JPH10281781A - Vehicle position detection display method and apparatus for vehicle - Google Patents

Abstract

(57) [Problem] To provide a vehicle position detection display device for a vehicle capable of accurately correcting and reducing the accumulated error of current position information by dead reckoning and performing an accurate display process. SOLUTION: This detection display device includes beacon position information detecting means (beacon receiver 21, position information detecting unit) for detecting beacon position information based on a result of receiving a transmission radio wave from a beacon installed on the ground. 22, a position information storage unit 23) is provided. In order to use the beacon position information for correcting the current position signal in the dead reckoning processing unit 13 in the dead reckoning unit, the position information from the dead reckoning unit including the direction sensor 11 and the speed sensor 12 is used. The accuracy of the current position signal is improved. As a result, the current position signal obtained by comparing the current position signal by the current position comparison unit 16 and the GPS current position reception signal from the GPS navigation means (GPS antenna 14 and GPS receiver 15) is monitored via the display processing unit 18. 19
When superimposed and displayed on the upper map, the display processing is properly performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is mainly applied to a vehicle, and has dead reckoning navigation and GPS (global).
The present invention relates to a method and a device for detecting and displaying a current position of a vehicle, which detects and displays a current position by using a positioning system.

[0002]

2. Description of the Related Art Conventionally, as this kind of vehicle position detection display device for a vehicle, for example, there is one having a structure as shown in FIG.

The vehicle position detection display device for a vehicle detects a current direction of the vehicle and outputs a direction detection signal, and detects a current speed of the vehicle and outputs a speed detection signal. A speed sensor 2 and a dead reckoning processing unit 3 for sequentially calculating a current position based on an azimuth detection signal and a speed detection signal and outputting a current position signal are provided, and these units constitute dead reckoning means. .

[0004] In addition, a vehicle position detection display device for a vehicle receives a radio wave radiated from a satellite in a current vehicle and converts it into an electric signal to output a GPS radio signal.
An S antenna 4, a GPS receiver 5 that receives a GPS radio signal and converts it to a GPS reception signal including the current GPS position, and calculates a recognition error range centered on the current GPS position based on the GPS reception signal. A GPS error calculating section 6 for outputting a signal as a recognition error range signal is provided, and these sections constitute GPS navigation means.

[0005] Further, a vehicle position detection display device for a vehicle includes:
A map data storage memory 10 such as a CD-ROM or the like in which map data in which a jurisdiction area including a current position is mapped is stored in advance, a current position signal from the dead reckoning processing unit 3 and G
Based on the recognition error range signal from the PS error calculator 6,
On the map data of the area under the jurisdiction including the current position, it is determined by calculation whether or not the current position signal by dead reckoning is within the recognition error range by GPS navigation, and if it is within the recognition error range, the current position by dead reckoning is determined. A current position calculating unit 7 that adopts a GPS current position in a recognition error range signal by GPS navigation and outputs a current position signal if the distance is a predetermined distance or more outside the recognition error range; A display processing unit 8 that performs a process for superimposing and displaying a current position signal on the map data of the map data and outputs a display signal, and a monitor 9 such as a liquid crystal LCD that displays the display signal are provided. It constitutes a position display means.

[0006] In the case of this vehicle position detection display device for a vehicle,
In the dead reckoning means, the dead reckoning processing unit 3 sequentially calculates the current position based on the direction detection signal from the direction sensor 1 and the speed detection signal from the speed sensor 2, and outputs a current position signal.

On the other hand, in the GPS navigation means, the GPS error calculating unit 6 receives the GPS signal received and output by the GPS antenna 4.
Based on the GPS reception signal including the current GPS position converted and output from the GPS receiver 5 that has received the radio signal, the GP
S A recognition error range centered on the current position is calculated and output as a recognition error range signal.

On the other hand, in the current position display means, the current position calculating section 7 receives the current position signal from the dead reckoning processing section 3 and G
Based on the recognition error range signal from the PS error calculation unit 6, the current position signal obtained by dead reckoning navigation on the map data of the jurisdiction including the current position read from the map data storage memory 10 becomes the recognition error range obtained by GPS navigation. It is calculated and determined whether it is within.

