JP6283855B2 - Vehicle position determination device for fixed points on the road - Google Patents

Description

The present invention relates to an apparatus for determining a position corresponding to a fixed point on a road such as a so-called kilopost of a mobile vehicle.

Conventional examples of such devices can be found in the following patent documents.
The position of the moving vehicle is detected and displayed with respect to a fixed point on the road, such as a kilometer post, and the position is determined. This situation is commonly seen in highway maintenance vehicles, traffic patrol vehicles, freight collection and delivery vehicles, etc., and can be reached quickly by selecting the one that is as close as possible to the site or destination. Since the cost is also low, grasping the position of each individual moving vehicle is an important matter for those involved in the industry. On roads, especially on highways, there are fixed points called kiloposts that are installed at appropriate intervals, and in order to know how far and in what direction a moving vehicle is located, what is necessary is the position of the kilopost. The data and the position coordinates of the moving vehicle by a position measuring device such as GPS. Of course, the position measuring device such as GPS is mounted on the mobile vehicle side terminal.

Patent Document 1 displays a database unit for road fixed point data, a determination unit for obtaining road fixed point data corresponding to the coordinate data of the current point calculated by GPS, an operation unit for instructing the operation of the determination unit, and road fixed point data The present invention relates to a road fixed point display device that displays a road fixed point of a travel point provided with a display unit. When it is necessary to know the fixed point on the road at the time of traveling, the fixed point on the road having the coordinates closest to the coordinates taken by the GPS is determined from the database by pressing the operation instruction button. Disadvantages tend to be extra computations unless the computation algorithm is optimized.

Patent Document 2 is an apparatus that performs accompanying processing such as voice guidance on a target point such as a work place when a vehicle reaches the target point, and has the following configuration. As a data structure, a set of target points (Pi: P0, P1, P2,...) Having center coordinates and a radius are set in the expressway, and a plurality of target points (eg, P0) are set for each target point set. Are assumed to include c, d, e... In a, b, and P1. Each target point set is represented by a rectangular area including these, and has a hierarchical structure such that all target point sets are included in a large rectangular area including these rectangular areas. Therefore, if the position coordinate from GPS detects the included rectangular area, and further determines whether the position coordinates are included in the rectangular area obtained by further subdividing this rectangular area, Becomes the lowest layer area in which the target point set near the current position coordinate is included, and the target point set can be determined there. Whether or not the target point set is entered is determined by whether or not the target point set is within a circle designated by the center and radius. Each target point set (for example, P3) includes a plurality of target points. For example, there are target points that must be distinguished in a set of target points in the same circle, such as a point a included in the up line of the expressway and a point b included in the down line. This decision is made in relation to the previous data. In this document, a hierarchical structure is shown in which a region where repeated determination of whether or not a region is included is repeated with respect to the position coordinates from the GPS, and the target point set is thereby reduced. The target point included in the road and the previously detected target point is determined, and voice guidance attached to the target point is given, but if you look deeply at this, GPS measured When the position is derived from the coordinates, there are a plurality of target points corresponding to this. For example, it cannot be distinguished whether it is on the up line or down line. Therefore, the relationship with the target point detected last time, that is, if it was on the up line in the previous time, it is specified that it is also on the up line this time. If the previous fixed points on the road proposed by the present application are known, there is nothing to do with comparing all the fixed points on the road and the measured points on the GPS without comparing the measured coordinates on the road.
Since the position coordinates obtained by GPS are not compared with fixed points on the road, considering the load such as acquisition of a large amount of fixed point data, its calculation, and communication with the base station, this is inconvenient. is there.
In both Patent Literature 1 and Patent Literature 2, in order to obtain the fixed point on the road of the kilometer post or the target point from the GPS measured position coordinates, the region or area is specified from the GPS measured position coordinates, and the hierarchy is further lowered and repeated Although the calculation is repeated and the range is narrowed down, no means for reducing and simplifying the calculation has been taken. Therefore, there was a situation where we wanted a means to simplify this and reduce the calculation.

JP 2000-113383 A Japanese Patent No. 3744102

The subject of this application is providing the vehicle position determination apparatus corresponding to a fixed point on a road which can simplify and reduce calculation, when calculating | requiring the fixed point on the road corresponding to this from the position coordinate which GPS measured.

