JPH11337310A - Device for detecting position for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a vehicle position detecting device for accurately detecting its own vehicle position by making the optical axis of an on-vehicle camera coincident with a traveling direction by automatically adjusting it by using an image picked-up traffic lane demarcation line in which the mounting position of the on-vehicle camera is not affected by any constraint condition. SOLUTION: This device is provided with an on-vehicle camera for obtaining the traffic lane demarcation line of a road ahead as an image signal, vehicle position calculating part 31 for setting an optical axial origin at the central part of an image on this image signal, a vertical line passing through this optical axial origin, and plural measuring points in front of the vehicle, and measuring a horizontal distance between the vertical line and the traffic lane demarcation line at the measuring point, optical axial angle calculating means 32 for calculating a horizontal angle between the traveling direction of the vehicle and the set optical axial direction from the plural horizontal distances, a traveling distance due to the traveling in a constant distance of the vehicle, and the change of the horizontal distance accompanying the traveling in a constant distance, and optical axis correcting means for judging and correcting the error of an angle from the horizontal angle between the traveling direction of the vehicle and the optical axis.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle position detecting device for detecting a position of a vehicle in a lane of a road by using a vehicle-mounted video camera or the like.

[0002]

2. Description of the Related Art During traveling of a vehicle, it is indispensable to detect a position of the own vehicle in a traveling lane (lane) or measure a distance to an object in front of the vehicle, for example, in automatic traveling. . For example, Japanese Patent Application Laid-Open No. Hei 9-81757 discloses such a conventional vehicle position detecting device, and Japanese Patent Application Laid-Open No. Hei 4-67607 discloses distance measurement of a forward object. A video camera (hereinafter referred to as an in-vehicle camera) captures a white line, which is a lane marking on the road, and detects the position of the vehicle in the lane based on a position on an image connecting two points of the white line and an inclination angle. In addition, the latter takes a three-dimensional image of the front by two vehicle-mounted cameras having parallel optical axes, arranges at least one of the light-receiving elements arranged in a plane parallel to the plane including the optical axis, and obtains the illuminance distribution of both light-receiving elements. It is possible to measure the distance to an object existing in multiple directions ahead from the correlation.

[0003] It is an effective means to detect the position and measure the distance of an object ahead using a vehicle-mounted camera as described above. However, if the optical axis of the vehicle-mounted camera deviates, an error occurs in the measured value. As a result, accurate position detection and distance measurement cannot be performed, which requires a great deal of man-hours and difficult adjustments to set the optical axis at the time of mounting and to correct the optical axis displacement due to vibration during use. Was. JP-A-8-16999 discloses a technique for easily correcting the mounting posture of such a vehicle-mounted camera and correcting a shift of an optical axis during use. In this method, a recognition mark is set in the field of view of a vehicle-mounted camera, and the position of the recognition mark is stored in an image processing device, thereby detecting a shift amount and correcting the position.

[0004]

By such a method, the setting of the optical axis can be simplified, and the necessity of correcting the optical axis during use can be eliminated, but the recognition mark is located in the field of view in front of the vehicle-mounted camera. And the position of the recognition mark and the in-vehicle camera must be limited, which greatly impedes the degree of freedom in designing the vehicle body. . In addition, since the center line in the front-rear direction of the car and the traveling direction of the car are shifted due to the alignment of the wheels even when the car is traveling straight, the on-board camera and the recognition mark are accurately set geometrically. However, the in-vehicle camera cannot accurately detect the traveling direction, and errors are unavoidable when used for detecting the position of the vehicle in the lane.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem, and automatically adjusts the optical axis of a vehicle-mounted camera using a lane marking that has been taken so as to coincide with the traveling direction. It is an object of the present invention to obtain a vehicle position detecting device that accurately detects the position of a host vehicle and does not receive restrictions on the mounting position of a vehicle-mounted camera.

