary embodiment of the present invention.
【図６】本発明の第５の実施例の構成を示すブロック図FIG. 6 is a block diagram showing a configuration of a fifth exemplary embodiment of the present invention.
【図７】本発明の第６の実施例の構成を示すブロック図FIG. 7 is a block diagram showing a configuration of a sixth exemplary embodiment of the present invention.
【図８】本発明の第７の実施例の構成を示すブロック図FIG. 8 is a block diagram showing the configuration of a seventh embodiment of the present invention.
【図９】本発明の第８の実施例の構成を示すブロック図FIG. 9 is a block diagram showing the configuration of an eighth embodiment of the present invention.
【図１０】本発明の第９の実施例の構成を示すブロック
図FIG. 10 is a block diagram showing the configuration of a ninth embodiment of the present invention.
【図１１】本発明の第９の実施例の構成を示すブロック
図FIG. 11 is a block diagram showing a configuration of a ninth embodiment of the present invention.
２０１ 車速センサ ２０２ 車両走行距離算出手段 ２０３ 角速度センサ ２０４ 車両走行方位算出手段 ２０５ 道路データ格納手段 ２０６ 道路上位置移動手段 ２０７ 移動道路選択手段 ２０８ 現在推定位置算出手段 ２０９ 車両走行方位修正手段 ２１０ 車両走行方位算出手段 ３０１ 直線道路長算出手段 ４０１ 道路曲折量算出手段 ５０１ 走行速度検出手段 ６０１ 方位変化量算出手段 ７０１ 交差点数道路数算出手段 ８０１ 道路種別取得手段 ９０１ 道路幅員取得手段 １００１ ＧＰＳ受信機 １００２ ＧＰＳ方位算出手段 １００３ 道路精度取得手段 201 vehicle speed sensor 202 vehicle traveling distance calculating means 203 angular velocity sensor 204 vehicle traveling direction calculating means 205 road data storing means 206 road position moving means 207 moving road selecting means 208 current estimated position calculating means 209 vehicle traveling direction correcting means 210 vehicle traveling direction Calculation means 301 Straight road length calculation means 401 Road bend amount calculation means 501 Travel speed detection means 601 Direction change amount calculation means 701 Number of intersections Road number calculation means 801 Road type acquisition means 901 Road width acquisition means 1001 GPS receiver 1002 GPS direction calculation Means 1003 Road accuracy acquisition means
Claims (10)
行方位を算出する車両走行方位算出手段と、車両の走行
速度を積分して車両の走行距離を算出する車両走行距離
算出手段と、道路データを格納する道路データ格納手段
と、前記車両走行距離算出手段が算出した走行距離に基
づいて、前記道路データ格納手段から取込んだ道路デー
タに対応する道路上で、車両の現在推定位置を移動させ
る道路上位置移動手段と、車両の現在推定位置を移動さ
せる道路に交差点或いは分岐点があると、交差点或いは
分岐点前後で、前記車両走行方位算出手段が算出した方
位の方位差に基づいて、交差点或いは分岐点通過後に現
在推定位置を移動させる道路を選択する移動道路選択手
段と、車両の走行方位と車両の推定位置が存在する道路
の方位との方位差に基づいて、車両の走行方位を修正す
る走行方位修正手段とを有することを特徴とする車両走
行方位算出装置。1. A vehicle traveling azimuth calculating means for integrating the angular velocity during traveling of the vehicle to calculate a traveling azimuth of the vehicle, and a vehicle traveling distance calculating means for integrating a traveling speed of the vehicle to calculate a traveling distance of the vehicle. Based on the road data storage means for storing road data and the travel distance calculated by the vehicle travel distance calculation means, the current estimated position of the vehicle is calculated on the road corresponding to the road data fetched from the road data storage means. When there is an intersection or a branch point on the road position moving means to be moved and the road to move the current estimated position of the vehicle, based on the direction difference between the directions calculated by the vehicle running direction calculating means before and after the intersection or the branch point. , A moving road selection means for selecting a road to move the current estimated position after passing through an intersection or a branch point, and a direction difference between the traveling direction of the vehicle and the direction of the road on which the estimated position of the vehicle exists. A vehicle traveling direction calculation device, comprising: a traveling direction correcting means for correcting the traveling direction of the vehicle based on the vehicle traveling direction.
