JP4770367B2 - Vehicle position detection system - Google Patents

Description

The present invention relates to a vehicle both position detection system is Ru can be quickly detects the position of the other vehicle around the host vehicle.

Conventionally, it has been considered to acquire position information (hereinafter also referred to as GPS position information) received by another vehicle from a GPS satellite and grasp the position of the other vehicle around the host vehicle.
However, since the GPS position information includes an error, it is necessary to correct the received GPS position information in order to accurately detect the position of the other vehicle.
Therefore, as an apparatus for correcting such an error in the GPS position information and detecting the relative positional relationship between the host vehicle and the other vehicle, for example, there is a device described in Patent Document 1.
This is done by first receiving GPS position information indicating the current position of the other vehicle transmitted from the other vehicle and the vehicle position calculated by the other vehicle, correcting the position of the other vehicle, and then correcting the position of the own vehicle. After calculating the vehicle position and correcting the position of the host vehicle, the relative position between the other vehicle and the host vehicle is calculated.
JP 2004-170268 A

Here, when the GPS position information is corrected using map matching, it is necessary to acquire the position information of other vehicles for a predetermined past time from the present.
However, in such a conventional apparatus, for example, another vehicle moves from an area where there are many radio wave shields to an area where there is no radio wave shield, and the host vehicle can receive GPS position information transmitted from the other vehicle. In this case, the position information for the past predetermined time related to the other vehicle is not accumulated in the own vehicle, and the position of the other vehicle is calculated by map matching until the own vehicle accumulates the position information related to the other vehicle for the predetermined time. Can not do.
As described above, there is a problem that it takes time until the position of the other vehicle is calculated after the position information on the other vehicle is started to be received.

The present invention has been made in view of such problems, and an object thereof is to provide a vehicle both position detection system that can be quickly detects the position of the other vehicle.

The present invention provides information acquisition means for acquiring other vehicle position calculation information transmitted from other vehicle side transmission means provided in another vehicle, a host vehicle side map data storage section for storing map data, and the other vehicle position. wherein the calculation information is performed more map matching map data, the vehicle both position detecting system comprising a vehicle-side map matching processing means for detecting a position of another vehicle, the other vehicle, GPS position in the other vehicle GPS position information acquisition means for acquiring information, another vehicle-side map data storage section for storing map data indicating a predetermined area with many radio wave shields, and GPS position information acquired by the GPS position information acquisition means The other vehicle side map matching processing means for detecting the position of the other vehicle itself from the map data stored in the other vehicle side map data storage unit, Radio wave shielding for determining whether the other vehicle is in a predetermined area with many radio wave shielding objects based on the position of the other vehicle detected by the vehicle side map matching processing means and the map data stored in the other vehicle side map data storage unit. The other vehicle side transmitting means performs map matching processing by the own vehicle side map matching processing means when it is determined by the radio wave shielding area determining means that the other vehicle is in the predetermined area. A predetermined amount of other vehicle position calculation information that can be executed is transmitted together, and only the current other vehicle position calculation information is transmitted when the radio wave shielding area determination means determines that the other vehicle is not in the predetermined area. and the vehicle-side map matching processing means, when receiving collectively other vehicle position calculation information of the predetermined amount , And other vehicle position calculation information of the predetermined amount, the detecting the position of the other vehicle using the map data, care has received only the other vehicle position calculation information of the present time, the other vehicle position of the current The position of the other vehicle is detected using the calculation information, the other vehicle position calculation information received in the past, and the map data .

  According to the present invention, the other vehicle side collectively transmits a predetermined amount of other vehicle position calculation information, and the own vehicle side map matching processing means detects the position of the other vehicle using the other vehicle position calculation information. Therefore, the host vehicle-side map matching processing means does not wait until the amount of other vehicle position calculation information necessary for performing the map matching process is accumulated, and collects the predetermined amount of other vehicle position calculation information transmitted together. When it is received, the position of the other vehicle can be detected immediately.

