KR20100031550A - On-vehicle equipment for detecting traveling route - Google Patents

Abstract

A position estimating section (115) outputs estimation positions (X, Y) for estimating the position where a vehicle is traveling on the basis of the information of a GPS receiver (111), an acceleration sensor (112), a speed sensor (113), and a gyro (114). A map matching section (116) performs a map matching processing to output map matching positions (mX, mY) with reference to road information stored in a storage section (117). A buffering correction section (200) judges whether or not the route on which the map matching positions (mX, mY) are positioned is correct on the basis of a route (R) and a joint (J) of road information. If misjudging the route, the buffering correction section (200) makes a correction to replace the position data of the map matching positions (mX, mY) positioned on the misjudged route by the position information of the joint (J) positioned at the entrance of the latest route. This makes it possible to correctly detect a traveling route.

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, the vehicle is recognized, authenticated, or settled by communicating between a base station installed in a toll road on a toll road and an onboard vehicle mounted on a vehicle (car).

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.

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

The vehicle 01 shown in FIG. 7 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-supporting 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. 8. 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. 8 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.

In contrast, since the vehicle-mounted device 10 in the GPS road charging system is important to correctly determine the distance and the path, the 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. 8 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. 9, it is assumed that there are a road of the path R1 and a road of the path R2, and the vehicle is actually traveling on the road of the path R1. In Fig. 9, the triangle Δ represents the estimated positions X and Y, the black dots Δ represent the map matching positions mX and mY, and R1 and R2 represent routes indicating roads. 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. 9, 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.

Such misjudgment of the driving route is particularly likely to occur after passing through an intersection or branch point.

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 traveling route detecting vehicle payload which can accurately detect a traveling route even after a vehicle passes through an intersection or a branching point, simply and inexpensively. .

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 storage unit that stores location information along roads and road information having information as a route R set for each road to distinguish each road, and a node J set for each intersection or branch point or corner of the road. Wow,

A map matching unit for periodically outputting a position on a road closest to the position represented by the estimated position (X, Y) as a map matching position (mX, mY) using the estimated position (X, Y) and the road information; ,

A buffering correction unit that periodically outputs correction positions cX and cY in which the map matching positions mX and mY are modified using the map matching positions mX and mY, and the road information,

The buffering correction unit,

Having a storage unit for storing the map matching position (mX, mY) sequentially input from the map matching unit,

Although a plurality of map matching positions (mX, mY) that are outdated in time with respect to the recently entered map matching positions (mX, mY) were located on the caliber path which is the same route, the latest map matching positions (mX, mY) ) Is located on a different route than the caliber route, it is determined that the other route is a nerve route, and it is determined that the vehicle has entered the nerve route,

When it is determined that the vehicle has entered the nerve path, a plurality of map matching positions mX and mY on the aperture path are obtained from the storage unit,

The old path and the nerve which are the paths where the map matching positions mX and mY which are older than the map matching positions mX and mY located on the caliber path are located by referring to the lined state of the route R indicated by the road information. It is determined whether there is a path between the roads, and if there is a path between the old path and the nerve path, the path is determined to be the correct path, and the path is between the old path and the nerve path. If it doesn't exist, the caliber determines the wrong path,

When it is determined that the path is the correct path, a plurality of pieces of the same position data as the plurality of map matching positions mX and mY are not changed without changing the position data of the plurality of map matching positions mX and mY. Outputs the modified position (cX, cY) of

When determining that the path is the wrong path, the position data of the plurality of map matching positions mX and mY on the path are changed to the position data of the entrance node J of the nerve path, and the entrance node of the nerve path ( The correction position cX and cY which changed position data to the position of J) is output.

