KR101067377B1 - apparatus and method for estimating a location of a vehicle on a regular route - Google Patents

Abstract

The present invention relates to an apparatus and method for estimating a position of a vehicle traveling along a predetermined route.

An apparatus for estimating the position of a routed vehicle according to the present invention includes a sensor input unit for receiving speed data from a speed sensor; A GPS receiver for receiving GPS data from a GPS satellite; A storage unit for storing route information and stop position information on the route; A calculation unit calculating position data using the GPS data and calculating movement distance data using the speed data; A map matching unit which maps the location data and the moving distance data to the line; And when the location data is a value within an error range of the route, determining map matching data of the location data as a value representing a current position of a road driving vehicle, and when the location data is a value out of an error range of the route. And a position determining unit that determines the map matching data of the moving distance data as a value indicating a current position of the routed vehicle.

Route, location, estimation, recognition, vehicle, bus, map matching, GPS, speed sensor

Description

Apparatus and method for estimating a location of a vehicle on a regular route}

The present invention relates to an apparatus and method for estimating a location of a vehicle traveling along a predetermined route (hereinafter referred to as a 'road driving vehicle'), in particular an area where GPS reception is poor by using a map matching technique and a speed sensor. Also relates to an apparatus and method for estimating the position of a routed vehicle so as to accurately recognize the position of the routed vehicle.

In general, passengers of buses or trains are provided with a service for guiding the location and arrival of the stop.

Existing methods for implementing such a service include, for example, storing a location of a stop corresponding to a predetermined route as a database and storing the coordinates in a driving terminal, and using a GPS signal received by a GPS receiver installed in the vehicle. Estimating in real time, and searching for stop positions based on the estimated vehicle position and guiding passengers to a specific stop when the vehicle is close to the position of the specific stop.

As another example, storing the location of the stop, the node (intersection) and the driving route (link) information in the memory, calculating the position of the vehicle using a GPS signal, and map the calculated vehicle position data to the route (Map Matching) and the step of guiding passengers to the corresponding stop when the map matching location is close to the stop.

As mentioned above, the conventional method is to recognize the stop position using only GPS without fusion with other systems. Therefore, according to the conventional method, the biggest disadvantage is that the system moves dependently on the error of GPS and, consequently, the station recognition ability is also dependent. Specifically, the conventional method is due to the multipath error and signal disconnection of the GPS when the vehicle enters or stays in an area where GPS reception is poor (for example, under a roadside tree, a tunnel, under an elevated roadway, a building forest, etc.). An error or incapable of recognizing a location of a vehicle occurs, and as a result, an error or incapable of recognizing a stop occurs, thereby causing a problem in a smooth stop guide service.

As an example of application of the existing method, the bus guidance system may not be able to identify the location of the bus when the GPS location recognition error or location recognition is not possible, resulting in overpayment. In particular, in the case of a bus that runs in a city center with many building forests and elevated roadways, the location recognition capability of the vehicle may drop to less than 50%.

As is well known, GPS is a propagation navigation system capable of absolute position measurement anytime and anywhere regardless of weather and time, and measures the propagation delay time of a signal transmitted from GPS satellites, and converts the distance to estimate the current position.

The feature of the GPS is that the signals transmitted from the GPS satellites are processed at a discontinuous time, for example, every second, so that an error does not accumulate with respect to the estimated position. However, in an area where GPS reception is poor, there is a disadvantage that a position error different from the actual position may occur due to a multipath error and signal disconnection of the signal. Positional errors can range from a few meters to a few kilometers, which can cause false recognition in stop location recognition.

In addition, a map matching method is a method of correcting coordinates calculated by using a GPS signal to coordinates on a nearby road, and has an advantage of reducing a position error within an error range. Currently, this method is indispensable for navigation devices, and services such as relatively accurate vehicle location and destination guidance are possible. However, this method has a disadvantage in that a large error correction cannot be performed with respect to an incorrect position of the GPS, and can also be corrected with coordinates on a wrong road.

In addition, the dead-reckoning method is a navigation system that estimates the next position from the initial position using the movement angle and the movement distance calculated by the direction sensor and the speed sensor starting from the initial position of the vehicle. This method has the advantage of being able to estimate the position independently without relying on GPS, and it has the feature that continuous data can be obtained because the movement angle and the amount of movement are calculated for each cycle. However, there is a disadvantage in that an error accumulates when driving for a long time.

