WO2016185659A1

WO2016185659A1 - Mobile-body position detecting apparatus, mobile-body position detecting method

Info

Publication number: WO2016185659A1
Application number: PCT/JP2016/001969
Authority: WO
Inventors: 健式町; 潔鶴見
Original assignee: 株式会社デンソー
Priority date: 2015-05-15
Filing date: 2016-04-11
Publication date: 2016-11-24

Abstract

In this apparatus for detecting a mobile-body position, a current position which is obtained on the basis of a result of accumulating directions advanced and distances moved of a mobile body is compared with a current position (modified current position) to which a modification has been made by collating the moved path of the mobile body with a road shape, and reliability information is added to the modified current position. Alternatively, a current position which is obtained on the basis of a result of accumulating directions advanced and distances moved of a mobile body is compared with a positioning result which is obtained on the basis of a positioning satellite, and reliability information is added to the current position.

Description

Moving body position detecting device and moving body position detecting method

Cross-reference of related applications

This application is based on Japanese Patent Application No. 2015-100270 filed on May 15, 2015 and Japanese Application No. 2016-14142 filed on January 28, 2016. Is used.

The present disclosure is applied to a moving body including an azimuth sensor that detects a traveling direction, a distance sensor that detects a moving distance, and a receiving device that receives a positioning signal from a positioning satellite, and detects the current position of the moving body. It relates to a device (Apparatus) and a method (Method).

Today's moving bodies such as vehicles are equipped with an orientation sensor such as a gyro sensor and a distance sensor that detects the moving distance of the vehicle such as a vehicle speed sensor. Therefore, for example, if the position and direction at which the vehicle is stopped are stored, information on the traveling direction of the vehicle obtained from the direction sensor and information on the moving distance of the vehicle obtained from the distance sensor are accumulated. Thus, the current position of the host vehicle can be detected autonomously. A method for detecting the current position of the host vehicle in this way is called dead reckoning navigation.

In this dead reckoning navigation, when the vehicle moves a long distance, errors included in the direction sensor and the distance sensor are accumulated, so that the current position detection result is shifted. In view of this, a technique has been developed that corrects the position shift of the current position obtained by dead reckoning using a positioning result obtained by a GNSS (Global Navigation System). In GNSS, the current position can be measured with a certain degree of accuracy by receiving positioning signals from a plurality of positioning satellites.

In addition, a technology called “map matching” has been developed that corrects misalignment due to error accumulation by comparing information on the travel route of the vehicle obtained by dead reckoning with the road shape obtained from the map information. (Patent Document 1). If it is possible to accurately detect the current position of the vehicle using these techniques, it is possible to provide advanced driving assistance such as decelerating the vehicle at an intersection.

JP 4140559 B2

However, in practice, even if the current position of the host vehicle detected by dead reckoning is corrected using the positioning result by GNSS or map matching, the target of driving assistance that can be performed based on the detection result of the current position is limited. There was a problem of being. This also includes errors in the positioning results by GNSS and the current position detection results by map matching, so there is no major problem even if the current position after correction is included in the driving support target. This is because it is necessary to limit the range.

This disclosure is intended to provide a technique that makes it possible to further utilize the detection result of the current position for driving support.

A moving body position detection device and a moving body position detection method according to a first aspect of the present disclosure include a current position obtained based on a result of accumulating a traveling direction and a moving distance of a moving body, a moving locus of the moving body, and a road. Reliability information is given to the corrected current position by comparing the current position (corrected current position) corrected by checking the shape.

In this way, it is possible to know to what extent the obtained corrected current position can be believed, so that the corrected current position can be further utilized for driving support.

In addition, the mobile object position detection device and the mobile object position detection method according to the second aspect of the present disclosure are based on the current position obtained based on the result of accumulating the traveling direction and the movement distance of the mobile object, and the positioning signal. By comparing the obtained positioning result, reliability information is given to the current position.

Even in this way, it is possible to know how much the obtained current position can be believed, so that the current position can be further utilized for driving support.

The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings.
It is explanatory drawing which shows the vehicle 1 carrying the moving body position detection apparatus of 1st Example. It is a block diagram which shows the internal structure of the mobile body position detection apparatus of 1st Example. It is a flowchart of the first half part of the present position detection process which the mobile body position detection apparatus of 1st Example performs. It is a flowchart of the second half part of the present position detection process which the mobile body position detection apparatus of 1st Example performs. It is explanatory drawing which shows a mode that the present position and movement locus | trajectory of the own vehicle are acquired by dead reckoning. It is explanatory drawing which shows a mode that the present position is corrected by map matching. It is explanatory drawing which shows a mode that the mobile body position detection apparatus of 1st Example provides the reliability to the position of the own vehicle. It is a block diagram which shows the internal structure of the mobile body position detection apparatus of 2nd Example. It is a flowchart of the first half part of the present position detection process which the mobile body position detection apparatus of 2nd Example performs. It is a flowchart of the latter half part of the present position detection process which the mobile body position detection apparatus of 2nd Example performs. It is explanatory drawing which shows a mode that the mobile body position detection apparatus of 2nd Example provides reliability to the present position of the own vehicle. It is explanatory drawing about the modification from which reliability changes in multistep. It is explanatory drawing about the modification in which reliability changes continuously.

Hereinafter, examples will be described in order to clarify the contents of the present disclosure described above.

A. First embodiment:
A-1. Apparatus configuration of the first embodiment:
FIG. 1 shows a rough configuration of a vehicle 1 on which the moving body position detection device 100 according to the first embodiment is mounted. The vehicle 1 is also referred to as a host vehicle. As shown in the drawing, in addition to the moving body position detecting device 100, the vehicle 1 is equipped with an orientation sensor 10, a distance sensor 12, a receiving device 16, a display device 14, an external storage device 20, and the like. Yes.

The azimuth sensor 10 is a sensor used for detecting the traveling direction of the vehicle 1, and a geomagnetic sensor, a gyro sensor, or the like can be used. The distance sensor 12 is a sensor used for detecting the moving distance of the vehicle 1. In this embodiment, a vehicle speed sensor that generates a certain number of pulses as the tire rotates is used as the distance sensor 12. The receiving device 16 can determine the current position of the vehicle 1 by receiving positioning signals from a plurality of positioning satellites 50. As the positioning satellite 50, a GNSS satellite such as a GPS satellite is known. Further, as the current position of the vehicle 1 to be measured based on the positioning signal, so-called latitude and longitude information can be acquired. In addition, altitude (height position) information can also be acquired. . Information is used not only as countable nouns but also as countable nouns. The plurality of information is equivalent to the plurality of information items.

