WO2008001493A1 - Dispositif d'estimation de position pour véhicules, procédé d'estimation de position pour véhicules, et programme d'estimation de position pour véhicules - Google Patents

Dispositif d'estimation de position pour véhicules, procédé d'estimation de position pour véhicules, et programme d'estimation de position pour véhicules Download PDF

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Publication number
WO2008001493A1
WO2008001493A1 PCT/JP2007/000685 JP2007000685W WO2008001493A1 WO 2008001493 A1 WO2008001493 A1 WO 2008001493A1 JP 2007000685 W JP2007000685 W JP 2007000685W WO 2008001493 A1 WO2008001493 A1 WO 2008001493A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
position estimation
surrounding
vehicle position
Prior art date
Application number
PCT/JP2007/000685
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English (en)
Japanese (ja)
Inventor
Katsuhiko Takahashi
Daisuke Nishiwaki
Original Assignee
Nec Corporation
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Filing date
Publication date
Application filed by Nec Corporation filed Critical Nec Corporation
Publication of WO2008001493A1 publication Critical patent/WO2008001493A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams

Definitions

  • Vehicle position estimation device Vehicle position estimation method, and vehicle position estimation program
  • the present invention relates to a vehicle position estimation device or the like in a force navigation system, and more particularly to a vehicle position estimation device that functions effectively when vehicle position estimation by positioning means mounted on the vehicle is difficult.
  • the present invention relates to a vehicle position estimation method and a vehicle position estimation program.
  • Patent Document 1 for determining the position of the vehicle based on the information of the global positioning system (GPS) of (A), positioning by GPS and FM multiplexing are performed.
  • GPS global positioning system
  • An apparatus for receiving an error signal and correcting the current position for DGPS High-Precision Global Positioning System
  • DGPS is configured so that the vehicle position can be calculated with high accuracy when signals are received from a certain number of satellites.
  • Patent Document 2 for determining the position of the vehicle by map matching in (B), the vehicle position calculated by GPS is compared with the vehicle position calculated by GPS and the road map. If the position does not correspond to the road, a method of searching for a road that exists within the assumed range and correcting the vehicle position on the searched road is disclosed.
  • the position of the vehicle is determined by an autonomous sensor such as (C) 3D gyroscope.
  • an autonomous sensor such as (C) 3D gyroscope.
  • Patent Document 3 a vehicle position positioning method in which positioning by GPS and positioning by an autonomous sensor are performed, and the positioning information obtained from each is multiplied by a reliability coefficient to obtain the current position. Yes.
  • Patent Document 1 JP-A-11-304509
  • Patent Document 2 Japanese Patent Application Laid-Open No. 2003_97959
  • Patent Document 3 Japanese Patent No. 3 1 94907
  • Patent Document 4 Japanese Patent Laid-Open No. 07-1 1 4689
  • Non-Patent Document 1 "Development of vehicle detection technology using edge pair feature space projection method", Vi i EW2005 Vision Technology Workshop (January 2, 2005, 8-9 Jan.) Japan Society for Precision Engineering
  • Non-Patent Document 2 "Development of Stereo Image Recognition Device for Vehicle Front Monitoring", IEICE Technical Report, PRMU 200 1 —90 (The Institute of Electronics, Information and Communication Engineers)
  • the present invention improves the inconvenience of such a conventional example, and in particular, a situation in which the surrounding vehicle is not able to grasp the position of the own vehicle even though the surrounding vehicle is able to grasp the position of the own vehicle. Therefore, a vehicle position estimation device, a vehicle position estimation method, and a vehicle position estimation program capable of correctly grasping the own vehicle position are provided.
  • a vehicle position estimation device in a vehicle navigation system, the vehicle-to-vehicle communication means capable of receiving information indicating the position of the surrounding vehicle transmitted by the surrounding vehicle, There is provided a vehicle position estimating device having own vehicle position correcting means for storing position information received by the communication means as current position information of the own vehicle.
  • the position of the surrounding vehicle obtained through the vehicle-to-vehicle communication means is stored and held as the vehicle position of the own vehicle by the own vehicle position correcting means. It is possible to specify and hold the position effectively and efficiently.
  • the vehicle-to-vehicle communication means described above receives a plurality of pieces of information indicating the position from a plurality of surrounding vehicles, the received radio wave selects the one having the maximum intensity among the received radio waves. It is good also as a structure provided with the selection function.
