JP6426048B2 - Vehicle position control device and vehicle position control method - Google Patents

Description

  The present invention relates to a host vehicle position control device and a host vehicle position control method, and is particularly suitable for use in a host vehicle position control device and a host vehicle position control method having a positioning function by autonomous navigation.

  Conventionally, in an on-vehicle navigation apparatus, an icon indicating the vehicle position can be superimposed and displayed on the vehicle position of the vehicle determined by the autonomous navigation on the map screen. Thereby, the user can easily grasp where the vehicle is currently traveling.

  The autonomous navigation can measure the position of the vehicle at relatively low cost, but there is a problem that the position can not be measured with high accuracy, and correction processing such as map matching processing is required. That is, in the autonomous navigation, errors accumulate as the vehicle travels, and the vehicle position deviates from the road. Therefore, the vehicle position is collated with the road data by map matching processing, and the vehicle position is corrected on the road as necessary. The road data is composed of a node representing a point at which a plurality of roads intersect, such as an intersection or a branch, and a road link representing a vector connecting adjacent nodes. Correcting the vehicle position on the road specifically refers to the process of attracting the vehicle position on the road link.

  However, in the conventional map matching, when the vehicle is traveling on a road having a predetermined shape in which map matching errors easily occur, the vehicle position is aligned on a road different from the road on which the vehicle is actually traveling. Had a problem of Therefore, conventionally, when the vehicle travels on a road having a predetermined shape in which a map matching error easily occurs, a technique for temporarily stopping the map matching has been devised.

  For example, Patent Document 1 below discloses a technique for stopping display correction processing of a vehicle position mark by map matching in a complex intersection area such as a random bout. As a result, wrong map matching is not performed based on a traveling locus in which an error with road data becomes large in a complex intersection area such as a randa bout, and the vehicle matching is suppressed because of map matching. be able to.

  In addition, according to Patent Document 2 below, the operation of map matching is performed from when the vehicle reaches a predetermined distance before the branch start point of the branch road branched at a relatively small angle until the vehicle passes through the branch end point. The technology for discontinuing As a result, the operation of map matching is stopped in most of the road sections of the minute-angle branch road where the branch lanes are present. Therefore, no unnecessary position correction is performed by map matching, regardless of where in the branch lane the vehicle starts to branch, so that occurrence of map matching error can be prevented.

JP 2004-132922 A JP, 2008-170267, A

  Besides this, there is known a technique for temporarily stopping map matching when a vehicle passes a toll booth on a toll road. The toll booth is relatively wide because there are multiple gates, and if the gate through which the vehicle actually passes is far from the main road link of the toll road, it will be closer to that gate if map matching is performed. This is because there is a possibility that the vehicle position is erroneously aligned with the road link of the general road. Specifically, when the vehicle approaches within a predetermined distance of the toll booth, the toll gate mode is started and the map matching is stopped. Then, when the vehicle is separated from the toll gate by a predetermined distance or more, the toll gate mode is released and the map matching is resumed.

  However, facilities such as SA (Service Area) or PA (Parking Area) may be added to the toll booth of the toll road. In this case, in the conventional navigation device, when the vehicle moves in the facility with the tall gate mode set, the position of the vehicle deviates from the road link in the facility due to the accumulated error of the autonomous navigation. Therefore, when the vehicle returns from the facility to the main line of the toll road and map matching is resumed, the vehicle position is aligned on the road link of another road (for example, a general road running parallel to the toll road) The problem of having been done had arisen.

  FIG. 4 is a view showing a display example of the position of the vehicle by the conventional navigation device. FIG. 4 schematically shows a map around the toll booth 404 provided on the main line 400 of the toll road. As shown in FIG. 4, a toll gate mode target section is set on the main line 400 from a position before a predetermined distance of the toll booth 404 to a position behind the predetermined distance of the toll booth 404. In addition, a PA 410 is provided beside the toll booth 404. PA 410 is within the range of the toll gate mode target section. A road link 406 is branched from the road link 402 of the main line 400. The road link 406 has a path to return to the road link 402 after passing cyclically in the PA 410.

