WO2006126367A1 - Dispositif, procede et programme de parametrage de position et support d'enregistrement - Google Patents

Dispositif, procede et programme de parametrage de position et support d'enregistrement Download PDF

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Publication number
WO2006126367A1
WO2006126367A1 PCT/JP2006/308823 JP2006308823W WO2006126367A1 WO 2006126367 A1 WO2006126367 A1 WO 2006126367A1 JP 2006308823 W JP2006308823 W JP 2006308823W WO 2006126367 A1 WO2006126367 A1 WO 2006126367A1
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WO
WIPO (PCT)
Prior art keywords
road
moving body
altitude
position setting
branch point
Prior art date
Application number
PCT/JP2006/308823
Other languages
English (en)
Japanese (ja)
Inventor
Seiji Goto
Original Assignee
Pioneer Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corporation filed Critical Pioneer Corporation
Priority to JP2007517751A priority Critical patent/JP4572235B2/ja
Publication of WO2006126367A1 publication Critical patent/WO2006126367A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Definitions

  • Position setting apparatus position setting method, position setting program, and recording medium
  • the present invention relates to a position setting device, a position setting method, a position setting program, and a recording medium that set the position of a moving body.
  • map matching is performed in which the position of a moving body is logically aligned on a display road.
  • this map matching is performed in 2D, for example, an elevated road such as an expressway and a general road, where the mobile object is It is difficult to determine whether or not you are driving on the road.
  • the mobile body's attitude angle or altitude obtained from GPS or sensor positioning data is compared with the road gradient or altitude obtained from 3D road information included in the map data.
  • There is a technology that determines which road among a plurality of roads with different body heights to travel see Patent Document 1 below.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 11-304510
  • the position setting device includes a branch determination unit that determines that the mobile body has reached a branch point that branches to a plurality of roads having a difference in height, and the branch point of the mobile body.
  • a calculating means for calculating the amount of change in altitude of the moving body accompanying the movement of the moving body after a predetermined distance, and whether or not the amount of change in altitude calculated by the calculating means is equal to or greater than a predetermined altitude threshold
  • Altitude determination means for determining whether or not the altitude determination means
  • a position setting means for determining a road on which the moving body is located from the plurality of roads based on a determination result, and setting the position of the moving body on the road.
  • the position setting method according to the invention of claim 8 includes a branch determination step for determining that the mobile body has reached a branch point where the mobile body branches to a plurality of roads having different heights, and to the branch point of the mobile body.
  • An altitude determination step that determines whether the moving body is located among the plurality of roads based on the determination result of the altitude determination step, and the road determination step.
  • a position setting step for setting the position of the moving body on the road.
  • a position setting program according to the invention of claim 9 causes a computer to execute the position setting method according to claim 8.
  • a recording medium is characterized in that the position setting program according to the ninth aspect is recorded so as to be readable by a computer.
  • FIG. 1 is a block diagram showing a functional configuration of a position setting device according to the present embodiment of the present invention.
  • FIG. 2 is a flowchart showing the contents of the processing of the position setting device which is useful in the present embodiment of the present invention.
  • FIG. 3 is a block diagram showing a hardware configuration of the navigation device in the present embodiment of the present invention.
  • FIG. 4 is a flowchart showing the contents of a position setting process which is useful in this embodiment of the present invention.
  • FIG. 5 is an explanatory diagram for explaining a specific example of the position setting process according to the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram for explaining a specific example of the position setting process according to the embodiment of the present invention.
  • FIG. 7 is an explanatory diagram for explaining a specific example of the position setting process according to the embodiment of the present invention.
  • FIG. 8 is an explanatory diagram for explaining a specific example of the position setting process according to the embodiment of the present invention.
  • the position setting device in the present embodiment is mounted on a moving body such as a vehicle, for example.
  • FIG. 1 is a block diagram showing a functional configuration of the position setting device according to the present embodiment of the present invention.
  • the position setting device according to the present embodiment of the present invention includes a branch determination unit 101, a calculation unit 102, an altitude determination unit 103, a position setting unit 104, a first angle determination unit 105, and a second angle determination. Part 106.