The vehicle position determination device corresponding to the road fixed point of the present invention collects road fixed point data as if only the road fixed points belonging to the same road are arranged in order in the desired section along the road. Based on the road fixed point determined value corresponding to the position coordinate of the previous measurement, the road fixed point is selected in the group of road fixed point data as a calculation target to compare with the current position coordinate of the current GPS measurement. The means to do.
Features described in the following claims.

The invention according to claim 1 is a vehicle position determination device corresponding to a fixed point on the road,
A GPS for measuring the position coordinates of the car, a location confirmation means for receiving the measurement coordinates to determine which area or road the vehicle is on, and a confirmation result of the location confirmation means for receiving the confirmation Road fixed point value determining means for calculating a fixed point on the road corresponding to the measurement coordinates from the location, and a display for displaying the fixed point determined value on the road obtained by the fixed point value determined on the road,
The measured coordinates of the GPS, a predetermined fixed point value on the road to be calculated by the fixed point value determining means on the road, and a fixed point data memory on the road for storing the coordinate position, and the GPS obtained by the fixed point value determining means on the road A road fixed point determined value memory for storing the road fixed point determined value corresponding to the measurement coordinates, and a memory and a computer including a program memory for storing a program for functioning and controlling these, and the road fixed point. The data memory stores data in which road fixed points, which are fixed points set to indicate the distance from the reference point, are arranged in order of distance along the road between desired points on the road as a group, and the road fixed point value When the road fixed point determination value for the previous measurement of the GPS has been determined, the determination means uses the road fixed point adjacent to this in the data group as a reference. In the calculation target by calculating between the coordinates and the measurement coordinates of this said GPS, and calculates the road fixed point determinations.

The invention according to claim 2 is the vehicle position determination device corresponding to the fixed point on the road according to claim 1,
As a method of taking the neighboring road fixed points, each of the road fixed points is set to be separated by a predetermined distance, and assuming a number in the order of the road fixed points around the reference road fixed point determination value, ± N ( The number, + is the increasing direction of the road fixed point value,-is the decreasing direction, N = 1 is adjacent, N = 2 is adjacent to the road fixed point as the neighboring road fixed point, and the vehicle speed is It is possible to quickly select N to a desired value in order to cope with a plurality of fixed points on the road during the GPS measurement interval.

According to a third aspect of the present invention, in the vehicle position determination device corresponding to the fixed point on the road according to the second aspect,
The road fixed point value determining means obtains a road fixed point determined value using the neighboring road fixed point as a calculation target,
When the difference between the fixed point on the road and the fixed point on the road is larger than the predetermined distance interval, the neighboring road fixed point obtained by increasing the number by an integer value obtained by dividing the difference by the predetermined distance interval. It is characterized by enabling recalculation.

According to a fourth aspect of the present invention, in the vehicle position determination device corresponding to the fixed point on the road according to any one of the first to third aspects,
The road fixed point value determining means, if the road fixed point determined value for the previous measurement of GPS is not fixed, the location confirmation means, if the road for the current or previous measurement of GPS is fixed The X coordinate or Y coordinate of the road fixed point on the road is compared with the X coordinate or Y coordinate of the current measurement of the GPS, respectively, and the road fixed point determined value is obtained using the close road fixed point as a calculation target.

The invention according to claim 5 is the vehicle position determination device corresponding to the fixed point on the road according to any one of claims 1 to 4,
The road fixed point value determining means, if the road fixed point determined value for the previous measurement of GPS is not fixed, the location confirmation means, if the road for the current or previous measurement of GPS is fixed , A plurality of interchanges on the road or smart parking areas or smart service areas (interchanges etc.) as fixed points to be calculated, and determined from the coordinates and the current measurement coordinates of the GPS, The fixed point determination value on the road is obtained from the current measurement coordinates of GPS.

The invention according to claim 6 is the vehicle position determination device corresponding to the fixed point on the road according to claim 5,
The road fixed point value determining means calculates the road fixed point determined value by calculating two different road fixed points or two different interchanges, etc., and in which range and distance to the two calculated objects. It is characterized by calculating | requiring.

The invention according to claim 7 is the vehicle position determination device corresponding to the fixed point on the road according to any one of claims 1 to 6,
The road fixed point value determining means, if the road fixed point determined value for the previous measurement of the GPS is not fixed, the location confirmation means must determine the area including the road for the current measurement of the GPS. For example, the location confirmation means calculates the area determined with respect to the previous measurement or an area in the vicinity thereof with the measurement coordinates before the GPS, and determines the area.

