JP4835413B2 - Vehicle navigation device - Google Patents

Description

  The present invention relates to a vehicle navigation apparatus capable of improving map matching accuracy using information related to past map matching errors.

  2. Description of the Related Art Conventionally, in a vehicle navigation apparatus, for example, the position of a vehicle is determined by combining radio navigation positioning information by a GPS receiver and autonomous navigation positioning information calculated from detection results of a direction sensor such as a gyro sensor and a vehicle speed sensor. By estimating the coordinates, the estimation accuracy of the vehicle position is improved.

  However, the GPS receiver cannot always output the positioning information, and the own vehicle position obtained from the positioning information by the self-contained navigation includes not a few errors. Therefore, in order to further improve the accuracy of the vehicle position, map matching processing is generally employed in the vehicle navigation apparatus. This map matching process is based on the premise that the vehicle always travels on the road, and the obtained vehicle position and its travel locus are applied to the road near the vehicle so as to match the road with the highest correlation. In addition, the vehicle position is corrected.

Even if such map matching processing is adopted, there is a high possibility that the current position of the vehicle is erroneously specified when detection errors of various sensors are large. Therefore, for example, in the technique described in Patent Document 1, a sensor for self-contained navigation such as an angular velocity sensor or a vehicle speed sensor is calibrated based on position, direction, and vehicle speed information obtained from a GPS receiver. .
JP 2004-286724 A

  Here, the road map data used in the vehicle navigation apparatus is a simulation of an actual road shape, but there may be some errors from the actual road position.

  In the road map data, each road is represented by line segment data called a link. For this reason, when the road is composed of a plurality of lanes, the distance between the actual travel position of the vehicle and the road data varies depending on which lane is traveled. For this reason, it is usually determined that the vehicle is traveling on the road data when the traveling position of the vehicle is within a predetermined distance range from the road data.

  For example, as a result of adopting the technology as described above, or using positioning information from a GPS receiver, the vehicle position of the vehicle can be obtained with high accuracy, so that the vehicle repeatedly travels on the same route. In this case, regarding the distance and direction, the relationship between the travel locus of the vehicle and each road data is almost the same every time.

  On the other hand, as described above, since the road data does not indicate the actual road itself, a map matching error occurs, for example, when the angle difference between a plurality of branch roads branched at a certain point is small. There is a case. Such map matching errors are likely to occur repeatedly each time the vehicle travels on the road, as long as the travel trajectory of the vehicle is substantially the same. If a similar map matching error occurs many times at a point where the user repeatedly travels on a daily basis, the user may feel uncomfortable.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a vehicle navigation apparatus that can reduce the occurrence of similar map matching errors many times.

In order to achieve the above-described object, a vehicle navigation device according to claim 1 is provided.
Display means for displaying a vehicle mark indicating the current position and traveling direction of the vehicle and a map around the vehicle mark;
Measuring means for measuring the current position and traveling direction of the vehicle;
Based on the current position measured by the measuring means, a traveling locus calculating means for calculating a traveling locus of the vehicle;
Map data storage means for storing map data;
A map for determining the road on which the vehicle is traveling by comparing the shape of the road near the current position of the vehicle with the shape of the traveling locus calculated by the traveling locus calculating means in the map data stored in the map data storage means Map matching means for executing the matching process;
A vehicle navigation device comprising display control means for displaying a vehicle mark and a surrounding map on a display means so that the vehicle mark is located on a road determined by a map matching means,
In a state where the vehicle is considered to be traveling on the first road by the map matching means, the correlation between the travel locus of the vehicle and the road shape is reduced, and the vehicle has a correlation with the travel locus. A point that identifies the point where the map matching error started when it is determined that the vehicle is traveling on a higher second road and the display position of the vehicle is corrected from the first road to the second road Specific means,
Storage means for storing a travel locus of the vehicle including the current position of the vehicle measured by the measurement means in the vicinity of the spot specified by the spot specifying means, and a second road on which the vehicle traveled according to the travel locus;
Determination means for determining whether or not the current travel locus of the vehicle is the same as the stored travel locus when the vehicle travels on a road where the travel locus is stored in the storage means;
The map matching means is configured such that when the determination means determines that the current travel locus of the vehicle is the same as the stored travel locus, the vehicle travels after the point where the map matching error starts. It is determined that the existing road is the second road.