The display device 14 is used to display the current position of the vehicle 1, and various display devices such as a liquid crystal display device can be used. The external storage device 20 stores map information including road shapes. Since the map information including the road shape is stored in the so-called navigation device, the navigation device can be used as the external storage device 20. In addition, the vehicle 1 of a present Example respond | corresponds to a "mobile body."

FIG. 2 shows an internal configuration of the moving body position detection apparatus 100 according to the first embodiment. As shown in the figure, the moving body position detection apparatus 100 of the first embodiment includes a traveling direction detection unit 101, a movement distance detection unit 102, a sensor characteristic correction unit 103, a positioning result acquisition unit 104, and a current position detection unit. 105, a movement locus generation unit 106, a corrected current position acquisition unit 107, a road shape reading unit 108, and a reliability providing unit 109. Note that these “parts” are abstractly classified for convenience in the interior of the mobile body position detection device 100, focusing on the functions provided for the mobile body position detection device 100 to detect the current position of the vehicle 1. It is a concept. Therefore, it does not represent that the moving body position detection apparatus 100 is physically divided into these “parts”. These “units” can be realized as a computer program executed by the CPU, can be realized as an electronic circuit including an LSI or a memory, or can be realized by combining them. . For example, the detection unit can also be referred to as a detection module, a detection device, or a detector (detector).

The traveling direction detection unit 101 receives the output from the direction sensor 10 and detects the traveling direction of the vehicle 1. When the direction sensor 10 is a type of sensor that outputs the direction itself like a geomagnetic sensor, the direction of the vehicle 1 is detected using the output of the direction sensor 10. On the other hand, in the case of a sensor that outputs a change in direction such as a gyro sensor, the direction of the vehicle 1 is detected by accumulating the direction change from the initial direction. Here, as the initial azimuth, the azimuth of the vehicle 1 can be stored when the power of the moving body position detecting apparatus 100 is turned off, and the azimuth can be read and used. Alternatively, the traveling direction of the vehicle 1 can be detected from the positioning result using the positioning signal from the positioning satellite 50 and used as the initial direction.

The moving distance detection unit 102 receives the output from the distance sensor 12 and detects the moving distance of the vehicle 1. Since the traveling direction of the vehicle 1 is detected by the traveling direction detection unit 101, if the moving distance is known, it can be determined how much the vehicle 1 has moved in which direction. Further, the traveling direction of the vehicle 1 changes every moment, but the traveling direction can be regarded as constant for a short time. Therefore, the current position detection unit 105 detects the current position of the vehicle 1 by acquiring the traveling direction and the moving distance of the vehicle 1 at predetermined short time intervals and accumulating them. Note that the current position detected by the current position detection unit 105 can be so-called latitude and longitude information, but in addition to these, the altitude (height position) and the direction indicating the traveling direction of the vehicle 1 (current (Direction) can also be used as information.

The positioning result acquisition unit 104 acquires a positioning result from the receiving device 16. As described above, in the present embodiment, the receiving device 16 receives the positioning signals from the plurality of positioning satellites 50 to determine the current position of the vehicle 1. Therefore, the positioning result acquisition unit 104 acquires the positioning result from the receiving device 16. Of course, not limited to this, the receiving device 16 may output a positioning signal to the positioning result acquisition unit 104, and the positioning result acquisition unit 104 may acquire the positioning result based on the positioning signal.

Based on the positioning result of the vehicle 1 obtained by the positioning result acquisition unit 104 and the current position of the vehicle 1 obtained by the current position detection unit 105, the sensor characteristic correction unit 103 Correct the sensor characteristics. This is the following process. First, errors are included in the outputs of the azimuth sensor 10 and the distance sensor 12. Therefore, these errors are accumulated in the current position of the vehicle 1 obtained by the current position detection unit 105. For example, if the output of the distance sensor 12 is slightly smaller, even if the error is a small value, it appears as a large error at a long distance. The same applies to the output of the direction sensor 10. That is, if errors are included in the output of the direction sensor 10, these errors are accumulated in the current position of the vehicle 1 obtained by the current position detection unit 105. In addition, when an azimuth indicating the traveling direction of the vehicle 1 is detected as the current position of the vehicle 1, a large error may appear in the detected azimuth.

Therefore, the sensor characteristic correcting unit 103 accumulates the outputs of the direction sensor 10 and the distance sensor 12, and the vehicle 1 obtained from the current position of the vehicle 1 (output of the current position detecting unit 105) obtained from the positioning signal. The positioning result (output of the positioning result acquisition unit 104) is compared. The current position and positioning result of the vehicle 1 to be compared here can be information on longitude and latitude, but in addition to these, information on altitude (height position) and the traveling direction of the vehicle 1 are represented. It can be information including information on the direction (current direction). If they are greatly different, the sensor characteristics of the direction sensor 10 and the distance sensor 12 are corrected little by little. Since the sensor characteristics are corrected little by little, the correction does not immediately eliminate the difference between the current position of the vehicle 1 obtained by accumulating the sensor output and the positioning result. This is because an error is included in the positioning result obtained from the positioning signal, so that erroneous correction of the sensor characteristics due to the influence of the error is avoided.

The movement trajectory generation unit 106 generates a movement trajectory of the vehicle 1 by accumulating the current position obtained by the current position detection unit 105, and stores the movement trajectory for a certain distance or a certain time. If the current position obtained by the current position detection unit 105 includes altitude information, a three-dimensional movement trajectory is stored. The road shape reading unit 108 reads the road shape (and the position of the road) from the map information stored in the external storage device 20 and outputs it to the corrected current position acquisition unit 107.

The corrected current position acquisition unit 107 collates the movement locus of the vehicle 1 generated by the movement locus generation unit 106 with the road shape obtained from the correction current position acquisition unit 107, and performs so-called map matching, thereby The current position (corrected current position) of the vehicle 1 corrected in consideration of the shape is acquired. Here, the reason why the current position of the vehicle 1 obtained by correcting the sensor characteristics is further corrected in consideration of the road shape is as follows. First, the sensor characteristics are corrected based on the positioning result, but this positioning result also includes an error. Therefore, even if the sensor characteristics are corrected based on the positioning result, a certain amount of error remains in the current position obtained by the current position detection unit 105. Therefore, the error of the current position of the vehicle 1 is further reduced by correcting the road shape in consideration.