Next, embodiments of the present invention will be described by way of examples.
In this embodiment, the other vehicle position detection device according to the present invention is applied to the other vehicle information providing device, and the position calculation information of the other vehicle detected by the other vehicle position detection device mounted on the other vehicle is received. Thus, the position of the other vehicle is detected in the own vehicle.
FIG. 1 shows the overall configuration of the embodiment.
The other vehicle information providing device 1 is mounted on the vehicle A.
The other vehicle information providing apparatus 1 includes a communication unit 11 for exchanging information such as a vehicle position between the host vehicle and the other vehicle, a GPS position information acquisition unit 12 for acquiring GPS position information from a GPS satellite, A vehicle motion state recognition unit 13 for recognizing the vehicle speed and acceleration of the host vehicle, and a driver operation amount recognition unit 14 for recognizing a steering wheel operation and a winker operation of the driver of the host vehicle are provided.

Here, it is assumed that the GPS position information acquired by the GPS position information acquisition unit 12 includes the position of the host vehicle (the GPS coordinates of the host vehicle) and the direction of the host vehicle.
Further, the GPS position information acquired by the GPS position information acquisition unit 12, the speed and acceleration of the vehicle A acquired by the vehicle motion state recognition unit 13, the steering wheel operation and the winker operation recognized by the driver operation amount recognition unit 14. Are collectively referred to as vehicle A position calculation information.

Furthermore, the other vehicle information providing apparatus 1 uses the map data storage unit 15 that holds map data such as road shapes, the vehicle A position calculation information, and the map data held in the map data storage unit 15 to determine the position of the host vehicle. The map matching processing unit 16 that performs map matching and the outputs of the communication unit 11 to the map matching processing unit 16 are used to calculate the position of the other vehicle, the distance to the intersection, and information existing around the host vehicle. a processing unit 17 for specifying a providing target vehicle (which will be described in detail later), an information provision unit 18 for performing information provided to the driver to obtain the output from the processing unit 17, processing unit 17 are various processes And a memory 19 for temporarily storing data when performing the above.

The other vehicle information providing device 2 is mounted on the vehicle B.
Similar to the other vehicle information providing apparatus 1, the other vehicle information providing apparatus 2 includes a communication unit 21, a GPS position information acquisition unit 22, a vehicle motion state recognition unit 23, a driver operation amount recognition unit 24, a map data storage unit 25, a map, A matching processing unit 26, a processing unit 27, an information providing unit 28, and a memory 29 are provided.
Note that the GPS position information acquired by the GPS position information acquisition unit 22, the speed and acceleration of the vehicle B acquired by the vehicle motion state recognition unit 23, the steering wheel operation and the winker operation recognized by the driver operation amount recognition unit 24. Are collectively referred to as vehicle B position calculation information.

The vehicle A and the vehicle B respectively transmit the vehicle A position calculation information and the vehicle B position calculation information to the other vehicle, and the vehicle A and the vehicle B respectively receive the received vehicle B position calculation information and the vehicle A. It is assumed that the position of the vehicle B and the position of the vehicle A are calculated based on the position calculation information.
In particular, a case where the vehicle A calculates the position of the vehicle B using the vehicle B position calculation information transmitted by the vehicle B will be described.
In this case, the vehicle A is the own vehicle, the vehicle B is the other vehicle, and the vehicle B position calculation information is the other vehicle position calculation information.

FIG. 2 shows a flow of processing in which the vehicle B transmits the vehicle B position calculation information to the vehicle A.
In step 100, the processing unit 27 acquires GPS position information of itself (vehicle B) from a GPS satellite via the GPS position information acquisition unit 22.
In step 101, the processing unit 27 uses the GPS position information acquired in step 100 and the speed and acceleration of the vehicle B, the steering wheel operation, and the winker operation when the GPS position information is acquired as vehicle B position calculation information. It is stored in the memory 29.
It is assumed that the vehicle B position calculation information is stored in the memory 29 only for a predetermined time (for example, several tens of seconds), and the old vehicle B position calculation information that has passed the predetermined time is sequentially discarded.