路データ格納手段から取込んだ車両の現在推定位置前後
の道路の直線部分の長さを算出する直線道路長算出手段
と、該直線道路長算出手段が算出した前記道路の直線部
分の長さに基づいて、車両の走行方位の修正量を変更し
て、前記走行方位修正手段に車両の走行方位の修正を行
わせる制御手段とが設けられていることを特徴とする請
求項１記載の車両走行方位算出装置。2. A straight road length calculating means for calculating a length of a straight line portion of a road before and after a current estimated position of the vehicle, which is taken in from the road data storing means, to the vehicle traveling azimuth calculating device, and the straight road. And a control means for changing the correction amount of the traveling azimuth of the vehicle based on the length of the straight line portion of the road calculated by the length calculation means, and causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle. The vehicle traveling azimuth calculation device according to claim 1, wherein:
路データ格納手段から取込んだ車両の現在推定位置前後
の道路の曲折量を算出する道路曲折量算出手段と、該走
行方位修正手段が算出した前記道路の曲折量に基づい
て、車両の走行方位の修正量を変更して、前記走行方位
修正手段に車両の走行方位の修正を行わせる制御手段と
が設けられていることを特徴とする請求項１記載の車両
走行方位算出装置。3. A vehicle turning direction calculating device for calculating a turning amount of a road before and after a current estimated position of a vehicle, which is fetched from the road data storage means, and a running direction correcting means. Control means for changing the correction amount of the traveling azimuth of the vehicle based on the calculated bending amount of the road and for causing the traveling azimuth correction means to correct the traveling azimuth of the vehicle. The vehicle traveling direction calculation device according to claim 1.
走行速度に基づいて、車両の走行方位の修正量を変更し
て、前記走行方位修正手段に車両の走行方位の修正を行
わせる制御手段が設けられていることを特徴とする請求
項１記載の車両走行方位算出装置。4. A control for causing a vehicle traveling azimuth calculation device to change a correction amount of a traveling azimuth of a vehicle based on a traveling speed of the vehicle so that the traveling azimuth correcting means corrects the traveling azimuth of the vehicle. The vehicle traveling azimuth calculation apparatus according to claim 1, further comprising means.
定した所定期間の車両の方位変化量を算出する方位変化
量算出手段と、車両の走行方位変化量に基づいて、車両
の走行方位の修正量を変更して、前記走行方位修正手段
に車両の走行方位の修正を行わせる制御手段とが設けら
れていることを特徴とする請求項１記載の車両走行方位
算出装置。5. A vehicle azimuth change amount calculating means for calculating an amount of azimuth direction change of a vehicle to a vehicle traveling azimuth calculation device, and a traveling azimuth direction of the vehicle based on the amount of change azimuth direction of the vehicle. 2. The vehicle traveling azimuth calculation device according to claim 1, further comprising control means for changing the amount of correction to cause the traveling azimuth correcting means to correct the traveling azimuth of the vehicle.
現在推定位置周辺の交差点数と道路数の少なくとも一方
を算出する交差点・道路数算出手段と、車両の現在推定
位置周辺の交差点・道路数に基づいて、車両の走行方位
の修正量を変更して、前記走行方位修正手段に車両の走
行方位の修正を行わせる制御手段とが設けられているこ
とを特徴とする請求項１記載の車両走行方位算出装置。6. An intersection / road number calculation means for calculating at least one of the number of intersections and the number of roads around the current estimated position of the vehicle with respect to the vehicle traveling direction calculation device, and the intersection / road around the current estimated position of the vehicle. 2. The control means for changing the correction amount of the traveling azimuth of the vehicle on the basis of the number to make the traveling azimuth correction means correct the traveling azimuth of the vehicle. Vehicle traveling direction calculation device.
路データ格納手段から道路種別データを取込む道路種別
取得手段と、車両の現在推定位置における道路の道路種
別に基づいて、車両の走行方位の修正量を変更して、前
記走行方位修正手段に車両の走行方位の修正を行わせる
制御手段とが設けられていることを特徴とする請求項１
記載の車両走行方位算出装置。7. A traveling direction of a vehicle based on a road type acquisition means for fetching road type data from the road data storage means and a road type of a road at a current estimated position of the vehicle to a vehicle traveling direction calculation device. Control means for changing the amount of correction of the vehicle direction to correct the traveling direction of the vehicle by the traveling direction correcting means.
The vehicle traveling direction calculation device described.
路データ格納手段から道路幅員データを取込む道路幅員
取得手段と、車両の現在推定位置における道路の道路幅
員に基づいて、車両の走行方位の修正量を変更して、前
記走行方位修正手段に車両の走行方位の修正を行わせる
制御手段とが設けられていることを特徴とする請求項１
記載の車両走行方位算出装置。8. A traveling direction of a vehicle based on a road width acquisition means for fetching road width data from the road data storage means and a road width of a road at a current estimated position of the vehicle to a vehicle traveling direction calculation device. Control means for changing the amount of correction of the vehicle direction to correct the traveling direction of the vehicle by the traveling direction correcting means.
The vehicle traveling direction calculation device described.