  • the reception radio wave selection function works effectively, and relatively clear and highly sensitive position information with little noise influence can be obtained from the surrounding vehicles, and the reliability of the apparatus can be further enhanced.
  • the vehicle position estimation state determination means for determining whether or not the position of the vehicle can be grasped is added to the vehicle position correction means described above.
  • the vehicle position correction means described above uses the position information obtained by the inter-vehicle communication as the vehicle position when it is determined by the vehicle position estimation state determination means that the position of the vehicle is not grasped. You may comprise so that it may memorize
  • the vehicle position correction means described above is activated when any of the vehicle position determination devices using the GPS, autonomous sensor, or map matching method does not function. There is an advantage that energy saving can be achieved.
  • the above-described vehicle position correcting means detects a surrounding vehicle existing around the vehicle as an information transmission vehicle by a sensor equipped in advance, and extracts a relative position relationship with the vehicle. A specific means is also provided. Then, the vehicle position correction means described above corrects the position information received from the information transmission vehicle based on the relative positional relationship between the extracted information transmission vehicle and the vehicle, and stores it as position information of the vehicle. You may comprise.
  • the position information of the own vehicle is corrected (corrected) based on the relative positional relationship with the own vehicle obtained by the surrounding vehicle specifying means, so that the accuracy of the position information of the own vehicle is further improved. It can be further enhanced.
  • the above-described surrounding vehicle specifying means may be configured to have a relative position specifying function for obtaining the relative positional relationship based on distance information obtained by the distance sensor, together with the sensor being a distance sensor. .
  • the peripheral vehicle specifying means may be configured to have a relative position specifying function for obtaining the relative position relation based on position information obtained by the image sensor while using the sensor as an image sensor.
  • the surrounding vehicle specifying means described above specifies the information transmitting vehicle that has transmitted the information indicating the position by the inter-vehicle communication when a plurality of surrounding vehicles are detected, and the specified information transmitting A relative position specifying function for obtaining the relative position relationship based on position information received from a vehicle is provided. Therefore, according to this, since the position of the own vehicle can be estimated based on the position information of a plurality of surrounding vehicles, the accuracy of the current position of the own vehicle can be further increased.
  • the peripheral vehicle specifying means described above specifies the information transmission vehicle that has transmitted the information indicating the position by the inter-vehicle communication when a plurality of peripheral vehicles are detected, and the information transmission vehicle It is good also as a structure provided with the relative position specific function which calculates
  • the surrounding vehicle specifying means described above specifies the information transmission vehicle that has transmitted the information indicating the position by the vehicle-to-vehicle communication when a plurality of surrounding vehicles are detected, and between the information transmission vehicles. It may be configured to have a relative position specifying function for obtaining the relative positional relationship based on distance information obtained by an image sensor as the sensor.
  • the vehicle position correction means includes a plurality of positions indicating the positions received by the vehicle-to-vehicle communication means.
  • One of the information is selected as the position information from the information transmission vehicle, and the selected position information is corrected based on the relative positional relationship between the information transmission vehicle and the own vehicle, and this is corrected. It is memorized as a position.
  • the position information can be acquired and corrected as in the case of a single surrounding vehicle, and the position information can be processed quickly.
  • the vehicle position correction unit includes the information indicating the position received by the vehicle-to-vehicle communication unit.
  • a plurality of information is selected and used as position information from the information transmission vehicle, and the position information from the selected information transmission vehicle is corrected based on the relative positional relationship between the plurality of information transmission vehicles and the host vehicle.
  • the vehicle position estimation state determination means described above may be configured to have a state determination function that determines that the vehicle position cannot be grasped only when the GPS signal cannot be received for a certain period of time.
  • the vehicle position estimation situation determination means may have a situation determination function that determines that the vehicle position cannot be grasped only when a predetermined steering operation is performed within a predetermined time. Further, the vehicle position estimation situation determination means described above determines that the vehicle position cannot be grasped only when a GPS signal is not received for a certain period of time and a predetermined steering operation is performed within a certain period of time. It may be configured to have a situation judgment function.
  • the vehicle-to-vehicle communication means described above has a surrounding vehicle information receiving function for receiving information indicating the position of the surrounding vehicle transmitted by the surrounding vehicle and information indicating the attribute of the surrounding vehicle.