In step 102, the processing unit 27 uses the map matching processing unit 24 to perform map matching between the latest information of the vehicle B position calculation information stored in the memory 29 and the map data stored in the map data storage unit 25. To determine which road on the map data the vehicle B is on.
The processing unit 27 recognizes the map-matched road as a current link, and stores the link number assigned to the road in the memory 29. Further, on the road subjected to map matching, an intersection ahead of the host vehicle is recognized as a forward node, and the node number is stored in the memory 29 .
Specifically, as shown in FIG. 3, when map matching is performed, the road on which the vehicle B is currently traveling, that is, the link Z, and the intersection in front of the vehicle B, that is, the node V are stored in the memory 29. Stored in
Note that, for example, a node V and a node W exist in front of the vehicle B, but the node number closest to the vehicle B is stored in the memory 29.

Next, in step 103, the processing unit 27 determines whether or not the position of the vehicle B obtained by performing the map matching is a designated road / area with many radio wave shielding objects.
This is because the map data storage unit 25 stores in advance, as designated roads / areas, building streets and residential areas where buildings higher than the vehicle antenna are dense, which is a factor that hinders the arrival of radio waves transmitted from the vehicle B. The determination is made by comparing the position of the vehicle B with the designated road / area.
If the position of the vehicle B is a designated road / area, the process proceeds to step 104, and if not, the process proceeds to step 106.

In step 104, the processing unit 27 calculates how much time series data regarding the vehicle B is necessary when the vehicle A calculates the position of the vehicle (vehicle B) by the map matching process.
In order to perform the map matching process, time-series data for a predetermined time is required for the target vehicle. This predetermined time is determined by the vehicle speed, the travel distance, and the like of the target vehicle. Therefore, the vehicle B extracts the vehicle B position calculation information from the present to the past predetermined time (for example, several seconds before) based on the vehicle speed, the travel distance, and the like.

In step 105, the processing unit 27 transmits the vehicle B position calculation information for a predetermined time extracted in step 104 to the vehicle A via the communication unit 21.
When all the processes are completed, the process returns to step 100 and the above processes are repeated.

On the other hand, if it is determined in step 103 that the position of the vehicle B is not the designated road / area, the processing unit 27 directs the current vehicle B position calculation information to the vehicle A via the communication unit 21 in step 106. To send.
As described above, the other vehicle information providing apparatus 2 transmits the vehicle B position calculation information for a predetermined time only when the position of the vehicle (vehicle B) is on a designated road / area where there are many radio wave shields.

Next, a procedure in which the vehicle A calculates the position of the vehicle B and provides other vehicle information around the host vehicle will be described.
FIG. 4 is a diagram illustrating a flow of processing performed by the other vehicle information providing apparatus 1 of the vehicle A.
In step 200, the processing unit 17 acquires GPS position information on itself (vehicle A) from a GPS satellite via the GPS position information acquisition unit 12.
In step 201, the processing unit 17 uses the GPS position information acquired in step 200 and the speed and acceleration of the vehicle A, the steering wheel operation, and the winker operation when the GPS position information is acquired as vehicle A position calculation information. Calculate and store in the memory 19.

In step 202, the processing unit 17 uses the map matching processing unit 14 to perform map matching between the vehicle A position calculation information stored in the memory 19 and the map data stored in the map data storage unit 15. Determines where on the map data is.
Further, similarly to step 102, the memory 19 stores the link number of the road on which the vehicle A is currently traveling and the node number of the node ahead of the vehicle A.

In step 203, the processing unit 17 determines whether or not the vehicle B position calculation information transmitted from the vehicle B can be received via the other vehicle information providing apparatus 2, and proceeds to step 204 if it can be received. Return to step 200.
In step 204, the processing unit 17 acquires the vehicle B position calculation information and stores it in the memory 19.
It is assumed that the vehicle B position calculation information stored in the memory 19 is deleted after a predetermined time has elapsed.
As a result, the vehicle 19 stores the vehicle B position calculation information for a predetermined period of time from the present.

