KR20090070936A - System and method for navigation, storage medium recording that metho program - Google Patents

Abstract

A system and a method for navigation, a storage medium recording a program for the method are provided to display the position of a vehicle accurately by correcting vehicle direction angle error through detecting a matching locus link from a candidate locus link. A system for navigation comprises: a storage(113) storing a candidate locus link; a direction angle determining unit(101) measuring a vehicle progress direction angle; a driving distance calculation unit(103) calculating the driving distance to the vehicle progress direction; a data processing unit(105) storing the trajectory information in the storage; a position calculation unit(107) which calculates the position of the vehicle by using the direction and the driving distance of the detected vehicle; and a correcting unit(109) correcting the vehicle direction angle error by detecting the matching locus link in an area in which GPS reception status is bad. The direction and driving distance of the vehicle are detected from the direction angle determining unit and the driving distance calculation unit. The correcting unit detects the matching locus link from the candidate locus link stored in the storage.

Description

Storage system recording navigation system, method and method program {SYSTEM AND METHOD FOR NAVIGATION, STORAGE MEDIUM RECORDING THAT METHO PROGRAM}

The present invention relates to a storage medium on which a navigation system, method and method program are recorded.

The navigation system is basically a system that receives the location information from the satellite (GPS) and synchronizes the current vehicle location with the location on the map to guide the driving route. However, GPS information is difficult to transmit accurately in places where the sky is not visible like tunnels, high-rise buildings, high-voltage transmission towers, bridges and shorelines where water is highly reflected, and includes basic location errors.

Therefore, in areas where GPS reception is not possible and where there is no road information on the map, such as an underground parking lot, a method of calculating a vehicle position value using an odometer and a gyro sensor of the vehicle is generally used when the vehicle is driven. It is used.

In other words, the vehicle speed and gyro are used to complement the navigation method based on GPS information, which is called DR (Dead-Reckoning). In other words, when the GPS reception is poor, the distance is calculated based on the speed of the car and the direction is determined using the gyro to determine the location of the vehicle and match it with the map.

When the GPS information is normally received, the DR error may be corrected based on the GPS position (including angle) value. In the case where GPS reception is not possible and road information exists on the map, the vehicle may be driven on the corresponding road to map the location of the vehicle on the road, thereby correcting the DR error based on the road information.

On the other hand, when driving for a long time using only DR without GPS location information, an error may occur in the driving trajectory information of the vehicle.

That is, when calculating the position value of the vehicle using only the DR, since the angle of the vehicle is estimated only by summing the change amount of the vehicle angle which is an input value of the gyro sensor, the input noise value may accumulate and an angle error may occur.

In other words, if GPS information cannot be received and there is no road information in the map, the DR angle cumulative error cannot be corrected, resulting in a large error in calculating the direction angle of the vehicle, thereby making it impossible to track the actual position of the vehicle. .

1 is vehicle driving trajectory information when repeatedly driving an underground parking lot according to the related art.

That is, as a result of the vehicle repeatedly driving the underground parking lot where GPS information cannot be received and road information does not exist, it can be confirmed that the initial driving trajectory (?) And the driving trajectory (②) after repeated driving are very different.

Therefore, the technical problem to be achieved by the present invention is to be able to effectively and accurately display the location of the vehicle, even in an area where GPS information is impossible to receive, road information is not available.

Navigation system according to an embodiment of the present invention, the storage unit for storing the candidate trajectory link direction direction determination unit for measuring the vehicle traveling direction angle vehicle traveling direction angle per unit traveling distance calculation unit for calculating the travel distance with respect to the vehicle travel direction The data processing unit storing the trajectory information in the storage unit when the vehicle is within a predetermined angle, the vehicle traveling distance is more than the predetermined distance, or the horizontal and vertical length of the quadrangle around the storage location is greater than or equal to the predetermined length. Location calculation unit for calculating the current position of the vehicle by using the direction and the distance of the vehicle detected from the unit and the GPS reception state is poor, the same type of route in the same space is repeatedly driven or the reference road information on the map If it does not exist, the matching trajectory link is stored from the candidate trajectory link stored in the storage unit. It may include a correction unit for detecting and correcting the vehicle direction angle error.

In addition, the navigation method according to an embodiment of the present invention, a) a vehicle that is based on the vehicle bearing and the mileage when the GPS reception state is poor, when there is no road information that can be repeatedly driven on the same route or on the map. Calculating a position; b) extracting a prestored candidate trajectory link within a predetermined radius from the calculated current vehicle position; and c) selecting a matching trajectory link from the candidate trajectory link to correct the vehicle direction angle error. can do.

In addition, the storage medium according to an embodiment of the present invention is a storage medium that records a program for executing the method on a computer.