  In the example of FIG. 4, when the vehicle 420 is traveling in front of the toll gate mode target section in the main line 400 (P01), the vehicle position of the vehicle 420 is located on the road link 402 of the main line 400 by map matching. Be adjusted. Thereafter, when the vehicle 420 enters the toll gate mode target section, the toll gate mode is started and the map matching is stopped. Then, while the vehicle 420 is traveling in the toll gate mode target section (P02 to P04), the map matching remains stopped.

  Furthermore, while the vehicle 420 is moving in the PA 410 (P05 to P08), the map matching remains stopped. That is, while the vehicle 420 travels in the PA 410, the vehicle position of the vehicle 420 is identified only by autonomous navigation without being aligned with the road link 406 passing in the PA 410. Therefore, the error of the vehicle position of the vehicle 420 gradually increases.

  Then, when the vehicle 420 leaves the toll gate mode target section to return to the main line 400 (P09), the toll gate mode is canceled and map matching is resumed. At this time, an error of the vehicle position of the vehicle 420 is accumulated. For this reason, there is a possibility that the vehicle position of the vehicle 420 may be aligned on the road link of another road other than the main line 400 by map matching.

  The present invention has been made to solve such a problem, and it is possible to prevent map matching errors when a vehicle returns from a facility attached to a toll booth to the main line of a toll road. To aim.

  In order to solve the problems described above, in the present invention, in the vehicle position control device adapted to perform map matching for aligning the position of the vehicle on the road link of the map data, the vehicle is on the main road of the toll road The map matching is stopped when passing through the section of the provided toll booth. However, while map matching is stopped, search for road links for map matching candidates continues and the road links for toll roads are no longer included in the searched road links for map matching candidates. , To resume map matching.

  According to the present invention configured as described above, the map matching is resumed at the timing when the vehicle is temporarily separated from the main line of the toll road within the section of the toll booth. That is, while the vehicle travels in the facility at a position away from the main line of the toll road, the vehicle position of the vehicle is map-matched to the road link in the facility by map matching. For this reason, when the vehicle takes out of the facility and tries to return to the main line, an error of the vehicle position of the vehicle hardly occurs. Therefore, according to the present invention, it is possible to prevent map matching error when the vehicle returns from the facility attached to the toll booth to the main line of the toll road.

It is a block diagram showing an example of functional composition of a navigation device concerning one embodiment of the present invention. It is a flowchart which shows an example of the process by the navigation apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of a display of the own vehicle position by the navigation apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of a display of the own vehicle position by the conventional navigation apparatus.

  Hereinafter, an embodiment of the present invention will be described based on the drawings. FIG. 1 is a block diagram showing an example of a functional configuration of a navigation device 10 according to an embodiment of the present invention. The navigation device 10 shown in FIG. 1 is a device capable of displaying the position of the vehicle measured by autonomous navigation on the map screen while sequentially correcting it by map matching.

  As shown in FIG. 1, the navigation device 10 includes a map data storage unit 101, a GPS receiver 102, an autonomous navigation sensor 103, and a display 104. The navigation device 10 also includes a display control unit 110 and a vehicle position control unit 120. The host vehicle position control unit 120 includes a toll gate mode control unit 122, a map matching unit 121, a map matching control unit 123, and a road type determination unit 124.

  Each of the functional blocks 121 to 124 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 121 to 124 actually comprises a CPU, a RAM, a ROM and the like of a computer, and a program stored in a storage medium such as a RAM, a ROM, a hard disk or a semiconductor memory Is realized by operating.

  The map data storage unit 101 stores map data. The map data includes node information of a plurality of nodes, road link information of a plurality of road links, and the like. Each node information includes, for example, an identification number, position coordinates, and the like. In addition, each road link information includes, for example, the identification number of the connection destination node, the road type (for example, the main line of a toll road, etc.), the road width, and the like. In addition, to the road link in the toll gate mode object area mentioned later, the toll gate attribute is added to the road link information. In addition, in the map data, for each toll gate, information for specifying the start point of the toll gate mode section (for example, “×× m before toll gate”, etc.) and the end point of the toll gate mode section Information (e.g., "a toll of a toll booth", etc.).