[0006]

According to the present invention, there is provided a vehicle position detecting apparatus comprising: an image signal acquiring means for acquiring a lane marking of a road ahead of a vehicle as an image signal; An origin, a vertical line passing through the optical axis origin, and a plurality of measurement points in front of the vehicle, and measuring means for measuring each horizontal distance between the vertical line and the lane marking at the measurement point. From the plurality of horizontal distances, the traveling distance of the vehicle traveling a fixed distance, and the change in the horizontal distance due to the traveling of the constant distance, the horizontal distance between the traveling direction of the vehicle and the direction of the set optical axis is determined. An optical axis angle calculating means for calculating an angle, and an optical axis correcting means for determining an angle error based on a horizontal angle between the traveling direction of the vehicle and the optical axis and performing correction control are provided.

Further, image signal acquiring means for acquiring a lane marking on the road ahead of the vehicle as an image signal, an optical axis origin at the center of the image and a horizontal line passing through the optical axis origin are set on the image signal. Measuring means for measuring the vertical distance on the image between the intersection and the horizontal line, and measuring the vertical distance between the intersection and the horizontal line. An optical axis angle calculating means for calculating a vertical angle between the horizontal line and the intersection of the lane marking line from the entire viewing angle, and determining an angle error from the angle between the optical axis and the intersection of the lane marking line. , An optical axis correcting means for performing correction control.

Further, the angle of the optical axis is continuously calculated in time series, and the calculated angle is stored as a histogram, and an angle error is determined by using the most frequently occurring value in the histogram as the position of the optical axis. It was made. Still further, the output of the optical axis correction means is turned on and off to selectively acquire an angle correction amount. In addition, there is provided a means for calculating the curvature of the lane marking, and when the curvature exceeds a predetermined value, the output of the optical axis correcting means is temporarily cut off.

Further, there is provided a means for measuring the yaw rate and the pitch rate of the vehicle, and the output of the optical axis correcting means is temporarily cut off when the yaw rate or the pitch rate or both of them exceed a predetermined value. It was done. Furthermore, an acceleration sensor for detecting acceleration in the front-rear direction and left-right direction of the vehicle is provided, and when the acceleration exceeds a predetermined value, the output of the optical axis correcting means is temporarily cut off. Further, a plurality of sets of image signal acquiring means, optical axis angle calculating means for calculating a horizontal angle, optical axis angle calculating means for calculating a vertical angle, and optical axis correcting means for inputting these and correcting and controlling them are provided. It is like that.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 1 to 4 illustrate the configuration and operation of a vehicle position detecting device according to Embodiment 1 of the present invention. FIG. 1 is a diagram illustrating the configuration and operation of the device, and FIG. 3 is a configuration of an image processing device. 2 and FIG. 4 are operation explanatory diagrams. In FIG. 1, reference numeral 1 denotes a vehicle traveling on a road, 2 denotes an on-vehicle camera mounted on the vehicle 1, 3 denotes an image processing device for processing an image captured by the on-vehicle camera 2, and 4 denotes an image processing device 3. The input vehicle speed detecting devices 5a and 5b indicate lane markings of the road, so-called white lines of the road. In FIG. 3, 3
Reference numeral 1 denotes a vehicle position calculation unit that inputs an image of the vehicle-mounted camera 2 and calculates the position of the vehicle with respect to the lane marking line. Reference numeral 32 denotes a horizontal angle between the optical axis of the vehicle-mounted camera 2 and the center line in the traveling direction of the vehicle 1. A horizontal angle calculator 33 calculates the vertical angle between the optical axis of the vehicle-mounted camera 2 and the horizontal plane by inputting the image of the vehicle-mounted camera 2, 34
Reference numeral denotes an optical axis correction amount calculation unit which receives signals from the horizontal angle calculation unit 32 and the vertical angle calculation unit 33, calculates an optical axis angle error, and calculates a necessary optical axis correction amount.

Embodiment 1 of the present invention having the above configuration
When the video signal of the on-vehicle camera 2 is input to the image processing device of FIG. 3 in the vehicle position detection device, the vehicle position calculation unit 31 calculates the optical origin of the input image as the coordinate origin shown in FIG. O and a vertical line Y passing through the optical axis origin O are set. Further, as shown in FIGS. 1 and 2, arbitrary distances L1 and L2 are set in front of the vehicle, and positions L1 and L at arbitrary distances are set.
2 between the vertical line Y and the lane marking 5b
a and Xb are measured and output to the horizontal angle calculator 32.
The horizontal angle calculator 32 receives these signals and the vehicle speed signal, and calculates the horizontal angle between the optical axis and the traveling direction of the vehicle as follows.