It is an object of the present invention to provide a location estimation apparatus and method which minimizes the location recognition error of a routed vehicle by taking only the advantages of the above-described techniques.

In addition, an object of the present invention is to provide a location estimation apparatus and method capable of accurate stop guidance by minimizing the location recognition error.

In order to achieve the above object, the position estimating apparatus for a road vehicle according to the present invention includes a sensor input unit for receiving the speed data from the speed sensor; A GPS receiver for receiving GPS data from a GPS satellite; A storage unit for storing route information and stop position information on the route; A calculation unit calculating position data using the GPS data and calculating movement distance data using the speed data; A map matching unit which maps the location data and the moving distance data to the line; And when the location data is a value within an error range of the route, determining map matching data of the location data as a value representing a current position of a road driving vehicle, and when the location data is a value out of an error range of the route. And a position determining unit that determines the map matching data of the moving distance data as a value indicating a current position of the routed vehicle.

An apparatus for estimating the position of a route running vehicle according to the present invention may further include a stop location guide unit for controlling a speaker or an indicator to guide a stop location when the distance between the current location and the stop location is within a predetermined length. .

The position estimating apparatus for a routed vehicle according to the present invention uses map scale data of position data determined by the position correction unit as a value indicating a current position, using a scale factor used by the calculator to calculate the movement distance data. It may be made by further comprising a speed sensor correction unit to periodically correct by using.

Preferably, the speed sensor corrector periodically corrects the scale factor based on a distance traveled by a route driving vehicle on the route.

In addition, the method for estimating the position of the routed vehicle of the present invention includes calculating position data by using GPS data received from a GPS satellite and calculating movement distance data by using speed data received from a speed sensor; Map matching the location data to a route; Determining whether the location data is a value within an error range of the line; And when the location data is a value within an error range of the route, determining the map matching data of the location data as a value indicating a current position of a vehicle driving a route, and as a result of the determination, the location data is an error of the route. If the value is out of range, map matching of the movement distance data to the route and determining map matching data of the movement distance data as a value representing a current position of a line driving vehicle.

The method for estimating the position of a routed vehicle according to the present invention may further include guiding the stop position when the distance between the determined current position and the stop position is within a predetermined length.

According to the present invention, the method for estimating the position of a routed vehicle includes a scale factor used to calculate the movement distance data when the position data is within a range of error of the route. The method may further include correcting using the matching data.

The scale factor correction is preferably performed periodically based on the distance traveled by the routed vehicle on the route.

According to the existing method, the system cannot move or detect the stop because the system moves dependently on the error of GPS, and as a result, the stop recognition ability is also dependent.

However, according to the apparatus and method for estimating the position of a routed vehicle according to the present invention, the GPS inaccuracy is solved by using a speed sensor and route information which can solve the shortcomings (position error) of the GPS. The location of the stop can be recognized.

Above all, since the position estimating apparatus of the route driving vehicle according to the present invention corrects the error of the speed sensor by matching the GPS and the map in the region where the signal is good, the speed sensor and the map corrected even when the vehicle enters the region where the GPS signal is poor. There is an advantage that accurate position estimation is possible only by matching.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the apparatus and method for estimating the position of a road vehicle in accordance with a preferred embodiment of the present invention.

1 is a block diagram of an apparatus for estimating a position of a routed vehicle according to an embodiment of the present invention, and FIG. Conceptual diagram.

As shown in FIG. 1, the apparatus for estimating the position of a vehicle operating a route according to the present invention includes a speed sensor 105, a sensor input unit 110, a GPS receiver 115, and a road network storage unit (hereinafter, simply referred to as “storage unit”). 120), a position / travel distance calculator (hereinafter, simply referred to as a calculator); 125, a map matching unit 130, and a route driving vehicle position determiner (hereinafter, simply referred to as a position determiner). 135, a stop position guide unit 140, a speaker 145, an indicator 150, and a speed sensor correction unit 155.

In the above-described configuration, the sensor input unit 105 is for receiving the speed data from the speed sensor 105 installed in the road vehicle.

The storage unit 120 is for storing route information and stop position information on the route. Here, the route information is not a general road map used by the navigation device, but includes position information of a lane in which a route driving vehicle travels, that is, a bus dedicated lane.

The calculation unit 125 calculates the position data using the GPS data received by the GPS receiver 115 from the GPS satellites, and the movement distance data using the speed data received by the sensor input unit 105 from the speed sensor 105. Calculate For example, since the GPS receiver 115 generally receives GPS data every second, the calculator 125 also calculates position data and moving distance data every second.