  • An attribute of the information transmission vehicle from an image acquired by an imaging unit equipped in advance with a vehicle identification unit transmitting position information indicating the position of the surrounding vehicle and attribute information indicating an attribute of the surrounding vehicle. It is also possible to adopt a configuration having a transmission vehicle specifying function for specifying by finding a vehicle that matches the vehicle.
  • the vehicle that matches the attribute of the information transmission vehicle is found in the image acquired by the imaging means, it is easy to confirm the position of the surrounding vehicle. There is an advantage that can be identified more accurately.
  • an inter-vehicle communication step of receiving information indicating the position of the peripheral vehicle transmitted by a peripheral vehicle, and the inter-vehicle communication step receive And a vehicle position correction step for storing the position information as the vehicle position of the vehicle.
  • the position of the surrounding vehicle obtained in the inter-vehicle communication process is memorized and held as the vehicle position of the own vehicle in the vehicle position correction process, so the vehicle position can be surely maintained within a certain error range. Can be identified and retained.
  • the position is indicated from a plurality of surrounding vehicles.
  • the radio wave with the highest intensity among the received radio waves may be selected. This makes it possible to obtain relatively clear position information that is less affected by noise from surrounding vehicles.
  • a vehicle position estimation situation determination step for determining whether or not the position of the vehicle can be grasped is set, and in the vehicle position correction step,
  • the information obtained by the inter-vehicle communication may be stored as the own vehicle position only when it is determined that the position of the own vehicle cannot be grasped in the own vehicle position estimation situation determination step. In this way, energy saving of the entire device can be achieved.
  • the position information received from the information transmission vehicle is corrected based on the relative positional relationship between the information transmission vehicle and the vehicle extracted in the surrounding vehicle identification step. You may comprise so that it may memorize
  • a distance sensor may be used as the sensor, and the relative positional relationship may be obtained based on distance information obtained by the distance sensor.
  • an image sensor may be used as the sensor, and the relative positional relationship may be obtained based on image information obtained by the image sensor.
  • the information transmitting vehicle that transmits the information indicating the position by the inter-vehicle communication is specified, and from the specified information transmitting vehicle You may comprise so that the relative positional relationship of the said information transmission vehicle and the own vehicle may be calculated
  • the information transmission vehicle that transmits the information indicating the position by the inter-vehicle communication when a plurality of peripheral vehicles are detected is identified, and the information transmission vehicle The relative positional relationship between the two may be obtained based on distance information obtained using a distance sensor as the sensor.
  • the information transmitting vehicle that transmits the information indicating the position by the inter-vehicle communication is specified, and the relative position with respect to the information transmitting vehicle is determined.
  • the relationship may be obtained based on image information obtained using an image sensor as the sensor.
  • the vehicle position correction process includes the information indicating the position received in the vehicle-to-vehicle communication process.
  • the positional information received from the information transmission vehicle is corrected based on the relative positional relationship between the information transmission vehicle and the vehicle, and the position information of the vehicle May be stored as. In this way, even if there are a plurality of surrounding vehicles, the position information can be acquired and corrected in the same manner as in the case of a single surrounding vehicle, and there is an advantage that the position information can be processed quickly. .
  • the vehicle position correction process includes the information indicating the position received in the vehicle-to-vehicle communication process.
  • the position information received from the plurality of information transmission vehicles is corrected based on the relative positional relationship between the information transmission vehicle and the own vehicle. You may make it memorize as.
  • the vehicle position estimation situation determination step described above it may be determined that the vehicle position cannot be grasped only when the GPS signal cannot be received for a certain time.
  • this vehicle position estimation situation determination step is performed in a predetermined time within a predetermined time. Only when the dollar operation is performed, it may be determined that the vehicle position is not grasped.
  • the vehicle position estimation situation determination process described above it is determined that the vehicle position cannot be grasped only when the GPS signal is not received for a certain period of time and a predetermined steering operation is performed within the certain period of time. You may do it.
  • the information indicating the position of the surrounding vehicle and the information indicating the attribute of the surrounding vehicle transmitted from the surrounding vehicle are received, and in the surrounding vehicle specifying step, Information that sent the location information and attribute information of the surrounding vehicle.
  • the present invention is configured and functions as described above, according to this, according to this, none of the vehicle position locating devices using the GPS, the autonomous sensor, or the map matching method is functioning effectively. Even if it is in a situation, or even if these devices are not equipped, the current position information is obtained from the surrounding vehicle by inter-vehicle communication, and the current position information of the surrounding vehicle is automatically acquired. Since the vehicle position is stored and held, the vehicle position estimation device, the position estimation method, and the position estimation program can be effectively identified with a certain error range. Can be provided.