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 storage unit that stores location information along roads and road information having information as a route R set for each road to distinguish each road, and a node J set for each intersection or branch point or corner of the road. Wow,

A map matching unit for periodically outputting a position on a road closest to the position represented by the estimated position (X, Y) as a map matching position (mX, mY) using the estimated position (X, Y) and the road information; ,

A buffering correction unit that periodically outputs correction positions cX and cY in which the map matching positions mX and mY are modified using the map matching positions mX and mY, and the road information,

The buffering correction unit,

Having a storage unit for storing the map matching position (mX, mY) sequentially input from the map matching unit,

With respect to the map matching positions mX and mY that are one time earlier than the map matching positions mX and mY inputted at the latest, the plurality of map matching positions mX and mY that are temporally older are set to an aperture having any same path. If the most recent map matching position (mX, mY) and the previous map matching position (mX, mY) are located on the same route different from the caliber path, it is necessary to pay attention to this other route. To determine that the vehicle has entered the nerve path,

When it is determined that the vehicle has entered the nerve path, a plurality of map matching positions mX and mY on the aperture path are obtained from the storage unit,

The old path and the nerve which are the paths where the map matching positions mX and mY which are older than the map matching positions mX and mY located on the caliber path are located by referring to the lined state of the route R indicated by the road information. It is determined whether there is a path between the roads, and if there is a path between the old path and the nerve path, the path is determined to be the correct path, and the path is between the old path and the nerve path. If it doesn't exist, the caliber determines the wrong path,

When it is determined that the path is the correct path, a plurality of pieces of the same position data as the plurality of map matching positions mX and mY are not changed without changing the position data of the plurality of map matching positions mX and mY. Outputs the modified position (cX, cY) of

When determining that the path is the wrong path, the position data of the plurality of map matching positions mX and mY on the path are changed to the position data of the entrance node J of the nerve path, and the entrance node of the nerve path ( The correction position cX and cY which changed position data to the position of J) is output.

In addition, the configuration of the present invention,

The on-vehicle vehicle for detecting the traveling route further includes a charging processing unit for performing a charging process by calculating a traveling distance based on the traveling route obtained from the correction positions cX and cY output from the buffering correction unit.

According to the present invention, it is determined whether or not the position represented by the map matching position is on the correct route by referring to the map R position and the node J of the road information as the map matching position where the map matching process is performed on the estimated position. In other words, if it is in the wrong path, the location information is corrected. As a result, the determination of the wrong road (route) can be reduced, and the estimated position can be corrected on the correct path, so that the correct path can be obtained.

In addition, only the road information (location information along the road, the route R, and the node J) is stored in the storage unit of the on-board vehicle for detecting the travel route, which is necessary only for navigation display of terrain, buildings, landmarks, and the like. Since the information is not stored, the data capacity can be reduced, so that the hardware, software, or simple configuration can be used, and the cost can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a vehicle mounting apparatus for detecting a traveling route according to a first embodiment of the present invention.
Fig. 2 is a block diagram showing a buffering correction unit used for the onboard vehicle of the first embodiment.
3A is an explanatory diagram showing a specific correction operation in the buffering correction unit.
Fig. 3B is a characteristic table showing position data before correction (left column) and position data after correction (right column).
4A is an explanatory diagram showing a specific correction operation in the buffering correction unit.
4B is a characteristic table showing position data before correction (left column) and position data after correction (right column).
5A is an explanatory diagram showing a specific correction operation in the buffering correction unit;
Fig. 5B is a characteristic table showing position data before correction (left column) and position data after correction (right column).
6A is an explanatory diagram showing a specific correction operation in the buffering correction unit;
Fig. 6B is a characteristic table showing position data before correction (left column) and position data after correction (right column).
7 is an explanatory diagram illustrating a GPS road charging system.
8 is a block diagram showing a vehicle-mounted vehicle for detecting a travel route according to the prior art.
9 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.

First embodiment

1 shows a vehicle mounting apparatus 100 for detecting a travel route according to a first 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 buffering 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 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, in addition to the positional information for each road, a route set for each road (R (R1, R2, R3, ... Rn)), an intersection, a node or a node (node) such as a corner in order to distinguish each road (link) is selected. The nodes J (J1, J2, J3 ... Jn) set for each node are stored in order to distinguish them.

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 estimated positions X and Y and road information stored in the storage unit 117. 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 buffering correction unit 200 corrects the map matching positions mX and mY, and outputs the modified correction positions cX and cY. The correction positions cX and cY are output at predetermined periodic intervals.