Since the vehicle position determination device corresponding to the fixed point on the road according to the present invention is configured as described above, when the corresponding fixed point on the road is obtained from the position coordinates measured by the GPS, the actual value such as the fixed point on the road in the previous measurement is obtained. In consideration of this, by setting a nearby fixed point on the road as a calculation target, the calculation can be made extremely small.

It is a figure which shows one embodiment of a structure of the vehicle position determination apparatus corresponding to a fixed point on the road by this invention. It is a figure which shows the example of the area and road division used for the vehicle position determination apparatus corresponding to a fixed point on the road by this invention. It is a figure which shows the operation | movement of the vehicle position determination apparatus corresponding to a fixed point on a road by this invention, and the example of a corresponding fixed point on a road. It is a figure which shows the example of the flow of confirmation of the possibility of straddling between the roads of the vehicle position determination apparatus corresponding to a fixed point on a road by this invention, and a response process. It is a figure which shows the example of road fixed point grouping of the vehicle position determination apparatus corresponding to a road fixed point by this invention.

The vehicle position determination device corresponding to the road fixed point collects the road fixed point data as if only the road fixed points belonging to the same road are arranged in order in the desired section along the road, and measures before GPS Based on the road fixed point determination value corresponding to the position coordinates of the road, a means for selecting a road fixed point by selecting a nearby road fixed point as a calculation target to be compared with the position coordinates of the current measurement of GPS in the group of road fixed point data. Features.
This will be described below with reference to the drawings.

The fixed point on the road is determined by the distance from this position on the basis of a predetermined position on the road. On high-speed roads, the distance is displayed on the fence on the shoulder of the road in units of 100 m. Yes. For this reason, for example, if it is a 3200m point, a place will be decided and a road administrator will know. In addition, the road administrator has correspondence data between the value of each fixed point on the road (... M point) and the coordinate value of latitude and longitude.
When the car is traveling on the road or stopped on the road, the GPS (Global Positioning System) mounted on the car receives the satellite radio waves and measures the position coordinates of the car. Can be measured with an accuracy of about 10 m and position coordinates are determined. In addition to displaying the coordinate position point on the map, it is also desirable to display the position corresponding to the road fixed point. If a position corresponding to a fixed point on the road is displayed, position-related information such as work at that location, road conditions, and accidents can be managed in association with each other.

Generally, in order to obtain a position corresponding to a fixed point on the road when the position coordinates are obtained by GPS, it is suddenly inefficient to calculate which one is nearer than the coordinates of all the fixed points on the road.
Therefore, first, the target area is divided into a number of areas. For example, Hokkaido, East Japan, West Japan, China, Shikoku, Kyushu, Okinawa, etc., further down the hierarchy, West Japan, Tokai, Hokuriku, ..., etc., further down the hierarchy, Tokai, Shizuoka Prefecture Aichi Prefecture, Gifu Prefecture, etc. In the Shizuoka Prefecture area, roughly divided, the Tomei Expressway and the Shin-Tomei Expressway connect the Sankaichi and Gotemba and connect Shimizu and Shin-Shimizu with each other. It is out. There are many fixed points on the road, each of which has position coordinates. How to divide the road does not necessarily have to be from one junction to the next. One road may be between Hamamatsu and Shizuoka. The situation of these areas and road sections is shown in 2-B of FIG.
In addition, the method of dividing the area is also divided into rectangles by latitude and longitude, and this is easier to understand as the division.

FIG. 2 is a diagram showing an example of a zone / road division used in the vehicle position determination device corresponding to a fixed point on the road according to the present invention. In 2-A, as described above, for example, the whole country is divided into areas such as A to X.
As described above, the hierarchy may be further lowered. In the area A, there are a plurality of (in some cases, single) roads (including RA1 road, RA2 road,...). Each road has a group of fixed points on the road (KPA11, KPA12,...) Included in the road.
And the area, the child area when the hierarchy is further dropped, the grandchild area, and the roads included in these are compared and calculated to which area, the child area, the grandchild area, and each road the position coordinates by GPS are included. Representative coordinate values (center point, center point and radius, diagonal point, start point, end point, etc.) of the rectangular area.
Therefore, the position coordinates by GPS are first compared with the area, the nearest or included area is selected, the child area is selected in the same way as the multiple child areas included in the area, and similarly the child area Select the grandchild area compared to the grandchild area included in the. Since there are a plurality of roads among them, an individual road including the position coordinates by GPS is determined by comparison with the representative value. after that,
The fixed point position on the road is obtained by comparing with the fixed point coordinates on the road.