  The GPS receiver 102 receives radio waves sent from a plurality of GPS satellites, performs three-dimensional positioning processing or two-dimensional positioning processing, and calculates the absolute position and orientation of the vehicle. Then, the GPS receiver 102 outputs the calculated information on the absolute position and orientation of the vehicle to the vehicle position control unit 120 together with the positioning time.

  The autonomous navigation sensor 103 includes an angle sensor 103A such as a vibrating gyroscope that detects the rotation angle of the vehicle, and a distance sensor 103B that outputs one pulse for each predetermined traveling distance. The autonomous navigation sensor 103 detects the relative position and orientation of the vehicle by the angle sensor 103A and the distance sensor 103B, and outputs the information to the vehicle position control unit 120.

  The display 104 displays various information (mainly, a map screen). For the display 104, for example, a liquid crystal display, an organic EL display or the like is used.

  Based on the information indicating the vehicle position of the vehicle input from the vehicle position control unit 120, the display control unit 110 stores the map screen around the vehicle position in the map data storage unit 101. Generate based on. Then, the display control unit 110 causes the display 104 to display the generated map screen. Further, the display control unit 110 causes the display 104 to display an icon indicating the position of the vehicle of the vehicle on the position of the vehicle of the vehicle on the map screen.

  The map matching unit 121 is supplied from the autonomous navigation sensor 103 with map data stored in the map data storage unit 101, information of the vehicle position (absolute position) and orientation of the vehicle supplied from the GPS receiver 102, and Map matching is performed for each vehicle travel distance using information on the vehicle position (relative position) and direction of the vehicle, and the travel position of the vehicle is aligned on the road link of the map data.

  In map matching using the information on the vehicle position and orientation of the vehicle supplied from the autonomous navigation sensor 103, for example, the vehicle position correction is performed by a known projection method. In the autonomous navigation, when an error is accumulated and the vehicle position largely deviates from the road link, it becomes impossible to map the vehicle position to the current position on the actual road link. Therefore, when map matching by autonomous navigation becomes impossible, the vehicle's own vehicle according to the information supplied from the autonomous navigation sensor 103 using the information of the vehicle's position and orientation supplied from the GPS receiver 102 Correct the position and orientation.

  The toll gate mode control unit 122 controls the start and release of the tol gate mode. Specifically, the toll gate mode control unit 122 sets the toll gate mode when the vehicle reaches a point (a start point of the toll gate mode target section) a predetermined distance before the toll booth while traveling on the main road of the toll road. Start. Further, the toll gate mode control unit 122 cancels the toll gate mode when the vehicle reaches a point behind the toll gate by a predetermined distance (the end point of the toll gate mode target section).

  The map matching control unit 123 is a map by the map matching unit 121 when the vehicle travels on a toll gate mode target section (corresponding to “section of toll booth” in the claims) provided on the main line of the toll road. Stop matching.

  Specifically, while the vehicle is traveling on the main road of the toll road, the map matching control unit 123 reaches a position (a start point of the toll gate mode target section) a predetermined distance before the toll gate, and the toll gate mode control unit When the toll gate mode is started by 122, the map matching by the map matching unit 121 is stopped.

  In addition, when the vehicle reaches a point behind the toll gate by a predetermined distance (the end point of the toll gate mode target section) and the toll gate mode is canceled by the toll gate mode control unit 122 The map matching by the map matching unit 121 is resumed.

  While the map matching by the map matching unit 121 is stopped, the map matching control unit 123 keeps the map matching unit 121 searching for a road link as a candidate for map matching in the background. Then, the map matching control unit 123 sets the road link of the main line of the toll road (the road type is “main line of the toll road”) among the road links of the map matching candidates searched in the background by the map matching unit 121 When the road link is not included, the toll gate mode control unit 122 is made to release the tol gate mode, and the map matching by the map matching unit 121 is restarted.

