KR101134270B1 - On-vehicle equipment for detecting traveling route - Google Patents

Abstract

The position estimator 115 estimates a position at which the vehicle is traveling based on the information of the GPS receiver 111, the acceleration sensor 112, the vehicle speed sensor 113, and the gyro 114. Output Y). The corrector 200 corrects the position of the latest estimated positions X and Y so as to reduce the error by using the previous estimated position and the previous map matching position, and corrects the position corrected positions cX and cY. Outputs The map matching unit 116 refers to the road information stored in the storage unit 117, performs a map matching process, and outputs map matching positions mX and mY. In this way, since the correction positions cX and cY having reduced the position error are calculated, the travel route can be detected accurately.

Description

On-vehicle equipment for driving route detection {ON-VEHICLE EQUIPMENT FOR DETECTING TRAVELING ROUTE}

The present invention relates to a vehicle payload for driving path detection.

More specifically, in the present invention, in the case of obtaining a route on which a vehicle has traveled by performing map matching processing using estimated position and road information obtained based on data by a GPS receiver or the like, hardware or software can be easily used. It is designed to be able to determine the driving route accurately with one configuration.

There is a wireless toll system as an automatic toll system on a toll road. In this wireless toll collection system, communication between a base station installed in a toll station on a toll road and an onboard vehicle mounted on a vehicle (car) is performed to recognize, authenticate, or settle a vehicle.

Using this wireless toll collection system, you can pass through toll stations nonstop, cashless.

In addition, a GPS road charging system that uses a GPS (Global Positioning System) and detects a vehicle position, a travel path, and a travel distance and charges as a next system of the wireless toll collection system has been studied.

In this GPS road charging system, a radio wave transmitted from a GPS satellite is received by a GPS receiver provided in the onboard vehicle. The GPS receiver detects the traveling position of the vehicle on the basis of the received radio wave, starts charging when the vehicle enters the charging area (for example, a specific urban area), and ends charging when the vehicle exits the charging area. At this time, when the vehicle is traveling in the charging region, the vehicle position, the travel route, and the travel distance are detected.

The on-vehicle device starts recording of the travel route at the time when the vehicle enters the charging region, charges by calculating the travel distance from the traveling route at the time when the vehicle enters the charging region, and transmits the charging information to the charging center.

In such a GPS road billing system, the toll gate (gate facility) which was necessary in the conventional wireless toll system can be abolished.

This GPS road charging system aims to limit traffic by charging a vehicle flowing into a city and to realize congestion alleviation in the city.

5 is an explanatory diagram showing an image of a GPS road charging system.

The vehicle 01 shown in FIG. 5 is equipped with a vehicle mounter equipped with a GPS receiver, a GPS antenna, and various sensors. The onboard vehicle can estimate the position of the vehicle 01 at any time by receiving a radio wave transmitted from a plurality of GPS satellites 02.

In addition, when GPS positioning cannot be performed because the radio wave transmitted from the GPS satellite 2 cannot be received, for example, when the vehicle 01 is traveling in a tunnel, a standalone sensor (distance sensor or azimuth sensor) is used. The traveling distance and the traveling direction are detected, and the current positional information is estimated from the previous positional information detected by the GPS receiver based on the traveling distance and the traveling direction detected by the self-standing sensor.

The onboard vehicle mounted on the vehicle 01 obtains and records a path from the position estimation coordinates for charging at the time when the vehicle 01 enters the charging region 03. At the time when the vehicle 01 exits from the charging area 03, the vehicle calculates the traveling distance from the route, charges the information, and transmits the charging information to the charging center 04.

Next, the on-board vehicle will be described with reference to FIG. 6. The onboard vehicle 10 includes a GPS receiver 11, an acceleration sensor 12, a vehicle speed sensor 13, a gyro 14, a position estimating unit 15, a map matching unit 16, and a storage unit 17. , And a charging processing unit 18.

The GPS receiver 11 receives a radio wave transmitted from a GPS satellite via a GPS antenna (not shown), thereby measuring position and outputting position information.

The acceleration sensor 12 detects the acceleration according to the traveling direction of the vehicle and outputs an acceleration signal.

The vehicle speed sensor 13 detects a vehicle speed of the vehicle and outputs a vehicle speed signal.

The gyro 14, which is an orientation sensor, detects the traveling direction of the vehicle and outputs a traveling direction signal.

When the positioning by the GPS receiver 11 is possible, the position estimating part 15 outputs the position information measured by this GPS receiver 11 as estimated positions X and Y. FIG. These estimated positions (X, Y) are output at predetermined periodic intervals.

On the other hand, when the positioning by the GPS receiver 11 becomes impossible, the position estimating unit 15 obtains a position based on the acceleration signal or the speed signal and the traveling direction signal, and determines the obtained position as the estimated position X, Output as Y).