Therefore, according to the present invention, the location of the vehicle can be effectively estimated even if there is no reference road information as an area without GPS data.

As a result, the position of the vehicle can be accurately provided to the driver.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted for simplicity of explanation, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, the terms "... unit", "... group", "module", etc. described in the specification mean a unit that processes at least one function or operation, which is hardware or software or a combination of hardware and software. Can be implemented.

Now, the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of a navigation system according to an embodiment of the present invention.

As illustrated, the navigation system 100 includes a direction angle determining unit 101, a traveling distance calculating unit 103, a data processing unit 105, a position calculating unit 107, a correcting unit 109, and a display unit 111. ) And the storage unit 113, when the road information does not exist as an area where GPS reception is impossible, the direction angle error of the vehicle may be corrected by using the previous trajectory information.

The direction angle determination unit 101 may measure a direction angle with respect to the traveling direction when the vehicle moves. The direction angle determiner 101 may include an orientation sensor. For example, the direction angle determination unit 101 may include an absolute compass type magnetic compass sensor, an angular velocity detection type vibration rate gyroscope, and the like.

The driving distance calculator 103 may calculate the driving distance with respect to the traveling direction when the vehicle moves. The travel distance calculation unit 103 may include a speed sensor. For example, there are a wheel speed type, a speed type (Doppler radar type or a space filter type), and an acceleration type that detect a wheel rotation speed and measure a moving distance.

The data processor 105 may store the corresponding trajectory data as a link in the storage 113 when the direction angle measurement result of the direction of movement of the vehicle is within a predetermined angle or when the driving distance is greater than or equal to the predetermined distance.

For example, the data processing unit 105 may store the driving trajectory in the storage unit 11 as a link for a distance in which the direction of travel of the vehicle is within 30 degrees and the vehicle travel distance is 10 m or more, and the direction of angle is 30 degrees. In the case of abnormal change, the storage of the trajectory information can be stopped.

In addition, the data processing unit 105 may store the corresponding trajectory link when the length of the stored trajectory link is within a predetermined distance (for example, within 10 m) and the horizontal length of the rectangle surrounding the storage position values is within a predetermined length (for example, within 5 m). You can discard the value.

In addition, the data processing unit 105 may not store the corresponding locus link as the locus link when a locus link having a similar form already exists among the stored locus links.

The location calculator 107 may calculate a vehicle location by using the bearing and the travel distance of the vehicle detected by the direction angle determiner 101 and the travel distance calculator 103, respectively.

More specifically, the position calculating unit 107 obtains coordinates (orientation and driving distance) of each point from the data obtained per unit time by the direction angle determining unit 101 and the traveling distance calculating unit 103, and then selects an arbitrary point X0. , Starting from Y0), the coordinates at the time of reaching arbitrary points (Xn, Yn) can be obtained by vector addition.

For example, the position calculating unit 107 obtains 16 data from the direction angle determining unit 101 and the traveling distance calculating unit 103 in one unit time, and from each of the 14 pieces of data discarded the maximum and minimum data, respectively. The estimated coordinates of the X and Y points can be obtained.

The correction unit 109, if the GPS reception is poor, the vehicle repeatedly travels the same type of route in the same space as the underground parking lot, or there is no road information that can be referred to, such as the underground parking lot or the road in the apartment, The direction angle error of the vehicle may be corrected by using the previous trajectory information of the vehicle stored in the storage 113.

More specifically, the correction unit 109 may extract the candidate trajectory link when the GPS reception state is poor, for example, and extract the candidate trajectory links existing within a predetermined radius around the host vehicle position, for example, the host vehicle position. Candidate trajectory links existing within 50m of distance can be extracted.

The correction unit 109 may select the matching trajectory link by comparing the calculated difference between the current vehicle position, the minimum distance to the candidate trajectory link, and the difference between the angle of the candidate trajectory link and the vehicle direction angle. .

That is, the correction unit 109 matches a calculated locus link, or a locus link having a minimum linear distance to the candidate locus link or a difference between the angle of the candidate locus link and the direction of the vehicle direction as the matching locus link. Can be selected.

That is, the correction unit 109 may select a trajectory link having a minimum cost value derived from the following equation as a matching trajectory link.

C (FL) = Cost (Current Match) + Cost (Linear Distance to Trajectory Link) + Cost (Difference between Trajectory Link Angle and Vehicle Direction Angle)

The correction unit 109 may correct the matching trajectory link to the link of the current vehicle based on the matching trajectory link data.

The display unit 111 may display the current position of the vehicle on a map and provide it to the user. In particular, the display unit 111 may display the current position of the vehicle corrected by the correction unit 109 on the trajectory link and provide the same to the user.