  The road type determination unit 124 determines the road type of the road link to which the toll gate attribute is added, when the vehicle enters the tol gate mode target section and the tol gate mode is started. Only when the road type determined by the road type determination unit 124 is “main line of toll road”, the map matching control unit 123 continues to make the map matching unit 121 search for road links of map matching candidates, When the road link of the main line of the toll road is not included in the searched road links of the map matching candidates, the toll gate mode control unit 122 is made to cancel the toll gate mode, and the map matching by the map matching unit 121 is performed. Resume.

[One Example of Processing by Navigation Device 10]
FIG. 2 is a flowchart showing an example of processing by the navigation device 10 according to an embodiment of the present invention. The process shown in FIG. 2 is executed, for example, when the navigation device 10 displays the vehicle position of the vehicle on the map screen.

  First, the toll gate mode control unit 122 determines whether the vehicle has entered a toll gate mode target section (step S202). Here, when the toll gate mode control unit 122 determines that the vehicle has not entered the toll gate mode target section (step S202: No), the toll gate mode control unit 122 executes the determination process of step S202 again.

  On the other hand, when the toll gate mode control unit 122 determines that the vehicle has entered the tol gate mode target section (step S202: Yes), the toll gate mode control unit 122 starts toll gate mode (step S204). In response to this, the map matching unit 121 stops the map matching (step S206).

  Then, the road type determination unit 124 determines whether the road type of the road link to which the tall gate attribute is added is “main line of toll road” (step S208).

  In step S208, when the road type determination unit 124 determines that the road type is not "main line of toll road" (step S208: No), the toll gate mode control unit 122 has caused the vehicle to leave the toll gate mode target section It is determined whether or not (step S216). Here, when the toll gate mode control unit 122 determines that the vehicle has not left the toll gate mode target section (step S216: No), the toll gate mode control unit 122 executes the determination process of step S216 again.

  On the other hand, when the toll gate mode control unit 122 determines that the vehicle has left the tol gate mode target section (step S216: Yes), the toll gate mode control unit 122 cancels the tol gate mode (step S218). In response to this, the map matching unit 121 resumes the map matching (step S220). Then, the navigation device 10 ends the series of processes shown in FIG.

  In step S208, when the road type determination unit 124 determines that the road type is "main line of toll road" (step S208: Yes), the map matching unit 121 performs map matching according to an instruction from the map matching control unit 123. A candidate road link is searched in the background (step S210).

  Then, the map matching control unit 123 determines whether the road link of the map matching candidate searched in step S210 includes a road link whose road type is "main line of toll road" (step S212).

  In step S212, when the map matching control unit 123 determines that the road link whose road type is "main line of toll road" is included (step S212: Yes), the toll gate mode control unit 122 determines that the vehicle It is determined whether it has exited from the gate mode target section (step S214).

  Here, when the toll gate mode control unit 122 determines that the vehicle has left the toll gate mode target section (step S214: Yes), the toll gate mode control unit 122 cancels the toll gate mode (step S218). In response to this, the map matching 121 restarts the map matching (step S220). Then, the navigation device 10 ends the series of processes shown in FIG. On the other hand, when the toll gate mode control unit 122 determines that the vehicle has not left the toll gate mode target section (step S214: No), the navigation device 10 executes the processing after step S210 again.

  In step S212, when the map matching control unit 123 determines that the road link whose road type is "main line of toll road" is not included (step S212: No), the toll gate mode control unit 122 selects toll gate mode. It cancels (step S218). In response to this, the map matching unit 121 resumes the map matching (step S220). Then, the navigation device 10 ends the series of processes shown in FIG.