That is, in order to function the acceleration sensor 12 and the speed sensor 13 as distance sensors, the distance information obtained by integrating the acceleration signal twice or the distance information obtained by integrating the speed signal once and the gyro 14 are obtained. The moving distance and the traveling direction are calculated based on the traveling direction signal. Furthermore, the relative movement position is calculated | required starting from the position in the time immediately before the position by which the GPS receiver 11 became impossible to position, and the relative movement position is output as estimated position (X, Y). These estimated positions (X, Y) are output at predetermined periodic intervals.

The map data is stored in the storage unit 17. Only road information is stored as this map data, and information such as a building and a toll gate is not included.

As the road information, in addition to the positional information for each road, the path set for each road (link) [R (R1, R2, R3 ... Rn)] or the node set for each node (node) such as an intersection or corner [J (J1, J2, J3 ... Jn)].

The map matching unit 16 performs a map matching process using the estimated positions X and Y and the road information stored in the storage unit 17. That is, the position on the road closest to the position represented by the estimated positions X and Y is output as the map matching positions mX and mY. The map matching positions mX and mY are output at predetermined predetermined periods.

The charging processing unit 18 starts recording of the map matching positions mX and mY which are sequentially output from the map matching unit 16 when the vehicle enters the charging region. Then, at the time when the vehicle emerges from the charging region, the vehicle is charged based on the traveling route obtained from the map matching positions mX and mY, and the charging information is transmitted to the charging center.

In addition, the structure of the vehicle mounting apparatus 10 shown in FIG. 6 is fundamentally the same structure as the vehicle navigation apparatus for automobiles currently widely spread | diffused, and although it has a common point in the function to implement, it differs in the following point.

1) In the car navigation system, since the driver's navigation is for the purpose, the on-vehicle vehicle navigation apparatus needs to display the own vehicle position in real time with a map.

On the other hand, since it is important for the vehicle-mounted device 10 in the GPS road charging system to correctly determine the distance and the path, display in real time is not required.

2) Since the on-board mounter 10 in the GPS road charging system requires a lower cost from the purpose of use, the data capacity that can be stored is also limited in comparison with the car navigation device. Therefore, it is desirable to store only road information (location information along the road, route R, node J), and not store information necessary only for navigation display such as terrain, buildings, and landmarks.

Japanese Patent Application Publication No. 61-56910

However, the map matching unit 16 shown in Fig. 6 selects a position on the road closest to the estimated position (X, Y) and outputs it as a map matching position (mX, mY). If the calculation error is large, there is a possibility of selecting the wrong road (route R).

For example, as shown in FIG. 7, it is assumed that there is a road of the path R1 and a road of the path R2, and the vehicle actually runs on the road of the path R1. In addition, in FIG. 7, the triangle (triangle | delta) represents the estimated position X and Y, the black spot (●) represents the map matching position mX and mY, and R1 and R2 represent the path | route which shows a road. In addition, the estimated position (X, Y) and the map matching position (mX, mY) show that it is later data (temporary new data) in time, so that there are many subscript numbers.

In the case of Fig. 7, since the estimated positions [(X1, Y1), (X2, Y2), (X3, Y3)] are close to the path R1, the map matching positions [(mX1, mY1), (mX2, mY2) ), (mX3, mY3)] are located on the path R1 representing the road on which the vehicle is actually traveling.

However, since the estimated positions [(X4, Y4), (X5, Y5)] are far from the route R1 and close to the route R2, the map matching positions [(mX4, mY4), (mX5, mY5)] Located on path R2. In other words, the vehicle is incorrectly judged to be traveling on the road represented by the path R2 even though the vehicle travels on the road indicated by the path R1.

In this way, if it is wrong to judge that the vehicle is traveling on a route different from the route on which the vehicle is actually traveling, there is a problem that it is impossible to obtain a correct driving route, and thus accurate charging cannot be performed. For this reason, there is a request to reduce the selection of the wrong road (route) and to improve the accuracy of obtaining the correct path.

In addition, the map matching unit in the car navigation apparatus is a technique for improving the performance of route determination. When passing through a toll booth or the like, the map matching unit corrects the location information by comparing it with the location of the tollgate on the map, or recognizes nearby buildings. Similarly, there is a method of correcting in contrast with the map information.

However, in the case of adopting such a method, a sensor or a processing device for storing the location of the tollgate, the building, the landmark, and the like in the storage, and for recognizing the building in real time or recognizing the toll pass information in real time. And software are required, and the system configuration becomes complicated, resulting in expensive equipment.

Therefore, it is not practical to adopt such a position correction technique for car navigation in a vehicle payload system for GPS road charging systems which requires a low price.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described prior art, and an object of the present invention is to provide a vehicle route mounting device for traveling path detection, which is simple and inexpensive and can accurately detect a route on which a vehicle travels.