  • FIG. 1 is a block diagram showing a first embodiment of the present invention.
  • FIG. 2 is a flowchart showing the operation in the first embodiment.
  • FIG. 3 is a block diagram showing a second embodiment of the present invention.
  • FIG. 4 is a flowchart showing the operation in the second embodiment.
  • FIG. 5 is a diagram showing a third embodiment of the present invention.
  • FIG. 6 is a flowchart showing the operation in the third embodiment.
  • FIG. 7 is a schematic diagram showing a situation where information is received from a plurality of surrounding vehicles.
  • FIG. 8 is a flowchart showing the operation in the third embodiment.
  • FIG. 9 is a flowchart showing the operation in the third embodiment.
  • FIG. 10 is a schematic diagram showing a situation in which the vehicle position is estimated based on information from a plurality of surrounding vehicles.
  • FIGS. 1 and 2 show a vehicle position estimation apparatus according to a first embodiment of the present invention.
  • the vehicle position estimation apparatus shown in FIGS. 1 and 2 includes vehicle-to-vehicle communication means 10 0 1 for direct communication between the vehicle and the surrounding vehicles, and the vehicle acquired by the vehicle-to-vehicle communication means 1 0 1. And vehicle position correction means 10 0 2 for correcting the position of the vehicle.
  • a vehicle equipped with this vehicle position estimation device often includes at least one of the vehicle position specifying device using GPS, an autonomous sensor, or a map matching method.
  • a case will be described in which a vehicle equipped with one of these other vehicle position specifying devices is equipped with the vehicle position estimation device in the present embodiment.
  • the vehicle-to-vehicle communication means 1 0 1 described above directly communicates between the vehicle and the surrounding vehicle. It is possible to make a system that can communicate ad hoc without going through a base station like a mobile phone. In this case, the information to be communicated is the current position information of surrounding vehicles.
  • Examples of ad hoc communication methods between cars include “IE E 8 0 2.1 1 b” and “U W B (U I tra Wi de Band)”.
  • the vehicle-to-vehicle communication means 100 shown in FIG. 1 includes a wireless antenna 11 A, a radio wave intensity measuring unit 11, a data receiving unit 12, and a communication control unit 13.
  • the intensity of the radio wave received by the radio antenna 11 A is measured by the radio field intensity measurement unit 11.
  • the data receiver 1 2 demodulates the radio signal and converts it to data.
  • the radio field intensity data measured by the radio field intensity measuring unit 11 is also received.
  • the data receiving unit 12 outputs both the current position information of the surrounding vehicle, which is the received data, and the radio wave intensity data to the own vehicle position correcting means 100.
  • the own vehicle position correcting means 10 0 2 has a function of correcting the current position of the own vehicle based on the current position information of the surrounding vehicles input from the inter-vehicle communication means 1 0 1.
  • the vehicle position correcting means 10 2 includes a data storage unit 2 1, a data transmission unit 2 2, and a data processing control unit 23.
  • the data storage unit 21 includes an interface for storing data input from the vehicle-to-vehicle communication means 101 and providing the data to a device other than the device (vehicle position estimation device) in the present embodiment. ing. All of these operations are controlled by the data processing control unit 23.
  • the data processing control unit 23 also includes an interface that enables information exchange with an external device other than the present device (vehicle position estimation device).
  • a radio wave including vehicle position information of the vehicle is received from the surrounding vehicle (S 1 1 3: inter-vehicle communication process).
  • the received signal strength I is measured by the signal strength measurement unit 11. It is determined whether or not the measured radio field intensity is greater than or equal to a preset threshold value I sh (S 1 1 4).
  • the timer T 1 set when the power supply AC C is on is within the preset threshold time T sh (S 1 1 5)
  • the vehicle position information based on the received radio wave is set as the vehicle position (S 1 1 6, S 1 1 8).
  • the vehicle position information of the surrounding vehicle is received.
  • DGPs correction signal information possessed by the surrounding vehicle may also be used.
  • FIG. 2 (A) is a flowchart showing an example of processing steps performed by the vehicle position estimation apparatus according to the first embodiment.
  • the vehicle-to-vehicle communication means 101 receives vehicle position information transmitted by surrounding vehicles (step S001: vehicle-to-vehicle communication step).
