JPH1144550A - Guide unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guide unit for estimating the position and the attitude of a vehicle through a simple processing using minimum number of measuring means without being restricted by the traveling route. SOLUTION: A vehicle is controlled through a control section 6 to travel basically along a traveling route based on position/attitude values estimated at a position/attitude estimating section 4 using outputs from a steering angle sensor 1 and a moving speed sensor 2. Every time when a lateral shift from a magnetic mark being put on the traveling route at an arbitrary interval is detected by a magnetic sensor 3, a correcting section 5 corrects the position/ attitude values based on the position of the magnetic mark stored at a map information memory section 7, a lateral shift obtained from the magnetic sensor 3, and the position/attitude values.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for estimating the current position and attitude of a vehicle based on information obtained from various measuring means attached to the vehicle, and causing the vehicle to travel along a predetermined traveling route. The present invention relates to a guidance device.

[0002]

2. Description of the Related Art Dead reckoning navigation in which the current position and attitude of a vehicle is estimated based on information obtained from various measuring means attached to the vehicle, and the estimated value is used to guide the vehicle along a predetermined traveling route. Conventionally, the above-described estimation is performed by combining the navigation which estimates the estimated position of the vehicle by measuring and integrating the traveling direction and the moving distance of the vehicle and the radio navigation using a GPS, a beacon, etc., and compensating for each disadvantage. Hybrid navigation is used to increase the accuracy of the values. One example is disclosed in Japanese Patent Application Laid-Open No. 06-343.
There is a method proposed in JP-A-79. This method
To correct each error of each measuring means (geomagnetic sensor, angular velocity sensor, distance sensor, position sensor), 1
The output error of one measuring means is corrected using the output of another measuring means, and the position and orientation of the vehicle are estimated based on the corrected output values.

[0003]

However, in the conventional hybrid navigation as described above, a plurality of different measuring means must be attached to each of the measured values required for estimating the vehicle position. There was a problem of becoming. In addition, the processing for evaluating the outputs from multiple measuring means is complicated, and it takes a long time.
There were also problems such as control delay. In addition, particularly in position measurement by radio navigation, it is necessary to perform measurement at regular time intervals or at regular distances, and there is also a problem that the travel route is restricted. The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to estimate the position and orientation of a vehicle with high accuracy by a simple process using a minimum number of measurement means, and The present invention is to provide a guidance device which is not restricted by the above.

[0004]

In order to achieve the above object, the present invention is provided in a vehicle, a position / posture detecting means for detecting a relative position and a posture of the vehicle, and installed in the vehicle.
Displacement detection means for detecting the amount of lateral displacement of the vehicle with respect to the recognition marks provided at arbitrary intervals on the travel route of the vehicle, recognition mark position storage means for storing the positions of the recognition marks in advance, Position / posture estimating means for estimating the relative position and attitude of the vehicle based on the output from the attitude detecting means; the recognition mark position stored in the recognition mark position storage means; Correction means for correcting the estimated position and orientation of the vehicle based on the amount of lateral displacement and the estimated position and orientation of the vehicle obtained by the position and orientation estimation means; And control means for controlling the vehicle to travel along the travel route based on the estimated position / posture value of the vehicle. The correction means may be, for example, a recognition mark position stored in the recognition mark position storage means, the lateral displacement amount obtained by the displacement detection means, and a vehicle posture estimation obtained by the position / posture estimation means. Of the vehicle based on the calculated position of the vehicle obtained from the calculated values, the position estimated value of the vehicle obtained by the position / posture estimating means, and the travel distance of the vehicle obtained by the position / posture estimating means. A correction amount is obtained, and the posture estimation value of the vehicle obtained by the position / posture estimation means is corrected using the posture correction amount. The corrected posture estimation value and the recognition mark stored in the recognition mark position storage means are corrected. The vehicle position estimation value obtained by the position / posture estimation means may be corrected based on the mark position and the lateral deviation amount obtained by the deviation detection means.

