JPH09269725A - Device for forming running locus of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to precisely form running locus of a vehicle required for the case of forming a precise road map, etc., by forming the running locus in the case of assuming that the vehicle continues to run on a specified place on a road from a vehicle position and the position on the road of the vehicle. SOLUTION: A vehicle position calculation part 11a corrects an absolute position informed by a GPS receiver 12 with a positioning error informed by a receiver 15 to calculate the vehicle position. Then, the part 11a detects the situation of the change of the detected vehicle position, that is, the running locus of the vehicle. An on-road position calculation part 16 detects what extent the central line of the vehicle is shifted from the central line of the road or a lane as the position on the road of the vehicle by the video in front of the vehicle photographed by a TV camera 17. A road central position calculation part 11b calculates the central position of the road and the lane based on the informed vehicle position and position on the road to record the running locus by the central position on a recording part 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for creating a running locus of a vehicle used in a car navigation system or the like.

[0002]

2. Description of the Related Art Recently, a high-precision car navigation system is being planned with a view to automatic driving.
Conventionally, road maps used for car navigation systems, etc. are generally created based on maps issued by the Geographical Survey Institute, and such conventional road maps include some errors. ing. If an existing road map is used in a navigation system that requires high accuracy, the function may not be fully exerted due to lack of accuracy.

[0003]

[Patent Document 1] Japanese Patent Application Laid-Open No. 4-88 discloses a method of creating a high-accuracy road map with a view to automatic driving.
As proposed in Japanese Patent No. 390 or Japanese Patent Laid-Open No. 6-201,392, it is conceivable to drive a vehicle on an actual road and use the running locus as road data. However, as the detection accuracy improves, a plurality of different traveling loci are obtained depending on where on the road the vehicle travels, which causes an error. Therefore, an object of the present invention is to create a traveling locus of a vehicle with high accuracy, which is required when a road map with higher accuracy than an existing road map is assumed for use in high-precision car navigation and the like. An object of the present invention is to provide a device for creating a traveling locus of a vehicle that can perform the above.

[0004]

According to the present invention, there is provided a vehicle travel locus creating apparatus, a vehicle position detecting means for detecting a vehicle position, a road position means for detecting a position of a vehicle on a road or a lane, and And means for creating a traveling locus based on the detected vehicle position and on-road position assuming that the vehicle has continued to travel on a specific location on the road such as a road or the center of a specific lane.

[0005]

According to an embodiment of the present invention, a road position detecting means includes an image pickup device for photographing a scene in front of a vehicle and an imaging position of a feature included in the photographed scene. And means for detecting the position of the vehicle on the road or lane. Further, according to another embodiment of the present invention, the vehicle position means includes a differential GPS, and the traveling locus is calculated by the signed least squares method.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the construction of a vehicle running locus creating apparatus according to an embodiment of the present invention. The device for creating a traveling locus of the vehicle is mounted on the vehicle and includes a data processing unit 11 including a computer.
GPS receiver 12, vehicle speed sensor 13, direction sensor 14,
The receiver 15, a road position calculation unit 17, a television camera 17, an operation unit 18, and a recording unit 19 are provided. The data processing unit 11 includes a vehicle position calculation unit 11a and a road / lane center position calculation unit 11b.

The GPS receiver 12 receives radio waves transmitted from a plurality of satellites existing above the vehicle, and based on time and position information contained in each of the received radio waves, this G
The absolute position of the vehicle equipped with the PS receiver is calculated, and this is notified to the vehicle position calculation unit 11a of the data processing unit 11 configured by a computer or the like. The receiver 15 receives the information on the GPS positioning error generated at the nearest receiving station among the GPS receiving stations distributed and installed at a predetermined location, and the positioning error is received by the vehicle position calculating section 1 of the data processing section 11.
Notify 1a.

The vehicle position calculating section 11a of the data processing section 11
Corrects the absolute position notified from the GPS receiver 12 with the positioning error notified from the receiver 15 to calculate the vehicle position with high accuracy based on the differential GPS method. In this way, the data processing unit 1
The vehicle position calculation unit 11a in 2 detects the vehicle position with high accuracy by the differential GPS, and
The state of change in the detected vehicle position, that is, the traveling locus of the vehicle is detected.

A vehicle position calculating section 11 in the data processing section 12
a is a vehicle speed sensor 13 and a direction sensor in preparation for the case where the vehicle enters a tunnel or the like in parallel with the detection of the traveling locus of the vehicle by the differential GPS, and the traveling locus cannot be detected by the differential GPS. The running locus of the vehicle is detected based on each sensor signal from 14.