However, when the current position is corrected in consideration of the road shape, there is a possibility that it will be corrected by mistake. Therefore, the reliability assigning unit 109 acquires the correction current position from the correction current position acquisition unit 107, further acquires the current position before correction from the current position detection unit 105, and compares the two. And based on the result, after giving the reliability information to the correction current position, the correction current position to which the reliability is given is output to the display device 14. Of course, the target for outputting the corrected current position is not limited to the display device 14 and may be output to a control device (not shown) mounted on the vehicle 1.

In this way, it can be determined whether the corrected current position displayed on the display device 14 as the current position of the vehicle 1 can be believed or should be kept to a reference level. Alternatively, it can be determined whether or not the vehicle 1 can be controlled based on the corrected current position. That is, when it is acceptable to believe the corrected current position obtained as the current position of the vehicle 1, based on the corrected current position, for example, after decelerating automatically before entering the curve, or after exiting the curve Control that automatically accelerates can be performed. On the other hand, if the current correction position should be kept at a reference level, control that automatically decelerates before entering the curve or automatically accelerates after exiting the curve is not performed. Can be. Below, the process which the mobile body position detection apparatus 100 of 1st Example mentioned above detects a present position is demonstrated in detail.

A-2. Current position detection processing of the first embodiment:
FIGS. 3 and 4 show a flowchart of the current position detection process executed by the mobile object position detection apparatus 100 according to the first embodiment.

The described flowchart includes a plurality of sections (or referred to as steps), and each section is expressed as S100, for example. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Each section can be referred to as a device, a module, or a unique name, for example, a detection section can be referred to as a detection device, a detection module, or a detector. In addition, the section includes (i) not only a section of software combined with a hardware unit (eg, a computer) but also (ii) a section of hardware (eg, an integrated circuit, a wiring logic circuit) and related devices. It can be realized with or without the function. Furthermore, the hardware section can be included inside the microcomputer.

As shown in the drawing, in the current position detection process of the first embodiment, first, the initial position and initial direction of the vehicle 1 are acquired (S100). In this embodiment, when the operation of the vehicle 1 is finished, the current position of the vehicle 1 and the direction (azimuth) of the vehicle 1 are stored in a memory (not shown) and stored when the operation is started. The current position and orientation are read out and set as the initial position and initial direction, respectively. Note that the present invention is not limited to this, and the initial position and the initial direction of the vehicle 1 may be detected based on positioning results at a plurality of points. That is, it is possible to perform positioning at a plurality of points by running the vehicle 1, obtain the current position and traveling direction of the vehicle 1 based on the positioning results at the plurality of points, and set the initial position and the initial direction, respectively. Also, the current position of the vehicle 1 can include altitude (height position) information. In this case, when the driving of the vehicle 1 is finished, the current position including the altitude at which the vehicle 1 exists and the direction (azimuth) of the vehicle 1 are stored. And when driving | running | working, what is necessary is just to read the present position and direction containing an altitude, and to make it an initial position and an initial direction, respectively.

Subsequently, the traveling direction of the vehicle 1 is acquired based on the output of the direction sensor 10, and the moving distance of the vehicle 1 is acquired based on the output of the distance sensor 12 (S101). Then, the current position of the vehicle 1 is updated assuming that the vehicle has moved by the acquired distance in the acquired traveling direction (S102). Furthermore, the movement locus of the vehicle 1 is generated by connecting the current position of the vehicle 1 obtained so far and the newly obtained current position (S103).

FIG. 5 shows how the movement position is generated by updating the current position of the vehicle 1 in this way. The arrows shown in FIG. 5A represent the traveling direction and the moving distance of the vehicle 1 within a predetermined short time. The current position of the vehicle 1 is updated one arrow at a time. And the movement locus shown by the solid line in FIG. 5B can be obtained by connecting the current positions updated in this way. It should be noted that the movement trajectory obtained in this way is sufficient if it is a fixed distance (for example, 5 km) or a fixed time (for example, 10 minutes), and the previous trajectory may be discarded. Further, the meanings of the star shown in FIG. 5A, the circle indicated by the broken line, and the black arrow will be described later.

Thereafter, it is determined whether or not the positioning result of the vehicle 1 based on the positioning signal is obtained (S104). As described above with reference to FIG. 2, in the present embodiment, the receiving device 16 performs positioning, and in S103, it is determined whether or not a positioning result has been obtained by the receiving device 16. As a result, when the positioning result is obtained (S104: YES), the positioning result is acquired from the receiving device 16 (S105). Then, by comparing the obtained positioning result with the current position of the vehicle 1 obtained in S102, it is determined whether or not the sensor characteristics of the direction sensor 10 or the distance sensor 12 need to be corrected (S106). This determination will be described with reference to FIG.

As described above, the current position of the vehicle 1 is updated for each arrow shown in FIG. In general, positioning results based on positioning signals are generally obtained at regular intervals. In (a) of FIG. 5, the positioning result obtained by the positioning signal is represented by an asterisk. Also, each positioning result is numbered as g1, g2, g3, g4, g5, g6, g7, g8, g9 according to the order in which the positioning results are obtained. For these positioning results, the current position of the vehicle 1 when the positioning results are obtained can be considered. For example, immediately before the positioning result g1 is obtained, if the current position is updated as indicated by the black arrow a1 in FIG. 5A, the current position of the vehicle 1 corresponding to the positioning result g1 is This is the position indicated by the tip of the black arrow a1. Similarly, for the positioning result g2, the current position of the vehicle 1 corresponding to the positioning result g2 is the position indicated by the tip of the black arrow a2. The same applies to the following positioning results g3 to g9.