In step 205, the processing unit 17 determines whether the map matching processing unit 16 can perform the map matching process using the vehicle B position calculation information acquired in step 204.
Here, when the map matching processing unit 16 performs map matching for the vehicle B, the memory 19 needs to store continuous vehicle B position calculation information for a predetermined period of time from the present.
However, for example, when the vehicle B is traveling on a designated road / area surrounded by radio wave shielding objects, and the vehicle A may not receive the vehicle B position calculation information (it cannot be received in step 203 within a predetermined time). In the case where it has been determined that the vehicle B position has been continuously calculated for a predetermined period of time from the present time, the vehicle B position calculation information cannot be stored in the memory 19.
In such a case, it is determined that the map matching process for the vehicle B cannot be performed, and the process proceeds to step 206.
On the other hand, if the vehicle B position calculation information for a predetermined period of time from the present is stored in the memory 19 and the map matching process can be performed for the vehicle B, the process proceeds to step 211.

In step 206, the processing unit 17 uses the map matching processing unit 16 to map the vehicle B position calculation information for the past predetermined time from the current time received from the vehicle B and the map data stored in the map data storage unit 15. Matching is performed to determine where the vehicle B is on the map data.
The processing unit 17 also recognizes the map-matched road as the current link, and stores the link number assigned to the road in the memory 19. Furthermore, on the map-matched road, an intersection ahead of the vehicle B is recognized as a forward node, and the node number is stored in the memory 19.

Here, when the vehicle B position calculation information for the past predetermined time from the present is not stored in the memory 19, that is, the vehicle B is located on the designated road / area with many radio wave shielding objects, and the vehicle B transmitted from the vehicle B is transmitted. If the position calculation information cannot be received, the vehicle B transmits the vehicle B position calculation information for the past predetermined time from the present in step 105 of FIG.
Therefore, even if the vehicle A cannot receive the vehicle B position calculation information, the vehicle B always has the past predetermined time from the present when it is located on the designated road / area where there are many radio wave shields. Vehicle B position calculation information is transmitted, the vehicle A can receive the vehicle B position calculation information for the past predetermined time from the present time transmitted by the vehicle B, and immediately upon receiving this vehicle B position calculation information. Then, the map matching process for the vehicle B can be performed to obtain the exact position of the vehicle B.

ただし、
Ｘ｛ｍｍ｝：マップマッチング後の車両ＡのＸ座標
Ｙ｛ｍｍ｝：マップマッチング後の車両ＡのＹ座標
Ｘ｛ｎｏｄｅ｝：車両Ａの前方に存在するノードＶのＸ座標
Ｙ｛ｎｏｄｅ｝：車両Ａの前方に存在するノードＶのＹ座標
とする。 In step 207, the processing unit 17 calculates the position D of the vehicle A after the map matching and the distance D to the node (front intersection) stored in the memory 19.
This distance D is calculated using the following equation.

However,
X {mm}: X coordinate of vehicle A after map matching Y {mm}: Y coordinate of vehicle A after map matching X {node}: X coordinate of node V existing in front of vehicle A Y {node}: The Y coordinate of the node V existing in front of the vehicle A is assumed.

In step 208, the processing unit 17 determines whether or not the distance D to the front intersection calculated in step 207 is within a predetermined value.
If it is within the predetermined value, the process proceeds to step 209, and if it exceeds the predetermined value, the process proceeds to step 212.
The predetermined value means that there is an intersection ahead of the host vehicle, and the driver of the host vehicle needs to be urgently informed of the risk of crossing with another vehicle traveling on a road intersecting the host vehicle. For example, 20 m is set based on whether or not there is a certain distance.