[0005] Alternatively, the correction means may obtain the recognition mark position stored in the recognition mark position storage means and the deviation detection means when the two detection marks are successively detected by the deviation detection means. The calculated position of the vehicle at the time of detecting the two recognition marks is obtained from the lateral displacement amount and the estimated position of the vehicle obtained by the position / posture estimating means, respectively, and the vehicle calculated from the two calculated positions is obtained. A posture correction amount of the vehicle is calculated based on the posture calculation value of the vehicle and the vehicle posture estimation value obtained from the two position estimation values obtained by the position / posture estimation means when the two recognition marks are detected. The above position /
The vehicle posture estimation value obtained by the posture estimation means is corrected,
Based on the corrected posture estimation value, the recognition mark position stored in the recognition mark position storage means, and the lateral displacement amount obtained by the displacement detection means, the position / posture estimation result is obtained. It may be configured to correct the estimated position value of the vehicle. As the position / posture detection means, for example, a configuration including a steer angle detection sensor that detects a steer angle of the vehicle and a moving speed detection sensor that detects a moving speed of the vehicle can be considered. Further, as the deviation detecting means, for example, a configuration using a magnetic sensor for detecting a lateral deviation amount of the vehicle from the recognition mark constituted by a magnetic mark can be considered.

[0006]

In the guidance device according to the present invention, the control unit moves the vehicle along the traveling route based on the position / posture estimation value estimated by the position / posture estimation unit using the output from the position / posture detection unit. It is basically driven. However, when a recognition mark such as a magnetic mark provided at an arbitrary interval on the traveling route is detected by a displacement detecting means such as a magnetic sensor, the position / posture estimated by the position / posture estimation means by the correction means. The estimated value is the recognition mark position stored in the recognition mark position storage means, the lateral displacement obtained by the displacement detection means, and the vehicle position / posture estimation value obtained by the position / posture estimation means. And is corrected based on As a mode of the correction, claim 2
Or a method as shown in 3. As described above, the configuration using only the position / posture detecting means and the deviation detecting means as the measuring means has a lower cost than the conventional hybrid navigation method in which a plurality of different measuring means have to be mounted in duplicate. In addition, the processing for evaluating the output from the measuring means is simple, so that high-speed processing can be performed. In addition, since the recognition marks provided on the above-mentioned travel route are provided at arbitrary intervals and can be reliably detected in any situation, position measurement by radio navigation that requires measurement at fixed time intervals or at fixed distances is required. There is no restriction on the traveling route as in the above.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments and examples of the present invention will be described below with reference to the accompanying drawings to facilitate understanding of the present invention. The following embodiments and examples are mere examples embodying the present invention, and do not limit the technical scope of the present invention. Here, FIG. 1 is a schematic diagram illustrating a schematic configuration of a guidance device A1 according to an embodiment of the present invention, FIG. 2 is a flowchart illustrating an example of a vehicle guidance processing procedure of the guidance device A1, and FIG. FIG. 4 is an explanatory diagram of the vehicle guidance processing procedure of FIG.
FIG. 5 is a schematic diagram showing an example of the configuration of the vehicle 0, FIG. 5 is a flowchart showing a vehicle guidance processing procedure according to the embodiment, and FIG. 6 is an explanatory diagram of the vehicle guidance processing procedure according to the embodiment. As shown in FIG. 1, a guidance device A1 according to the present embodiment includes a steering angle detection sensor 1 such as a potentiometer for detecting a steering angle of a vehicle, an encoder mounted on driving wheels of the vehicle, and detecting a speed of the vehicle. A moving speed detecting sensor 2, a magnetic sensor 3 for detecting an amount of lateral displacement with respect to a magnetic mark provided at an arbitrary interval on a traveling path of the vehicle, and the steering angle detecting sensor 1 and the moving speed detecting sensor 2. A position / posture estimating unit 4 for estimating the position and posture of the vehicle based on the detected values, and a map information storage unit 7 (recognition mark position storage means) for preliminarily storing the information on the traveling route and the position (coordinates) of the magnetic mark. ), The position of the magnetic mark stored in the map information storage unit 7, the amount of lateral displacement from the magnetic mark detected by the magnetic sensor 3,
A correction unit 5 for correcting the position / posture estimation value based on the position / posture estimation value obtained by the posture estimation unit 4, and a position / posture estimation value obtained by the position / posture estimation unit 4 or the correction The control unit 6 controls the vehicle to travel along the traveling route based on the corrected position / posture estimated values obtained by the unit 5. Note that the steering angle detection sensor 1 and the moving speed detection sensor 2
It constitutes posture detecting means. The guidance apparatus A1 having the above configuration obtains the estimated position / posture of the vehicle in the position / posture estimating unit 4 based on the detection values from the steering angle detection sensor 1 and the moving speed detection sensor 2. Based on the so-called inertial navigation, in which the control unit 6 performs travel control based on the estimated position / posture value and the travel route information stored in the map information storage unit 7, the magnetic sensor 3 detects the magnetic mark. Each time the correction is performed, the correction unit 5 corrects the estimated position / posture value of the vehicle obtained by the position / posture estimation unit 4. This can be said that the relative position obtained by the steering angle detection sensor 1 and the moving speed detection sensor 2 is corrected by the absolute position obtained by the magnetic sensor 3.