Note that the timing at which the positioning result based on the positioning signal is obtained may be an intermediate timing at which the current position of the vehicle 1 is updated, or may be immediately before the current position of the vehicle 1 is updated. In such a case, the current position of the vehicle 1 at the timing when the positioning result is obtained may be estimated based on the current position of the vehicle 1 at the timing before and after the positioning result is obtained. Alternatively, it may be as follows. First, the time difference between the timing at which the positioning result is obtained and the timing at which the current position of the vehicle 1 is updated immediately before and immediately after that is calculated. If there is a current position where the time difference is smaller than the threshold time, the current position is adopted as the current position of the vehicle 1 at the timing when the positioning result is obtained. On the other hand, when there is no current position where the time difference is smaller than the threshold time, the current position of the vehicle 1 at the timing when the positioning result is obtained is estimated from the current position of the vehicle 1 immediately before and immediately after. May be.

As shown in the figure, any of the positioning results g1 to g9 indicated by stars in FIG. 5A does not match the current position of the vehicle 1 indicated at the tip of the black arrows a1 to a9. . However, since the positioning signal includes an error, the positioning result also includes some error. The magnitude of the positioning result error can be predicted based on the type of positioning signal used for positioning and the number of positioning signals that can be used for positioning. Even if the current position of the vehicle 1 does not match the positioning result, the current position of the vehicle 1 is deviated if it is within the range of a predicted error (hereinafter referred to as “prediction error”). It is not possible. In other words, if the current position (or current azimuth) of the vehicle 1 is within the range of the prediction error centered on the positioning result, even if the current position of the vehicle 1 and the positioning result do not coincide with each other, it is a big problem. It is considered that there is little risk of occurrence of

In FIG. 5A, the range of the prediction error centered on the positioning result is represented by a broken-line circle. Although illustration is omitted, a similar prediction error range can be considered for the current direction indicating the traveling direction of the vehicle 1. In the example shown in FIG. 5A, the current position of the vehicle 1 indicated at the tip of each of the black arrows a1 to a9 is within the prediction error range indicated by the broken line. It is considered that the current position is detected almost correctly. Therefore, even if the sensor characteristics of the azimuth sensor 10 and the distance sensor 12 are corrected, no significant improvement can be expected, and it can be determined that correction is not necessary. On the other hand, when the current position of the vehicle 1 is outside the range of the prediction error centered on the positioning result, it is considered that the current position of the vehicle 1 is deviated from the correct position. It can be determined that the sensor characteristics of the distance sensor 12 need to be corrected.

In S106 of the current position detection process shown in FIG. 3, whether or not the sensor characteristic is necessary is determined as described above. That is, it is determined whether or not the current position obtained in S102 is within a prediction error range centered on the positioning result obtained in S105. As a result, when the current position obtained in S102 is not within the range of the prediction error, it is determined that the sensor characteristic needs to be corrected (S106: YES), and conversely, it exists within the range of the prediction error. If it is detected, it is determined that correction of the sensor characteristics is unnecessary (S106: NO). In the above description, the error included in each positioning result is assumed to be a prediction error. However, if the positioning results of a plurality of times are averaged, the magnitude of the prediction error can be made smaller than the error included in each positioning result. Accordingly, whether or not the sensor characteristic needs to be corrected is determined by determining whether or not the current position acquired in S102 exists within the range of the prediction error obtained using the multiple positioning results in this way. May be.

If it is determined that the sensor characteristic needs to be corrected (S106: YES), the sensor characteristic is corrected by a predetermined amount in the direction in which the current position obtained in S102 approaches the positioning result acquired in S105 (S107). . When correcting the sensor characteristics in S107, not only the sensor characteristics are corrected but also the current position obtained in S102 may be corrected by a predetermined amount so as to approach the positioning result obtained in S105. Good.

On the other hand, if it is determined that sensor characteristic correction is not required (S106: NO), sensor characteristic correction is not performed. If it is determined that the positioning result is not obtained in S104 (S104: NO), the above-described series of processing (S105 to S107) from obtaining the positioning result to correcting the sensor characteristics is omitted.

Subsequently, a road shape within a predetermined range including the current position of the vehicle 1 is read out from the map information stored in the external storage device 20 (S108). Then, the current position of the vehicle 1 corrected by matching the movement trajectory of the vehicle 1 generated in S103 with the read road shape and correcting the current position of the vehicle 1 to the current position considered to be more correct is performed. (Hereinafter referred to as “correction current position”) is generated (S109).

Fig. 6 shows an overview of map matching. For example, it is assumed that a characteristic road shape as illustrated in FIG. 6A exists in the road shape read from the map information. This road shape is very similar in overall shape to the movement trajectory of the vehicle 1 illustrated in FIG. Furthermore, as shown in FIG. 6B, when the movement locus is overlapped on the road shape, the movement locus can be overlapped without protruding from the road. In such a case, the vehicle 1 can determine the current position of the vehicle 1 with high accuracy such that the vehicle 1 turns right at the intersection P shown in FIG. 6B and exists at a distance Lc. .

However, the vehicle 1 does not run on the center of the road. In addition, it is conceivable that the way of traveling at intersections and curves varies depending on the driver. Furthermore, in order to avoid obstacles or other vehicles on the road, the vehicle 1 may travel on the shoulder portion of the road. In such a case, when the movement locus of the vehicle 1 is applied to the road shape, it may be applied at a slightly shifted position or angle. And when such a shift | offset | difference arises, inconsistency may arise in the movement locus | trajectory of the vehicle 1 after that. For example, in the example shown in FIG. 6B, the vehicle 1 passes through a position greatly deviated toward the inside of the road at the first intersection at the left end in the figure. For this reason, when the movement trajectory of the vehicle 1 is applied to the road shape, the movement trajectory is slightly shifted to the right side in the drawing, and as a result, when the vehicle 1 turns right at the intersection P, the vehicle 1 protrudes from the road. ing. Therefore, in such a case, map matching corrects the position of the vehicle 1 so as to be pulled into the road, as shown in FIG. In S109 of the current position detection process shown in FIG. 3, a corrected current position in which the current position is corrected is generated by performing map matching as described above on the current position of the vehicle 1 obtained in S102.

Subsequently, it is determined whether or not the outputs of the direction sensor 10 and the distance sensor 12 are within a normal range (S110 in FIG. 4). For example, if a problem such as the sensor itself is damaged or the wiring from the sensor is disconnected, the output from the sensor deviates from the normal range. It is determined whether or not. As a result, if it is determined that the sensor output is not within the normal range (S110: NO), some problem has occurred in the direction sensor 10 or the distance sensor 12, and the corrected current obtained based on the output of those sensors. The position is considered unreliable. Therefore, in this case (S110: NO), after the corrected current position is replaced with the positioning result obtained at that time (S111), the reliability to be given to the corrected current position is set to “low” (S115). .