The structure of this invention which solves the said subject,

A GPS receiver for measuring location by receiving radio waves transmitted from a GPS satellite and outputting location information;

Moving distance detecting means for outputting moving distance information indicating the moving distance of the vehicle;

Traveling direction detecting means for outputting traveling direction information indicating the traveling direction of the vehicle;

When the position measurement by the GPS receiver is possible, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position measurement by the GPS receiver is impossible, A position estimating unit for obtaining a moving position of the vehicle and periodically outputting the determined position as estimated positions (X, Y) based on the movement distance information and the traveling direction information;

A correction unit for correcting the positions of the estimated positions (X, Y) and outputting the corrected positions as correction positions (cX, cY);

A storage unit that stores road information having positional information along the road as information,

Using the correction position (cX, cY) and the road information, has a map matching unit for periodically outputting the position on the road closest to the position represented by the correction position (cX, cY) as a map matching position (mX, mY) ,

The correction unit,

The correction position (cX, cY) obtained by correcting the previous estimated position (X, Y) as the starting point of the last estimated position (X, Y) temporally relative to the latest estimated position (X, Y) is described above. Obtaining a correction vector (V) having the map matching position (mX, mY) obtained by processing by the map matching section as an end point,

A position in which the position indicated by the latest estimated position (X, Y) is moved by the direction and distance indicated by the correction vector (V) is output as the correction position (cX, cY).

In addition, the configuration of the present invention,

A GPS receiver for measuring location by receiving radio waves transmitted from a GPS satellite and outputting location information;

Moving distance detecting means for outputting moving distance information indicating the moving distance of the vehicle;

Traveling direction detecting means for outputting traveling direction information indicating the traveling direction of the vehicle;

When the position measurement by the GPS receiver is possible, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position measurement by the GPS receiver is impossible, A position estimating unit for obtaining a moving position of the vehicle and periodically outputting the determined position as estimated positions (X, Y) based on the movement distance information and the traveling direction information;

A correction unit for correcting the positions of the estimated positions (X, Y) and outputting the corrected positions as correction positions (cX, cY);

A storage unit that stores road information having positional information along the road as information,

Using the correction position (cX, cY) and the road information, has a map matching unit for periodically outputting the position on the road closest to the position represented by the correction position (cX, cY) as a map matching position (mX, mY) ,

The correction unit,

The correction position (cX, cY) obtained by correcting the previous estimated position (X, Y) as the starting point of the last estimated position (X, Y) temporally relative to the latest estimated position (X, Y) is described above. Obtaining a correction vector (V) having the map matching position (mX, mY) obtained by processing by the map matching section as an end point,

The previous matching position (X, Y) that is temporally outdated with respect to the latest estimated position (X, Y), and the corrected position (cX, cY) obtained by correcting the previous estimated position (X, Y) to the map matching unit. While determining whether or not the separation distance d between the map matching positions mX and mY obtained by the processing is larger than the preset threshold distance D,

Direction toward the end point from the time point when the last estimated position (X, Y) that is temporally old with respect to the latest estimated position (X, Y) is taken as the starting point and the latest estimated position (X, Y) is used as the ending point. It is determined whether or not the relative angle θ formed by the phosphorus estimation direction and the direction in which the road closest to the previous estimated positions X and Y extends is larger than the preset threshold angle Θ,

When the separation distance d is greater than or equal to the preset threshold distance D or the relative angle θ is greater than or equal to the preset threshold angle Θ, the position represented by the latest estimated positions X and Y is represented. Output as the correction position (cX, cY),

If the separation distance d is less than the preset threshold distance D, and the relative angle θ is less than the preset threshold angle Θ, then the latest estimated position X, Y is entered. The position which shifted the position shown by the direction and distance represented by the said correction vector V is output as correction position cX and cY. It is characterized by the above-mentioned.

In addition, the configuration of the present invention,

In the on-vehicle device having the above-mentioned structure, it is characterized by having a charging processing unit which calculates the traveling distance based on the traveling route obtained from the map matching positions (mX, mY) output from the map matching unit and performs the charging process.

According to the present invention, when the latest estimated position is input, the latest estimated position is corrected by a correction vector having the last map matching position corresponding to the last estimated position as the starting point as the starting point as the end point. To get the corrected position.

As described above, since the latest estimated position is corrected to obtain the corrected position using the correction vector obtained based on the previous estimated position and the map matching position, the corrected position has less error. The map matching position obtained by the positioning is improved in position accuracy. As a result, the travel route can be determined accurately.

In addition, when the error is rather large due to the correction, the correction is stopped so that the travel route can be accurately determined.