Hereinafter, a procedure for guiding a vehicle by the above-described guidance device A1 will be described with reference to FIGS. As shown in FIG. 4, the vehicle 10 used in the following description has the center of the wheel base (= W) as the vehicle body center position, and
A magnetic sensor 3 is attached to the foremost part of the vehicle body at a distance L from the vehicle body 1. Magnetic marks M (M1, M2,... Mn) are provided at arbitrary intervals on the traveling route R of the vehicle 10, and the magnetic sensor 3 is arranged between the magnetic mark M and the center line of the vehicle 10. The shift amount D is detected. When the vehicle 10 starts running from the start point SP (FIG. 3), the steer angle detection sensor 1 and the movement speed detection sensor 2 continuously detect the steer angle and the movement speed, respectively (step S1), and the detected values are obtained. The position / posture estimating unit 4 obtains an estimated value of the position and the posture of the vehicle 10 based on (Step S2). The magnetic sensor 3 attached to the front of the vehicle 10 detects the magnetic mark M1 on the traveling route R.
Until the position / posture estimation unit 4 detects the position / posture estimation unit 4, the control unit 10 controls the vehicle body 10 so that the estimated position / posture value along the traveling route R stored in the map information storage unit 7.
Is controlled (steps S3 → S7 → S8 → S1)
→…). When the magnetic mark M1 is detected by the magnetic sensor 3 (step S3), before executing the step S7, the processing of steps S4 to S6 described below is performed.

FIG. 3 shows a magnetic mark M1 by the magnetic sensor 3.
Position / posture 10 of the vehicle 10 at the time when
2 shows the relationship between the position a and the position / posture 10 a ′ estimated by the position / posture estimation unit 4. In the figure, the solid line is the actual position / posture 10a of the vehicle 10, and the broken line is the position / posture 10a 'estimated by the position / posture estimation unit 4.
That is, it is assumed that the traveling control has been performed by the control unit 6 so that 10a 'is placed on the traveling route R until the magnetic sensor 3 detects the magnetic mark M1. Here, the direction of the traveling route R is the X axis, the direction perpendicular thereto is the Y axis, the posture angle of the vehicle with respect to the traveling route R is θ, and the coordinates and posture of the actual vehicle center position Pr are (Xr, Yr, θr),
The vehicle position estimated by the position / posture estimation unit 4
The coordinates and orientation of the center position Pg of the orientation are represented by (Xg, Yg, θ
g), the coordinates of the actual position Ps of the magnetic sensor 3 are represented by (Xs,
Ys), the coordinates of the magnetic mark M1 are (Xm, Ym), and the value detected by the magnetic sensor 3 (the amount of lateral displacement from the magnetic mark M1) is D. Of the above values, known values are the coordinates (X) of the magnetic mark M1 stored in the map information storage unit 7.
m, Ym), the coordinates and posture of the center position Pg of the vehicle position / posture estimated by the position / posture estimation unit 4 (X
g, Yg, θg) and the value D detected by the magnetic sensor 3. When the magnetic mark M1 is detected by the magnetic sensor 3, the following processing (step S
4 to S6) are performed.