On the other hand, when it is determined that the sensor output is within the normal range (S110: YES), the corrected current position obtained by map matching is predicted centered on the current position of the vehicle 1 obtained in S102. It is determined whether it is within the error range (S112). As described above, the prediction error is an error generated in the positioning result due to an error included in the positioning signal. The magnitude of the prediction error can be predicted based on the type of positioning signal, the number of positioning signals used for positioning, and the like. Further, instead of using an error included in each positioning result as a prediction error, an error reduced by averaging a plurality of positioning results can be used as a prediction error.

Note that since the prediction error is an error that occurs in the positioning result due to an error included in the positioning signal, it is natural to set the range of the prediction error around the position obtained by the positioning result. Nevertheless, in S112, a prediction error range is set around the current position of the vehicle 1 obtained in S102, and whether or not the corrected current position obtained by map matching exists within the prediction error range. Judging whether or not. This is due to the following reason.

First, since a plurality of positioning signals are necessary to determine the position of the vehicle 1, the positioning result is not always obtained. In contrast, the current position of the vehicle 1 obtained by accumulating the outputs of the direction sensor 10 and the distance sensor 12 can always be obtained. Further, as described above with reference to FIG. 5A, the sensor characteristics of the azimuth sensor 10 and the distance sensor 12 are based on the range of prediction errors of the positioning results obtained in S105 when the current position of the vehicle 1 obtained in S102 is obtained. It is corrected to be inside. Therefore, even if the positioning result cannot be obtained at a certain moment, it may be considered that the positioning result exists within the range of the prediction error around the current position of the vehicle 1 obtained in S102. Therefore, in S112, a prediction error range centered on the current position of the vehicle 1 obtained in S102 is set as a range in which the positioning result will be obtained.

As a result, if the corrected current position is not within the range of the prediction error (S112: NO), the map matching result is not supported by the positioning result based on the positioning signal. The reliability to be set is set to “low” (S115). On the other hand, if the corrected current position is within the range of the prediction error (S112: YES), it is determined whether or not the sensor characteristics are sufficiently learned (S113). That is, as described above, in the current position detection process, if it is determined that the sensor characteristic needs to be corrected (S106: YES in FIG. 3), the sensor characteristic (for example, the sensitivity of the direction sensor 10 and the distance per pulse of the distance sensor 12). ) Is corrected by a certain amount (S107). This is because if a large number of corrections are made at one time, there is a possibility of overcorrection, so by reducing the correction amount at a time, the sensor characteristics are gradually brought closer to appropriate characteristics. However, this also means that if the number of corrections is small, there is a high possibility that appropriate sensor characteristics are not yet obtained. Therefore, in S113 of FIG. 4, it is determined whether or not the number of times the sensor characteristics have been corrected has reached a sufficient number. If the sufficient number of times has been reached, it is determined that learning of the sensor characteristics is sufficient (S113: YES), and if the sufficient number of times has not been reached, it is determined that the learning of the sensor characteristics is not sufficient (S113: NO). ).

In addition, although it demonstrated as what judges whether the learning of a sensor characteristic is enough based on the frequency | count which corrected the sensor characteristic here, you may judge as follows. First, as described above in S106, when determining whether or not the sensor characteristic is necessary, whether or not the deviation between the current position of the vehicle 1 obtained in S102 and the positioning result obtained in S105 is within the prediction error range. Judgment based on. Therefore, if the deviation is sufficiently smaller than the magnitude of the prediction error, it may be determined that the sensor characteristics are sufficiently learned.

If it is determined in S113 that the sensor characteristics are not sufficiently learned (S113: NO), the reliability to be given to the corrected current position is set to “low” (S115). On the other hand, when it is determined that the learning of the sensor characteristics is sufficient (S113: YES), the sensor output is within the normal range (S110: YES), and the corrected current position is within the prediction error range (S112: YES). In addition, the sensor characteristics are sufficiently learned (S113: YES). In such a case, it may be considered that the map matching result is supported by the positioning result based on the positioning signal. Therefore, the reliability assigned to the current correction position is set to “high” (S114).

Thus, when the reliability is given to the corrected current position obtained by the map matching (S114, S115), after the corrected current position is output to the outside (here, the display device 14) with the reliability added ( S116), it is determined whether or not to end the detection of the current position (S117). As a result, if not completed (S117: NO), the process returns to S101 in FIG. 3, and after acquiring the traveling direction and the moving distance of the vehicle 1, the above-described series of processes (S102 to S117) are executed. On the other hand, when the detection of the current position is ended (S117: YES), the current position detection process of the first embodiment shown in FIGS. 3 and 4 is ended.

As described above, if reliability can be given to the current position of the vehicle 1 obtained by map matching, the obtained current position (or direction) can be believed or should be kept to a reference level. It can be judged. For this reason, the current position obtained by map matching can be used more effectively. For example, consider a case where a vehicle 1 traveling on a road enters a parking lot beside the road. FIG. 7 shows a state in which the position of the vehicle 1 obtained by map matching (that is, the corrected current position) is displayed on the screen of the display device 14. The vehicle 1 and the movement trajectory indicated by a thick solid line in the figure represent the position of the vehicle 1 obtained by map matching (that is, the corrected current position generated in S109 in FIG. 3) and the movement trajectory. Further, the vehicle 1 and the movement trajectory indicated by the thin broken lines in the figure indicate the current position of the vehicle 1 obtained by accumulating the outputs of the direction sensor 10 and the distance sensor 12 (that is, the current position obtained in S102 of FIG. Position) and a movement locus (that is, the movement locus generated in S103). In the following, the current position obtained in S102 is referred to as “current position by dead reckoning navigation”. Furthermore, a circle indicated by a thin broken line in the figure represents a prediction error range centered on the current position by dead reckoning navigation.