As a result, the current position calculation unit 7 adopts the current position by dead reckoning navigation if it is within the recognition error range. The current position is adopted, and is output as a current position signal in any case. or,
The display processing unit 8 performs a process for superimposing and displaying the current position signal on the map data of the area including the current position and outputs a display signal, and the monitor 9 displays the display signal. As a result, the current position of the vehicle is superimposed on the map.

[0010]

In the case of the above-mentioned vehicle position detecting and displaying device for a vehicle, the dead reckoning means calculates the current position of the vehicle based on the azimuth data and the speed data. Under the conditions, calculation errors accumulate and accuracy deteriorates. Also, in GPS navigation means, the GPS current position can not be obtained in places where radio waves do not reach, such as under an overpass or in a tunnel, and even in places where radio waves can reach, in urban areas etc., multipath noise generated by reflection of radio waves on buildings. Due to the obstruction, the accuracy may be significantly degraded.

If correction processing such as map matching is performed by the current position display means using position data whose accuracy has deteriorated in both dead reckoning navigation and GPS navigation, it is difficult to perform display processing accurately. For example, the current position of the vehicle may be mismatched on another nearby road, or in a Y-shaped road with a small angle, the vehicle may branch to a road opposite to the actual position and mismatch. Etc., causing trouble.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and a technical problem of the present invention is that it is possible to reduce the accumulated error in the calculation of the current position information by dead reckoning by performing accurate correction, and to reduce it. Another object of the present invention is to provide a vehicle position detection display method and apparatus for a vehicle that can perform appropriate display processing.

[0013]

According to the present invention, current position information obtained based on the result of detecting information on the current heading and speed of a vehicle by dead reckoning navigation, and from a satellite in a current vehicle by GPS navigation. For vehicles that superimpose and display the current position information determined based on the result of comparison and comparison of GPS current position information obtained based on the result of detecting and detecting the radiated radio wave on the map data of the area including the current position. In the own-vehicle position detection display method, a vehicle-own vehicle position detection and display method for using beacon position information from a beacon to correct the current position information by the dead reckoning navigation is obtained.

On the other hand, according to the present invention, dead reckoning means for sequentially calculating the current position based on the result of detecting information on the current heading and speed of the vehicle and outputting a current position signal, and radiation from the satellite GPS navigation means for outputting a GPS current position reception signal based on a result of detecting a received radio wave, and a current position signal determined based on a result of comparing the current position signal and the GPS current position reception signal. Vehicle position detection and display device having a current position display means for superimposing and displaying on the map data of the area of the area, the beacon position information based on the result of receiving the transmitted radio wave from the beacon installed on the ground, Beacon position information detecting means for detecting and outputting a beacon position signal,
In the dead reckoning means, an own-vehicle position detection display device for a vehicle that performs position correction of a current position signal based on a beacon position signal is obtained.

According to the present invention, in the vehicle position detecting and displaying device for a vehicle, the beacon position information detecting means includes:
A beacon antenna that receives a radio wave transmitted from a beacon and outputs a beacon radio signal converted to an electric signal, a beacon receiver that receives a beacon radio signal and converts it to a beacon reception signal, and a beacon position based on the beacon reception signal A position information detecting unit for detecting information and outputting it as a beacon position signal; and a position information storage unit for storing secondary mesh coordinates and normalized coordinates X and Y from the beacon position signal. The present invention provides a vehicle position detection display device for performing position correction of the current position signal based on the coordinates and the normalized coordinates X, Y.

Further, according to the present invention, in any one of the above-described vehicle position detection / display devices for a vehicle, the dead reckoning means detects a current direction of the vehicle and outputs a direction detection signal; A speed sensor that detects the current speed of the vehicle and outputs a speed detection signal; and sequentially calculates a current position based on the direction detection signal and the speed detection signal to output a current position signal, and corrects the position of the current position signal. And a dead-reckoning processing unit for performing the above-described operation, the vehicle position detection display device for a vehicle is obtained.

In addition, according to the present invention, in any one of the above-described vehicle position detection / display devices, the GPS navigation means receives radio waves radiated from satellites and converts them into electric signals. A vehicle position detection and display device including a GPS antenna that outputs a GPS radio signal and a GPS receiver that receives the GPS radio signal and converts it to a GPS current position reception signal is obtained.