  • the branch determination unit 101 determines that the mobile body has reached a branch point that branches to a plurality of roads having different elevations.
  • the branch determination unit 101 may determine that the road leading to the entrance / exit of the expressway has reached a connected branch point.
  • the calculation unit 102 calculates the amount of change in altitude of the moving body accompanying the movement of the moving body by a predetermined distance after reaching the branch point of the moving body.
  • the calculation unit 102 may start calculating the altitude change amount from the branch point. Further, the calculation of the altitude change amount may be started from a position where the first angle determination unit 105 described later determines that the inclination angle of the moving body is equal to or greater than the angle threshold.
  • the tilt angle of the moving object is to remove the influence of vibration.
  • the average inclination angle per unit time is used.
  • the angle threshold is set in advance based on, for example, the inclination angle of the moving body, which is predicted to occur when changing to a road with a difference in height when moving by a certain distance by the moving body. .
  • the altitude determination unit 103 determines whether the altitude change calculated by the calculation unit 102 is greater than or equal to a predetermined altitude threshold value.
  • the altitude threshold is set in advance, for example, based on an altitude difference that is predicted to occur when changing to a road with an altitude difference when the mobile body moves a certain distance.
  • the position setting unit 104 determines a road on which the moving body is located from a plurality of roads with different heights based on the determination result of the altitude determination unit 103, and based on the travel distance from the branch point The position of the moving body is set on the road. Then, the information on the set position of the moving body is output.
  • the position setting unit 104 moves the road of the same road type as the road before reaching the branch point among a plurality of roads with different altitudes. If the amount of change in altitude is greater than or equal to the altitude threshold, the mobile unit will locate a road of a different road type from the road before reaching the branch point among multiple roads with different altitudes. To be determined as a road.
  • the first angle determination unit 105 determines whether or not the inclination angle of the moving body is equal to or greater than a predetermined angle threshold. Then, the position setting unit 104 determines that the inclination angle of the moving body continues to be less than the angle threshold by the angle determination unit until the moving distance from the branch point of the moving body becomes equal to or greater than the distance threshold. In this case, the road of the same road type as the road before reaching the branch point among the plurality of roads having different altitudes is determined as the road where the moving body is located.
  • the second angle determination unit 106 determines whether or not the inclination angle of the moving object is equal to or greater than a predetermined maximum angle threshold value. Then, the position setting unit 104 reaches a branch point among a plurality of roads having a difference in altitude when the inclination angle of the moving body is equal to or larger than a predetermined maximum angle threshold when the moving body moves by a predetermined distance. A road of a different road type from the previous road is determined as the road where the moving body is located.
  • the maximum angle threshold is determined in advance based on, for example, the inclination angle of the moving body, which is predicted to occur when changing to a road with a difference in elevation when moving at a certain distance by the moving body. Is set.
  • FIG. 2 is a flowchart showing the contents of the processing of the position setting device which is useful for this embodiment of the present invention.
  • step S201 it is determined whether or not the moving body has reached the branch point. If it is determined that the moving body has not reached the branch point (step S201: No), the mobile unit waits for the mobile body to reach the branch point.
  • step S201 If it is determined that the moving body has reached the branch point (step S201: Yes), it is determined whether or not the inclination angle of the moving body is equal to or greater than the angle threshold (step S202). If it is determined that the tilt angle of the moving object is not equal to or greater than the angle threshold (step S202: No), the process proceeds to step S203, and if it is determined that the tilt angle of the moving object is equal to or greater than the angle threshold value (step S202: Yes). Proceeds to step S204.
  • step S203 it is determined whether or not the moving body has traveled a distance greater than a distance threshold from the branch point, and it is determined that the mobile body has traveled a distance greater than the distance threshold from the branch point ( In step S203: Yes), the process proceeds to step S207. On the other hand, when the moving body is not traveling a certain distance (step S203: No), the process returns to step S202.
  • step S204 the amount of change in altitude during a predetermined distance of the position force determined in step S202 that the tilt angle of the moving body is equal to or greater than the angle threshold is calculated.