The details of the correction processing by the buffering correction unit 200 will be described later. By making this correction, the vehicle can accurately determine the route even after passing through the intersection or the branch point.

The charging processing unit 118 starts recording of the correction positions cX and cY which are periodically output from the buffering correction unit 200 at the time when the vehicle enters the charging region. Then, at the time when the vehicle emerges from the charging region, the driving distance is calculated based on the traveling route obtained from the modified positions cX and cY (calculation of the fare according to the traveling distance), and the charging information (calculated) Information is sent to billing center.

Here, the configuration and correction processing operation of the functional part in the buffering correction unit 200 will be described with reference to FIGS. 2 and 3 to 6 which are functional block diagrams.

The buffering correction unit 200 has a memory 201 and a correction unit 210.

The correction unit 210 includes a nerve path determining function unit 211, an acquisition function unit 212 for acquiring a map matching position in the aperture, and a correction function unit for correcting the map matching position in the acquired aperture ( 213).

Each of the functional units 211, 212, and 213 is a functional part that performs calculation and determination by software, and these are shown in block diagram in FIG.

Further, in each of the functional units 211, 212, 213, the paths (R (R1, R2, R3... Rn)) stored in the storage unit 117 and the intersection point nodes [J (J1, J2, J3 ... Jn)]. Is obtained.

The map matching positions mX and mY periodically output from the map matching unit 116 are input to the memory 201 and are acquired.

In addition, the memory 201 has a predetermined memory capacity, and when data of the map matching positions mX and mY exceeding the memory capacity is newly input, the data of the oldest map matching positions mX and mY is stored. The data of the map matching positions mX and mY, which are erased and newly input, is stored.

The nerve path determining function unit 211 is a map matching position (mX, mY) sequentially input to the buffering correction unit 200 (for example, (mX1, mY1), (mX2, mY2), (mX3). , mY3), (mX4, mY4), (mX5, mY5)... ] And the route R (R1, R2, R3 ... Rn) of the map data (road information) stored in the storage unit 117 determine whether the vehicle has entered a new route.

Specifically, a plurality of map matching positions mX and mY that are temporally old with respect to the recently entered map matching positions mX and mY were located on any same path (referred to as "the old path"). When the latest map matching positions mX and mY are located on different paths different from the caliber path, the other path is determined as a nerve path, and the vehicle enters the nerve path.

When the acquisition function unit 212 determines that the vehicle has entered the nerve path by the nerve path determination function unit 211, the acquisition function unit 212 acquires a plurality of map matching positions mX and mY on the aperture path and corrects the correction function unit ( 213).

The correction function unit 213 acquires a plurality of map matching positions mX and mY on the aperture path sent from the acquisition function unit 212, corrects them, and outputs the corrected correction positions cX and cX. do.

The method of correction is as follows.

1) First, the correction function unit 213 assumes that the neuropath represents the correct path. That is, it is assumed that the vehicle is located at the position indicated by the latest map matching positions mX and mY on the neural path.

2) Next, the correction function unit 213 refers to the lined state of the route R indicated by the road information and maps the map matching position (time older than the map matching position mX, mY) located on the caliber road. It is determined whether or not there is an aperture path between the path where the mX and mY) are located (this is referred to as the "old ball path") and the nerve path.

And when there exists a path between a spherical path and a nerve path, it determines with a correct path.

On the other hand, when there is no path between the spherical path and the nerve path, it is determined that the path is a wrong path.

3) When the correction function unit 213 determines that the path is the correct path, the correction function unit 213 does not change the position data of the plurality of map matching positions mX and mY on the path, but the plurality of map matching positions mX and mY. A plurality of correction positions [cX, cY (cX = mX, cY = mY)] having the same position data as?) Are output.

On the other hand, when the correction function unit 213 determines that the path is the wrong path, the correction function unit 213 uses the position data of the plurality of map matching positions mX and mY on the path as the position data of the entry node J of the nerve path. The correction position cX, cY which changed position data at the position of the entry point J of a nerve path is output.