  • the own vehicle position correcting means 102 stores the vehicle position information received by the inter-vehicle communication means 101 as the current position of the own vehicle (step S002: own vehicle position correcting step).
  • the vehicle position information acquired in step S001 is (latitude I, longitude), for example, the point of (latitude I, longitude) is stored as the vehicle position in step SO02.
  • the vehicle position information received by the vehicle-to-vehicle communication means 101 is replaced with the information on the own vehicle position prepared in advance, and the vehicle position is corrected. Is taken in as location information.
  • the vehicle position information acquired in step S 0 0 1 originally indicates the current position of the surrounding vehicle on the side that transmitted the radio wave, but if the maximum reach of the radio wave is d (m), the error d ( m) This can be specified as position information related to the vehicle position with the following accuracy.
  • the current position information is obtained by the inter-vehicle communication from the neighboring vehicle specifying the current position, By using this as the position of the host vehicle, the host vehicle position can be specified with accuracy with the maximum error of the inter-vehicle communication radio wave as the maximum error.
  • the vehicle position estimation apparatus may be mounted on a device equipped with a positioning method such as GPS, 3D gyro, and map matching.
  • next step S 0 02 is executed only when the position information can be acquired in step S 0 0 1. If radio waves from surrounding vehicles are not received, the vehicle position is corrected by the autonomous sensor (the sensor provided in the vehicle) with the vehicle position stored in step S 0 0 2 as the initial value. It can be done every moment.
  • the case where the coordinates of the latitude and longitude of the surrounding vehicles are received as the vehicle position information is shown.
  • the road that is running is shown. It may include the name and direction of the road on which it is traveling. The direction of the road is expressed as “from south to north”, and the direction of travel of the vehicle is expressed as an angle when the north is 0 degrees, the east is 90 degrees, the south is 180 degrees, etc. Also good.
  • the vehicle-to-vehicle communication means 10 0 1 is configured to receive the vehicle position information transmitted from the surrounding vehicle force (SOO 1) force
  • SOO 1 surrounding vehicle force
  • the radio waves received from nearby vehicles are below a certain preset strength, it is not necessary to use them.
  • a plurality of radio waves having a certain intensity or higher are received, only vehicle position information obtained from the maximum intensity may be used.
  • the vehicle position estimation apparatus includes vehicle-to-vehicle communication means 1 0 1 that directly communicates between the vehicle and surrounding vehicles, and this vehicle-to-vehicle communication 1 0. And vehicle position correction means 1 0 2 for correcting the position of the vehicle acquired by 1.
  • vehicle position correction means 100 whether the conventional vehicle position measurement system (positioning system) such as GPS, autonomous sensor, or map matching that the vehicle is equipped with is operating normally.
  • An own vehicle position estimation status judging means 1 0 3 for judging whether or not is provided.
  • the vehicle position estimation status determination means 10 03 installed in the vehicle position correction means 10 2 functions effectively with a conventional positioning system using GPS, autonomous sensors, or map matching.
  • a function that verifies the likelihood of the vehicle position by checking whether it is in a state, and outputs the judgment result of whether it is better to acquire position information from another vehicle to the vehicle position correction means 1 0 2 Judgment function is provided.
  • the vehicle position estimation situation determination means 10 3 shown in FIG. 3 (B) includes a vehicle speed sensor 3 1, a steering angle sensor 3 2, and an acceleration sensor 3 3, which are autonomous sensors. 3, 0 3 Lost detection unit 3 5, DGPS reception detection unit 3 6, position estimation accuracy deterioration determination unit 3 7, and overall control unit 3 8.
  • Reference numeral 3 7 7 represents the FM receiver
  • reference numeral 3 7 7 A represents the antenna of the FM receiver 3 7
  • Reference numeral 3 8 8 denotes a GPS receiver
  • reference numeral 3 8 8 A denotes an antenna of the GPS receiver 3 8 8.
  • the original data (basic data) for estimating the vehicle position includes external signal information such as GPS signals and DGPS signals, acceleration sensors, vehicle speed sensors, Two types are used: output information from the rotation angle obtained by calculating the rotation angle of the vehicle based on information from the autonomous sensor mounted on the vehicle such as a steering angle sensor. Then, the position estimation accuracy deterioration determination unit 37 determines whether or not the position estimation of the vehicle is reliable as will be described later (see FIG. 4 (B)). Is output to the vehicle position correcting means 1 0 2 described above.