First, the coordinates (Xs, Ys) of the actual position Ps of the magnetic sensor 3 can be set as follows. Xs = Xm−D · sin (θr) (1) Ys = Ym−D · cos (θr) (2) However, in the above equations (1) and (2), θr is unknown. Therefore, when a known value θg is substituted for θr, the following equation is obtained. Xs = Xm−D · sin (θg) (1 ′) Ys = Ym−D · cos (θg) (2 ′) Here, the above equations (1 ′) and (2 ′) are expressed by θg = θr. In this case, the equation is equivalent to the above equations (1) and (2), so that a correct relation is shown. However, in the case of θg ≠ θr, an erroneous relation equation including an error corresponding to the angle difference is naturally obtained. Using the above equations (1 ′) and (2 ′), the coordinates (Xr, Yr) of the actual center position Pr of the vehicle are expressed by the following equations. Xr = Xs− (L + W / 2) · cos (θg) (3) Yr = Ys− (L + W / 2) · sin (θg) (4) Again, the above equations (1 ′) and (2 ′) Similarly, the known value θg is used instead of the unknown value θr. Here, the moving distance (θg ≒ 0) when the magnetic mark M1 is detected, so that the Y coordinate can be ignored. In the first magnetic mark detection, the moving distance from the start point SP, ie, the estimated X coordinate value X
g, the difference between the X coordinate at the time of the previous detection of the magnetic mark and the X coordinate at the time of the current detection of the magnetic mark for the second and subsequent magnetic mark detections) is S, and the correction amount θ _{offset of the} vehicle attitude angle is
Becomes as follows. θ _offset = Kva · atan ((Yr−Yg) / S) (5) where Kva is a proportional gain and is set to 1 here.
Here, when θg = θr, that is, (1 ′),
When the expression (2 ′) and the expressions (3) and (4) show a correct relationship, (Yr−Yg) in the expression (5) becomes 0 and θ _offset becomes 0. However, when θg ≠ θs, ie, the above equations (1 ′) and (2 ′), and the above (3),
If the equations (4) are incorrect, a large value of θ _offset appears in accordance with the errors included in those equations, that is, the difference between θg and θr. Therefore, the actual vehicle attitude angle θr is obtained by the following equation. θr = θg + θ _offset (6) As described above, until the actual vehicle attitude angle θr is obtained, step S
Four.

Subsequently, the coordinates (Xs, Ys) of the actual magnetic sensor and the coordinates (Xr, Yr) of the actual center position of the vehicle are calculated using the above θr (step S5). Xs = Xm−D · sin (θr) (7) Ys = Ym−D · cos (θr) (8) Xr = Xs− (L + W / 2) · cos (θr) (9) Yr = Ys− (L + W / 2) · sin (θr) (10) The obtained coordinates and posture (Xr, Yr, θ) of the vehicle center Pr
r) is calculated from the estimated position and orientation (Xg,
Yg, θg) (step S6). Through the processing in steps S4 to S6, the position / posture estimated by the position / posture estimation unit 4 is corrected each time the magnetic mark M is detected, and the control unit uses the corrected estimated position / posture. Since the traveling of the vehicle body 10 is controlled by the control 10 (step S7), high-precision control can always be performed. The above processing is performed until the target position is reached (step S
8) Repeat.

As described above, the guidance apparatus A1 according to the present embodiment has, as measurement means, the steering angle detection sensor 1, the traveling speed detection sensor 2, and the arbitrary intervals on the traveling route required for inertial navigation. Due to the configuration using only the magnetic sensor 3 for detecting the amount of lateral displacement of the vehicle with respect to the provided magnetic mark M, the cost is reduced as compared with the conventional hybrid navigation in which a plurality of different measuring means have to be mounted redundantly. In addition, since the processing for evaluating the output from the measuring means is simple, there is no concern about control delay and the like. Further, since the magnetic marks M provided on the traveling route can be provided at arbitrary intervals and can be reliably detected in any situation, the radio navigation system which requires measurement at regular time intervals or at regular distances is required. There is no restriction on the traveling route as in the position measurement by. As described above, the guidance device A1 according to the present embodiment can estimate the position and the attitude of the vehicle with high accuracy by simple processing using the minimum measuring means, and can be restricted by the traveling route. Absent.