In addition, since only the road information is stored in the storage unit of the on-board vehicle for detecting the traveling route, information necessary only for navigation display such as terrain, buildings, and landmarks is not stored. It is possible to achieve a simple configuration both in terms of software and software, and to achieve low cost.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a vehicle-mounted vehicle for detecting a travel route according to an embodiment of the present invention.
2 is a block diagram showing a correction unit used in the on-vehicle of the embodiment.
3 is an explanatory diagram showing a specific correction operation in the correction unit;
4 is an explanatory diagram showing a specific correction operation in the correction unit;
5 is an explanatory diagram showing a GPS road charging system;
6 is a block diagram showing a vehicle-mounted vehicle for detecting a traveling route according to the prior art.
7 is an explanatory diagram showing a map matching method in the prior art;

EMBODIMENT OF THE INVENTION Below, the best form for implementing this invention is demonstrated in detail based on an Example.

Example

1 shows a vehicle mounting apparatus 100 for detecting a driving route according to an embodiment of the present invention.

The onboard vehicle 100 includes a GPS receiver 111, an acceleration sensor 112, a vehicle speed sensor 113, a gyro 114, a position estimation unit 115, a map matching unit 116, and a storage unit 117. , A billing processing unit 118, and a correction unit 200.

The GPS receiver 111 receives a radio wave transmitted from a GPS satellite via a GPS antenna (not shown), thereby measuring position and outputting position information.

The acceleration sensor 112 detects the acceleration according to the traveling direction of the vehicle and outputs an acceleration signal.

The vehicle speed sensor 113 detects a vehicle speed of the vehicle and outputs a vehicle speed signal.

The gyro 114, which is an orientation sensor, detects the traveling direction of the vehicle and outputs a traveling direction signal.

When the positioning by the GPS receiver 111 is possible, the position estimating part 115 outputs the position information measured by this GPS receiver 111 as estimated positions X and Y. FIG. These estimated positions (X, Y) are output at predetermined periodic intervals.

On the other hand, when the positioning by the GPS receiver 111 becomes impossible, the position estimating unit 115 obtains a position based on the acceleration signal or the speed signal and the traveling direction signal, and determines the obtained position as the estimated position X, Output as Y).

That is, in order to function the acceleration sensor 112 and the speed sensor 113 as a distance sensor, the travel direction obtained from the distance information obtained by integrating the acceleration signal twice or the distance information obtained by integrating the speed signal once and the travel direction signal Based on the signal, the moving distance and the traveling direction are calculated. In addition, the relative movement position starting from the position at the point in time just before the positioning becomes impossible by the GPS receiver 111 is obtained, and the position is output as the estimated position (X, Y). These estimated positions (X, Y) are output at predetermined periodic intervals.

The correction unit 200 corrects the estimated positions X and Y and outputs the corrected positions cX and cY. These correction positions cX and cY are output at predetermined periodic intervals.

The details of the correction processing performed by the correction unit 200 will be described later. By performing this correction, even if an error is included in the estimated positions (X, Y), the path can be accurately determined by the position correction.

The map data is stored in the storage unit 117. Only road information is stored as this map data, and information such as a building and a toll gate is not included.

As the road information S, a route (R (R1, R2, R3, ... Rn)) set for each road, an intersection, a junction, or a corner (in addition to the location information for each road) to distinguish each road (link) Nodes J (J1, J2, J3 ... Jn) set for each node are stored to distinguish the nodes).

In other words, since the on-board vehicle 100 for driving path detection applied to the GPS road charging system requires a lower cost from the purpose of use, in view of the fact that the amount of data that can be stored is limited compared to a car navigation system, Only road information (location information along a road, route (R), and node (J)) is stored, and information necessary only for navigation display such as terrain, buildings, and landmarks is not stored. As a result, the data capacity is reduced, and the structure is simple in terms of hardware and software.

The map matching unit 116 performs a map matching process using the correction positions cX and cY and the road information S stored in the storage unit 117. That is, the position on the road closest to the position represented by the correction positions cX and cY is output as the map matching positions mX and mY. The map matching positions mX and mY are output at predetermined predetermined periods.

The charging processing unit 118 starts recording of the map matching positions mX and mY which are periodically output from the map matching unit 116 at the time when the vehicle enters the charging region. At the time when the vehicle emerges from the charging area, the charging distance is calculated based on the driving route obtained from the map matching positions mX and mY (calculation of the fare according to the traveling distance), and the charging information (calculation). Information is sent to the billing center.

Here, the configuration and the correction processing operation of the functional part in the correction unit 200 will be described with reference to FIG. 2 which is a functional block diagram and FIGS. 3 and 4 showing the specific processing state.

In addition, the function of each functional part is demonstrated first based on FIG. 2, and the specific example of correct | amending about an estimated position based on FIG. 3, FIG. 4 is then demonstrated.

The correction unit 200 includes a memory 201, a correction necessity determination function unit 202, a correction vector calculation function unit 203, and a correction processing function unit 204.