In FIG. 4, when the vehicle 1 travels a linear distance Ld between the position 11 and the position 12 at a predetermined time, the optical axis 21 of the vehicle-mounted camera and the traveling direction line of the vehicle at the initial position 11 of the vehicle 1. The horizontal angle with 13 is Θ
ε, a line segment 14 which is a parallel line with the vehicle traveling direction line 13 whose origin is the lane marking line 5b at the L1 position in the vehicle position 11, and a line which is a parallel line with the optical axis 21 of the on-vehicle camera. 23, and the distances a and b of the assumed line segments 14 and 23 at the position L1a of the vehicle position 12 with respect to the lane marking line 5b are calculated. Angle 方向 with direction line 13
ε is approximately determined as 条件 ε = (a + b) / Ld (rad) (1) on the condition that Θε is sufficiently small.

Here, the calculation of the distance a in the equation (1) is based on the positions L1 and L
2, the distances Xa and Xb between the optical axis 21 of the on-vehicle camera and the lane marking line 5b and the distance Lb between L1 and L2 are approximately equal to a = (Xa−Xb) · Ld / Lb. The distance b is calculated by measuring the distance Xa1 between the optical axis 21 of the in-vehicle camera and the lane marking 5b at the position L1a at the position 12 after the vehicle has traveled. b = Xa−Xa1 (3) In this way, the amount of deviation Θε of the optical axis 21 of the on-vehicle camera in the horizontal direction with respect to the traveling direction line 13 of the vehicle is calculated, and this value is input to the optical axis correction amount calculation unit 34, and the optical axis correction amount calculation unit 34 The optical axis position correction amount on the image is set and output to the vehicle position detection unit 31. In addition,
The above-mentioned vehicle forward distances L1 and L1a are set to the same value except that the position of the vehicle is different.

As described above, the error in the horizontal angle of the optical axis is corrected, and the error in the vertical direction is corrected as follows. As shown in FIG. 3, the video signal of the on-vehicle camera 2 is also input to the vertical angle calculation unit 33, which sets the optical axis origin O shown in FIG. And 5b are detected, the position of the vanishing point P, which is the intersection of the extension lines of the two lane marking lines 5a and 5b, is determined on the image, and the image size Ly between the vanishing point P and the optical axis origin O is determined. Further, the angle Θy between the vanishing point P and the optical axis origin O is calculated by the proportional calculation from the so-called total viewing angle Θω, which is the angle between the information and the upper and lower widths Wy on the image and the upper and lower widths of the image. · Θω / Wy ··· (4) and outputs it to the optical axis correction amount calculation unit 34.

As described above, the horizontal deviation angle Θε between the optical axis of the on-vehicle camera and the traveling direction of the vehicle and the angle Θy between the vertical points OP are calculated.
In step 4, these values are compared with a preset target value, and the deviation value is given to the vehicle position calculation unit 31 as a correction amount.
The optical axis is always corrected and set to the target value, and the vehicle position calculation unit 31
In this case, the own vehicle position calculation in the lane is performed based on the optical axis that has been corrected and set, so that highly accurate position detection can always be performed.

Embodiment 2 FIG. 5 is an explanatory diagram illustrating an operation of the vehicle position detecting device according to the second embodiment of the present invention.
The components other than FIG. 5 differ from those of the first embodiment in function but have the same configuration. In this embodiment, the horizontal angle deviation Θε measured in the first embodiment and the angle Θy between the vertical points OP are continuously measured and calculated at fixed time intervals, and the optical axis correction amount calculation unit is used. At 34, a histogram such as that shown in FIG.
yn is obtained, and this value is used as a shift angle between the optical axis in the horizontal direction and the vertical direction, and is compared with a preset target value to calculate a correction amount. When driving on a road, the vehicle is subject to vibrations due to various factors. The optical axis correction and the vehicle position detection can be performed with high accuracy.