  • the vehicle position estimation accuracy by GPS in the position estimation accuracy degradation determination unit 37 is degraded. Judgment whether the estimated accuracy of the position of the vehicle by GPS has deteriorated is made based on the reception status from the GPS satellite, that is, the position and number of the captured satellites. For example, if no signal from a GPS satellite can be received, it is judged as degraded, and if it is two, it is judged as degraded because 3D accuracy cannot be secured (S 2 1 1) .
  • the rotation angle of the vehicle is calculated using the information from the autonomous sensor described above (S 2 1 2). After it is determined that the GPS accuracy is degraded, the rotation angle of the vehicle is calculated using the autonomous sensor. In this case, for example, when the rotation angle exceeds a preset threshold value R sh (S 2 13), it is determined that the position estimation accuracy of the own vehicle has deteriorated (S 2 14).
  • the position information of the surrounding vehicle is received and set as the position information of the own vehicle.
  • the vehicle position information of the surrounding vehicle is received.
  • the correction signal for DGPS that the surrounding vehicle has. Information may be received.
  • the vehicle position estimation status determination means 10 3 described above checks whether the conventional vehicle position estimation device using GPS, autonomous sensor, or map matching is functioning effectively. The current certainty of the vehicle is verified, it is determined whether or not it is better to acquire the position information from the surrounding vehicle, and the result is output to the vehicle position correcting means 1 0 2 (Step S 2 0 1: Vehicle position estimation status judgment process).
  • the verification of the current position of the vehicle position which is performed in the vehicle position estimation situation determination step, is performed in this embodiment only when the vehicle position cannot be received for a certain period of time. It is set in advance so that it can be determined that it cannot be grasped.
  • the vehicle position cannot be grasped only when a GPS signal cannot be received for a certain period of time and a predetermined handle operation is performed within a certain period of time.
  • the own vehicle position correcting means 1 0 2 determines whether or not the own vehicle position estimation status judging means 1 0 3 should obtain position information from the surrounding vehicles (the position of the own vehicle is Is checked (step S 2 0 2). And if it is determined that it is better to acquire location information from the surrounding vehicle (when it is determined that the location of the vehicle is not known), the surrounding vehicle acquired by the inter-vehicle communication means 1 0 1 The current position information (step S 2 0 3) is stored as the own vehicle position (step S 2 0 4: own vehicle position correction step).
  • step S 2 0 1 is executed again.
  • the vehicle-to-vehicle communication means 10 0 1 performs vehicle-to-vehicle communication only when there is a position information acquisition request from the own vehicle position correction means 1 0 2.
  • the amount of vehicle-to-vehicle communication can be reduced, the load on the vehicle-to-vehicle communication means can be reduced, and the durability of the entire device can be improved and the power supply can be saved. Can be planned.
  • the surrounding vehicle that transmits the position information when the surrounding vehicle that transmits the position information is determined that the vehicle position can be grasped by the own vehicle position estimation status judging means 103 mounted on the surrounding vehicle.
  • Information may only be sent via inter-vehicle communication. By doing so, it is possible to prevent the propagation of uncertain information to the surroundings.
  • the vehicle position estimation apparatus includes vehicle-to-vehicle communication means 1 01 that directly communicates between the vehicle and surrounding vehicles, and this vehicle-to-vehicle communication.
  • 1 Own vehicle position correction means 1 02 for correcting the position of the own vehicle acquired by 01, and further newly provided own vehicle position estimation status judgment means 1 03 and surrounding vehicle identification means 1 04 Obviously.
  • vehicle-to-vehicle communication means 101 and the own vehicle position estimation status judgment means 103 are the same as those in the second embodiment described above.
  • the peripheral vehicle specifying means 104 described above has a function of detecting a vehicle existing in the vicinity using a sensor previously mounted on the host vehicle and extracting the relative positional relationship.
  • a distance measuring sensor other than the one using the imaging device as described above may be used. For example, by measuring the distance between each other using a distance sensor such as a millimeter wave sensor, a laser sensor, an ultrasonic sensor, and a necessary processing device corresponding to the distance sensor, it is possible to Can be obtained.
  • a distance sensor such as a millimeter wave sensor, a laser sensor, an ultrasonic sensor, and a necessary processing device corresponding to the distance sensor
  • the vehicle position correction means 1 0 2 described above is used when the vehicle position estimation situation determination means 1 0 3 determines that it is better to acquire position information from the surrounding vehicle.