In particular, in the present application, roads and road fixed point data included in the roads are grouped as follows.
In order to facilitate the selection of road fixed point data and roads and the calculation of road fixed points, only the road fixed points belonging to the same road, and the road fixed point data as being arranged in order within the desired section along the road Are grouped into road fixed point groups.
In this way, the fixed point group on the road is defined, the starting point and the ending point of the road and the road section are clarified, the relationship with each included road fixed point and the relationship between the fixed points on the road are also clarified, road selection and calculation target Road fixed point selection becomes easy.
Furthermore, in 2-B, the fixed point group on the road is characterized by information on points where vehicles enter and exit the general road and expressway such as interchange IC, smart PA, smart SA (hereinafter referred to as interchange) existing in the road. In the same manner as the fixed point data on the road. In this case, it is effective that information on points where vehicles enter and exit the general road and the expressway are arranged in order in a desired section along the road and have a positional relationship with each fixed point on the road. Usually, when there is a car coming in and out between a general road and an expressway, the first thing to recognize the expressway is an interchange IC or the like, the number of which is much larger than the number of fixed points on the road The comparison calculation is simple because there are few. For example, when entering a highway from a general road, a car does not necessarily enter from an interchange at the end of a road break.
There are more cases when entering from an interchange on the way. Since it is unclear where to enter, first of all it must be compared with all fixed points on the road. In order to avoid this, the existing interchange is determined in comparison with a small number of interchanges. Since the relationship with the fixed point on the road is known in the interchange, if the traveling direction of the vehicle is taken into consideration, the necessary fixed point on the road can be known, and the fixed point value on the road with respect to the position coordinates by GPS can be calculated. Compared to the case of going to the calculation of road fixed points with a large number directly from road determination, the calculation may be extremely small. It will be described later that once fixed points on the road are determined, it is not always necessary to compare with all fixed points on the road. In 2-B, if the area A is determined by the GPS position coordinates, and the area a is determined by lowering the hierarchy, the interchange ICs in this example are IC1 to IC8 in this example. IC2 is determined by comparing the position coordinates with this, and IC2 belongs to road 3 and IC2 is close to KP5 in it. After that, the comparison is made sequentially on the road 3.

Returning to FIG. 1, the configuration will be described.
FIG. 1 is a diagram showing an embodiment of the configuration of a vehicle position determination device corresponding to a fixed point on the road according to the present invention, which is made based on the flow of FIG.
The vehicle position determination device 100 corresponding to the fixed point on the road receives the GPS 110 for measuring the position coordinates of the car, the location confirmation means 120 for receiving the measurement coordinates and determining the location of the car, and the result, Road fixed point value determining means 130 for calculating a fixed point on the corresponding road from a limited location, a display 150 for displaying the road fixed point determined value obtained by the road fixed point value determining means 130,
A predetermined fixed point value on the road to be compared and calculated by the measured coordinates of the GPS 110 and the fixed point value determination means 130 on the road and a fixed point data memory 141 for storing the coordinate position, and the GPS value determined by the fixed point value determination means 130 on the road A road fixed point determined value memory 142 for storing road fixed point determined values corresponding to the measurement coordinates, and a memory 140 and a computer 160 having a program memory 143 for storing a program for functioning and controlling them; The fixed point data memory 141 stores data in which fixed points on the road, which are fixed points set so as to indicate the distance from the reference point, are arranged in the order of distance along the road between desired points on the road as a group. The value determining means 130 is based on the fixed point on the road for the measurement before the GPS 110, and the coordinates of the adjacent fixed points on the road on the road. By comparing calculating the measurement coordinates of the current GPS 110, reducing the amount of calculation. Further, preferably, the determination of roads and areas by the location confirmation means 120 is characterized in that the amount of calculation is reduced by comparison with neighboring areas or one level above.
This will be described in more detail.