[Display example of vehicle position]
FIG. 3 is a view showing a display example of the position of the vehicle by the navigation device 10 according to the embodiment of the present invention. FIG. 3 schematically shows a map around the toll booth 304 provided on the main line 300 of the toll road. As shown in FIG. 3, on the main line 300, a toll gate mode target section is set from a point before a predetermined distance of the toll booth 304 to a point after the predetermined distance of the toll booth 304. The road type of the road link 302 of the main line 300 is set to “main line of toll road”, and extends in a straight line along the main line 300.

  Further, a PA 310 is provided beside the toll booth 304 as an example of a toll road facility. PA 310 is within the range of the toll gate mode target section. A road link 306 is branched from the road link 302 of the main line 300. The road link 306 has a road type set to “sideline of toll road”, and has a route that branches from the road link 302 and cyclically passes through the PA 310 and then returns to the road link 302.

  In the example of FIG. 3, when the vehicle 320 is traveling in front of the toll gate mode target section in the main line 300 (P1), the vehicle position of the vehicle 320 is determined by map matching by the map matching unit 121. Aligned on link 302. Thereafter, when the vehicle 320 enters the toll gate mode target section from a point before the toll booth 304 by a predetermined distance, the toll gate mode is started by the toll gate mode control unit 122, and accordingly the map by the map matching unit 121 Matching is stopped.

  At this time, the road type determination unit 124 determines the road type of the road link to which the toll gate attribute is added. In the example illustrated in FIG. 3, the road type determination unit 124 determines that the road type of the road link 302 to which the toll gate attribute is added is “main line of toll road”. For this reason, while the vehicle 320 is traveling in the toll gate mode target section (P2 to P4), the map matching unit 121 uses the map matching candidate road links in the background according to the instruction of the map matching control unit 123. Keep searching.

  While the vehicle 320 is traveling on the main line 300 of the toll road within the toll gate mode target section (P2 to P4), the vehicle position of the vehicle 320 is within a predetermined distance from the road link 302 of the main line 300 of the toll road. Therefore, the road link 302 of the main line 300 of the toll road is searched as the road link of the map matching candidate. In this case, map matching (alignment of the vehicle 320 with the road link) by the map matching unit 121 remains stopped.

  On the other hand, when the vehicle 320 enters the PA 310 from the main line 300 of the toll road in the toll gate mode target section (P5), the vehicle position of the vehicle 320 is separated from the road link 302 of the main line 300 of the toll road by a predetermined distance or more. The road link 302 of the main line 300 of the toll road is not searched as a road link of a candidate for map matching. In this case, the toll gate mode is released, and map matching (alignment of the vehicle 320 with the road link) by the map matching unit 121 is resumed.

  After that, while the vehicle 320 is moving in the PA 310 (P5 to P8), the position of the vehicle 320 of the vehicle 320 continues to be aligned with the road link 306 in the PA 310 by map matching by the map matching unit 121. Become. Therefore, even when the vehicle 320 leaves the toll gate mode target section to return to the main line 300 (P9), the vehicle position of the vehicle 320 remains aligned with the road link 306, and the accumulated error is almost not There is no condition. Therefore, when the vehicle 320 returns to the main line 300, there is no possibility that the position of the vehicle 320 of the vehicle 320 is aligned on the road link of another road other than the main line 300.

  Thus, according to the navigation device 10 of the embodiment of the present invention, the map matching is resumed at the timing when the vehicle 320 is temporarily separated from the main line 300 of the toll road in the toll gate mode target section. Become. That is, while the vehicle 320 travels in the PA 310 located at a distance from the main line 300 of the toll road, the vehicle position of the vehicle 320 is mapped to the road link 306 in the PA 310 by map matching. Therefore, when the vehicle 320 tries to leave the PA 310 and return to the main line 300, an error in the vehicle position of the vehicle 320 hardly occurs. Therefore, according to the navigation device 10, it is possible to prevent a map matching error when the vehicle 320 returns from the PA 310 attached to the toll booth 304 to the main line 300 of the toll road.