The map matching unit 130 maps the position data and the movement distance data calculated by the calculation unit 125 to the line. In detail, the map matching unit 130 maps the position data (GPS coordinates; see FIG. 2) calculated by the calculator 125 to coordinates (GPS map matching coordinates; see FIG. 2) closest thereto. In addition, the coordinates on the route (speed sensor map matching coordinates; see FIG. 2) located at a position separated by the moving distance calculated by the calculation unit 125 from the coordinates on the route previously determined by the position determining unit 135 as the vehicle position. Map-match the moving distance data.

The position determining unit 135 determines whether the position data calculated by the calculating unit 125 is a value within an error range of the line. As a result of the determination, when the position data is within a range of the error of the route, the map matching data of the position data is determined to indicate a value indicating the current position of the driving vehicle. On the other hand, when the position data is out of the error range, the map matching of the movement distance data is determined. The data is determined as a value indicating the current position of the routed vehicle.

An example of the position determination process will be described with reference to FIG. 2. At time t0, the current position of the vehicle on the line is X _t0 , and at time t ₁ , the GPS map matching coordinates and the speed sensor map matching coordinates are respectively. , if said M S _t1 and _t1, position determination unit 135 determines a current position (X _t1) of the vehicle at time t ₁ a M _t1 in accordance with the criteria that meets the above-mentioned M _t1. Then, at time t ₂ , since M _t2 does not satisfy the condition, it is determined that S _t2 is the current position X _t2 of the vehicle at time t ₂ . Then, when the time t ₃ days, so M _t3 is satisfied with the condition to determine M _t3 the current position (X _t3) of the vehicle at time t _3.

As shown in the above example, the position estimating apparatus of the present invention utilizes the GPS coordinates as the top priority in determining the current position of the vehicle on the route, but the GPS coordinates are out of the error range, that is, the vehicle operating the route has poor GPS reception. If it is located in the area, the next best solution is to use the speed sensor value, that is, the travel distance data. As a result, since the location estimating apparatus of the present invention is limited to being applied to a route driving vehicle, even if only the moving distance is measured, the location estimation and stop position recognition can be independently performed even in a region where GPS reception is poor.

On the other hand, minimizing the error of the speed sensor in order to increase the reliability of the independent position estimation and stop position recognition is a key.

The speed sensor correcting unit 155 maps the map matching data of the position data in which the scale factor used when the calculating unit 125 calculates the moving distance data is determined to be a value indicating the current position by the position correcting unit 135. Correct periodically using. For example, as shown in FIG. 2, if the distance from X _t0 to S _t1 is 800 m and the distance from X _t0 to M _t1 (= X _t1 ) is 1 km, the speed sensor correction unit 155 may calculate the calculation unit ( Correct the scale factor so that the travel distance calculated in 125) is 1km. That is, the speed sensor correction unit 155 corrects the scale factor by using the GPS map matching coordinates (the value determined as the current position) in order to minimize the error of the speed sensor.

In addition, the speed sensor corrector 155 periodically corrects the scale factor based on the distance traveled by the route driving vehicle on the route. For example, the scale factor is corrected every time the moving distance of the vehicle is 5 km.

The stop position guide unit 140 uses the map matching data determined by the position determiner 135 as a value indicating the current position and the stop position information stored in the storage unit 120, so that the line driving vehicle arrives at the stop. The remaining distance remaining until now is calculated. In addition, it is determined whether the remaining distance is within 50 m, for example. As a result of the determination, when the distance between the current position of the vehicle and the stop position is within 50m, the speaker 145 or the indicator 150 is controlled to guide the passenger to the stop position.

3 is a flowchart illustrating a method for estimating a position of a routed vehicle according to an embodiment of the present invention.

As shown in FIG. 3, the position estimating apparatus of the present invention first receives and processes GPS data (step S101), and calculates a moving distance by using speed data received from a speed sensor installed in a vehicle ( Step S103).

Next, in step S105, position data is calculated using the GPS data received from the GPS satellites.

Next, in step S107, the map data is matched to the coordinates closest to each other on the line.

Next, in step S109, it is determined whether the map matching condition is satisfied. That is, it is determined whether the position data is a value within an error range of the route.