  • step S205 it is determined whether or not the altitude change calculated in step S204 is greater than or equal to an altitude threshold, and when it is determined that the altitude change is greater than or equal to the altitude threshold (step S205: In Yes), a road of a different road type from the road before the moving body reaches the branch point is determined as the road where the moving body is located (step S206), and the process proceeds to step S208.
  • step S205 when it is determined that the amount of change in altitude is less than the altitude threshold (step S205: No), the moving body moves on the same road type road as the road before the vehicle reached the branch point. The road where the body is located is determined (step S207), and the process proceeds to step S208.
  • step S208 the position of the moving body is set on the road determined in step S206 or step S207 based on the travel distance from the branch point. Then, the series of processing ends.
  • step S204 when the altitude change amount is calculated in step S204, the inclination angle of the moving object is When the maximum angle threshold is exceeded, the calculation of the altitude change amount may be terminated and the process may proceed to step S206.
  • a process of determining a road on which the moving body is located may be executed based on the moving state of the moving body in the horizontal direction. For example, if the moving state of the moving body is a state where the moving body moves along a road of the same road type as the road before the branch point, the road of the same road type is used as the road where the moving body is located. decide . In addition, if the moving state of the moving body is in the state of moving along a road of a different road type from the road before the branch point and moving along the road of this different road type, this different road The type of road is determined as the road where the moving body is located. In this way, in areas where there is almost no difference in altitude between expressways and ordinary roads, roads of the same road type are always determined after reaching the branch point before reaching the branch point. Can be prevented.
  • the moving body based on the amount of change in altitude of the moving body accompanying the movement of the moving body by a predetermined distance after the branch point, the moving body The road where is located is determined. Therefore, when traveling on roads where roads with different heights run side by side, even if information on the road gradient and road altitude for these roads cannot be obtained, the roads running on the wrong road will be Can be determined.
  • the amount of change in altitude from the position where the inclination angle of the moving body is determined to be equal to or greater than the angle threshold is calculated. Therefore, the amount of change in altitude is calculated only when it is determined that there is a high probability that a transfer to a road with a difference in elevation will be initiated. As a result, it is possible to reduce the processing burden on the position setting device that does not perform unnecessary calculation of the amount of change in altitude.
  • the inclination angle of the moving body is less than or equal to a predetermined maximum angle threshold. If it is above, the road where the moving body is located is determined using multiple judgment elements such as altitude and inclination angle by determining the road of a different road type as the road where the moving body is located from the road before reaching the branch point. The accuracy of determination can be improved.
  • a difference in elevation can be determined when a branch point is reached that is likely to be related to the transfer of a road with a difference in elevation.
  • FIG. 3 is a block diagram showing the hardware configuration of the navigation apparatus in this embodiment of the present invention.
  • the navigation apparatus includes a navigation control unit 301, a user operation unit 302, a display unit 303, a position acquisition unit 304, a recording medium 305, a recording medium decoding unit 306, an audio output unit 307, and a speaker 308.
  • the navigation control unit 301 controls the entire navigation device.
  • the navigation control unit 301 includes, for example, a CPU (Central Processing Unit) that executes predetermined arithmetic processing, a ROM (Read Only Memory) that stores various control programs, and a RAM (Random Access Memory) that functions as a work area for the CPU. ) Or the like.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the navigation control unit 301 inputs / outputs information related to route guidance between the route search unit 310, the route guidance unit 311, and the voice generation unit 312 during route guidance, and obtains information obtained as a result.
  • the data is output to the display unit 303 and the audio output unit 307.
  • the user operation unit 302 outputs information input by the user, such as characters, numerical values, and various instructions, to the navigation control unit 301.
  • This user operation unit 302 For example, push button switches, touch panels, remote controls, etc. Further, the user operation unit 302 may be configured to perform an input operation by voice using a microphone that inputs voice from the outside.
  • Display unit 303 includes, for example, a CRT (Cathode Ray Tube), a TFT liquid crystal display, an organic EL display, a plasma display, and the like.