Here, the specific corrective operation in the buffering correction unit 120 will be described using specific examples of map matching positions mX and mY and map data (path data R).

In the example of FIG. 3A, the latest map matching positions mX5 and mY5 are located on the path R3, and the plurality of map matching positions [(mX2, mY2), (mX3, mY3), (mX4, mY4)] are located, and map matching positions mX1, mY2 are located on the spherical path | route R1.

The nerve path determining function unit 211 determines the path R3 as a nerve path because the latest map matching positions mX5 and mY5 are located on a different path R3 different from the aperture path R2. Determine that the vehicle has entered a new route.

When the acquisition function unit 212 determines that the vehicle has entered the nerve path R3 by the nerve path determination function unit 211, the plurality of map matching positions [(mX2, mY2) on the aperture path R2 are determined. , (mX3, mY3), (mX4, mY4)].

The correction function unit 213 determines that the aperture path R2 is a wrong path because no aperture path R2 exists between the sphere path R1 and the nerve path R3.

Further, the correction function unit 213 stores the position data of the plurality of match matching data [(mX2, mY2), (mX3, mY3), (mX4, mY4)] on the aperture path R2, respectively. It changes to the position data J1X and J1Y of the inlet side node J1 of 3, and outputs the three correction positions cX and cY which become the changed position data J1X and J1Y.

Finally, instead of the match matching data [(mX2, mY2), (mX3, mY3), (mX4, mY4)] located on the wrong aperture R2, the entrance side of the nerve path R3 considered as the correct path The misjudgment of the path is prevented by outputting the correction positions cX and cY which are the position data J1X and J1Y of the node J1.

3B shows position data before correction (left column) and position data after correction (right column).

In the example of FIG. 4A, the latest map matching positions mX15 and mY15 are located on the path R13, and the plurality of map matching positions [(mX12, mY12), (mX13, mY13), (mX14, mY14)] are located, and the map matching positions mX11, mY12 are located on the spherical path | route R11.

The nerve path determining function unit 211 determines the path R13 as a nerve path because the latest map matching positions mX15 and mY15 are located on different paths R13 different from the aperture path R12. Determine that the vehicle has entered a new route.

When the acquisition function unit 212 determines that the vehicle has entered the nerve path R13 by the nerve path determination function unit 211, the plurality of map matching positions [(mX12, mY12) on the aperture path R12 are determined. , (mX13, mY13), (mX14, mY14)].

The correction function unit 213 determines that the diameter path R12 is a wrong path because no diameter path R12 exists between the old path R11 and the nerve path R13.

Further, the correction function unit 213 stores the position data of the plurality of match matching data [(mX12, mY12), (mX13, mY13), (mX14, mY14)] on the aperture path R12, respectively. It changes to position data J11X and J11Y of entrance side node J11 of 3, and outputs three correction positions cX and cY which become the changed position data J11X and J11Y.

Finally, instead of the match matching data [(mX12, mY12), (mX13, mY13), (mX14, mY14)] located on the wrong aperture R12, the entrance side of the nerve path R13 regarded as the correct path. The misjudgment of the path is prevented by outputting the correction positions cX and cY which are the position data J11X and J11Y of the node J11.

4B shows position data before correction (left column) and position data after correction (right column).

In the example of FIG. 5A, the latest map matching positions mX25 and mY25 are located on the path R23, and the plurality of map matching positions [(mX22, mY22), (mX23, mY23, (mX24, mY24)] are located, and map matching positions mX21, mY22 are located on the spherical path | route R21.

The nerve path determining function unit 211 determines the path R23 as a nerve path because the latest map matching positions mX25 and mY25 are located on a different path R23 different from the aperture path R22. Determine that the vehicle has entered a new route.

When the acquisition function unit 212 determines that the vehicle has entered the nerve path R23 by the nerve path determination function unit 211, the plurality of map matching positions [(mX22, mY22) on the aperture path R22 are determined. , (mX23, mY23), (mX24, mY24)].

The correction function unit 213 determines that the diameter path R22 is a wrong path because no diameter path R22 exists between the old path R21 and the nerve path R23.