As shown in FIG. 7A, when the vehicle 1 enters the parking lot at an angle, the vehicle 1 gradually moves away from the road. For this reason, the position of the vehicle 1 is drawn to the road side by map matching, and it is displayed as if the vehicle 1 is still traveling on the road even though it actually entered the parking lot. It can happen. However, even in such a case, if the current position (that is, the corrected current position) of the vehicle 1 obtained by the map matching is outside the prediction error range centered on the current position by dead reckoning navigation, the display device 14 The vehicle 1 displayed on the screen changes from a reliability “high” to a reliability “low” display mode. For this reason, the driver can recognize that he / she is not actually traveling on the road (thus deviating from the road).

Also, in the example shown in FIG. 7B, the vehicle 1 has entered the parking lot with a clearly different direction of travel from when the vehicle 1 was traveling on the road. For this reason, the position of the vehicle 1 is not drawn to the road side by map matching, and as a result, on the screen of the display device 14, the vehicle 1 is traveling outside the road. However, even in such a case, the current position of the vehicle 1 obtained by map matching (that is, the corrected current position) is within the prediction error range centered on the current position by dead reckoning navigation. The display on the screen of the display device 14 remains at a high reliability level. Therefore, the driver can recognize that the vehicle 1 is actually traveling outside the road even if the position of the vehicle 1 on the screen is off the road.

B. Second embodiment:
B-1. Apparatus configuration of the second embodiment:
In the first embodiment described above, it has been described that the reliability is given to the corrected current position of the vehicle 1 obtained by the map matching based on the prediction error caused by the error of the positioning signal. If the reliability is given in this way, the corrected current position of the vehicle 1 obtained by map matching can be further utilized. However, there are various methods other than map matching for detecting the current position of the vehicle 1, and the above-described method can be applied to the current position detected by these methods. . Hereinafter, such a second embodiment will be described.

FIG. 8 shows the internal configuration of the moving body position detecting apparatus 200 of the second embodiment. As shown in the figure, the moving body position detection device 200 of the second embodiment includes a traveling direction detection unit 101, a movement distance detection unit 102, a sensor characteristic correction unit 103, a positioning result acquisition unit 104, and a current position detection unit. 105 and a reliability providing unit 209. Among these, the traveling direction detection unit 101, the movement distance detection unit 102, the sensor characteristic correction unit 103, the positioning result acquisition unit 104, and the current position detection unit 105 are the same as those of the moving body position detection device 100 of the first embodiment described above. Therefore, the description is omitted here.

The reliability assigning unit 209 acquires the current position of the vehicle 1 from the current position detection unit 105, acquires the positioning result of the vehicle 1 from the positioning result acquisition unit 104, and compares the two. Then, depending on whether the current position of the vehicle 1 obtained by the current position detection unit 105 is supported by the positioning result acquired by the positioning result acquisition unit 104 within the error range, reliability information is displayed on the current position. After the assignment, the current position to which the reliability is assigned is output to the outside (for example, the display device 14). In this way, it is possible to determine whether the current position (or direction) displayed as the current position of the vehicle 1 on the display device 14 can be believed, or whether it should be kept to a reference level. The displayed current position of the vehicle 1 can be further utilized to drive.

B-2. Current position detection processing of the second embodiment:
FIGS. 9 and 10 show a flowchart of the current position detection process executed by the moving body position detection apparatus 200 of the second embodiment. As shown in the drawing, also in the current position detection process of the second embodiment, the initial position and the initial direction of the vehicle 1 are first acquired in the same manner as the current position detection process of the first embodiment described above (S200). . Subsequently, the traveling direction of the vehicle 1 is acquired based on the output of the direction sensor 10, and the moving distance of the vehicle 1 is acquired based on the output of the distance sensor 12 (S201). Then, the current position of the vehicle 1 is updated assuming that the vehicle has moved by the acquired distance in the acquired traveling direction (S202).

Thereafter, it is determined whether or not a positioning result of the vehicle 1 based on the positioning signal is obtained (S203). Also in the second embodiment, as in the first embodiment described above, the receiving device 16 performs positioning, and it is determined whether or not the positioning device 16 has obtained a positioning result. As a result, when the positioning result is obtained (S203: YES), the positioning result is acquired from the receiving device 16 (S204), and it is determined whether or not the sensor characteristics of the direction sensor 10 or the distance sensor 12 need to be corrected. Judgment is made (S205). This determination is the same as that of the first embodiment described above with reference to FIG.

As a result, when it is determined that the sensor characteristic needs to be corrected (S205: YES), the sensor characteristic is corrected by a predetermined amount in the direction in which the current position obtained in S202 approaches the positioning result acquired in S204 (S206). ). On the other hand, when it is determined that the correction of the sensor characteristic is not required (S205: NO), the correction of the sensor characteristic is not performed.

Subsequently, it is determined whether or not the outputs of the direction sensor 10 and the distance sensor 12 are within a normal range (S207 in FIG. 10). As a result, if it is determined that the sensor output is not within the normal range (S207: NO), it is considered that there is some problem such as damage to the sensor itself or disconnection of the wiring from the sensor, and the current position cannot be trusted. It is done. Therefore, in this case (S207: NO), after replacing the current position with the positioning result obtained at that time (S208), the reliability to be given to the current position is set to “low” (S212).

On the other hand, when it is determined that the sensor output is within the normal range (S207: YES), the deviation between the current position of the vehicle 1 obtained in S202 and the positioning result obtained in S204 is determined as positioning. It is determined whether or not the result is within a prediction error range (S209). As described above, the prediction error is an error generated in the positioning result due to an error included in the positioning signal. Further, instead of using an error included in each positioning result as a prediction error, an error reduced by averaging a plurality of positioning results can be used as a prediction error.

As a result, if the current position by dead reckoning is not within the prediction error range (S209: NO), the current position by dead reckoning is not supported by the positioning result based on the positioning signal. Therefore, in this case, after correcting the current position obtained by dead reckoning (the current position obtained in S202) to approach the positioning result based on the positioning signal (the positioning result acquired in S204) (S211), The reliability given to the position is set to “low” (S212).

On the other hand, when the deviation between the current position of the vehicle 1 and the positioning result is within the range of the prediction error (S209: YES), it is determined whether or not the sensor characteristics are sufficiently learned (S210). Here, if the number of times the sensor characteristics have been corrected has reached a sufficient number of times, it is determined that learning of the sensor characteristics is sufficient (S210: YES), and if the number of times has not been reached, learning of the sensor characteristics is performed. Is not sufficient (S210: NO). Of course, if the deviation between the current position of the vehicle 1 obtained in S202 and the positioning result obtained in S204 is acquired and this deviation is sufficiently smaller than the magnitude of the prediction error, the sensor characteristics can also be learned. You may make it judge that it is enough.