Further, according to the present invention, in the vehicle position detection display device for a vehicle, the current position display means includes a map data storage memory in which map data in which a jurisdiction area including a current position is mapped is stored in advance. And the current position signal and GPS
A current position comparison unit that adopts any one of the results of the comparison of the current position reception signal and outputs the current position signal, and a display that performs processing for superimposing and displaying the current position signal on the map data and outputs a display signal A vehicle position detection display device for a vehicle including a processing unit and a monitor that displays a display signal is obtained.

[0019]

The vehicle position detecting and displaying device for a vehicle according to the present invention includes beacon position information detecting means for obtaining beacon position information based on a radio wave transmitted from a beacon installed on the ground such as a road. The position of the current position signal is corrected by dead reckoning means on the basis of accurate beacon position information of a fixed point. As a result, the accuracy when the current position by the dead reckoning means is corrected based on the recognition error range including the GPS current position estimated by the GPS navigation means as in the related art is smaller than the display error of several meters to several tens of meters. Because we can correct the current position accurately,
Display processing is performed accurately.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail below with reference to the drawings.

First, a brief description will be given of an outline of a method of detecting and displaying a position of a vehicle of the present invention. The vehicle position detection and display method for a vehicle includes current position information obtained based on a result of detecting information on a current azimuth and speed of a vehicle by dead reckoning navigation, and radio waves radiated from a satellite by the current vehicle by GPS navigation. When superimposing and displaying the current position information determined based on the result of comparison and comparison of the GPS current position information obtained based on the result of receiving the radio wave on the map data of the area including the current position, the beacon from the beacon is used. The position information is used to correct the current position information by dead reckoning navigation. According to the vehicle position detection and display method for a vehicle, since the current position information can be corrected by dead reckoning based on accurate beacon position information of a fixed point, display processing can be performed more accurately than in the past. Will be

FIG. 1 is a block diagram showing a basic configuration of a vehicle position detection display apparatus for a vehicle according to an embodiment to which the vehicle position detection display method for a vehicle is applied. In the vehicle position detection display device for a vehicle, dead reckoning means for sequentially calculating a current position based on a result of detecting information on a current azimuth and speed of the vehicle and outputting a current position signal as a basic configuration, GPS navigation means for outputting a GPS current position reception signal based on a result of detecting a radio wave radiated from a satellite by a vehicle, and a current position determined based on a result of comparing the current position signal and the GPS current position reception signal A current position display means for superimposing and displaying a signal on map data of a jurisdiction area including a current position, and detecting beacon position information based on a result of receiving radio waves transmitted from a beacon installed on the ground such as a road. And a beacon position information detecting means for outputting a beacon position signal by using the dead reckoning navigation means. It is adapted to perform.

More specifically, the dead reckoning means, like the conventional device shown in FIG. 3, detects the current direction of the vehicle and outputs a direction detection signal, and detects the current speed of the vehicle. Speed sensor 12 that detects and outputs a speed detection signal
And a dead reckoning processing unit 13 that sequentially calculates the current position based on the direction detection signal and the speed detection signal and outputs the current position signal.

The GPS navigation means is a GPS antenna 14 which receives a radio wave radiated from a satellite in a current vehicle and converts it into an electric signal to output a GPS radio signal.
And a GPS receiver 15 which receives a GPS radio signal and converts it into a GPS current position reception signal, and outputs the GPS error signal. The GPS error calculator 6 (GP) used in the conventional device shown in FIG.
S that outputs a recognition error range signal obtained by calculating a recognition error range around the current position.

Further, the beacon position information detecting means receives a radio wave transmitted from the beacon and outputs a beacon radio signal converted into an electric signal, and receives the beacon radio signal and converts it into a beacon reception signal. A beacon receiver 21 that outputs the beacon, a position information detector 22 that detects beacon position information from the beacon reception signal and outputs the beacon position signal, and stores secondary mesh coordinates and normalized coordinates X and Y from the beacon position signal. And a position information storage unit 23. Therefore, the dead reckoning processing unit 13 of the dead reckoning means described above performs position correction of the current position signal based on the secondary mesh coordinates and the normalized coordinates X, Y.