Further, the correction function unit 213 stores the position data of the plurality of match matching data [(mX22, mY22), (mX23, mY23), (mX24, mY24)] on the aperture path R22, respectively. It changes to position data J21X and J21Y of entrance side node J21 of 3, and outputs three correction positions cX and cY which become the changed position data J21X and J21Y.

Finally, instead of the match matching data [(mX22, mY22), (mX23, mY23), (mX24, mY24)] located on the wrong aperture R22, the entrance side of the neural path R23 considered as the correct path. The misjudgment of the path is prevented by outputting the correction positions cX and cY which are the position data J21X and J21Y of the node J21.

5B shows position data before correction (left column) and position data after correction (right column).

In the example of FIG. 6A, the latest map matching positions mX35 and mY35 are located on the path R33, and the map matching positions [(mX32, mY32) and (mX33, mY33) that are outdated in time on the aperture R32. , (mX34, mY34)] are located, and map matching positions mX31, mY32 are located on the spherical path R31.

The nerve path determining function unit 211 determines the path R33 as a nerve path because the latest map matching positions mX35 and mY35 are located on a different path R33 that is different from the aperture path R32. Determine that the vehicle has entered a new route.

When the acquisition function unit 212 determines that the vehicle has entered the nerve path R33 by the nerve path determination function unit 211, a plurality of map matching positions [(mX32, mY32) on the aperture path R32 is determined. , (mX33, mY33), (mX34, mY34)] are obtained.

The correction function unit 213 determines that the diameter path R32 is the correct path because the diameter path R32 exists between the old path R31 and the nerve path R33.

In addition, the correction function unit 213 does not change the position data of the plurality of match matching data [(mX32, mY32), (mX33, mY33), (mX34, mY34)] on the aperture path R32. The correction positions cX and cY are output.

As a result, the correction positions cX and cY which are the same position data as the match matching data [(mX32, mY32), (mX33, mY33), (mX34, mY34)] located on the correct aperture R2 are outputted. Doing.

6B shows position data before correction (left column) and position data after correction (right column). In this example, the position data is the same before and after correction.

As described above, in this embodiment, the misjudgment of the road (path) which is likely to occur after passing through the intersection or the branch point can be prevented, so that the path traveled by the vehicle can be accurately determined.

In addition, only the road information (position information along the road, the route R, the node J) is stored in the storage unit 117 of the on-board vehicle 100 for driving path detection applied to the GPS road charging system. Information required only for navigation displays such as terrain, buildings, and landmarks is not stored, so that data capacity can be reduced, so that hardware, software, and simple configuration can be achieved, resulting in lower cost. have.

Second embodiment

In the above-described first embodiment, the nerve path determining function unit 211 of the buffering correction unit 200 is configured such that the plurality of map matching positions mX, which are outdated in time with respect to the map matching positions mX and mY that have been input recently. If mY) is located on any same route (referred to as "orbital path"), but the latest map matching position (mX, mY) is located on a different route different from the caliber route, It judges as a nerve path and judges that a vehicle entered the new route.

In the second embodiment, instead of the above-described determination method, the nerve path determining function unit 211 is provided with respect to the map matching position mX, mY one time earlier than the map matching position mX, mY inputted at the latest. Although a plurality of map matching positions (mX, mY) that are outdated in time are located on any same path (referred to as "the old path"), the latest map matching positions (mX, mY) and a map before one in time are provided. When the matching positions mX and mY are located on the same route different from the caliber path, the other route is judged as a neural route, and the vehicle enters a new route.

In this way, when the two map matching positions (mX, mY) of the newest one and the previous one are located on the same route different from the caliber route, the other route is judged as a neural route, and the vehicle is determined to the new route. Since the judgment is made that the user has entered, the accuracy of the judgment of entering the nerve path is improved.

The configuration and operation functions of the other parts are the same as in the first embodiment.