If it is determined in S210 that the sensor characteristics are not sufficiently learned (S210: NO), the current position is corrected using the positioning result (S211), and then the reliability to be given to the current position is set to “low”. (S212). On the other hand, when it is determined that learning of the sensor characteristics is sufficient (S210: YES), the sensor output is within the normal range (S207: YES), and the current position is within the prediction error range (S209: YES). Furthermore, learning of sensor characteristics is sufficiently advanced (S210: YES). In such a case, it can be considered that the current position obtained by accumulating the outputs of the direction sensor 10 and the distance sensor 12 (that is, the current position by dead reckoning navigation) is supported by the positioning result based on the positioning signal. . Therefore, in this case, the reliability assigned to the current position is set to “high” (S213).

When reliability is given to the current position by dead reckoning navigation (S213, S212), the current position to which the reliability is given is output to the outside (here, the display device 14) (S214), and then the current position is detected. It is determined whether or not to end (S215). As a result, if not finished (S215: NO), the process returns to S201 in FIG. 9, and after acquiring the traveling direction and moving distance of the vehicle 1, the above-described series of processes (S202 to S215) are executed. On the other hand, when the detection of the current position is finished (S215: YES), the current position detection process of the second embodiment shown in FIGS. 9 and 10 is finished.

FIG. 11 illustrates a state where the current position obtained by the current position detection process of the second embodiment described above is displayed on the screen of the display device 14. In the figure, the positioning result obtained from the positioning signal is represented by an asterisk. Also, each positioning result is numbered as g1, g2, g3, g4, g5, g6, g7, g8, g9 according to the order in which the positioning results are obtained. Furthermore, a circle indicated by a broken line represents a prediction error range for each positioning result. Also for these positioning results, the current position of the vehicle 1 detected by dead reckoning navigation can be considered as in the first embodiment. In FIG. 11, these are represented by p1, p2, p3, p4, p5, p6, p7, p8, and p9.

For example, the current positions p1, p2, and p3 corresponding to the positioning results g1, g2, and g3 are within the prediction error ranges of the positioning results g1, g2, and g3, respectively. Accordingly, since the current position obtained by dead reckoning is supported by the positioning result based on the positioning signal, it can be determined that the reliability of the current position is high.

On the other hand, the current position p4 based on dead reckoning navigation at the time when the positioning result g4 is obtained is outside the range of the prediction error of the positioning result g4, and the current position obtained by dead reckoning navigation is the positioning result based on the positioning signal. Therefore, it can be determined that the reliability of the current position is low. Therefore, when the positioning result g4 is obtained, the display of the current position p4 of the vehicle 1 is changed from the display mode with the reliability “high” to the display mode with the reliability “low”. Further, after correcting the current position p4 to a position m4 that is close to the position of the positioning result g4, the current position is detected by dead reckoning navigation by accumulating the outputs of the direction sensor 10 and the distance sensor 12 from the corrected position m4. continue.

After that, the current position p5 by dead reckoning navigation at the time when the positioning result g5 is obtained is within the range of the prediction error of the positioning result g5. For this reason, since the current position by dead reckoning navigation is supported by the positioning result based on the positioning signal, the display mode of the current position is returned from the reliability “low” to the display mode of reliability “high”. In this way, it can be determined whether the current position (or direction) of the vehicle 1 displayed on the screen of the display device 14 can be believed, or whether it should be kept at a reference level. In the example shown in FIG. 11, the position of the vehicle 1 between m4 and p5 should be kept at a reference level, but in other cases, it can be determined that the display on the screen can be trusted. In this way, the detection result of the current position of the vehicle 1 can be used more effectively.

C. Variations:
In the first embodiment described above, it has been described that the reliability given to the current correction position is either “high” or “low”. Further, in the second embodiment described above, the reliability given to the current position is described as being either “high” or “low”. However, the reliability to be given does not need to be in two stages of “high” or “low”, and the reliability may be given in multiple stages of three or more stages, and furthermore, the reliability changes continuously. A degree may be given.

FIG. 12 illustrates a method for assigning multi-level reliability. For example, as shown in FIG. 12A, it is assumed that the magnitude of the prediction error obtained for the positioning result g is ES. In this case, as shown in FIG. 12B, the distance A from the positioning result g is larger than the distance ES, and the distance from the positioning result g as shown in FIG. An area A2 that is larger than r1 times the distance ES (where r1 <1) but smaller than the distance ES, and the distance from the positioning result g is r2 times the distance ES, as shown in FIG. (However, the area A3 which is larger than r2 <r1 <1) but smaller than r1 times the distance ES, and the distance from the positioning result g is r2 times the distance ES, as shown in FIG. Smaller area A4.

In the first embodiment, the reliability to be given to the corrected current position is determined depending on in which region the corrected current position of the vehicle 1 exists. That is, when the corrected current position exists in the area A1, the reliability is determined to be the smallest reliability 1, and when the corrected current position exists in the area A2, the reliability is higher than the reliability 1. A certain reliability 2 is determined. Further, when the current correction position exists in the area A3, the reliability 3 is determined to be greater than the reliability 2, and when the current correction position exists in the area A4, the reliability 4 greater than the reliability 3 is determined. To decide. In the second embodiment, the reliability to be given to the corrected current position is determined depending on in which region the current position of the vehicle 1 exists. In this way, four levels of reliability can be set according to the deviation between the corrected current position (or current position) of the vehicle 1 and the positioning result. Of course, the number of stages of reliability is not limited to four, and a larger number of stages may be set.

Alternatively, as illustrated in FIG. 13, continuously changing reliability may be given. For example, as shown in FIG. 13A, it is assumed that the magnitude of the prediction error obtained for the positioning result g is ES. Then, as shown in FIG. 13B, it is assumed that the reliability is given by a normal distribution having the distance ES as a standard deviation. In this case, for example, in the case of the first embodiment, according to the distance between the corrected current position of the vehicle 1 and the positioning result, and in the case of the second embodiment, the current position of the vehicle 1 and the positioning result. The reliability can be set so as to change continuously according to the distance.