Each of the functional units 202, 203, and 204 is a functional part that computes and determines by software, and these are shown in block diagram in FIG.

The estimated positions X and Y output from the position estimating unit 115 include a memory 201, a correction necessity determining function unit 202, a correction vector calculating function unit 203, and a correction processing function unit ( 204).

The road information S stored in the storage unit 117 is input to the correction necessity determination function unit 203.

The map matching positions mX and mY output from the map matching unit 116 are input to the correction necessity determination function unit 202 and the correction vector calculation function unit 203.

The estimated positions X and Y periodically output from the position estimating unit 115 are input to the memory 201 and obtained.

In addition, the memory 201 has a predetermined memory capacity, and when data of the estimated position (X, Y) exceeding the memory capacity is newly input, the data of the oldest estimated position (X, Y) is erased. The data of the latest estimated positions X and Y newly input are stored.

In this example, the memory 201 is capable of storing at least the latest estimated positions (X, Y) and the last estimated positions (X, Y) that are temporally old with respect to the latest estimated positions (X, Y). Doing.

The correction necessity determination function unit 202 acquires the previous estimated position (X, Y) from the memory 201 when the latest estimated positions (X, Y) are input.

Further, map matching positions mX and mY obtained by performing a map matching process on the correction positions cX and cY obtained by correcting the previous estimated positions X and Y (the last estimated position X). , Map matching positions (mX, mY) corresponding to Y), and the road information S from the storage unit 117.

The correction necessity determination function unit 202 first performs the following two determinations (1) and (2).

(1) The distance between the last estimated position (X, Y) and the map matching position (mX, mY) corresponding to the previous estimated position (X, Y) d is the threshold distance set in advance. It is determined whether it is larger than (D).

(2) Estimation direction which is a direction toward the said end point from the time when the last estimated position (X, Y) was made into the starting point, and the latest estimated position (X, Y) was made into the end point, and the previous estimated position (X). , Y) determines whether or not the relative angle θ formed in the direction in which the road closest to Y is extended is larger than the preset threshold angle Θ.

In addition, the "direction in which the road extends" is determined from the road information (S).

And the correction necessity determination function part 202 is

(a) When the above-described determination of any of (1) or (2) is made, that is, the separation distance d is equal to or more than the preset threshold distance D or the relative angle θ is set in advance. If it is more than the threshold angle Θ, it is determined that correction is unnecessary.

(b) Further, when both of the above (1) and (2) are established, that is, the separation distance d is less than the preset threshold distance D and the relative angle θ is set in advance. If it is less than the value angle Θ, it is determined that correction is necessary.

The correction vector calculation function unit 203 acquires the previous estimated position (X, Y) from the memory 201 when the latest estimated position (X, Y) is input.

Further, map matching positions mX and mY obtained by performing a map matching process on the correction positions cX and cY obtained by correcting the previous estimated positions X and Y (the last estimated position X). , Y) corresponding to the map matching position (mX, mY)].

When the correction vector determination function unit 202 determines that correction is necessary, the correction vector calculation function unit 203 regards the previous estimated position (X, Y) as the starting point, and the previous estimated position (X). , Y is computed for the correction vector V having the map matching positions mX and mY as the end points.

The correction processing unit 204 performs the following processing when the latest estimated positions X and Y are input.

(Iii) When the correction necessity determination function unit 202 determines that correction is unnecessary, the position indicated by the latest estimated positions X and Y is output as it is as the correction positions cX and cY.

(Ii) When the correction necessity determination function unit 202 determines that correction is necessary, the correction vector V calculated by the correction vector calculating function unit 203 the position indicated by the latest estimated positions X and Y. ) To compensate. Specifically, the position which moved the position represented by the latest estimated position X and Y by the direction and distance represented by the correction vector V is output as correction position cX and cY.

Next, specific examples of correction by the correction unit 200 according to the estimated positions X and Y will be described with reference to FIGS. 3 and 4.

In the example of FIG. 3, FIG. 4, there exists the road of the path | route R1 and the road of the path | route R2. In the example of FIG. 3, it is assumed that the vehicle actually traveled the road of the path | route R1, In the example, it is assumed that the vehicle has actually traveled on the road of the route R2.

3 and 4, the triangle △ represents the estimated positions X and Y, the black spot ● represents the map matching positions mX and mY, and the squares □ represent the correction positions cX, cY).

The estimated positions (X, Y), map matching positions (mX, mY), and correction positions (cX, cY) indicate that the more subscripts are, the later data (temporarily new data) in time.

In addition, since the correction operation repeats the correction process according to a predetermined procedure whenever the latest estimated positions X and Y are input to the correction unit 200, the estimated positions X3 and Y3 are corrected in the following description. The operation after the time point inputted at 200 will be described.

The example of FIG. 3 is demonstrated.