Embodiment 3 FIG. 6 is a block diagram illustrating a configuration of an image processing unit of a vehicle position detection device according to a third embodiment of the present invention. A control unit 35 is provided between the optical axis correction amount calculation unit 34 of the processing unit and the vehicle position calculation unit 31, and the control unit 35 of the optical axis correction amount calculation unit 34 calculates and outputs the optical axis correction signal to the vehicle position calculation unit 31. Is controlled. The control unit 35 is configured by a switching element or the like. With such a configuration, the measurement of the vanishing point P for the calculation of the optical axis described in the first embodiment or the lane division, for example, when traveling on a rough road or a curved road, is performed. Lines 5a and 5b
In the condition where measurement of the measurement is unstable, the supply of the optical axis correction signal can be temporarily cut off by the driver's judgment or the automatic judgment of the condition, etc., to prevent the calculation error due to the deterioration of the external condition. Can be done.

Embodiment 4 FIG. 7 is a block diagram showing a configuration of an image processing unit of a vehicle position detecting device according to a fourth embodiment of the present invention, and FIG. 8 is an explanatory diagram of the operation thereof. A control unit 35 including a switching element and the like is provided between the optical axis correction amount calculation unit 34 and the vehicle position calculation unit 31 of the image processing apparatus.
To control the supply of the optical axis correction signal calculated by the optical axis correction amount calculation section 34 to the vehicle position calculation section 31 and to calculate the curvature of the road by receiving the video signal from the vehicle-mounted camera 2. And the control unit 35 is controlled by the output of the curvature calculation unit 36.

In the vehicle position detecting device according to the fourth embodiment configured as described above, the curvature calculating unit 36 receives an image signal from the vehicle-mounted camera 2 and arbitrarily sets the positions L1 and L2 as shown in FIG. At three points L2 and L3, distances Xa, Xb and Xc from the optical axis vertical line Y to the lane marking line 5b are calculated. Based on the distances, the positions L1, L2, L3
Is calculated on the lane marking 5b, the coordinates are substituted into the equation of the circle, and the simultaneous equations are solved, so that the curvature calculating unit 36 calculates the curvature of the lane marking 5b, that is, the curvature of the road,
When the curvature exceeds a predetermined curvature, the curvature calculation unit 3
Numeral 6 gives a signal to the control unit 35 to cut off the optical axis correction signal from the optical axis correction amount calculation unit 34. Since the vehicle position detecting device according to the fourth embodiment is configured as described above, the correction of the optical axis is interrupted when approaching a road having a large curvature, and the occurrence of a setting error of the correction amount can be prevented. It is.

Embodiment 5 FIGS. 9 and 10 show a configuration of a vehicle position detecting device according to a fifth embodiment of the present invention and a block diagram of an image processing unit.
In addition to the vehicle position detecting device shown in the first embodiment,
Has a sensor 6 for measuring the yaw rate and the pitch rate.
The image processing unit is provided with a control unit 35 which is a switching circuit between the optical axis correction amount calculation unit 34 and the vehicle position calculation unit 31. When the output of the sensor 6 exceeds a predetermined value,
The control unit 35 is shut off. In the vehicle position detecting device according to the present embodiment configured as described above, when the yaw rate or the pitch rate exceeds a predetermined value, the optical axis correction signal is temporarily cut off, and the curved road or unevenness is detected. When traveling on a lot of rough roads, or when suddenly accelerating, supply of a correction value having a large error is cut off, so that occurrence of a setting error of the optical axis correction amount can be prevented.

Embodiment 6 FIG. 11 and FIG.
Embodiment 6 A configuration of a vehicle position detecting device according to Embodiment 6 of the present invention;
FIG. 3 is a block diagram of an image processing unit. In this embodiment, in addition to the vehicle position detection device described in Embodiment 1, the vehicle 1 has an acceleration sensor 7 mounted thereon, and the image processing unit has
A control unit 35 serving as a switching circuit is provided between the optical axis correction amount calculation unit 34 and the vehicle position calculation unit 31, and the control unit 35 is controlled by the output of the acceleration sensor 7. In the vehicle position detecting device of this embodiment thus configured, the acceleration sensor 7 detects the acceleration of the vehicle 1 in the front-rear direction and the left-right direction, and generates a signal in which the acceleration exceeds a predetermined value. In this case, the control unit 35 is shut off and the supply of the optical axis correction signal is temporarily interrupted. Therefore, when the vehicle swings due to acceleration and the optical axis adjustment operation becomes unstable, the optical axis correction is stopped. And can maintain a stable optical axis.