  As described above, the vehicle navigation device according to claim 1 is configured to determine a vehicle position in the vicinity of a point that is a base point of the map matching error when a map matching error occurs and the display position of the vehicle is corrected. The running trajectory is stored. Then, when the vehicle travels again on the road where the map matching error has occurred, it is determined whether or not the current travel locus of the vehicle is the same as the stored travel locus. At this time, if it is determined that they are the same, it can be considered that the vehicle is going to travel on the second road by following the same route as when the travel locus is stored. Therefore, the map matching means determines that the road on which the vehicle is traveling is the second road after the point where the map matching error starts.

  In other words, in the vehicular navigation device according to claim 1, when an error in map matching occurs, the travel locus of the vehicle at that time and the second road that has traveled according to the travel locus are related to past map matching errors. It is stored as information, and this stored information is used to suppress the occurrence of similar map matching errors. Thereby, it can reduce that the same map matching error generate | occur | produces many times in the same road location, and it can prevent giving the vehicle user discomfort. In addition, the map matching accuracy can be further improved.

  As described in claim 2, the point specifying means for specifying the point that is the starting point of the map matching error described above is based on the connection relationship between the first road and the second road, and the vehicle travel locus. It is preferable to specify the point in consideration of the distance to the second road and the difference between the traveling direction of the vehicle in the travel locus and the direction of the first and second roads. When a map matching error occurs between the first road and the second road, the starting point is from the common connection road where the first and second roads are connected together to the first and second roads. It is at a branch point that branches off. Therefore, it is necessary to consider the connection relationship between the first road and the second road as the starting point for map matching errors. Furthermore, when there are a plurality of branch points that branch from the common connection road toward the first and second roads, the distance from the travel locus of the vehicle to the first and second roads, and the progress of the vehicle on the travel locus By considering the difference between the direction and the direction of the first and second roads, it is possible to identify one branch point that is the starting point from among a plurality of branch points.

  According to a third aspect of the present invention, it is preferable that the storage unit stores, as a vehicle traveling locus, a traveling locus before and after the point identified by the point identifying unit. By considering not only the travel trajectory up to the starting point of the map matching error but also the travel trajectory after that start point, it is possible to more correctly determine whether or not the current travel trajectory is the same as the stored travel trajectory. Because.

  Note that the vehicle position is corrected from the first road to the second road when it is determined for the first time that the current travel locus is the same as the stored travel locus in consideration of the travel locus after the starting point. There is also. However, since the correction can be performed at least earlier, discomfort given to the user can be reduced.

  Hereinafter, a vehicle navigation apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a vehicle navigation apparatus according to this embodiment.

  As shown in the figure, the car navigation device of the present embodiment is connected to a position detector 1, a map data input device 6, an operation switch group 7, an external memory 9, a display device 10, an external information input / output device 11 and these. The control circuit 8 is provided.

  The control circuit 8 is configured as a normal computer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these configurations. In the ROM, a program to be executed by the control circuit 8 is written, and a CPU or the like executes predetermined arithmetic processing according to this program.

  The position detector 1 includes a known geomagnetic sensor 2, a gyroscope 3, a distance sensor 4, and a GPS receiver 5 for GPS (Global Positioning System) that measures the position of a vehicle based on radio waves from a satellite. Have. However, the GPS receiver 5 cannot always measure the position of the vehicle and output the positioning information, and the own vehicle obtained from the positioning information by the self-contained navigation using the geomagnetic sensor 2, the gyroscope 3 and the distance sensor 4. The position contains not a few errors. Therefore, in the present embodiment, data (current position coordinates and traveling direction) relating to the current position of the vehicle is measured by hybrid navigation that combines radio wave navigation using GPS and self-contained navigation using the geomagnetic sensor 2, the gyroscope 3, and the distance sensor 4. To do.

  The map data input device 6 is a device for inputting map data including road data, background data, and character data. As a storage medium for storing the map data, a CD-ROM or a DVD-ROM is generally used because of the amount of data, but a memory card, a hard disk, or the like may be used.