The operation of the correction unit 200 when the estimated positions X3 and Y3 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d2 between the estimated positions X2 and Y2 and the map matching positions mX2 and mY2 is not larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X2 and Y2 are referred to as starting points, and the estimated positions X3 and Y3 as endpoints, and the directions in which the path (road) R1 closest to the estimated positions X2 and Y2 extends. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V2 having the estimated positions X2 and Y2 as starting points and the map matching positions mX2 and mY2 as end points.

The correction processing function unit 204 corrects the estimated positions X3 and Y3 by the correction vector V2 because it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X3, Y3 by the direction and distance represented by the correction vector V2 is output as correction position cX3, cY3.

Since these correction positions cX3 and cY3 are close to the path R1, the map matching positions mX3 and mY3 that have been subjected to map matching by the map matching unit 116 are located on the path R1. As a result, even if the positional accuracy of the estimated positions X3 and Y3 is poor, the positional accuracy of the map matching positions mX3 and mY3 can be improved by positionally correcting the position to the more accurate corrected positions cX3 and cY3. It is.

The operation of the correction unit 200 when the estimated positions X4 and Y4 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d3 between the estimated positions X3 and Y3 and the map matching positions mX3 and mY3 is not larger than the preset threshold distance D,

(2) Estimation direction in which the estimated positions X3 and Y3 are taken as starting points, and estimated positions X4 and Y4 as end points, and directions in which the path (road) R1 closest to the estimated positions X3 and Y3 extends. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V3 having the estimated positions X3 and Y3 as the starting point and the map matching positions mX3 and mY3 as the end point.

The correction processing function unit 204 corrects the estimated positions X4 and Y4 by the correction vector V3 since it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X4, Y4 by the direction and distance represented by the correction vector V3 is output as correction position cX4, cY4.

Since these correction positions cX4 and cY4 are close to the path R1, the map matching positions mX4 and mY4 that have been subjected to map matching by the map matching unit 116 are located on the path R1. As a result, even if the positional accuracy of the estimated positions X4 and Y4 is poor, the positional accuracy of the map matching positions mX4 and mY4 can be improved by positionally correcting the position to the more accurate corrected positions cX4 and cY4. It is.

The operation of the correction unit 200 when the estimated positions X5 and Y5 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d4 between the estimated positions X4 and Y4 and the map matching positions mX4 and mY4 is not larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X4 and Y4 are used as starting points, and the estimated positions X5 and Y5 are the end points, and a direction in which the path (road) R1 closest to the estimated positions X4 and Y4 extends. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V4 having the estimated positions X4 and Y4 as starting points and the map matching positions mX4 and mY4 as end points.

The correction processing function unit 204 corrects the estimated positions X5 and Y5 by the correction vector V4 since it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X5, Y5 by the direction and distance represented by the correction vector V4 is output as correction position cX5, cY5.

Since these correction positions cX5 and cY5 are close to the path R1, the map matching positions mX5 and mY5 that have been subjected to map matching by the map matching unit 116 are located on the path R1. As a result, even if the positional accuracy of the estimated positions X5 and Y5 is poor, the positional accuracy of the map matching positions mX5 and mY5 can be improved by positionally correcting the position to the more accurate corrected positions cX5 and cY5. It is.

The operation of the correction unit 200 when the estimated positions X6 and Y6 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d4 between the estimated positions X5 and Y5 and the map matching positions mX5 and mY5 is not larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X5 and Y5 are taken as starting points, and the estimated positions X6 and Y6 are terminated, and the directions in which the path (road) R1 closest to the estimated positions X5 and Y5 extend. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V5 having the estimated positions X5 and Y5 as starting points and the map matching positions mX5 and mY5 as ending points.

The correction processing function unit 204 corrects the estimated positions X6 and Y6 by the correction vector V5 since it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X6, Y6 by the direction and distance represented by the correction vector V5 is output as correction position cX6, cY6.

Since these correction positions cX6 and cY6 are close to the path R1, the map matching positions mX6 and mY6 that have been subjected to map matching by the map matching unit 116 are located on the path R1. As a result, even if the positional accuracy of the estimated positions X6 and Y6 is poor, the positional accuracy of the map matching positions mX6 and mY6 can be improved by positionally correcting the position to the more accurate corrected positions cX6 and cY6. It is.

As a result, in the example of FIG. 3, even though the vehicle is traveling on the path R1, the position corrected even if the estimated positions X and Y move away from the path R1 over time due to an error. Since (cX, cY) is near the path R1, the map matching positions mX, mY obtained by map matching the corrected positions cX, cY can be accurately positioned on the path R1, and Route determination can be made.

Next, the example of FIG. 4 is demonstrated.