[0013]

EXAMPLE Steps S4 to S6 in the above embodiment.
, The travel distance S from the time of the previous detection of the magnetic mark (or the start point) to the time of the current detection of the magnetic mark
_{Was used} to determine the correction amount θ _offset of the vehicle body posture angle ((5)
Expression), the method of _obtaining the correction amount θ _offset is not limited to this. For example, two consecutive magnetic marks M1, M
The correction amount θ _offset of the vehicle body posture angle may be obtained from each vehicle body position (actual position and estimated position) at the time of the detection of the second position. Hereinafter, steps S11 to S18 corresponding to steps S4 to S6 in the above embodiment will be described with reference to FIGS.
Will be described. The processes in steps S1 to S3 and steps S7 and S8 are the same as in the above embodiment. FIG. 6 shows the magnetic marks M1 and M
Actual position / posture 1 of the vehicle 10 at the time when 2 is detected
The relationship between 0a1 and 10a2 and the positions and postures 10a1 'and 10a2' estimated by the position / posture estimation unit 4 is shown. In the figure, the solid lines are the actual positions / postures 10a1 and 10a2 of the vehicle 10, and the broken lines are the positions / postures 10a1 'and 10a2' estimated by the position / posture estimation unit 4. Here, the direction of the traveling route R is the X axis, the direction perpendicular thereto is the Y axis, the attitude angle of the vehicle with respect to the traveling route R is θ, and the coordinates of the actual vehicle center Pr2 when the magnetic mark M2 is detected. And the attitude (Xr2, Yr2, θr
2) The coordinates and orientation of the vehicle center Pg2 estimated by the position / posture estimation unit 4 are represented by (Xg2, Yg2, θg
2) The coordinates of the actual position Ps2 of the magnetic sensor 3 are represented by (Xs
, Ys2) and the coordinates of the magnetic mark M2 are (Xm2, Ym
2), the value detected by the magnetic sensor 3 (magnetic mark M2
(The amount of lateral deviation from the distance) is D2. Of the above values, the known value is the magnetic mark M stored in the map information storage unit 7.
2 coordinates (Xm2, Ym2), position / posture estimation unit 4
Of the vehicle center Pg2 and the posture (X
g2, Yg2, θg2) and the value D2 detected by the magnetic sensor 3. When the magnetic mark M is detected by the magnetic sensor 3, the following processing (steps S11 to S18) is performed by the correction unit 5. If the detected magnetic mark is M1, that is, the first magnetic mark, the estimated position / posture Pg estimated by the position / posture estimation unit 4
After storing (Xg1, Yg1, θg1) and the detection value D1 of the magnetic sensor 3 (steps S11 → S18), the information on the estimated position / posture Pg and the travel route R stored in the map information storage unit 7 as usual. The traveling control is performed by the control unit 6 based on (Step S7). If the detected magnetic mark is the magnetic mark subsequent to M2, that is, the second or subsequent magnetic mark (step S11), the following steps S12 to S17 are performed.