  Further, the map data can be acquired from an external server by communication and stored in an external memory 9 described later. In this case, using the map data stored in the external memory 9, various navigation functions such as displaying a map around the vehicle, changing the scale of the displayed map, and route guidance can be performed. These functions are executed mainly by performing various arithmetic processes by the control circuit 8.

  Here, an example of the structure of the road data will be described with reference to FIG. As shown in FIG. 2, the road data 6a includes a link ID with a unique number for each road, link coordinate data, node coordinate data, road type data indicating a road type such as an expressway or a national road, road width data, etc. It consists of each data. The link in the road data 6a is obtained by dividing each road on the map into a plurality of nodes by nodes indicating intersections, branch points, etc., and defining the link between the two nodes. The link coordinate data describes the start and end coordinates of this link. When a node is included in the middle of the link, the node coordinates are described in the node coordinate data. The road data 6a is used not only to display a map but also to give the shape of a road when performing map matching processing, or to search for a guide route to a destination. However, regarding the search for the guidance route, road network data indicating the connection relation of each road to be used as the guidance route may be separately prepared and searched using the network data.

  Although not shown, the background data is configured as data in which each facility, topography, and the like on the map are associated with the corresponding coordinates on the map. Regarding the facility, data such as a telephone number and an address are also stored in association with the facility. The character data is used to display place names, facility names, road names, and the like on a map, and is stored in association with coordinate data corresponding to the positions to be displayed.

  The operation switch group 7 includes, for example, a touch switch or a mechanical switch integrated with the display device 10 described later, and is used for various inputs. For example, the vehicle navigation apparatus has a so-called route guidance function that automatically selects and displays the optimum route from the current position to the destination, and uses the operation switch group 7 to display the guidance route. It is possible to input the position of the destination. As such a method for automatically setting an optimum guide route, for example, a known method such as the Dijkstra method is known. The vehicle navigation device also has a search function for searching for the location of the facility using the above-described data, and the operation switch group 7 includes an address, a facility name, and a telephone number for searching for the desired facility. It is also used to input etc.

  The external memory 9 includes a storage medium such as a memory card or a hard disk. The external memory 9 stores various data such as text data, image data, and audio data stored by the user. Further, as will be described later, when a map matching error occurs and the map matching position is corrected to jump from one road to another road, information regarding the map matching error is also stored.

  The display device 10 is configured by, for example, a liquid crystal display, and is input from the map data input device 6 and a host vehicle mark that displays a traveling direction corresponding to the current position of the vehicle on the screen of the display device 10. A road map around the vehicle generated by the map data can be displayed. Furthermore, when a destination is set, a guidance route from the current position to the destination can be displayed on the road map in an overlapping manner.

External information input and output device 11, via the FM broadcast station laid beacon and around the road, and receives information such as road traffic information distributed from the VICS Center (registered trademark), if necessary It is a device that transmits information from the vehicle side to the outside. The received information is processed by the control circuit 8. For example, traffic jam information, regulation information, and the like are displayed on the road map displayed on the display device 10.

  Next, FIG. 3 and FIG. 3 show processing for displaying the vehicle mark indicating the current position and traveling direction of the vehicle and the surrounding road map on the display device 10 while performing the map matching processing according to the feature of the present embodiment. This will be described with reference to the flowchart of FIG. Note that FIG. 3 shows a main routine for displaying the vehicle mark on a highly probable road where the vehicle is traveling using the map matching process, and FIG. 4 is a map matching in the flowchart of FIG. Details of the processing are shown. The processing shown in FIGS. 3 and 4 is repeatedly executed, for example, every time a predetermined time elapses or every time the vehicle travels a predetermined distance.

  As shown in FIG. 3, first, in step S10, signals from the sensors of the position detector 1 are input, and in step S20, the current position and traveling direction of the vehicle are calculated based on the input signals ( Presumed. At this time, the position data by the GPS receiver 5 is acquired in the same form as the coordinate data (latitude and longitude) of the road data described above. Further, data on the traveling direction and travel distance of the host vehicle is acquired by the geomagnetic sensor 2, the gyroscope 3, and the distance sensor 4, and the coordinates of the current position are based on the estimated vehicle position calculated in the past or corrected by the map matching process. Calculate data (calculation of coordinate data by self-contained navigation).