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: Buffering correction part
201: memory
211: With decision function
212: With acquisition function
213: With correction 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 determined position as estimated positions (X, Y) based on the movement distance information and the traveling direction information;
A storage unit that stores location information along roads and road information having information as a route R set for each road to distinguish each road, and a node J set for each intersection or branch point or corner of the road. Wow,
A map matching unit for periodically outputting a position on a road closest to the position represented by the estimated position (X, Y) as a map matching position (mX, mY) using the estimated position (X, Y) and the road information; ,
A buffering correction unit that periodically outputs correction positions cX and cY in which the map matching positions mX and mY are modified using the map matching positions mX and mY, and the road information,
The buffering correction unit,
Having a storage unit for storing the map matching position (mX, mY) sequentially input from the map matching unit,
Although a plurality of map matching positions (mX, mY) that are outdated in time with respect to the recently entered map matching positions (mX, mY) were located on the caliber path which is the same route, the latest map matching positions (mX, mY) ) Is located on a different route than the caliber route, it is determined that the other route is a nerve route, and it is determined that the vehicle has entered the nerve route,
When it is determined that the vehicle has entered the nerve path, a plurality of map matching positions mX and mY on the aperture path are obtained from the storage unit,
The old path and the nerve which are the paths where the map matching positions mX and mY which are older than the map matching positions mX and mY located on the caliber path are located by referring to the lined state of the route R indicated by the road information. It is determined whether there is a path between the roads, and if there is a path between the old path and the nerve path, the path is determined to be the correct path, and the path is between the old path and the nerve path. If it doesn't exist, the caliber determines the wrong path,
When it is determined that the path is the correct path, a plurality of pieces of the same position data as the plurality of map matching positions mX and mY are not changed without changing the position data of the plurality of map matching positions mX and mY. Outputs the modified position (cX, cY) of
When determining that the path is the wrong path, the position data of the plurality of map matching positions mX and mY on the path are changed to the position data of the entrance node J of the nerve path, and the entrance node of the nerve path ( And a modified position (cX, cY) in which the position data is changed at the position of J). 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 storage unit that stores location information along roads and road information having information as a route R set for each road to distinguish each road, and a node J set for each intersection or branch point or corner of the road. Wow,
A map matching unit for periodically outputting a position on a road closest to the position represented by the estimated position (X, Y) as a map matching position (mX, mY) using the estimated position (X, Y) and the road information; ,
A buffering correction unit that periodically outputs correction positions cX and cY in which the map matching positions mX and mY are modified using the map matching positions mX and mY, and the road information,
The buffering correction unit,
Having a storage unit for storing the map matching position (mX, mY) sequentially input from the map matching unit,
With respect to the map matching positions mX and mY that are one time earlier than the map matching positions mX and mY inputted at the latest, the plurality of map matching positions mX and mY that are temporally older are set to an aperture having any same path. If the most recent map matching position (mX, mY) and the previous map matching position (mX, mY) are located on the same route different from the caliber path, it is necessary to pay attention to this other route. To determine that the vehicle has entered the nerve path,
When it is determined that the vehicle has entered the nerve path, a plurality of map matching positions mX and mY on the aperture path are obtained from the storage unit,
The old path and the nerve which are the paths where the map matching positions mX and mY which are older than the map matching positions mX and mY located on the caliber path are located by referring to the lined state of the route R indicated by the road information. It is determined whether there is a path between the roads, and if there is a path between the old path and the nerve path, the path is determined to be the correct path, and the path is between the old path and the nerve path. If it doesn't exist, the caliber determines the wrong path,
When it is determined that the path is the correct path, a plurality of pieces of the same position data as the plurality of map matching positions mX and mY are not changed without changing the position data of the plurality of map matching positions mX and mY. Outputs the modified position (cX, cY) of
When determining that the path is the wrong path, the position data of the plurality of map matching positions mX and mY on the path are changed to the position data of the entrance node J of the nerve path, and the entrance node of the nerve path ( And a modified position (cX, cY) in which the position data is changed at the position of J). The traveling route according to claim 1 or 2, further comprising a charging processing section that calculates the traveling distance based on the traveling route obtained from the correction positions cX and cY output from the buffering correction unit, and performs the charging process. Vehicle mount for detection.

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