  • the display unit 303 can be configured by, for example, a video display device connected to the video I / F or the video IZF.
  • the video IZF is, for example, a graphic controller that controls the entire display device, a buffer memory such as VRAM (Video RAM) that temporarily stores image information that can be displayed immediately, and an output from the graphic controller. This is composed of a control IC that controls the display of the display device based on the image information.
  • the display unit 303 displays map information, route guidance information, and other various information.
  • the position acquisition unit 304 includes a GPS receiver and various sensors, and the position of the moving object.
  • the GPS receiver receives the radio wave from the GPS satellite and obtains the geometric position with the GPS satellite.
  • GPS is an abbreviation for Global Positioning System, and is a system that accurately determines the position on the ground by receiving radio waves from four or more satellites.
  • the GPS receiver is composed of an antenna for receiving radio waves from GPS satellites, a tuner for demodulating the received radio waves, and an arithmetic circuit for calculating the current position based on the demodulated information.
  • the various sensors are sensors mounted on a moving body or a navigation device such as a speed sensor, an angular velocity sensor, and an acceleration sensor. From information output from these sensors, the moving displacement, moving speed, and movement of the moving body are determined. Calculate the direction, angle of inclination, etc. In this way, the position of the moving body can be recognized with higher accuracy by using the output information of the various sensors together with the information obtained from the received radio wave of the GPS receiver.
  • the recording medium 305 is recorded with various control programs and various information readable by a computer.
  • This recording medium 305 is realized by, for example, HD (Hard Disk), DVD (Digital Versatile Disk), CD (Compact Disk), memory card, etc. can do.
  • the recording medium 305 may accept writing of information by the recording medium decoding unit 306 and record the written information in a nonvolatile manner.
  • map information used for route search and route guidance is recorded in the recording medium 305.
  • the map information stored in the recording medium 305 includes background data representing features (features) such as buildings, rivers, and the ground surface, and road shape data representing road shapes. Rendered in 2D or 3D on the screen.
  • the map information that has also been read by the recording medium decoding unit 306 and the position of the moving body set by the navigation control unit 301 are displayed in an overlapping manner. .
  • the background data includes background shape data representing the shape of the background and background type data representing the type of the background.
  • the background shape data includes, for example, the representative point of the feature 'polyline • polygon' and the coordinates of the feature.
  • the background type data includes, for example, text data representing the name and address of the feature 'phone number', and type data of features such as the building 'river' ground surface.
  • the road shape information is information relating to a road network having a plurality of nodes and links.
  • the node is information indicating an intersection where a plurality of roads intersect, such as a three-way “crossroad” and a five-way.
  • a link is information indicating a road connecting nodes. Some links have shape interpolation points that allow the expression of curved roads.
  • Road shape information has traffic condition information.
  • the traffic condition information is information indicating the characteristics of the intersection, the length (distance) of each link, vehicle width, traveling direction, traffic prohibition, road type, and the like.
  • each link includes elevated data indicating whether or not the road indicated by the link is an elevated road in the information indicating the road type.
  • An elevated road refers to a road having a certain level of difference with respect to the ground, such as an expressway.
  • roads that constitute a three-dimensional intersection on a general road are also included in the elevated road.
  • the underpass that intersects from the lower side of the road constructed on the ground surface is included in the elevated road in a broad sense.
  • the map information stored in the recording medium 305 has elevated frame data indicating whether or not it is in the elevated frame.
  • an elevated frame refers to an area where multiple roads with different elevations exist on the map, such as an expressway constructed in parallel above a general road (or even underground). It is a frame surrounded by.
  • the elevated frame is represented by a quadrangle such as a rectangle on the map.
  • the elevated frame data is represented by coordinate data indicating a pair of diagonal positions of the elevated frame.
  • the elevated frame data is represented by coordinate data indicating the vertex positions of the upper left and lower right (or upper right and lower left) corners.
  • the force for recording the map information on the recording medium 305 is not limited to this.
  • the map information may be provided outside the navigation device rather than the one recorded on the hardware of the navigation device.