らの電波により、車両に関する測定を行うＧＰＳ受信手
段と、該ＧＰＳ受信手段が測定した車両の走行方位に基
づいて、車両の走行方位の修正量を変更して、前記走行
方位修正手段に車両の走行方位の修正を行わせる制御手
段とが設けられていることを特徴とする請求項１記載の
車両走行方位算出装置。9. A vehicle traveling azimuth calculation device for a vehicle traveling azimuth calculation device, which measures a vehicle with a radio wave from a satellite, and based on the traveling azimuth of the vehicle measured by the GPS receiving means, 2. The vehicle traveling azimuth calculation device according to claim 1, further comprising control means for changing the amount of correction to cause the traveling azimuth correcting means to correct the traveling azimuth of the vehicle.
道路データ格納手段から道路情報の精度データを取込む
道路精度取得手段と、該道路精度取得手段が取込んだ精
度データに基づいて、車両の走行方位の修正量を変更し
て、前記車両走行方位に車両の走行方位の修正を行わせ
る制御手段とが設けられていることを特徴とする請求項
１記載の車両走行方位算出装置。10. A vehicle traveling direction calculation device, a road accuracy acquisition means for acquiring accuracy data of road information from the road data storage means, and a vehicle based on the accuracy data acquired by the road accuracy acquisition means. 2. The vehicle traveling azimuth calculation apparatus according to claim 1, further comprising: control means for changing the traveling azimuth correction amount to correct the traveling azimuth of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14602695A JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14602695A JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08338733A true JPH08338733A (en) | 1996-12-24 |
| JP3401997B2 JP3401997B2 (en) | 2003-04-28 |
Family
ID=15398432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14602695A Expired - Fee Related JP3401997B2 (en) | 1995-06-13 | 1995-06-13 | Vehicle running direction calculation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3401997B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100369132B1 (en) * | 1999-12-30 | 2003-01-24 | 현대자동차주식회사 | Transit distance measure method in fail speed sensor |
| JP2009250795A (en) * | 2008-04-07 | 2009-10-29 | Toyota Motor Corp | Vehicle-advancing direction estimating device |
| JP2009281989A (en) * | 2008-05-26 | 2009-12-03 | Pioneer Electronic Corp | Mobile object information display device, mobile object information display method, and the like |
| JP2011247858A (en) * | 2010-05-31 | 2011-12-08 | Pioneer Electronic Corp | Information display, display method, display program and recording medium |
-
1995
- 1995-06-13 JP JP14602695A patent/JP3401997B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100369132B1 (en) * | 1999-12-30 | 2003-01-24 | 현대자동차주식회사 | Transit distance measure method in fail speed sensor |
| JP2009250795A (en) * | 2008-04-07 | 2009-10-29 | Toyota Motor Corp | Vehicle-advancing direction estimating device |
| JP2009281989A (en) * | 2008-05-26 | 2009-12-03 | Pioneer Electronic Corp | Mobile object information display device, mobile object information display method, and the like |
| JP2011247858A (en) * | 2010-05-31 | 2011-12-08 | Pioneer Electronic Corp | Information display, display method, display program and recording medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3401997B2 (en) | 2003-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0763713B1 (en) | Method and apparatus for calibration of a distance sensor in a vehicle navigation system | |
| JP3578512B2 (en) | Current position calculating device and distance coefficient correcting method thereof | |
| US8200424B2 (en) | Navigation device | |
| JP3164659B2 (en) | Navigation equipment | |
| JPH0518774A (en) | Vehicle position-azimuth computing device | |
| JP2000097713A (en) | Device for detecting and displaying current location for vehicle, navigation device, and storage medium | |
| JPH06129868A (en) | Distance error correction method in navigation device | |
| US8401787B2 (en) | Method of determining drive lane using steering wheel model | |
| JPH0833302B2 (en) | Position detection device | |
| JP2647342B2 (en) | Vehicle mileage detection device | |
| JP3552267B2 (en) | Vehicle position detection device | |
| JP2811520B2 (en) | How to correct the position of vehicle navigation | |
| JP2577160B2 (en) | Vehicle position detection device | |
| JP3401997B2 (en) | Vehicle running direction calculation device | |
| JP3451636B2 (en) | Speed sensor coefficient calculation device | |
| JP4797901B2 (en) | Current position display device, navigation device, program | |
| JP3545798B2 (en) | Current position calculation device | |
| JP6413816B2 (en) | Random driving judgment device | |
| JPH05142996A (en) | Navigation device | |
| JP3587904B2 (en) | Current position calculation device | |
| JP4268581B2 (en) | Car navigation system | |
| JP2618266B2 (en) | Direction sensor output correction method | |
| JP3550717B2 (en) | Vehicle travel position estimation device | |
| JP3599421B2 (en) | Current position calculation device | |
| JPH11271050A (en) | Car body slip angle measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080229 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Year of fee payment: 6 Free format text: PAYMENT UNTIL: 20090228 |
|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100228 Year of fee payment: 7 |
|
| LAPS | Cancellation because of no payment of annual fees |