When the distance D from the vehicle A to the front intersection is smaller than a predetermined value, in step 209, the processing unit 17 is a vehicle that intersects the target vehicle that provides information to the driver of the host vehicle at the intersection because there is a risk of crossing. Limited to only.
That is, as shown in FIG. 5, when the vehicle A approaches the intersection, only the vehicle B and the other vehicle C that intersect the vehicle A at the intersection are selected as the target vehicles.
In this way, by limiting and reducing the number of other vehicles that provide information, it is possible to shorten the time required for the process of selecting the information providing target vehicle.
In FIG. 5, there are vehicles B, C, D and a preceding vehicle E around the vehicle A. Like the vehicle B, the vehicles C, D and the preceding vehicle E are arranged by map matching as described above. It is assumed that vehicle position calculation information for specifying is transmitted toward the vehicle A. Further, it is assumed that the vehicle A performs map matching processing in the same manner as the vehicle B for all vehicle positions.

Processor 17 in step 210, the information of the other vehicle with crossing risk via the information provision unit 18 is provided in the vehicle A driver.
As a result, the driver of the vehicle A can recognize the existence of another vehicle having a risk of crossing around the host vehicle, and can perform the danger avoidance driving.
As the information presentation device 18, for example, a screen display of a navigation system, a meter display, a HUD (Head Up Display) display, a notification sound generating device, a sound generating device, an organic LED light, or the like can be used.

  If it is determined in step 205 that the map matching process can be performed for the vehicle B, in step 211, the processing unit 17 stores the vehicle B position calculation information for the past predetermined time from the current time stored in the memory 19. Is used to determine the position of the vehicle B by performing a map matching process on the vehicle B. After the position of the vehicle B is determined, the process proceeds to step 207.

On the other hand, if it is determined in step 208 that the distance D from the vehicle A to the front intersection exceeds the predetermined value, the processing unit 17 provides information to the driver of the host vehicle because there is a risk of crossing in step 212. The target vehicle to be performed is limited to only a vehicle that intersects at an intersection and another vehicle that faces the road on which the vehicle travels.
That is, as shown in FIG. 5, when the vehicle A approaches the intersection, only the vehicle B and the vehicle C that intersect with the vehicle A at the intersection, and the vehicle D that faces the road on which the vehicle A travels, Selected as a target vehicle.
Therefore, for example, the preceding vehicle E traveling in the same direction on the same road as the host vehicle is not selected as the target vehicle.

As described above, by limiting the number of other vehicles that provide information, the time required to provide information can be shortened, and information can be provided to the driver of the host vehicle at an earlier timing.
In addition, when the distance D from the vehicle A to the front intersection exceeds a predetermined value, the distance D from the vehicle A to the front intersection is smaller than the predetermined value before reaching the intersection. Because there is time, in addition to the vehicles that intersect at the intersection, other vehicles that face the road on which the vehicle travels are selected as target vehicles for information provision, and the driver avoids driving for more other vehicles. Can be encouraged.
In this embodiment, steps 105 and 106 constitute other vehicle transmission means in the present invention, and the map data storage unit 15 constitutes the own vehicle side map data storage unit in the present invention. Steps 206 and 211 constitute the vehicle-side map matching processing means in the present invention, and step 100 constitutes the GPS position information acquisition means. The map data storage unit 25 constitutes the other vehicle side map data storage unit in the present invention, step 102 constitutes the other vehicle side map matching processing means in the present invention, and step 103 constitutes the radio wave shielding area determination means in the present invention. To do.

The present embodiment is configured as described above. When the vehicle B is on a designated road / area with many radio wave shields, the vehicle B is transmitted from the vehicle B by transmitting vehicle B position calculation information for a predetermined period of time from the present. The received vehicle B position calculation information may be temporarily interrupted and cannot be received, and continuous vehicle B position calculation information for the past predetermined time from the present time required to perform the map matching process in the memory 19 of the vehicle A Even if the vehicle A is not stored, the vehicle A does not wait until the vehicle B position calculation information necessary for performing map matching is accumulated, and the vehicle A is a vehicle B for the past predetermined time from the present transmitted collectively. When the position calculation information is received, the position of the vehicle B can be detected immediately.
Thus, the position of the other vehicle can be detected quickly, and information on the other vehicle can be provided to the driver of the host vehicle at an early timing.