Embodiment 7 FIG. FIG. 13 and FIG.
A configuration of a vehicle position detecting device according to a seventh embodiment of the present invention;
This embodiment shows a block diagram of an image processing unit. In this embodiment, two in-vehicle cameras are mounted to detect the position of the own vehicle and measure the distance of a front object by capturing a stereoscopic image. This is for automatically correcting the optical axis of the camera. FIG.
In the figure, reference numerals 2L and 2R denote in-vehicle cameras mounted on the vehicle 1 and having the same performance, and are the same as FIG. 1 of the first embodiment except that two in-vehicle cameras are mounted. FIG.
In the block diagram of FIG. 4, a horizontal angle calculator 32R that calculates a horizontal angle between the optical axis of the vehicle-mounted camera described in the first embodiment and the traveling direction of the vehicle corresponding to the two vehicle-mounted cameras 2R and 2L. And 32L, two vertical angle calculators 33R and 33L for calculating a vertical angle between the optical axis of the onboard camera and the horizontal plane, and two optical axis correction amount calculators 34R and 34L for calculating the correction amount of the optical axis. Is provided.

A vehicle position calculating section 37 shown in the image processing section of FIG. 14 receives image signals from the on-vehicle cameras 2R and 2L, and outputs the optical axis correction amount calculating section 3
4R and 34L, the optical axis correction signals are input, the R side signal and the L side signal are individually output to the horizontal angle calculators 32R and 32L, and the optical axis correction amount calculators are output from the horizontal angle calculators 32R and 32L. Receiving a correction signal fed back via 34R, 34L, calculates an average value from two sets of signals calculated based on the corrected optical axes of the on-vehicle cameras, and outputs the position of the own vehicle in the lane. On the other hand, the distance from the stereoscopic image signal to the front object 8 in FIG. 13 is calculated and output based on the corrected optical axis.

In the vehicle position detecting apparatus according to the seventh embodiment configured and operated as described above, the two vehicle-mounted cameras 2R and 2L for photographing a three-dimensional image can be corrected with high precision. It is possible to accurately detect the position of the vehicle and to accurately measure the distance to the front object because the optical axis is constantly corrected during operation.

[0025]

As described above, according to the vehicle position detecting device according to the present invention, the origin of the optical axis and the vertical line passing through the origin of the optical axis are set, and the constant traveling distance of the vehicle and its traveling From the distance between the vertical line and the lane marking at the two points in front of the vehicle in the distance, the amount of deviation of the optical axis of the vehicle-mounted camera in the horizontal direction is calculated, and the intersection is obtained assuming an extension of the lane marking. A function to calculate the amount of deviation of the optical axis in the vertical direction from the intersection, compare these with the target value, and correct it on the image so that it becomes the target value is provided. In addition, the optical axis can always be corrected while the vehicle is running, and the position of the vehicle can be detected with high accuracy without being restricted by the mounting of the on-vehicle camera. In addition, a temporary cutoff function of the optical axis correction signal is provided, which is operated when there is a possibility that an error may occur in the measurement for the optical axis correction due to the curvature of the road, the yaw rate, the oscillation of the vehicle such as acceleration, Since the optical axis correction is temporarily interrupted, an excellent vehicle position detecting device can be obtained without any error due to running conditions.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a configuration and operation of a vehicle position detecting device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating an operation of the vehicle position detecting device according to the first embodiment of the present invention.

FIG. 3 is a block diagram illustrating a configuration of an image processing unit of the vehicle position detection device according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating an operation of the vehicle position detecting device according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating an operation of the vehicle position detecting device according to the second embodiment of the present invention.

FIG. 6 is a block diagram illustrating a configuration of an image processing unit of a vehicle position detection device according to a third embodiment of the present invention.

FIG. 7 is a block diagram illustrating a configuration of an image processing unit of a vehicle position detection device according to a fourth embodiment of the present invention.

FIG. 8 is an explanatory diagram illustrating an operation of a vehicle position detecting device according to a fourth embodiment of the present invention.