As a result of the determination in step S109, if the position data is a value out of the error range of the route, the moving distance data calculated in step S103 is map-matched to the route (step S111). That is, the moving distance data is map-matched to the coordinates on the route located at a distance apart from the map matching coordinates previously determined as the vehicle position. Further, the map matching data is determined as a value indicating the current position of the vehicle.

On the other hand, if it is determined in step S109 that the position data is a value within the error range of the route, the map matching data of the position data is determined as a value representing the current position of the vehicle. Then, the process proceeds to step S113 to correct the scale factor based on the moving distance of the vehicle to minimize the error of the speed sensor. For example, the scale factor is corrected every time the moving distance of the vehicle is 5 km.

After determining the current position of the vehicle, the remaining distance remaining until the line running vehicle arrives at the stop is calculated (step S115).

Next, it is determined whether the vehicle exists within the recognition range for the stop guidance (step S117).

As a result of the determination, when the vehicle exists within the recognition range for guiding the stop, that is, when the residual distance calculated above is within 50 m, for example, the arrival of the stop is notified to the passengers using a speaker or an indicator (step S119).

The apparatus and method for estimating the position of a routed vehicle according to the present invention can be embodied in various modifications within the scope of the technical idea of the present invention, without being limited to the above-described embodiments.

1 is a block diagram of an apparatus for estimating a position of a vehicle operating a route according to an exemplary embodiment of the present invention.

2 is a conceptual diagram illustrating a location estimation method by a location estimating apparatus for a routed vehicle according to an embodiment of the present invention.

3 is a flowchart illustrating a method for estimating a position of a route driving vehicle according to an exemplary embodiment of the present invention.

*** Explanation of symbols for the main parts of the drawing ***

105: speed sensor 110: sensor input unit

115: GPS receiver 120: storage unit

125: calculation unit 130: map matching unit

135: vehicle position determining unit 140: stop position guide

145: Speaker 150: Indicator

155: speed sensor correction unit

Claims (9)

A sensor input unit for receiving speed data from the speed sensor; A GPS receiver for receiving GPS data from a GPS satellite; A storage unit for storing route information and stop position information on the route; A calculation unit calculating position data using the GPS data and calculating movement distance data using the speed data; A map matching unit which maps the location data and the moving distance data to the line; And When the location data is a value within an error range of the route, the map matching data of the location data is determined as a value representing a current position of a road driving vehicle, and when the location data is a value outside the error range of the route, A position determination unit that determines map matching data of the movement distance data to a value representing a current position of the route driving vehicle, If the position data is a value out of the error range of the route, the position estimation apparatus of the routed vehicle characterized in that the current position of the routed vehicle is determined using the stored route information instead of the direction sensor for detecting the movement angle. . The method of claim 1, If the distance between the current position and the stop position is within a predetermined length location estimation apparatus for a route running vehicle further comprises a stop location guide for controlling a speaker or an indicator to guide the stop location. The method according to claim 1 or 2, The apparatus further includes a speed sensor corrector configured to periodically correct a scale factor used when the calculator calculates the movement distance data by using map matching data of the position data determined by the position corrector as a value indicating a current position. An apparatus for estimating the position of a route running vehicle, characterized in that The method of claim 3, wherein the speed sensor correction unit, And estimating the scale factor periodically based on the distance traveled by the routed vehicle on the route. Calculating position data by using GPS data received from a GPS satellite, and calculating movement distance data by using velocity data received from a speed sensor; Map matching the location data to a route; Determining whether the location data is a value within an error range of the line; And When the location data is a value within the error range of the route as a result of the determination, the map matching data of the location data is determined as a value representing the current position of the vehicle driving the route, and the determination result indicates that the location data is an error range of the route. If the value is outside the step of the map matching the movement distance data to the route and determining the map matching data of the movement distance data as a value representing the current position of the road vehicle, If the location data is out of the error range of the route, the current position of the routed vehicle is determined using the stored route information instead of the direction sensor for detecting the movement angle. . The method of claim 5, And if the distance between the determined current position and the stop position is within a predetermined length, guiding the stop position. The method of claim 5, If the location data is a value within an error range of the route, correcting a scale factor used to calculate the travel distance data using map matching data of the location data; Method for estimating the position of the routed vehicle, characterized in that made. The method of claim 7, wherein the correction of the scale factor, A method for estimating the position of a routed vehicle, wherein the routed vehicle performs periodically based on the distance traveled on the route. A computer readable medium having recorded thereon a program for executing the method for estimating the position of the routed vehicle according to any one of claims 5 to 8.

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