  Further, the map matching processing units 16, 26 are based on the GPS position information including the position of the vehicle and the traveling direction of the vehicle, the speed and acceleration of the vehicle B, the steering operation, and the winker operation. Since the position of the vehicle B is specified by map matching, the exact positions of the vehicle A and the vehicle B can be specified. For example, it is determined that the vehicle is traveling on a point where there is no road on the map. Can be prevented.

  Since the vehicle B position calculation information for a predetermined past time is transmitted from the present when the position where the vehicle B is located is a designated road / area where there are many radio wave shields, In the absence, it is only necessary to transmit the vehicle B position calculation information at the present time, that is, data with a small amount of information, and communication efficiency can be improved.

It is a figure which shows the whole structure of an Example. It is a figure which shows the flow of the process which the process part by the side which transmits vehicle position calculation information performs. It is a figure which shows the relationship between the own vehicle, a node, and a link. It is a figure which shows the flow of the process which the process part by the side which provides other vehicle information performs. It is a figure which shows an information provision object vehicle.

Explanation of symbols

1, 2 Other vehicle information providing device 11, 21 Communication unit 12, 22 GPS position information acquisition unit 13, 23 Vehicle motion state recognition unit 14, 24 Driver operation amount recognition unit 15, 25 Map data storage unit 16, 26 Map matching processing Unit 17, 27 processing unit 18, 28 information providing unit 19, 29 memory A, B, C, D vehicle E preceding vehicle V, W node Z link

Claims (4)

Information acquisition means for acquiring other vehicle position calculation information transmitted from other vehicle side transmission means provided in another vehicle, own vehicle side map data storage section for storing map data, the other vehicle position calculation information, and the It performed more map matching map data, the vehicle both position detecting system comprising a vehicle-side map matching processing means for detecting the position of the other vehicle,
The other vehicle is
GPS position information acquisition means for acquiring GPS position information in the other vehicle;
Another vehicle side map data storage unit for storing map data indicating a predetermined area where there are many radio wave shields;
Other vehicle side map matching processing means for detecting the position of the other vehicle itself from the GPS position information acquired by the GPS position information acquisition means and the map data stored in the other vehicle side map data storage unit;
Based on the other vehicle position detected by the other vehicle side map matching processing means and the map data stored in the other vehicle side map data storage unit, it is determined whether or not the other vehicle is in a predetermined area where there are many radio wave shielding objects. Radio wave shielding area judgment means,
The other vehicle-side transmission means may include a predetermined amount of map matching processing that can be executed by the own vehicle-side map matching processing means when the radio wave shielding area determination means determines that the other vehicle is in the predetermined area. While transmitting vehicle position calculation information collectively, when it is determined that the other vehicle is not in the predetermined area by the radio wave shielding area determination means, only the current vehicle position calculation information is transmitted,
When the host vehicle-side map matching processing unit receives the predetermined amount of other vehicle position calculation information collectively , the host vehicle side map matching processing unit uses the predetermined amount of other vehicle position calculation information and the map data to determine the position of the other vehicle. In order to detect and receive only the other vehicle position calculation information at the present time, the other vehicle is calculated using the other vehicle position calculation information at the current time, the other vehicle position calculation information received in the past, and the map data. car two position detection system that is characterized in that to detect the position. The other vehicle position calculation information includes, in addition to the GPS position information, at least one or more of vehicle speed information of the other vehicle, handle operation information in the other vehicle, and winker operation information in the other vehicle. car both position detecting system according to claim 1,. The GPS location information, the car two position detecting system according to claim 1 or 2, characterized in that it comprises a position of the other vehicle and a traveling direction of another vehicle. Other vehicle position calculation information of the predetermined amount, the car two position detecting system according to any one of claims 1 to 3, characterized in that the predetermined past time period information from the current.

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