In addition, the current position display means includes a map data storage memory 17 such as a CD-ROM or the like in which map data in which a region of the jurisdiction including the current position is mapped is stored in advance.
A current position comparison unit 16 that compares a current position signal from the dead reckoning processing unit 13 and a GPS current position reception signal from the GPS receiver 15 and outputs one as a current position signal, and a jurisdiction including the current position The display processing unit 18 performs processing for superimposing and displaying the current position signal on the map data of the area, and outputs a display signal, and a monitor 19 such as a liquid crystal LCD for displaying the display signal.

In the case of this vehicle position detection display device for a vehicle,
In the dead reckoning means, the dead reckoning processing unit 13 sequentially calculates the current position based on the direction detection signal from the direction sensor 11 and the speed detection signal from the speed sensor 12, and outputs a current position signal. At this time, if the dead reckoning processing unit 13 passes the beacon by radio waves or light, the beacon position information detecting means receives the signal with the beacon antenna 20 and transmits the signal via the beacon receiver 21 and the position information detecting unit 22. Since the beacon position information is detected and the secondary mesh coordinates and the normalized coordinates X and Y included therein are stored in the position information storage unit 23, the secondary mesh coordinates and the normalized coordinates X, Y, Y is read to correct the position of the current position signal.

On the other hand, the GPS radio signal received by the GPS antenna 14 in the GPS navigation means is transmitted to the GPS receiver 1.
The GPS receiver 15 converts and outputs the received signal as a GPS current position reception signal.

On the other hand, in the current position display means, the current position comparing section 16 compares the current position signal from the dead reckoning processing section 13 with the current position signal from the dead reckoning processing section 13 on the map data of the jurisdiction area including the current position read from the map data storage memory 10. The current position signal is compared with the GPS current position received signal from the GPS receiver 15, and one of them is employed as the current position signal by adopting the one with higher accuracy overall. The display processing unit 18 performs a process for superimposing and displaying the current position signal on the map data of the jurisdiction including the current position, and outputs a display signal. The monitor 19 displays the display signal. As a result, the current position is superimposed on the map.

FIG. 2 is a flowchart showing a correction operation process in the dead reckoning processing unit 13 of the dead reckoning unit based on the beacon position information from the position information storage unit 23 of the beacon position information detecting unit.

Here, first, it is determined whether or not the vehicle has passed the beacon based on whether or not the secondary mesh coordinates and the normalized coordinates X and Y are stored in the position information storage unit 23 based on the beacon position signal (step S1). . As a result, if the vehicle has not passed, the correction process is terminated. If the vehicle has passed, difference data (Δ1, Ya1) between the current position data (X1, Y1) and beacon position data (Xa, Ya) by dead reckoning navigation is obtained.
X, ΔY) is (Xa, Ya) − (X1, Y1) = (Δ
X, ΔY) (step S2), and thereafter, it is determined whether or not the difference data (ΔX, ΔY) is smaller than the threshold value TH based on whether the relationship (ΔX, ΔY) <TH is satisfied (step S3). As a result, the difference data (ΔX, Δ
If Y) is smaller than the threshold value TH, the difference data (ΔX, Δ
Y) is substituted into the error coefficient (step S4). Thereafter, the current position data (ΔX, ΔY) is calculated based on the difference data (ΔX, ΔY) based on the difference data (ΔX, ΔY). X1, Y1) is corrected (step S5), and a corrected current position signal relating to the error component of the distance and the azimuth is output. Thereby, the current position signal obtained by dead reckoning is corrected based on the beacon position information, and finally the monitor 19 is corrected.
Can superimpose and display the current position of the vehicle on the map.

[0032]

As described above, according to the present invention, since the beacon position information from the beacon is used to correct the current position information by dead reckoning, the dead reckoning means calculates the current position information. Since the error component of the distance and the azimuth at the time and the accumulated error thereof are remarkably reduced, an accurate display process can be performed. Further, in dead reckoning navigation, since error components are feedback-corrected to obtain current position information, the accuracy of dead reckoning navigation alone is greatly improved.
As a result, the current position of the vehicle can be displayed at an accurate position such as on a road on a map on the monitor.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a basic configuration of a vehicle host vehicle position detection display device according to an embodiment to which a vehicle host vehicle position detection display method of the present invention is applied.