First, the coordinates (Xs2, Ys2) of the actual position Ps2 of the magnetic sensor 3 can be set as follows. Xs2 = Xm2-D2 · sin (θr2) (11) Ys2 = Ym2-D2 · cos (θr2) (12) However, in the above equations (11) and (12), θr2 is unknown. Therefore, instead of θr2, a known value θg
Substituting 2 gives the following equation. Xs2 = Xm2−D2 · sin (θg2) (11 ′) Ys2 = Ym2−D2 · cos (θg2) (12 ′) Here, the above equations (11 ′) and (12 ′) are represented by θg2 = θ
In the case of r2, the relationship is equivalent to the above formulas (11) and (12), so that a correct relationship is shown. However, in the case of θg2 ≠ θr2, an erroneous relationship including an error corresponding to the angle difference is naturally obtained. . The coordinates (Xs1, Ys) of the actual position Ps1 of the magnetic sensor 3 at the time of detection of the magnetic mark M1 already obtained and stored by the above formulas (11) and (12) and similar methods.
Using 1), the angle θs between the straight line passing through the magnetic sensor positions Ps1 and Ps2 and the traveling route R is obtained as in the following equation (steps S12 and S13). θs = atan ((Ys2−Ys1) / (Xs2−Xs1)) (13) Further, the estimated vehicle body center position Pg1 (Xg1, Yg1) at the time of detecting the magnetic mark M1 and at the time of detecting the magnetic mark M2. Estimated vehicle center position Pg2 (Xg2, Yg
The angle θg between the straight line passing through 2) and the traveling route R is obtained as in the following equation (step S14). θg = atan ((Yg2−Yg1) / (Xg2−Xg1)) (14) From the above equations (13) and (14), the correction amount θ of the vehicle body posture angle
_{The offset} is as follows: θ _offset = Kva · (θs−θg) (15) where Kva is a proportional gain, and is set to 1 in this case.
Here, when θs = θg, that is, (11 ′), (1
If the expression 2 ′) shows a correct relationship, θ _offset becomes zero. However, when θs ≠ θg, that is, (1)
When the expressions 1 ′) and (12 ′) are incorrect, the value of θ _offset appears largely according to the error included in those expressions, that is, the difference between θg2 and θr2. Therefore, the actual vehicle attitude angle θr2 is obtained by the following equation. θr2 = θg2 + θ _offset (16)

Subsequently, the coordinates (Xs2, Ys2) of the actual magnetic sensor and the coordinates (Xr2, Yr2) of the actual center position of the vehicle are calculated using the above θr2 (step S).
16). Xs2 = Xm2-D2 · sin (θr2) (17) Ys2 = Ym2-D2 · cos (θr2) (18) Xr2 = Xs2- (L + W / 2) · cos (θr2) (19) Yr2 = Ys2- (L + W / 2) · sin (θr2) (20) The coordinates and posture (Xr2, Yr) of the obtained vehicle center Pr2
(2, θr2) is replaced with the estimated coordinates and posture of the vehicle center Pg2 (Xg2, Yg2, θg2) (step S17), and the coordinates and posture of the vehicle center Pg2 for processing at the time of detecting the next magnetic mark M2. (Xg2, Yg
2, θg2) and the detection value D2 of the magnetic sensor 3 are stored (step S18). Through the processing in steps S11 to S18, the position / posture estimated by the position / posture estimation unit 4 is corrected each time the magnetic mark M is detected,
The traveling of the vehicle body 10 is controlled by the control unit 10 using the corrected estimated position / posture (step S7), so that high-precision control can always be performed. As described above, even if the correction method (steps S11 to S18) according to the present embodiment is used, the same effect as in the above embodiment can be obtained.

[0016]

As described above, the guidance device according to the present invention is installed in a vehicle, and a position / posture detecting means for detecting the relative position and orientation of the vehicle, and installed in the vehicle, and A displacement detecting means for detecting a lateral displacement amount of the vehicle with respect to a recognition mark provided at an arbitrary interval on a route;
Recognition mark position storage means for storing the position of the recognition mark in advance, position / posture estimation means for estimating the relative position and posture of the vehicle based on the output from the position / posture detection means, and recognition mark position storage The position / posture of the vehicle based on the recognition mark position stored in the means, the lateral displacement amount obtained by the displacement detection means, and the estimated position / posture of the vehicle obtained by the position / posture estimation means. Correction means for correcting the estimated attitude value; and control means for controlling the vehicle to travel along the travel route based on the corrected estimated position and attitude value of the vehicle obtained by the correction means. Because it is configured as a guidance device characterized by the fact that it is configured, it costs less than conventional hybrid navigation, which had to install multiple different measuring means redundantly. Obtain it can, also, there is no fear of control delay, etc. For a simple process for evaluating the output from the measuring means. In addition, the recognition marks provided on the traveling route can be provided at arbitrary intervals and can be reliably detected in any situation. Unlike the position measurement, there is no restriction on the traveling route. As described above, the guidance device according to the present invention can estimate the position and orientation of the vehicle with high accuracy by simple processing using the minimum measuring means, and is not restricted by the traveling route.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a schematic configuration of a guidance device A1 according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an example of a vehicle guidance processing procedure of the guidance device A1.