  • the navigation device acquires map information via the network through the communication unit 309, for example.
  • the acquired map information is stored in RAM.
  • the recording medium decoding unit 306 controls information read / write with respect to the recording medium 305.
  • the recording medium decoding unit 306 is an HDD (Hard Disk Drive).
  • the audio output unit 307 controls the output to the connected speaker 308, thereby reproducing audio such as internal sound.
  • the audio output unit 307 includes, for example, a DZA converter that performs D / A conversion of audio digital information, an amplifier that amplifies an audio analog signal output from the DZA converter, and AZD conversion of audio analog information. It can be made up of AZD converters.
  • the communication unit 309 includes, for example, an FM tuner, a VICSZ beacon resino, a wireless communication device, and other communication devices, and performs communication with other communication devices.
  • Examples of information acquired by the communication unit 309 include road traffic information such as traffic jams and traffic regulations distributed from the Vehicle Information and Communication System (VICS) center. It is also compatible with servers that store road traffic information nationwide. It is also possible to request road traffic information of a desired area via the network and obtain the requested road traffic information.
  • VICS Vehicle Information and Communication System
  • the route search unit 310 uses the map information acquired from the recording medium 305 via the recording medium decoding unit 306, the VICS information acquired via the communication unit 309, and the like, from the departure place to the destination. Search for the best route.
  • the optimal route is the route that best matches the conditions specified by the user. In general, there are an infinite number of routes from the origin to the destination. For this reason, items to be considered in route search are set, and routes that match the conditions are searched.
  • the route guidance unit 311 is a position of the moving body set by the navigation control unit 301 based on the guidance route information searched by the route search unit 310, the output of the position acquisition unit 304, and the result of the position setting process described later. Based on the information and the map information obtained from the recording medium 305 through the recording medium decoding unit 306, route guidance information for guiding the user to the destination is generated.
  • the route guidance information generated at this time may be information that considers the traffic jam information received by the communication unit 309.
  • the route guidance information generated by the route guidance unit 311 is output to the display unit 303 via the navigation control unit 301.
  • the voice generation unit 312 generates various types of voice information such as guidance sounds. That is, based on the route guidance information generated by the route guidance unit 311, the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated, and the voice guidance information is generated via the navigation control unit 301. Output to the output unit 307.
  • the altitude calculation unit 313 calculates the altitude at which the moving body is located based on the moving distance and tilt angle of the moving body calculated from the outputs of the various sensors. In the present embodiment, the amount of change in altitude of the moving body during a predetermined distance is calculated after reaching a branch point that branches to a plurality of roads with different heights.
  • the angle determination unit 314 compares the inclination angle of the moving body calculated from the outputs of the various sensors with a preset threshold value.
  • the angle determination unit 314 calculates the average inclination angle of the moving body per unit time.
  • the unit time is set to 1 second, for example.
  • the reason for using the average tilt angle is to eliminate the effects of vibration.
  • the angle determination unit 314 calculates the average inclination calculated until the road on which the moving body is located after the branch point is reached. The maximum value of the oblique angle is stored.
  • the branch determination unit 101, the calculation unit 102, the altitude determination unit 103, the position setting unit 104, the first angle determination unit 105, and the second angle determination unit 106 illustrated in FIG. 1 are illustrated in FIG.
  • the function is realized by the navigation control unit 301 executing the program recorded in the ROM, RAM, recording medium 305, and the like in the navigation control unit 301.
  • FIG. 4 is a flowchart showing the contents of the position setting process according to this embodiment of the present invention.
  • step S401: No Waiting for the moving body to be located within the elevated frame (step S401: No), and if the moving body is located within the elevated frame (step S401: Yes), then whether the branch point has been reached. It is determined whether or not (step S402).
  • a branch point is an intersection where a plurality of roads with different elevations are connected. When this branch point is viewed from the road side where the moving body is located, the plurality of roads connected to the branch point are respectively branched from the branch point.
  • step S402 when the branch point has not been reached (step S402: No), the process returns to step S401.