FIG. 2 shows a correcting operation process based on beacon position information from a position information storage unit of a beacon position information detecting unit in a dead reckoning processing unit of a dead reckoning unit provided in the vehicle position detection display device for a vehicle shown in FIG. FIG.

FIG. 3 is a block diagram showing a basic configuration of a conventional vehicle position detection display device for a vehicle.

[Explanation of symbols]

 1,11 Direction sensor 2,12 Speed sensor 3,13 Dead reckoning processing unit 4,14 GPS antenna 5,15 GPS receiver 6 GPS error calculation unit 7 Current position calculation unit 8,18 Display processing unit 9,19 Monitor 10 Map Data storage memory 16 Current position comparison unit 17 Map data storage memory 20 Beacon antenna 21 Beacon receiver 22 Position information detection unit 23 Position information storage unit

Claims (6)

[Claims] 1. A current position information obtained based on a result of detecting information on a current direction and a speed of a vehicle by dead reckoning navigation, and a result of reception detection of a radio wave radiated from a satellite by the current vehicle by GPS navigation. A vehicle position detection and display method for superimposing and displaying current position information determined based on a result of comparison and comparison of GPS current position information obtained based on map data of an area including a current position,
A self-vehicle position detection display method for a vehicle, wherein beacon position information from a beacon is used to correct the current position information by the dead reckoning navigation. 2. Dead reckoning means for sequentially calculating a current position based on a result of detecting information on a current direction and speed of a vehicle and outputting a current position signal, and a radio wave radiated from a satellite by the current vehicle. GP based on the result of receiving wave detection
GPS navigation means for outputting an S current position reception signal, and a current position signal determined based on a result of comparison between the current position signal and the GPS current position reception signal superimposed on map data of a jurisdiction area including the current position. A vehicle position detection display device for a vehicle, comprising: a current position display means for displaying a beacon position signal based on a result of receiving a radio wave transmitted from a beacon installed on the ground. Beacon position information detecting means for outputting
The self-vehicle position detection display device for a vehicle, wherein the dead reckoning means performs position correction of the current position signal based on the beacon position signal. 3. The self-vehicle position detection display device for a vehicle according to claim 2, wherein said beacon position information detecting means receives a radio wave transmitted from said beacon and outputs a beacon radio signal converted into an electric signal. Beacon antenna, a beacon receiver that receives the beacon radio signal and converts it to a beacon reception signal, a position information detection unit that detects the beacon position information from the beacon reception signal and outputs the beacon position signal, A position information storage unit for storing secondary mesh coordinates and normalized coordinates X and Y from the beacon position signal; and the dead reckoning means based on the secondary mesh coordinates and the normalized coordinates X and Y. A self-vehicle position detection display device for a vehicle, which performs position correction of a position signal. 4. The self-vehicle position detection display device for a vehicle according to claim 2, wherein the dead reckoning means detects a current azimuth of the vehicle and outputs an azimuth detection signal; A speed sensor that detects the current speed of the vehicle and outputs a speed detection signal, and sequentially calculates a current position based on the azimuth detection signal and the speed detection signal to output a current position signal, and outputs the current position signal. A vehicle position detection display device for a vehicle, comprising a dead reckoning processing unit for performing position correction. 5. The vehicle position detecting and displaying device for a vehicle according to claim 2, wherein said GPS navigation means receives a radio wave radiated from a satellite and converts it into an electric signal. A GPS antenna for outputting a GPS radio signal, and a GPS receiver for receiving the GPS radio signal and converting and outputting the GPS current position reception signal. . 6. The vehicle position detection display device for a vehicle according to claim 5, wherein the current position display means includes a map data storage memory in which map data in which a jurisdiction area including a current position is mapped is stored in advance. , The current position signal and the G
A current position comparison unit that adopts any one of the results of comparison of the PS current position signal and outputs the current position signal as a current position signal, and performs processing for superimposing and displaying the current position signal on the map data and outputs a display signal And a monitor for displaying the display signal.