  As described above, the estimated vehicle position is obtained by hybrid navigation combining radio navigation and self-contained navigation. As an example of this hybrid navigation, for example, when position data is acquired by the GPS receiver 5, the current vehicle position is obtained from the position data, and when position data cannot be acquired by the GPS receiver 5, The estimated vehicle position may be obtained by self-contained navigation based on the sensor 2, the gyroscope 3, the distance sensor 4, and the like. In addition, for example, in principle, when the estimated vehicle position is obtained from self-contained navigation that can be calculated at all times and the estimated vehicle position is obtained by radio navigation, the two positions are compared, and the difference is equal to or greater than a predetermined distance. In some cases, an estimated vehicle position by radio navigation may be employed as the estimated vehicle position.

  Subsequently, in step S30, map data around the vehicle is read based on the coordinates of the estimated vehicle position calculated in step S20. Next, in step S40, map matching processing is performed. In this map matching process, which will be described in detail later, for example, if the estimated vehicle position calculated in step S20 is matched with a road within a predetermined distance or a road already matched, the map is connected to the matching road. The road is extracted as a road on which the vehicle may travel. In step S20, the plurality of estimated vehicle positions calculated in the past and the latest estimated vehicle position are connected to calculate the shape data of the travel locus. The shape data of the travel locus is compared with the shape of the road on which the vehicle may travel, and the road with the highest correlation is determined (estimated) as the road on which the vehicle is traveling.

  Note that the calculation of the current position and traveling direction in step S20 and the calculation of the travel locus described above may be performed only from the position data of the GPS receiver 5, or may be performed only from the position data of the self-contained navigation.

  When the road on which the vehicle is traveling is determined by the map matching process, a position to be displayed on the road of the vehicle position is obtained in step S50, and the own vehicle mark is displayed at the obtained position. The vehicle mark and the surrounding road map are displayed on the display device 10.

  Next, the details of the map matching process will be described based on the flowchart of FIG. First, in step S110, road data around the current position of the vehicle is extracted based on the estimated vehicle position calculated in step S20. As described above, the extracted road data is road data relating to a road within a predetermined distance from the current position of the vehicle, or a road connected to the matching road if the road is already matched on the road.

  In subsequent step S120, based on the estimated vehicle position calculated in step S20, the travel locus data including the position and direction data is updated, and the shape of those shapes is compared with the road data extracted in step S110. A correlation value indicating the degree of coincidence is calculated. In step S130, it is determined that the vehicle is traveling on the road corresponding to the road data having the maximum correlation value. In the process of step S130, the maximum correlation value is compared with a predetermined threshold value, and if the maximum correlation value is smaller than the threshold value, it is determined that there is no road data corresponding to the traveling locus of the vehicle and the current position. May be. In this case, the vehicle position is not map-matched, and the calculated estimated vehicle position is displayed on the display device 10 as it is.

  Next, in step S140, it is determined whether or not the road data having the maximum correlation value has changed to another road data. When the road data with the maximum correlation value changes regardless of whether the vehicle is turning left or right, the vehicle position displayed on the display device 10 is corrected to jump from one road to another by map matching processing. Is done. That is, in this step S140, it is determined whether or not an error has occurred regarding the map matching process.

  Such map matching errors may occur because the road data does not indicate the actual road itself, as described in the section of the prior art. For example, as shown in FIG. 5A, the road width of the common connection road C where the road A and the road B are connected together is wide, and the common connection road C is connected to the road A and the road B almost straight. Even when the road B is the main road, the common connection road C may be set corresponding to the road B. In such a case, even if the vehicle goes straight from the common connection road C to the road A via the branch point of the road A and the road B without changing any direction of travel, the road to be map-matched Is likely to become road B. Then, when the vehicle travels on the road A and passes the inflection point of the road A, it is determined that the map matching is incorrect, and the displayed vehicle position is corrected from the position on the road B to the position on the road A. Will be.