The operation of the correction unit 200 when the estimated positions X3 and Y3 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d2 between the estimated positions X2 and Y2 and the map matching positions mX2 and mY2 is not larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X2 and Y2 are referred to as starting points, and the estimated positions X3 and Y3 as endpoints, and the directions in which the path (road) R1 closest to the estimated positions X2 and Y2 extends. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V2 having the estimated positions X2 and Y2 as starting points and the map matching positions mX2 and mY2 as end points.

The correction processing function unit 204 corrects the estimated positions X3 and Y3 by the correction vector V2 because it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X3, Y3 by the direction and distance represented by the correction vector V2 is output as correction position cX3, cY3.

Since these correction positions cX3 and cY3 are close to the path R1, the map matching positions mX3 and mY3 that have been subjected to map matching by the map matching unit 116 are located on the path R1.

The operation of the correction unit 200 when the estimated positions X4 and Y4 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d3 between the estimated positions X3 and Y3 and the map matching positions mX3 and mY3 is not larger than the preset threshold distance D,

(2) Estimation direction in which the estimated positions X3 and Y3 are taken as starting points, and estimated positions X4 and Y4 as end points, and directions in which the path (road) R1 closest to the estimated positions X3 and Y3 extends. The angle θ formed by not greater than the preset threshold angle Θ,

It is determined that the correction is necessary from the determination result.

The correction vector calculation function unit 203 calculates a correction vector V3 having the estimated positions X3 and Y3 as the starting point and the map matching positions mX3 and mY3 as the end point.

The correction processing function unit 204 corrects the estimated positions X4 and Y4 by the correction vector V3 since it is determined by the correction necessity determination function unit 202 that correction is necessary. That is, the position which shifted the position represented by the estimated position X4, Y4 by the direction and distance represented by the correction vector V3 is output as correction position cX4, cY4.

Since these correction positions cX4 and cY4 are close to the path R1, the map matching positions mX4 and mY4 that have been subjected to map matching by the map matching unit 116 are located on the path R1.

The operation of the correction unit 200 when the estimated positions X5 and Y5 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d4 between the estimated positions X4 and Y4 and the map matching positions mX4 and mY4 is larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X4 and Y4 are used as starting points, and the estimated positions X5 and Y5 are the end points, and a direction in which the path (road) R1 closest to the estimated positions X4 and Y4 extends. The angle θ is larger than the preset threshold angle Θ,

It is determined that the correction is unnecessary from the determination result.

Since the correction vector calculation function unit 203 determines that the correction necessity determination function unit 202 does not need correction, the correction vector is not calculated.

Since it is determined by the correction necessity determination function unit 202 that correction is unnecessary, the correction processing unit 204 outputs the positions indicated by the estimated positions X5 and Y5 as correction positions cX5 and cY5.

Since these correction positions cX5 and cY5 are closer to the path R2 than the path R1, the map matching positions mX5 and mY5 that have been subjected to map matching by the map matching unit 116 are on the path R2. Located in

The operation of the correction unit 200 when the estimated positions X6 and Y6 are input to the correction unit 200 is as follows.

The correction need determination function unit 202,

(1) The separation distance d4 between the estimated positions X5 and Y5 and the map matching positions mX5 and mY5 is larger than the preset threshold distance D,

(2) An estimation direction in which the estimated positions X5 and Y5 are taken as starting points, and the estimated positions X6 and Y6 are terminated, and the directions in which the path (road) R1 closest to the estimated positions X5 and Y5 extend. The angle θ is larger than the preset threshold angle Θ,

It is determined that the correction is unnecessary from the determination result.

Since the correction vector calculation function unit 203 determines that the correction necessity determination function unit 202 does not need correction, the correction vector is not calculated.

Since it is determined by the correction necessity determination function unit 202 that correction is unnecessary, the correction processing unit 204 outputs the positions indicated by the estimated positions X6 and Y6 as correction positions cX6 and cY6.

Since these correction positions cX6 and cY6 are close to the path R2, the map matching positions mX6 and mY6 that have been subjected to map matching by the map matching unit 116 are located on the path R2.

4, the estimated position [(X1, Y1) (X2, Y2) (X3, Y3)] is initially generated due to a calculation error or the like, even though the vehicle is traveling on the path R2. Since it is close to R1), the correction position [(cX1, cY1) (cX2, cY2) (cX3, cY3)] which corrected this is output, and the map matching position [(mX1, mY1) (mX2, mY2) (mX3, mY3) )] Is located on the path R1.

However, when the calculation error decreases with the passage of time, and the estimated position [(X5, Y5) (X6, Y6)] moves away from the route R1 and approaches the route R2 on which the vehicle is actually traveling, Do not perform correction calculations.

As a result, even if the calculation error of the estimated position (X, Y) is initially large and the wrong path R1 is selected, when the calculation error of the estimated position (X, Y) decreases with the passage of time, the correction is corrected. By stopping the process, the map matching position can be accurately aligned on the route R2 on which the vehicle is traveling, and the accuracy of the route determination can be improved.