  • the vehicle has a function of storing the position information of the surrounding vehicle acquired from the inter-vehicle communication means 101 (value corrected by the relative position information extracted by the surrounding vehicle specifying means 104) as the position of the own vehicle.
  • the vehicle position estimation status judgment means 10 3 checks whether the conventional vehicle position estimation device using GPS, autonomous sensors, map matching, etc. is functioning effectively, and confirms the vehicle position. Verify the authenticity and output the judgment result of whether or not it is better to acquire position information from the surrounding vehicle (whether or not the vehicle position is known) to the vehicle position correction means 1 0 2 (Step S 3 0 1).
  • the vehicle position correction means 1 0 2 should preferably acquire the position information from the surrounding vehicle by the vehicle position estimation situation determination means 1 0 3 described above (the vehicle position is not grasped). Is checked (step S 3 0 2).
  • the inter-vehicle communication means 10 0 1 captures the current position information from the surrounding vehicle (step S 3 0 3),
  • the vehicle position correction means 102 described above detects the relative position relationship between the surrounding vehicle and the image from the image obtained by the imaging means (image sensor) as a sensor equipped in advance (Step S 3 0 4: (Peripheral vehicle specifying step), the current position information obtained from the peripheral vehicle is corrected based on the relative position information, and stored as the own vehicle position (step S300: own vehicle position correcting step).
  • a distance sensor may be used as the sensor, and the relative positional relationship may be obtained based on distance information obtained by the distance sensor.
  • the above information is calculated using information such as the direction of the optical axis of the own vehicle camera, internal parameters, and the radius of the earth.
  • the position of the host vehicle can be specified in more detail based on the position information of the surrounding vehicles.
  • the position information of the surrounding vehicle received by the inter-vehicle communication means 1001 is one. Regardless, the processing when the surrounding vehicle specifying means 10 04 detects a plurality of vehicles will be described.
  • the inter-vehicle communication means 1 0 1 receives not only the position information of the surrounding vehicle but also the attribute information of the surrounding vehicle.
  • the attribute information refers to a vehicle registration number, a vehicle type, a vehicle body color, and an appearance image.
  • Peripheral vehicle specifying means 1 0 4 detects a vehicle that matches the received attribute information from the image.
  • a vehicle registration number recognition method for example, the method described in “Vehicle registration number recognition method” of Japanese Patent Application Laid-Open No. 0 7-1 1 4 6 8 9 can be used.
  • Various surrounding vehicles themselves as shown in And a summary of images viewed from various directions. After the vehicle that sent the information is identified by these methods (peripheral vehicle identification process), the process can be performed in the same way as when only one peripheral vehicle is detected.
  • the surrounding vehicle specifying means 1 0 4 described above includes a vehicle attribute storage unit 41, an image sensor 4 2, an image storage unit 4 3, a vehicle attribute search unit 4 4, A position calculation unit 45 and a control unit 46 are provided.
  • the vehicle attributes indicate the vehicle registration number, the vehicle type, the vehicle body color, and the appearance image.
  • the image sensor 4 2 is used to capture an image of the surroundings of the host vehicle and store it in the image storage unit 4 3.
  • the image sensor 42 may be a visible light power camera or an infrared camera.
  • the vehicle attribute search unit (attribute matching vehicle specifying unit) 44 extracts a vehicle that matches the attribute information in the vehicle attribute storage unit 41 from the image stored in the image storage unit. Then, if the vehicle is extracted, the relative position of the vehicle with respect to the own vehicle is calculated by the relative position calculation unit 45 (peripheral vehicle specifying step). Subsequently, the relative position calculation result is sent to the vehicle position correcting means 1 0 2. After the vehicle for information transmission is specified, the vehicle position correction means 102 operates and the same processing is performed as when only one peripheral vehicle has been detected.
  • Reference numeral 46 denotes an operation control unit. The operation control unit 46 controls the operation of each component.
  • FIG. 7 a plurality of peripheral vehicles 1 4 0 1, 1 4 0 2,
  • peripheral vehicle specifying means 1 0 4 An example is shown in Figure 8.
  • step S 5 0 1 Peripheral vehicle identification process
  • Peripheral vehicle identification means 1 0 4 selects position information 1 4 0 1 a to 1 4 0 3 a from the vehicle considered to be the most useful (step) S500)
  • the peripheral vehicle position and the relative positional relationship that match the attribute information received from the selected vehicle are specified, and processing is performed assuming that only this information has been received (step S500).