FIG. 3 is an explanatory diagram of a vehicle guidance processing procedure of the guidance device A1.

FIG. 4 is a schematic diagram showing an example of a configuration of a vehicle 10 to which the above-described guidance device A1 is applied.

FIG. 5 is a flowchart illustrating a vehicle guidance processing procedure according to the embodiment;

FIG. 6 is an explanatory diagram of a vehicle guidance processing procedure according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Steering angle detection sensor 2 ... Moving speed detection sensor 3 ... Magnetic sensor 4 ... Position / posture estimation part 5 ... Correction part 6 ... Control part 7 ... Map information storage part 10 ... Vehicle R ... Travel route M ... Magnetic mark

Claims (5)

[Claims] 1. A position / posture detecting means installed on a vehicle and detecting a relative position and an attitude of the vehicle, and a recognition mark installed on the vehicle and provided at an arbitrary interval on a traveling route of the vehicle. Displacement detection means for detecting the amount of lateral displacement of the vehicle, recognition mark position storage means for storing the position of the recognition mark in advance, and estimating the relative position and posture of the vehicle based on the output from the position / posture detection means Position / posture estimating means, the recognition mark position stored in the recognition mark position storage means, the lateral displacement amount obtained by the displacement detecting means, and the vehicle position obtained by the position / posture estimating means. A correcting means for correcting the position / posture estimated value of the vehicle based on the posture estimated value, and a corrected position / posture estimated value of the vehicle obtained by the correcting means,
A guidance device comprising: control means for controlling the vehicle to travel along the travel route. 2. The method according to claim 1, wherein the correction means includes a recognition mark position stored in the recognition mark position storage means, the lateral displacement amount obtained by the displacement detection means, and a vehicle attitude obtained by the position / posture estimation means. Based on the calculated position of the vehicle obtained from the estimated values, the estimated position of the vehicle obtained by the position / posture estimation means, and the travel distance of the vehicle obtained by the position / posture estimation means, A posture correction amount is obtained, and the posture estimation value of the vehicle obtained by the position / posture estimation means is corrected by the posture correction amount, and the corrected posture estimation value and the recognition mark position stored in the recognition mark position storage means are stored. 2. The guidance apparatus according to claim 1, wherein the estimated position of the vehicle obtained by the position / posture estimating means is corrected based on the recognition mark position and the lateral deviation amount obtained by the deviation detecting means. 3. The apparatus according to claim 1, wherein the correction means obtains the recognition mark position stored in the recognition mark position storage means and the shift detection means when two of the recognition marks are successively detected by the shift detection means. The calculated position of the vehicle at the time of detecting the two recognition marks is obtained from the lateral displacement amount and the estimated position of the vehicle obtained by the position / posture estimating means, respectively, and the vehicle calculated from the two calculated positions is obtained. A posture correction amount of the vehicle is calculated based on the posture calculation value of the vehicle and the vehicle posture estimation value obtained from the two position estimation values obtained by the position / posture estimation means when the two recognition marks are detected. The posture estimation value of the vehicle obtained by the position / posture estimation means is corrected by the posture correction amount, and the corrected posture estimation value and the recognition mark position stored in the recognition mark position storage means are corrected. 2. The guidance apparatus according to claim 1, wherein the estimated position of the vehicle obtained by the position / posture estimating means is corrected based on the position and the amount of lateral deviation obtained by the deviation detecting means. 4. The vehicle according to claim 1, wherein said position / posture detecting means includes a steer angle detection sensor for detecting a steer angle of the vehicle, and a moving speed detecting sensor for detecting a moving speed of the vehicle. The guidance device according to any one of the above. 5. The guidance device according to claim 1, wherein the deviation detecting means comprises a magnetic sensor for detecting a lateral deviation amount of the vehicle from the recognition mark composed of a magnetic mark.