In addition, in the example of FIG. 4, when the estimated positions [(X5, Y5), (X6, Y6)] are input to the correction unit 200, the correction necessity determination function unit 202,

(1) The separation distances d4 and d5 are larger than the preset threshold distance D,

(2) Two determinations are made that the angle θ is larger than the preset threshold angle θ, and it is determined that correction is unnecessary from the determination result, but any of the above (1) or (2) It is sufficient to determine that correction is unnecessary when one is determined.

100: vehicle mount machine
111: GPS receiver
112: acceleration sensor
113: vehicle speed sensor
114: Gyro
115: position estimation unit
116: map matching unit
117: storage
118: billing processing unit
200: Government
201: memory
202: correction need determination function
203: With correction vector calculation function
204: With correction processing function

Claims (3)

A GPS receiver for measuring location by receiving radio waves transmitted from a GPS satellite and outputting location information;
Moving distance detecting means for outputting moving distance information indicating the moving distance of the vehicle;
Traveling direction detecting means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position measurement by the GPS receiver is possible, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position measurement by the GPS receiver is impossible, A position estimating unit for obtaining a moving position of the vehicle and periodically outputting the obtained moving position as the estimated position (X, Y) based on the moving distance information and the traveling direction information;
A correction unit for correcting the positions of the estimated positions (X, Y) and outputting the corrected positions as correction positions (cX, cY);
A storage unit that stores road information having positional information along the road as information,
A map matching unit for periodically outputting a position on the road closest to the position indicated by the correction positions cX and cY as a map matching position mX and mY using the correction positions cX and cY and the road information. and,
Wherein,
The correction position (cX, cY) obtained by correcting the previous estimated position (X, Y) as the starting point of the last estimated position (X, Y) temporally relative to the latest estimated position (X, Y) is described above. Obtaining a correction vector (V) having the map matching position (mX, mY) obtained by processing by the map matching section as an end point,
The driving route detection characterized by outputting the position represented by the estimated position X, Y inputted at the latest by the direction and distance indicated by the correction vector V as the correction position cX, cY. Vehicle payload. A GPS receiver for measuring location by receiving radio waves transmitted from a GPS satellite and outputting location information;
Moving distance detecting means for outputting moving distance information indicating the moving distance of the vehicle;
Traveling direction detecting means for outputting traveling direction information indicating the traveling direction of the vehicle;
When the position measurement by the GPS receiver is possible, the position indicated by the position information output from the GPS receiver is periodically output as the estimated position (X, Y), and when the position measurement by the GPS receiver is impossible, A position estimating unit for obtaining a moving position of the vehicle and periodically outputting the determined position as estimated positions (X, Y) based on the movement distance information and the traveling direction information;
A correction unit for correcting the positions of the estimated positions (X, Y) and outputting the corrected positions as correction positions (cX, cY);
A storage unit that stores road information having positional information along the road as information,
Using the correction position (cX, cY) and the road information, has a map matching unit for periodically outputting the position on the road closest to the position represented by the correction position (cX, cY) as a map matching position (mX, mY) ,
Wherein,
The correction position (cX, cY) obtained by correcting the previous estimated position (X, Y) as the starting point of the last estimated position (X, Y) temporally relative to the latest estimated position (X, Y) is described above. Obtaining a correction vector (V) having the map matching position (mX, mY) obtained by processing by the map matching section as an end point,
The previous matching position (X, Y) that is temporally outdated with respect to the latest estimated position (X, Y), and the corrected position (cX, cY) obtained by correcting the previous estimated position (X, Y) to the map matching unit. While determining whether or not the separation distance d between the map matching positions mX and mY obtained by the processing is larger than the preset threshold distance D,
Direction toward the end point from the time point when the last estimated position (X, Y) that is temporally old with respect to the latest estimated position (X, Y) is taken as the starting point and the latest estimated position (X, Y) is used as the ending point. It is determined whether or not the relative angle θ formed by the phosphorus estimation direction and the direction in which the road closest to the previous estimated positions X and Y extends is larger than the preset threshold angle Θ,
When the separation distance d is greater than or equal to the preset threshold distance D or the relative angle θ is greater than or equal to the preset threshold angle Θ, the position represented by the latest estimated positions X and Y is represented. Output as the correction position (cX, cY),
If the separation distance d is less than the preset threshold distance D, and the relative angle θ is less than the preset threshold angle Θ, then the latest estimated position X, Y is entered. A traveling route detecting vehicle-mounted device, which outputs a position shifted by a direction and a distance indicated by the correction vector (V) as a correction position (cX, cY). The driving apparatus according to claim 1 or 2, further comprising a charging processing unit for performing a charging process by calculating a traveling distance based on a traveling route obtained from the map matching positions (mX, mY) output from the map matching unit. Onboard vehicle for path detection.

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