The storage unit 113 may store the corresponding trajectory data as a link when the direction angle measurement result of the moving direction during the vehicle movement is within a predetermined angle or when the driving distance is greater than or equal to the predetermined distance.

For example, the driving trajectory may be stored as a candidate trajectory link for a distance in which the direction of travel is less than 30 degrees and the vehicle traveling distance is 10 m or more.

3 to 6 are diagrams illustrating an embodiment in which the navigation system 100 stores a candidate trajectory link and corrects a current position of a vehicle according to a feature of the present invention.

That is, as shown in FIG. 3, the vehicle may repeatedly travel the same path in a place where there is no road information as a GPS reception impossible area, and the data processing unit 105 has a predetermined angle (eg, 30 degrees) of the vehicle direction angle. The driving trajectory can be stored as a link when the driving distance is within a predetermined distance) or more than a predetermined distance (for example, 10 meters).

In this case, as shown in FIG. 4, the data processor 105 may store the driving trajectory (?-> ②-> ③->?) Of the vehicle as a virtual link.

As illustrated in FIG. 5, the correction unit 109 is a GPS-receiving region, and when the same path is repeatedly traveled or road information does not exist, the correction unit 109 is predetermined from the calculated current position of the vehicle to correct the vehicle direction angle error. Candidate trajectory links within a radius can be extracted. In this example, candidate trajectory links 1, 2, and 3 within a radius of 50M were extracted.

6 is a diagram showing the trajectory of the vehicle calculated using the actual trajectory of the vehicle and the DR. The solid line is the actual trajectory driving trajectory, and the dotted line is the driving trajectory according to the calculated position of the vehicle due to an error occurrence.

Therefore, according to the present invention, the navigation system 100 selects the matching trajectory link by comparing the difference between the calculated current position, the minimum distance to the trajectory link, the angle of the trajectory link and the vehicle direction angle, The direction angle of can be corrected.

7 is a diagram illustrating a method of storing trajectory link information according to an embodiment of the present invention.

The navigation system 100 is a forward driving, the direction angle is within a predetermined angle (for example within 30 degrees), when the position shift is more than a predetermined length (for example more than 10m), and the horizontal and vertical of the rectangle around the storage position If the length is greater than or equal to a predetermined length (for example, 5 m or more), the corresponding trajectory information may be stored (S100, S101, S103) and S105.

The navigation system 100 may discard the trajectory link data when the vehicle traveling angle is changed to a predetermined angle or more, or when the position variation is within a predetermined length and the horizontal and vertical lengths of the rectangle surrounding the storage position value are within 5 m. (S111).

At this time, if a trajectory link having a similar form among the trajectory links stored during storage is stored, the trajectory link may be discarded without being stored as a candidate trajectory link (S107 and S111).

8 is a view for explaining a method for correcting the vehicle direction angle according to an embodiment of the present invention.

The navigation system 100 may determine the location of the current vehicle while driving. When the GPS government reception condition is good, the navigation system 100 may synchronize the location of the current vehicle with the location on the map based on the GPS location information. The direction angle can be corrected (S200, S201, S211, S215).

In operation S209, the search path may be displayed and guided based on the corrected data.

In addition, even when GPS reception is poor, the navigation system 100 may synchronize the road position with the vehicle position and correct the direction angle of the vehicle based on the information when there is road information to be referred to (S200, S201 S203, S213, S215).

However, when the GPS reception state is poor and there is no road information that can be referred to on the map, the navigation system 100 determines the azimuth of the vehicle detected from the direction angle determining unit 101 and the driving distance calculating unit 103, respectively. The vehicle position may be calculated using the driving distance and the driving distance (S200, S201, S203, and S205).

At this time, the navigation system 100 may extract the candidate trajectory link within a predetermined radius stored from the calculated current position of the vehicle to correct the vehicle direction angle error.

The navigation system 100 may finally select the matching trajectory link based on a difference between the calculated current position, the minimum distance to the trajectory link, the angle of the trajectory link, and the vehicle direction angle among the candidate trajectory links. Can be.

The navigation system 100 may correct the current vehicle position using the matching trajectory link and provide the same to the user, and guide the destination to the destination (S207 and S209).

What has been described above is only an embodiment of the present invention, and the scope of the present invention is not limited thereto, and various modifications can be made to those skilled in the art. For example, the modules constituting the navigation system according to an embodiment of the present invention may be additionally configured or merged according to their function. And, of course, the navigation method according to an embodiment of the present invention can be changed in order according to the embodiment.

The scope of the present invention will include the description of the claims to be described later and all technical elements recognized as equivalents thereof.