  • the vehicle having the strongest reception strength and the vehicle received at the earliest time are selected and set as the reference vehicle. Is done. Then, based on the positional information received from the identified information transmitting vehicle, the relative positional relationship between the information transmitting vehicle and the own vehicle is the same as in the case where there is one peripheral vehicle in the second embodiment described above. Calculations are based on information obtained using distance sensors or image sensors.
  • FIG. 9 shows another example of the operation of the surrounding vehicle specifying means 104 described above.
  • inter-vehicle communication means 1 0 1 receives position information 1 4 0 1 a, 1 4 0 2 a, 1 4 0 3 a from a plurality of surrounding vehicles (step 1 S 6 0 1)
  • peripheral vehicle specifying means 1 0 4 force position information 1 4 0 1 a to 1 4 0 3 a
  • step S 6 0 2 the relative positional relationship is extracted for each piece of information by identifying the surrounding vehicle that sent the information.
  • FIG. 10 shows own vehicle estimated positions 1 7 0 1 to 1 7 0 3 calculated based on each information.
  • reference numeral 1 70 4 indicates the corrected current position of the final vehicle obtained by weighted averaging according to the reliability of each of the plurality of pieces of information described above (step S 6 0 Four ) . In this case, if reliability is unknown, it should be corrected by weighting equally.
  • the own vehicle estimated position 1 7 0 1 to 1 7 0 3 is weighted and averaged to obtain the final vehicle position 1 7 0 4, but by the least square approximation or the like, The final vehicle position may be obtained.
  • the information processing contents that are the execution contents may be programmed and the computer may execute them.
  • the vehicle position can be estimated with higher accuracy by further providing peripheral vehicle specifying means 104.
  • the reason is that the current position of the vehicle can be calculated by correcting the current position information of the surrounding vehicle received from the surrounding vehicle based on the relative positional relationship between the vehicle that sent the information and the vehicle. That's it.
  • the relative position between the vehicle that specified the vehicle that transmitted the information from the surrounding vehicles and the current position information of the surrounding vehicle received from the surrounding vehicles and the vehicle that transmitted the information is possible to estimate the vehicle position by combining the information obtained from each vehicle. Even if there are multiple vehicles, the vehicle position can be estimated with high accuracy.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un moyen de communication de véhicule à véhicule (101) qui acquiert des informations de position actuelle à partir de véhicules périphériques dont les positions actuelles sont identifiées. Le moyen de correction de position de véhicule pertinente (102) stocke les informations de position actuelle sous forme de position de véhicule pertinente. Avec ceci, un dispositif d'estimation de position pour véhicules, qui peut identifier la position de véhicule pertinente avec une précision inférieure à la distance d'atteinte maximum de l'onde de communication de véhicule à véhicule même dans une situation où un moyen d'identification conventionnel de position de véhicule pertinente ne fonctionne pas efficacement, peut être fourni.
PCT/JP2007/000685 2006-06-30 2007-06-25 Dispositif d'estimation de position pour véhicules, procédé d'estimation de position pour véhicules, et programme d'estimation de position pour véhicules WO2008001493A1 (fr)

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JP2006181674A JP2009257763A (ja) 2006-06-30 2006-06-30 車輌用位置推定装置、車輌用位置推定方法、および車輌用位置推定プログラム
JP2006-181674 2006-06-30

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JP2010211535A (ja) * 2009-03-10 2010-09-24 Aisin Aw Co Ltd 通信システム、通信方法、及び通信プログラム
US8285473B1 (en) * 2009-07-09 2012-10-09 The Boeing Company Predictive relevant traffic determination using vehicle states descriptions
JP2011058909A (ja) * 2009-09-09 2011-03-24 Toyota Motor Corp 車車間通信装置
JP2014215092A (ja) * 2013-04-23 2014-11-17 株式会社デンソー 車両位置推定システム、車両位置推定装置
WO2019060886A1 (fr) * 2017-09-25 2019-03-28 Continental Automotive Systems, Inc. Localisation de véhicule à base de réseau neuronal
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EP3640665A1 (fr) * 2018-10-16 2020-04-22 Aptiv Technologies Limited Procédé pour améliorer la détermination d'une position d'une unité de bord de route, unité de bord de route et système pour fournir des informations de position
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WO2023005961A1 (fr) * 2021-07-29 2023-02-02 华为技术有限公司 Procédé de positionnement de véhicules et dispositif associé

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