  • step S402: Yes calculation of the average inclination angle is started (step S403), and it is determined whether or not the absolute value of the average inclination angle per unit time is 2 ° or more. (Step S404).
  • the situation in which the absolute value of the average inclination angle per unit time is 2 ° or more is a road between highways or roads with different heights, such as general roads or highways. This is the minimum angle at which it is predicted that the transfer of has started.
  • step S404 If it is determined in step S404 that the absolute value of the average inclination angle per unit time is 2 ° or more (step S404: Yes), the calculation of the altitude change is started (step S405). [0063] On the other hand, if it is determined in step S404 that the absolute value of the average inclination angle per unit time is less than 2 ° (step S404: No), the mobile object moves after reaching the branch point. It is determined whether the measured distance (hereinafter referred to as “branch distance”) is 400 m or more (step S406). If it is determined that the branch distance is 400 m or longer (step S406: Yes), the process proceeds to step S411. When it is determined that the branch distance force is less than OOm (step S 406: No), the process returns to step S404.
  • branch distance hereinafter referred to as “branch distance”
  • step S407 it is determined whether or not the absolute value of the average inclination angle per unit time is 3 ° or more.
  • the situation in which the absolute value of the average inclination angle per unit time is 3 ° or more is that when moving between roads with different elevations, such as highways to ordinary roads or ordinary roads to expressways, This is the angle that is expected to tilt reliably.
  • step S407: Yes the process proceeds to step S410.
  • step S407 determines whether or not the distance traveled by the moving body (hereinafter referred to as “calculated distance”) is 180 m or more (step S408). If it is determined that the calculated distance is 180 m or more (step S408: Yes), the process proceeds to step S409. If it is determined in step S408 that the calculation distance is less than 180 m (step S408: No), the process returns to step S407.
  • step S408 If it is determined in step S408 that the calculated distance is 180 m or more (step S 408: Yes), it is determined whether or not the absolute value of the altitude change while moving 180 m is 7 m or more. (Step S409).
  • the absolute value of the altitude change while moving 180m (7m or more in this example) is the transfer of roads between roads with different heights, such as highways to ordinary roads or ordinary roads to expressways. At that time, it is set based on the altitude value that is predicted to change almost certainly.
  • step S409 If it is determined in step S409 that the absolute value of the altitude change while moving 180m is 7m or more (step S409: Yes), the road type is different from the road that traveled before the branch point was reached. As the road where the moving object is located (Steps Step S410) and the process proceeds to Step S412.
  • step S409 determines that the absolute value of the altitude change during travel of 180m is less than 7m (step S409: No)
  • step S409: No the road traveled before reaching the branch point
  • the road of the same road type is determined as the road where the moving body is located (step S411), and the process proceeds to step S412.
  • step S412 the position of the moving body is set on the road determined in step S410 or step S411 based on the travel distance from the branch point. Then, the series of processing ends.
  • the road type information does not include elevated data, and the processing of the present embodiment may be executed only with the type information such as general roads and expressways.
  • step S402 it is determined whether or not a branch point where a plurality of roads having different elevations are connected is reached at a branch point where a road of a different road type from the currently traveling road is connected. Judgment is based on whether or not it has been reached. In addition, it may be determined whether or not a branch point where a road leading to the entrance / exit of the expressway is connected is reached.
  • the moving body moves in the horizontal direction based on the output information of the position acquisition unit 304 and the map information obtained from the recording medium 305 via the recording medium decoding unit 306.
  • Processing for calculating the state and determining the road on which the moving body is located may be executed based on the moving state of the moving body in the horizontal direction. For example, if the moving state of the moving body is a state of moving along the same road type road as the road before the branch point, the same road type road is used as the road where the moving body is located. Determine as. If the moving body is moving in the direction of a road of a different road type from the road before the branch point and moving along the road of this different road type, the different road type Is determined as the road where the moving body is located.
  • FIGS. 5 to 8 are explanatory diagrams for explaining specific examples of the position setting process.
  • highways Ll and L2 are connected via the first branch point N1.
  • the general roads L4 and L5 are connected via the second branch point N2.