  Such a map matching error is likely to occur repeatedly each time the vehicle travels on the road because the relationship with the road data does not change if the travel locus of the vehicle is substantially the same.

  Therefore, if it is determined in step S140 that the road data having the maximum correlation value has changed to another road data, the process proceeds to step S160 to store information relating to the map matching error. In step S160, it is determined whether the starting point of the map matching error can be specified.

  In the determination in step S160, first, the origin of the map matching error is identified based on the connection relationship between the two roads in which the map matching error has occurred. This is because, as in the example shown in FIG. 5B, there is only one branch point D to the two roads A and B in which a map matching error has occurred in the route corresponding to the stored travel locus. This is because if it exists, it can be estimated that the branch point D is the starting point of the map matching error.

  However, if there are multiple branch points D that branch to the two roads A and B in the connection relationship between the two roads A and B where a map matching error has occurred, which branch point is the map matching point. It cannot be determined whether the error has started. In such a case, at each branch point, the distance from the traveling locus of the vehicle to the two roads A and B, and the difference between the traveling direction of the vehicle on the traveling locus and the direction of the two roads A and B are calculated. Consider. Thereby, it may be possible to identify one branch point that is the starting point of the map matching error from among a plurality of branch points.

  However, if there are many candidate branch points, or if the road is complicated and complicated, the starting point of the map matching error can be determined even if the distance between the travel locus and the road and the difference in direction are taken into account. There is a case where it cannot be specified as any one of the branch points.

  If it is determined in step S160 that the starting point of the map matching error can be specified, the process proceeds to step S170, and the travel locus before and after the starting point of the map matching error is obtained as information related to the map matching error. The road that has traveled according to the travel locus, that is, the road data having the maximum correlation value after the change when it is determined in step S140 that the road data having the maximum correlation value has changed is stored. For example, in the example shown in FIG. 5 (b), the estimated trajectory position corresponding to the branch point D that is the starting point of the map matching error is used as a reference, and the travel trajectories for a predetermined distance are stored for the travel trajectories before and after that. To do. Furthermore, information about the road A is also stored as a road that has traveled according to the travel locus. On the other hand, if it is determined in step S160 that the starting point of the map matching error cannot be specified, the map matching process shown in the flowchart of FIG.

  The travel trajectory to be stored may be only the travel trajectory before reaching the starting point of the map matching error, but it is preferable to store the travel trajectory after the starting point. By storing the travel locus before and after the starting point of the map matching error in this way, as will be described later, the determination accuracy is improved when performing a coincidence determination with the travel locus when traveling on the same road. can do. If it is determined that the current travel locus is the same as the stored travel locus in consideration of the travel locus after the starting point of the map matching error, the vehicle display position is changed from one road to another road. Sometimes corrected to position. However, in this embodiment, since the correction can be performed at least earlier, discomfort given to the user can be reduced.

  If it is determined in step S140 that the road data having the maximum correlation value has not changed, the process proceeds to step S150, and the road data having the maximum correlation value is set as at least a part of the route. It is determined whether or not a travel locus is stored. If “No” is determined in the determination process of step S150, the map matching process shown in FIG. 4 is terminated. On the other hand, if “Yes” is determined in the determination process of step S150, the process proceeds to step S180.

  In step S180, the similarity between the current travel locus and the stored travel locus is calculated. The similarity is calculated in the same manner as the correlation value between the travel locus and the road data. That is, the degree of similarity is calculated by scoring the difference in shape between the two travel loci when the two travel loci are overlapped at the same coordinate position.

  In step S190, based on the similarity calculated in step S180, it is determined whether or not the current travel locus has a similarity greater than or equal to the stored travel locus and can be regarded as matching. . If it is determined in step S190 that the travel locus is different, the map matching process is terminated. For example, even if the vehicle travels on the same road, it is determined that the travel locus is different when a lane change or the like is performed and an attempt is made to travel on a branch road different from the time when the travel locus is stored.