  Although the above-mentioned embodiment explains the example whose "facilities of the toll road attached to a toll booth" described in a claim is PA, the present invention is not limited to this. For example, the “facility of the toll road added to the toll booth” described in the claims may be SA or the like.

  In the above embodiment, although the map matching unit 121 does not particularly define the search distance range when the map matching candidate continues searching for road links for map matching in the background, the vehicle has entered a facility attached to the tollgate The search distance range may be defined so that the main road link of the toll road is not searched at the timing. For example, the search distance range may be defined in accordance with the average tollgate road width. Further, for each toll gate, the search distance range may be defined according to the road width.

  Further, in the above embodiment, after the map matching unit 121 resumes the map matching, among the road links of the map matching candidates, the road links of the facilities of the toll road attached to the toll booth and the roads other than the toll road If the road links of other roads are included, the road links of other roads may be excluded from the target of alignment and the position of the vehicle may be aligned on the road links of the facilities of the toll road. Good.

  For example, in the example of FIG. 3, after the map matching unit 121 resumes the map matching when the vehicle 320 enters the PA 310, the road link 306 of the PA 310 and the toll road in the road links of the map matching candidates. If the road links of other roads are included (not shown), the road links of the other roads are excluded from the alignment targets, and the position of the vehicle 320 is aligned on the road link 306 of the PA 310. You may do it. That is, the map matching unit 121 may preferentially align the position of the vehicle 320 with the road link 306 of the PA 310.

  Moreover, although the example which applies the well-known projection method to map matching was demonstrated in the said embodiment, this invention is not limited to this. For example, a known pattern matching method may be used for map matching.

  In addition, each of the above-described embodiments is merely an example of embodying the present invention, and the technical scope of the present invention should not be interpreted in a limited manner. That is, the present invention can be implemented in various forms without departing from the scope or main features of the present invention.

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 101 Map data storage part 102 GPS receiver 103 Autonomous navigation sensor 104 Display 110 Display control part 120 Self-vehicle position control part 121 Map matching part 122 Tall gate mode control part 123 Map matching control part 124 Road type determination part

Claims (4)

A map matching unit that performs map matching that aligns the position of a vehicle on a road link of map data;
And a map matching control unit for stopping the map matching by the map matching unit when the vehicle travels the section of the toll booth provided on the main line of the toll road,
The map matching control unit
While the map matching is stopped, the map matching unit continues to search for road links as map matching candidates.
When the road link of the main road of the toll road is not included in the road links of the map matching candidates searched by the map matching unit, the map matching by the map matching unit is resumed. Own vehicle position control device. The map matching unit restarts the map matching, and then, among the road links of the map matching candidate, the road link of the facility of the toll road attached to the toll booth, and the other than the toll road When the road link of the road is included, the road link of the other road is excluded from the target of alignment, and the position of the vehicle is aligned on the road link of the facility of the toll road. The vehicle position control device according to claim 1. The vehicle further includes a road type determination unit that determines the road type of the road link in the section of the tollgate when the vehicle enters the section of the tollgate;
The map matching control unit is limited to the case where the road type determined by the road type determination unit is “main line of toll road”.
While the map matching is stopped, the map matching unit continues to search for road links as map matching candidates.
When the road link of the main road of the toll road is not included in the road links of the map matching candidates searched by the map matching unit, the map matching by the map matching unit is resumed. The vehicle position control device according to claim 1 or 2. A vehicle position control method by a vehicle position control apparatus comprising a map matching unit that performs map matching that aligns the position of a vehicle on a road link of map data,
A map matching stop step of stopping the map matching by the map matching unit when the vehicle travels the section of the tollgate provided on the main road of the toll road, the map matching control unit of the vehicle position control device When,
A road link search step in which the map matching control unit of the vehicle position control device keeps the map matching unit searching for road links for map matching candidates while the map matching is stopped;
Among the road links of the map matching candidates searched by the map matching unit in the road link search step, the map matching control unit of the vehicle position control device is the main road link of the toll road And a map matching resuming step of resuming the map matching by the map matching unit when it is not included.

Images