  • the highways Ll, L2 and the general roads L4, L5 are connected by a connecting road L3 connecting the first branch point N1 and the second branch point N2.
  • the highways Ll and L2 are elevated roads
  • the highways Ll and L2 and the general roads L4 and L5 are running side by side with a height difference.
  • the first branch point N1 is the entrance to the expressway.
  • marks Cl and C2 have the same distance from branch point N2 at dl.
  • the road on which the moving body is located is determined, the road of the same road type as the travel road before reaching the second branch point (general road L4)
  • the mark m is displayed at the candidate position (mark C2) on the general road L5, and navigation processing such as route guidance is executed based on the candidate position on the general road L5.
  • the road corresponding to the general road L5 is determined as the road where the moving body is located, and the general road The candidate position on the road L5 is set as the position of the moving body. Then, the mark m indicating the position of the moving body on the display unit is fixed at the set position on the general road L5, and the navigation processing such as route guidance is continued based on the position on the general road L5.
  • the mobile object is based on the amount of change in the height of the mobile object associated with the movement of the mobile object by a predetermined distance.
  • the road to be located is set. Therefore, it is possible to determine which road is running even when information on road gradients and road altitudes for these roads cannot be obtained when traveling on roads that run parallel to each other.
  • the processing shown in Fig. 4 is executed only when the moving body is located within the elevated frame, and therefore, it is possible to suppress the unnecessary calculation processing of the altitude change amount. Can do.
  • the amount of change in altitude from a position where the average inclination angle per unit time of the moving body is determined to be equal to or greater than the angle threshold value (2 °) is calculated. Therefore, the amount of change in altitude is calculated only when it is determined that there is a high possibility that an altitude change due to a transfer to a road with a level difference will occur. As a result, it is possible to reduce the burden of calculation processing in the navigation control unit 301 or the like that does not calculate unnecessary change in altitude.
  • the angle threshold is set to 2 °, but this is not restrictive.
  • the angle threshold is not limited to a single value.
  • the angle threshold may be set for each elevated frame. This improves the accuracy of determining the road where the moving body is located, for example, when the height of the elevated road or the slope of the road connecting the elevated road and the general road varies from city to city. Can do.
  • the road of the same road type as the road before reaching the branch point is determined as the road on which the mobile body is located.
  • the average inclination angle equal to or greater than the angle threshold value when the average inclination angle equal to or greater than the angle threshold value does not occur even after moving 400m or more from the branch point, the same road type as the road before the branch point is reached. Is determined as the road where the moving body is located. This prevents the process shown in FIG. 4 from continuing after the branch point is reached until an average inclination angle equal to or greater than the angle threshold is generated.
  • the value of 400m from the branch point is a value that can be set arbitrarily, and it is possible to set an optimal value as appropriate according to the region and country.
  • the absolute value of the average inclination angle is equal to or greater than a predetermined maximum angle threshold (3 °)
  • the road type road may be determined as the road where the moving body is located.
  • step S411 of the present embodiment a process for determining the road on which the moving body is located is executed according to the moving state of the moving body in the horizontal direction. In areas where there is almost no difference in altitude between roads, it is possible to prevent a road of the same road type from being determined before reaching the branch point after the branch point is reached. Therefore, it is possible to improve the accuracy of determining the road on which the moving body is located in the case where power is applied.
  • the position setting method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, flexible disk, CD-ROM, M0, DVD, etc. It is executed by being read from the recording medium by a user.
  • the program may be a transmission medium that can be distributed via a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Instructional Devices (AREA)

Abstract

La présente invention concerne un dispositif de paramétrage de position qui possède une section d'évaluation de croisement (101) pour évaluer l'arrivée d'un corps mobile sur un point de croisement auquel une route est reliée à des routes présentant différentes altitudes, une section de calcul (102) pour calculer le montant du changement d'altitude impliqué dans le mouvement du corps mobile pour une distance prédéterminée, après son arrivée au point de croisement, une section d'évaluation de l'altitude (103) pour décider si oui ou non le montant du changement d'altitude calculé par la section de calcul (102) est égal ou supérieur à une valeur seuil, enfin une section de paramétrage de position (104) pour déterminer une route, parmi les diverses routes, sur laquelle est situé le corps mobile et paramétrer la position du corps mobile sur la route, la détermination de la route étant basée sur le résultat de la décision de la section d'évaluation de l'altitude (103).