That is, the vehicle position calculating section 11a counts the vehicle pulses output from the vehicle sensor 13 to calculate the traveling distance of the vehicle, and accumulates the change amount of the azimuth angle notified from the azimuth sensor 14. The traveling direction of the vehicle is calculated, and the traveling locus of the vehicle is calculated from these distances and directions. The vehicle position calculation unit 12a uses the differential GP.
During the period when S is valid, this differential GP
The traveling locus calculated based on S is prioritized, and the traveling locus of the vehicle speed calculated from the vehicle speed sensor and the direction sensor is corrected by the traveling locus calculated based on the differential GPS.

A television camera 17 is installed on the center line of the vehicle and in a direction extending the center line forward in the passenger compartment, the roof or the like. Road position calculation unit 16
Analyzes the image formation position of a specific object or a sign such as a cat's eye included in the image in front of the vehicle captured by the television camera 17, so that the center line of the vehicle is the center line of the road or lane. The degree of deviation from is detected as the position on the road of this vehicle. For example, as shown in FIG. 2, a white continuous line for separating roads and roadsides photographed by the television camera 17 or an image position of a broken white line for separating lanes from a road or a lane The amount of deviation between the center line and the center line of this vehicle is detected as the road position of this vehicle, and this is notified to the road center position calculation unit 11b.

The road center position calculating unit 11b determines the road on which the vehicle is currently traveling based on the position of the vehicle notified by the vehicle position calculating unit 11a and the road position notified by the road position calculating unit 16. The center position of the lane is calculated, and this is recorded in the recording unit 19 as a traveling locus based on the center position.
A series of processes by the data processing unit 11 is performed by the operation unit 18
It is executed according to the operation command from. For example, the operation command from the operation unit 18 specifies whether the recording target is the center position of both the road and the specific lane, or one of the center positions. As described above, the center line of the road or the lane is created as the vehicle running locus by actually running the vehicle while performing the positioning by the differential GPS on the road where the highly accurate road map is to be created.

The above is an example of a configuration for creating a traveling locus on the assumption that the vehicle has traveled on the center line of a road or lane. The traveling locus on the assumption that the vehicle has traveled on the center line of the lane is effective when creating a road map for each lane for automatic driving or the like. It is also possible to detect the center line of the road and the width of the road by creating a travel locus assuming that the vehicle has traveled on both ends of the road together with the center line of the road.

Further, the case where the image pickup apparatus is realized by one television camera has been exemplified. However, positioning of a relatively wide range when detecting the road width, etc. mentioned above,
For high-accuracy positioning, it is possible to use two or more imaging devices.

Further, the running locus of the created vehicle may be smoothed by filtering with a Kalman filter or the like.

As described in detail above, the device for creating a running locus of a vehicle according to the present invention detects a vehicle position and a road position, and the vehicle continues to run at a specific place such as a center of a road or a lane. Since it is a configuration that creates a traveling trajectory under the assumption, it is possible to create a highly accurate traveling trajectory that is not affected by changes in the actual traveling position on the road. It is possible to create a road map for the included high-precision car navigation system.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an apparatus for creating a traveling locus of a vehicle according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram for explaining a method of detecting a deviation amount between a center line of a vehicle and a center line of a road or a lane using a television camera in the travel locus generating apparatus of FIG.

[Explanation of symbols]

 11 Data processing unit 11a Vehicle position calculation unit 11b Road / lane center position calculation unit 12 GPS receiver 15 GPS error information receiver 16 Roadside position calculation unit 17 Television camera 18 Operating unit 19 Recording unit

Claims (5)

[Claims] 1. A vehicle position detecting means for detecting a vehicle position, a roadside position means for detecting a position of a vehicle on a road or a lane, and a vehicle on a road on the basis of the detected vehicle position and the roadside position. A device for creating a travel locus of a vehicle, comprising: means for creating a travel locus when it is assumed that the vehicle has continued to travel in a location. 2. The device according to claim 1, wherein the specific location on the road is the center of the road or the center of a specific lane. 3. The vehicle according to claim 1, wherein the specific points on the road are the center of the road and both ends of the road, and the width of the road is calculated from the distance between both ends of the road. A device for creating travel paths. 4. The vehicle according to any one of claims 1 to 3, wherein the on-road position detecting means detects the scenery in front of the vehicle from the imaging device and the imaging position of a characteristic object included in the photographed scenery from the vehicle. And a means for detecting the position on the road or lane of the vehicle. 5. The vehicle travel locus creating device according to claim 1, wherein the vehicle position detecting means includes a differential GPS.