  On the other hand, if it is determined in the determination process of step S190 that the traveling trajectories can be regarded as the same, the vehicle can be regarded as traveling along the same route as when the traveling trajectory is stored. Therefore, the process proceeds to step S200, and the road corresponding to the road data stored in step S170 is selected as the road on which the vehicle travels after the starting point of the map matching error. That is, the road on which the vehicle is map-matched is determined to be the same road as the stored road.

  It should be noted that the calculation and coincidence determination of the travel locus similarity is started before the current travel locus of the vehicle is accumulated for the same length as the stored travel locus. Therefore, the traveling locus may be determined to be the same before reaching the starting point of the map matching error. In this case, the road based on the stored road data is selected as the road on which the vehicle travels after the starting point. However, after that, the matching determination between the traveling tracks is continued until the length of the stored traveling track becomes the same, and if the determination is over, the map matching processing with the road data is performed and matched. The road to be decided. As a result, the map matching road may be corrected.

  As described above, in the vehicle navigation apparatus according to the present embodiment, when a map matching error occurs, information on the past map matching error is obtained by using the travel trajectory of the vehicle at that time and the road data traveled according to the travel trajectory. Remember as. Thereafter, when the vehicle travels on the same road, the map matching road is determined according to whether or not the travel locus at that time coincides with the stored travel locus. In this way, information regarding map matching errors is stored, and the stored information is used to suppress the occurrence of similar map matching errors. Thereby, it can reduce that the same map matching error generate | occur | produces many times in the same road location, and it can prevent giving the vehicle user discomfort.

1 is a block diagram showing a schematic configuration of a vehicle navigation device according to an embodiment of the present invention. It is explanatory drawing which shows the data structure of the road data in a map data input device. It is a flowchart which shows the main routine for determining the road where a vehicle drive | works using a map matching process, and displaying the own vehicle mark on the road It is a flowchart which shows the detail of the map matching process in the flowchart of FIG. (A), (b) is explanatory drawing for demonstrating the map matching process by this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Position detector 2 Geomagnetic sensor 3 Gyroscope 4 Distance sensor 5 GPS receiver 6 Map data input device 7 Operation switch group 8 Control circuit 9 External memory 10 Display device 11 External information input / output device

Claims (3)

Display means for displaying a vehicle mark indicating the current position and traveling direction of the vehicle and a map around the vehicle mark;
Measuring means for measuring the current position and traveling direction of the vehicle;
A travel locus calculating means for calculating a travel locus of the vehicle based on the current position measured by the measuring means;
Map data storage means for storing map data;
By comparing the shape of the road near the current position of the vehicle in the map data stored in the map data storage means with the shape of the travel locus calculated by the travel locus calculation means, the road on which the vehicle is traveling is determined. Map matching means for executing map matching processing to be determined;
A vehicle navigation device comprising display control means for displaying the vehicle mark and a surrounding map on the display means so that the vehicle mark is located on a road determined by the map matching means,
In a state where the map matching means considers that the vehicle is traveling on the first road, the correlation between the traveling locus of the vehicle and the road shape decreases, and the vehicle And when the vehicle display position is corrected from the first road to the second road, a map matching error starting point is obtained. A point identifying means for identifying the point
The vehicle travel locus including the current position of the vehicle measured by the measurement device in the vicinity of the location identified by the location identifying device and the second road on which the vehicle has traveled according to the travel locus are stored. Storage means;
Determination means for determining whether or not the current travel locus of the vehicle is the same as the stored travel locus when the vehicle travels on a road whose travel locus is stored in the storage means;
The map matching means, when the determination means determines that the current travel locus of the vehicle is the same as the stored travel locus, after the point where the map matching error has started, A vehicle navigation apparatus, wherein the road on which the vehicle is traveling is determined to be the second road.   The point specifying means includes a connection relationship between the first road and the second road, a distance from the traveling locus of the vehicle to the first and second roads, and a traveling direction of the vehicle in the traveling locus. The vehicle navigation apparatus according to claim 1, wherein a point that is a starting point of the map matching error is specified in consideration of a difference between directions of the first and second roads.   3. The vehicle according to claim 1 or 2, wherein the storage means stores, as a traveling locus of the vehicle, a traveling locus before and after the point identified by the point identifying unit. Navigation device.

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