PCT/JP2006/308823 2005-05-25 2006-04-27 Dispositif, procede et programme de parametrage de position et support d'enregistrement WO2006126367A1 (fr)

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JP2007517751A JP4572235B2 (ja) 2005-05-25 2006-04-27 位置設定装置、位置設定方法、位置設定プログラム、および記録媒体

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JP2014130010A (ja) * 2012-12-27 2014-07-10 Yupiteru Corp システム及びプログラム
CN108195388A (zh) * 2017-12-25 2018-06-22 千寻位置网络有限公司 低成本高精度的高架上下坡检测方法
JP2019096153A (ja) * 2017-11-24 2019-06-20 株式会社 ミックウェア 車載装置、同一道路走行判定方法、及び同一道路走行判定プログラム
EP3534113A1 (fr) * 2017-09-13 2019-09-04 ClearMotion, Inc. Commande de véhicule basée sur la surface de route
JP2020071122A (ja) * 2018-10-31 2020-05-07 トヨタ自動車株式会社 自車位置推定装置
CN114485687A (zh) * 2020-11-13 2022-05-13 博泰车联网科技(上海)股份有限公司 车辆位置确定方法及相关装置

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JP2001280985A (ja) * 2000-03-29 2001-10-10 Clarion Co Ltd 車両ナビゲーション装置
JP2002206934A (ja) * 2001-01-11 2002-07-26 Matsushita Electric Ind Co Ltd ナビゲーション装置

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JPH08159802A (ja) * 1994-12-08 1996-06-21 Nippondenso Co Ltd カーナビゲーション装置
JPH10253373A (ja) * 1997-03-07 1998-09-25 Pioneer Electron Corp ナビゲーション装置
JPH11304513A (ja) * 1998-04-21 1999-11-05 Kenwood Corp カーナビゲーションシステム
JP2000146608A (ja) * 1998-11-10 2000-05-26 Nissan Motor Co Ltd 高速道路判定装置及びナビゲーション装置
JP2001280985A (ja) * 2000-03-29 2001-10-10 Clarion Co Ltd 車両ナビゲーション装置
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014130010A (ja) * 2012-12-27 2014-07-10 Yupiteru Corp システム及びプログラム
EP3534113A1 (fr) * 2017-09-13 2019-09-04 ClearMotion, Inc. Commande de véhicule basée sur la surface de route
US10901432B2 (en) 2017-09-13 2021-01-26 ClearMotion, Inc. Road surface-based vehicle control
EP4191202A1 (fr) * 2017-09-13 2023-06-07 ClearMotion, Inc. Commande de véhicule basée sur la surface de la route
US11733707B2 (en) 2017-09-13 2023-08-22 ClearMotion, Inc. Road surface-based vehicle control
JP2019096153A (ja) * 2017-11-24 2019-06-20 株式会社 ミックウェア 車載装置、同一道路走行判定方法、及び同一道路走行判定プログラム
CN108195388A (zh) * 2017-12-25 2018-06-22 千寻位置网络有限公司 低成本高精度的高架上下坡检测方法
CN108195388B (zh) * 2017-12-25 2022-06-28 千寻位置网络有限公司 低成本高精度的高架上下坡检测方法
JP2020071122A (ja) * 2018-10-31 2020-05-07 トヨタ自動車株式会社 自車位置推定装置
JP7143722B2 (ja) 2018-10-31 2022-09-29 トヨタ自動車株式会社 自車位置推定装置
CN114485687A (zh) * 2020-11-13 2022-05-13 博泰车联网科技(上海)股份有限公司 车辆位置确定方法及相关装置
CN114485687B (zh) * 2020-11-13 2023-09-26 博泰车联网科技(上海)股份有限公司 车辆位置确定方法及相关装置

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