1 is a driving trajectory of a vehicle displayed according to the prior art.

2 is a block diagram of a navigation system according to an embodiment of the present invention.

3 and 4 illustrate a driving trajectory storing method according to an exemplary embodiment of the present invention.

5 is an area boundary setting diagram for correcting a vehicle direction angle error according to an embodiment of the present invention.

6 is a diagram of searching for a matching trajectory link according to an embodiment of the present invention.

7 is a flowchart of a candidate trajectory link storage according to an embodiment of the present invention.

8 is a flowchart illustrating a vehicle direction angle correction according to an exemplary embodiment of the present invention.

Claims (12)

As a navigation system, Storage unit storing candidate trajectory link Direction angle determination unit for measuring the vehicle direction direction angle Mileage calculation unit that calculates the mileage for the vehicle travel direction Data processing unit to store the corresponding trajectory information in the storage unit when the vehicle traveling direction angle per unit time is within a predetermined angle, the vehicle traveling distance is more than a predetermined distance, or the horizontal and vertical length of a rectangle around a storage location is more than a predetermined length. A position calculator for calculating a current position of the vehicle by using the direction and the distance of the vehicle detected by the direction angle determining unit and the driving distance calculating unit; If the GPS reception condition is poor and the same type of route is repeatedly traveled in the same space or there is no reference road information on the map, the matching direction link error is detected from the candidate trajectory link stored in the storage unit to correct the vehicle direction angle error. Including a correction unit to correct Navigation system. The method of claim 1, The data processing unit, If the direction angle changes more than the predetermined angle when the vehicle moves, the storage of the corresponding trajectory information is stopped, If the length of the stored trajectory link is within a predetermined distance or if the horizontal and vertical lengths of the rectangles surrounding the storage position values are within the predetermined length, the corresponding trajectory link value is discarded. Navigation system. The method of claim 1, The position calculation unit, The coordinates (direction and driving distance) of each point are obtained from the data obtained per unit time by the direction angle determining unit and the traveling distance calculating unit, and the coordinates when the point is reached from an arbitrary point and are reached by vector addition. Navigation system. The method of claim 1, The correction unit, By extracting the candidate trajectory link existing within a certain radius around the own vehicle position, The matching trajectory link is selected by comparing the calculated current vehicle position, the minimum distance to the candidate trajectory link, and the difference between the angle of the candidate trajectory link and the vehicle direction angle. Navigation system. The method of claim 4, wherein The correction unit, Equation C (FL) = Cost (Current Match) + Cost (Linear Distance to Trajectory Link) + Cost (Difference Between Trajectory Link Angle and Vehicle Direction Angle) The matching trajectory link is selected as the matching trajectory link, and the matching trajectory link is corrected to the link where the current vehicle is located. Navigation system. In the navigation method, a) calculating the vehicle position based on the vehicle azimuth and the mileage when the GPS reception is poor and there is no road information to refer to on the map repeatedly b) extracting a previously stored candidate trajectory link within a predetermined radius from the calculated current vehicle position; and c) selecting a matching trajectory link from the candidate trajectory link to correct the vehicle direction angle error; Navigation method. The method of claim 6, Before step a) above, a-1) storing the corresponding trajectory information when the vehicle traveling direction per unit time is within a predetermined angle, the vehicle traveling distance is more than a predetermined distance, or the storage odor is greater than or equal to a predetermined length of the surrounding rectangle; Navigation method. The method of claim 7, wherein Step a-1), If the direction angle changes more than the predetermined angle when the vehicle moves, the storage of the corresponding trajectory information is stopped, Discarding the trajectory link value when the length of the stored trajectory link is within a predetermined distance or the storage position value is exceeded or the length and width of the rectangle are within the predetermined length. Navigation method. The method of claim 6, Step a) is Obtaining coordinates and mileage coordinates of each point from the directions and mileage data obtained per unit time, and obtaining coordinates when the point arrives at an arbitrary point by vector addition. Navigation method. The method of claim 6, Step c) is Compensating the vehicle direction angle by selecting a matching trajectory link from the candidate trajectory link by comparing the calculated current vehicle position with the match, the minimum distance to the candidate trajectory link, and the difference between the angle of the candidate trajectory link and the vehicle direction angle. Navigation method. The method of claim 6, Step c) is Equation C (FL) = Cost (Current Match) + Cost (Linear Distance to Trajectory Link) + Cost (Difference Between Trajectory Link Angle and Vehicle Direction Angle) The matching trajectory link is selected as the matching trajectory link, and the matching trajectory link is corrected to the link where the current vehicle is located. Navigation method. A storage medium having recorded thereon a program for executing the method according to any one of claims 6 to 11.

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