Although the present disclosure has been described in accordance with an embodiment, it is understood that the present disclosure is not limited to the embodiment or the structure. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

For example, in the embodiment and the modification described above, the method of using the reliability given to the detection result of the current position of the vehicle 1 is changed by changing the display mode of the vehicle 1 on the screen of the display device 14. Explained as presented. However, the present invention is not limited to presenting to the driver, and may be utilized for control such as driving assistance. That is, with respect to the current position detection result to which high reliability is given, it is possible to apply the current position detection result to advanced driving assistance that could not be applied conventionally.

Claims

A moving body comprising an azimuth sensor (10) for detecting a traveling direction, a distance sensor (12) for detecting a moving distance, and a receiving device (16) for receiving a positioning signal from a positioning satellite (50). A moving body position detecting device (100) mounted on (1) for detecting the current position of the moving body,
A current position detector (105) for detecting a current position of the moving body by accumulating the traveling direction and the moving distance;
A positioning result acquisition unit (104) for acquiring a positioning result of the current position of the mobile body based on the positioning signals received from a plurality of the positioning satellites;
By comparing the detection result of the current position obtained by the current position detection unit with the positioning result of the current position acquired by the positioning result acquisition unit, characteristics of at least one of the direction sensor or the distance sensor A sensor characteristic correction unit (103) for correcting
A movement trajectory generation unit (106) that generates a movement trajectory of the moving body by accumulating the detection result of the current position obtained by the current position detection unit;
A road shape reading unit (108) for reading a road shape from map information stored in advance;
A corrected current position acquisition unit (107) for acquiring a corrected current position obtained by correcting the current position of the moving body by comparing the movement locus of the moving body with the road shape;
A moving body position comprising: a reliability providing unit (109) that provides reliability to the corrected current position based on a deviation between the corrected current position and the current position detected by the current position detecting unit. Detection device.
It is a mobile body position detection apparatus of Claim 1, Comprising:
The current position detection unit is a detection unit that detects the current position including a height position of the moving body,
The positioning result acquisition unit is an acquisition unit that acquires the positioning result of the current position including a height position of the moving body.
The moving body position detecting device according to claim 1 or 2,
The current position detection unit is a detection unit that detects the current position including a current direction indicating a traveling direction of the moving object.
It is a mobile body position detection apparatus as described in any one of Claims 1 thru | or 3, Comprising:
The reliability adding unit adds reliability to the corrected current position by comparing the deviation with a prediction error caused in the detection result of the current position detecting unit due to an error included in the positioning signal. A moving body position detecting device which is an attaching unit.
A moving body comprising an azimuth sensor (10) for detecting a traveling direction, a distance sensor (12) for detecting a moving distance, and a receiving device (16) for receiving a positioning signal from a positioning satellite (50). A mobile body position detection device (200) mounted on (1) for detecting the current position of the mobile body,
A current position detector (105) for detecting a current position of the moving body by accumulating the traveling direction and the moving distance;
A positioning result acquisition unit (104) for acquiring a positioning result of the current position of the mobile body based on the positioning signals received from a plurality of the positioning satellites;
A reliability that gives reliability to the current position based on a deviation between the detection result of the current position obtained by the current position detection unit and the positioning result of the current position acquired by the positioning result acquisition unit. A moving body position detecting device comprising: an assigning unit (209).
It is a moving body position detection apparatus of Claim 5, Comprising:
The current position detection unit is a detection unit that detects the current position including a height position of the moving body,
The positioning result acquisition unit is an acquisition unit that acquires the positioning result of the current position including a height position of the moving body.
The moving body position detecting device according to claim 5 or 6,
The current position detection unit is a detection unit that detects the current position including a current direction indicating a traveling direction of the moving object.
It is a mobile body position detection apparatus as described in any one of Claim 5 thru | or 7, Comprising:
The reliability adding unit adds the reliability to the current position by comparing the deviation with a prediction error generated in the detection result of the current position detecting unit due to an error included in the positioning signal. A moving body position detecting device which is an attaching unit.
It is a mobile body position detection apparatus as described in any one of Claim 5 thru | or 8, Comprising:
By comparing the detection result of the current position obtained by the current position detection unit and the positioning result of the current position obtained by the positioning result acquisition unit, at least one of the direction sensor or the distance sensor A moving body position detection apparatus comprising a sensor characteristic correction unit (103) for correcting characteristics.
A moving body comprising an azimuth sensor (10) for detecting a traveling direction, a distance sensor (12) for detecting a moving distance, and a receiving device (16) for receiving a positioning signal from a positioning satellite (50). A moving body position detection method applied to (1) to detect a current position of the moving body,
A current position detecting step (S102) for detecting a current position of the moving body by accumulating the traveling direction and the moving distance;
A positioning result acquisition step (S105) for acquiring a positioning result of the current position of the mobile body based on the positioning signals received from a plurality of positioning satellites;
By comparing the detection result of the current position obtained in the current position detection step and the positioning result of the current position obtained in the positioning result acquisition step, at least one of the direction sensor or the distance sensor A sensor characteristic correcting step (S107) for correcting the characteristics;
A movement locus generation step (S103) for generating a movement locus of the moving body by accumulating the detection result of the current position obtained in the current position detection step;
A road shape reading step (S108) for reading a road shape from map information stored in advance;
A corrected current position acquisition step (S109) of acquiring a corrected current position by correcting the current position of the moving body by comparing the moving locus of the moving body with the road shape;
A reliability providing step (S114, S115) for providing a reliability to the corrected current position based on a deviation between the corrected current position and the current position detected in the current position detecting step. Body position detection method.
A moving body comprising an azimuth sensor (10) for detecting a traveling direction, a distance sensor (12) for detecting a moving distance, and a receiving device (16) for receiving a positioning signal from a positioning satellite (50). A moving body position detection method applied to (1) to detect a current position of the moving body,
A current position detecting step (S202) for detecting a current position of the moving body by accumulating the traveling direction and the moving distance;
A positioning result acquisition step (S204) for acquiring a positioning result of the current position of the mobile body based on the positioning signals received from a plurality of positioning satellites;
Reliability that gives reliability to the current position based on a deviation between the detection result of the current position obtained in the current position detection step and the positioning result of the current position acquired in the positioning result acquisition step A moving body position detecting method comprising: applying steps (S213, S212).