FIG. 9 is an explanatory diagram illustrating a configuration and operation of a vehicle position detecting device according to a fifth embodiment of the present invention.

FIG. 10 is an explanatory diagram illustrating an operation of a vehicle position detecting device according to a fifth embodiment of the present invention.

FIG. 11 is an explanatory diagram illustrating a configuration and operation of a vehicle position detecting device according to a sixth embodiment of the present invention.

FIG. 12 is a block diagram illustrating a configuration of an image processing unit of a vehicle position detecting device according to a sixth embodiment of the present invention.

FIG. 13 is an explanatory diagram illustrating a configuration and operation of a vehicle position detecting device according to a seventh embodiment of the present invention.

FIG. 14 is a block diagram illustrating a configuration of an image processing unit of a vehicle position detecting device according to a seventh embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 1 vehicle, 2 vehicle-mounted camera, 3 image processing device, 4 vehicle speed detection device, 5a, 5b lane marking line, 6 yaw rate sensor, 7 acceleration sensor, 31, 37 vehicle position calculation unit, 32 horizontal angle calculation unit, 33 vertical angle calculation Part 3,
4 optical axis correction amount calculation unit, 35 control unit, 36 curvature calculation unit,

Claims (8)

[Claims] 1. An image signal acquiring means for acquiring a lane marking of a road ahead of a vehicle as an image signal, an optical axis origin of an image central portion on the image signal, a vertical line passing through the optical axis origin, A plurality of measurement points are set, measuring means for measuring each horizontal distance between the vertical line and the lane marking line at this measurement point, the plurality of horizontal distances, and the traveling distance of the vehicle traveling a fixed distance. An optical axis angle calculating means for calculating a horizontal angle between the traveling direction of the vehicle and the set direction of the optical axis from a change in the horizontal distance caused by traveling a fixed distance, the traveling direction of the vehicle and the optical axis An optical axis correcting means for determining an angular error based on a horizontal angle between the optical axis and a correction control. 2. An image signal acquiring means for acquiring a lane marking of a road ahead of a vehicle as an image signal, setting an optical axis origin of an image central portion and a horizontal line passing through the optical axis origin on the image signal. Measuring means for extending the lane markings on both sides to determine the intersection thereof, and measuring the vertical distance on the image between the intersection and the horizontal line, the vertical distance on the image, and the total viewing angle in the vertical direction of the image An optical axis angle calculating means for calculating a vertical angle between the horizontal line and the intersection of the lane markings from the light beam for determining an angle error from the angle between the optical axis and the intersection of the lane markings and performing correction control A position detecting device for a vehicle, comprising an axis correcting means. 3. The method according to claim 1, wherein the angle of the optical axis is continuously calculated in a time series, the calculated angle is stored as a histogram, and a value having the highest frequency of occurrence in the histogram is determined as an optical axis position to determine an angle error. Claim 1.
A vehicle position detecting device according to claim 2 or 3. 4. The position detecting device for a vehicle according to claim 1, wherein an angle correction amount is selectively acquired by turning on / off an output of an optical axis correcting unit. . 5. The system according to claim 1, further comprising means for calculating the curvature of the lane marking, wherein when the curvature exceeds a predetermined value, the output of the optical axis correcting means is temporarily shut off. The vehicle position detection device according to any one of the preceding claims. 6. A vehicle for measuring a yaw rate and a pitch rate of a vehicle, wherein the yaw rate or the pitch rate is:
Alternatively, when both of them exceed a predetermined value, the output of the optical axis correcting means is temporarily cut off.
A vehicle position detection device according to claim 4. 7. An apparatus according to claim 1, further comprising an acceleration sensor for detecting an acceleration in a front-rear direction and a left-right direction of the vehicle, wherein an output of the optical axis correcting means is temporarily cut off when the acceleration exceeds a predetermined value. The position detecting device for a vehicle according to claim 4. 8. An image signal acquiring means, an optical axis angle calculating means for calculating a horizontal angle, an optical axis angle calculating means for calculating a vertical angle, and an optical axis correcting means for inputting these and correcting and controlling them. The position detecting device for a vehicle according to any one of claims 1 to 7, wherein the position detecting device is installed as a set.