The GPS 110 acquires the position coordinates of the mounted vehicle, and is displayed on the display 150 by the map display unit 170 according to an instruction from the computer 160. At this time, map data is also brought from the map data memory 144, and the vehicle location is displayed on the map data.
The position coordinates in the GPS 110 are given to the location confirmation means 120.
The location confirmation unit 120 determines whether the road fixed point corresponding to the previous measurement is fixed in the previous road fixed point determination determination unit 121. If it is confirmed, the road crossing judging means 122
In consideration of the traveling direction from the traveling direction confirmation means 180, it is determined whether or not the vehicle crosses the road and enters a new road section. When straddling, the connecting road is determined by the connecting road determining means 123. The road fixed point is calculated by the road fixed point value determining means 131 corresponding to the normal time even when straddling or not straddling.
Road straddling is determined by the fact that the fixed point on the road is at the end of the road, and when the traveling direction is taken into account, the road crosses the road.

In the previous road fixed point determination judgment means 121, the road fixed point corresponding to the previous measurement is not fixed (it can be traced only immediately before or after, and if it is not fixed yet, the previous data cannot be used as a reference) ), The road decision determination means 1241 checks whether the corresponding road has been decided at the previous measurement. If the road is fixed, the road fixed point value is determined by the initial corresponding road fixed point value determining means 132 from a plurality of road fixed points in the road. If the road corresponding to the previous measurement is not fixed, the area determination determining unit 1242 checks whether the corresponding area is fixed for the previous measurement. If the area is fixed, the road determination means 1244 determines the road where the GPS measurement position coordinates exist from the plurality of roads in the area, and then the initial corresponding road fixed point value determination means 132 determines the road fixed point value. decide.
If the area is not fixed, the area determining means 1243 determines the area where the GPS measurement position coordinates exist, and then the road determining means 1244 determines the road, and the initial corresponding road fixed point value determining means 132 determines the road. Determine the fixed point value.
In many cases, the area is determined at a plurality of levels instead of one stage. In determining areas and roads, it is necessary to determine which area or road the GPS measured position coordinates belong to or close to, so the areas and roads are the center, center and radius for calculating the range comparison and distance, etc. And representative values such as range coordinates.

The road fixed points determined by the normal time corresponding road fixed point determination means 131 and the initial corresponding road fixed point value determination means 132 of the road fixed point value determination output stage 130 are stored in the road fixed point determined value memory 142 in the memory 140 and are displayed on the display 150. Is displayed together with the location of the map data.
1) First, the normal time corresponding road fixed point determination means 131 performs the following in order to reduce the amount of calculation for determining the road fixed point.
Since the fixed point value on the road is fixed for the position coordinates of the measurement in front of the GPS (it is not necessary to be immediately before, and it is possible to return to the previous if the previous time is unknown), the car is on the road Taking into account the movement in the order of fixed points and the direction of travel, neighboring road fixed points are subject to comparison calculation in the order along the previous road fixed point road. Usually, if one next to the front in the direction of travel is used as a comparison target, one calculation is sufficient. The flow diagram of FIG. 3 also shows a comparison with ± N nearby roadside fixed points. This is effective when the vehicle speed is large relative to the GPS measurement interval and is expected to exceed a plurality of fixed points on the road, where N = 1 is adjacent and N = 2 is adjacent. is there. The sign “+” indicates a case where the traveling direction of the vehicle is a direction in which the fixed point value on the road increases, and a sign “−” indicates a case where the fixed point value on the road decreases. Even in such a case, the calculation may be performed for the adjacent area, and the final fixed point value on the road may be obtained from the calculation result. For example, if it is calculated that it is 350 m ahead from the target fixed point on the road, it will be at a point 50 m from the fixed point on the road three more points at every 100 m. For accuracy, the confirmation calculation may be performed again for a fixed point on the road ahead of three. As described above, the calculation can be performed very simply by using the previous fixed point on the road.
1-B describes such a situation. On the road, fixed points on the road (called kiloposts KP on the highway) are arranged in order along the road. Since the previous KP is known, the neighboring KP in the direction of travel of the car is selected for calculation. Of course, this is also possible because the number of calculations does not increase so much regardless of the direction of travel of the car. Even if both the front and the back are subject to calculation, the calculation amount does not change much. Moreover, there is an advantage that it is possible to know which side of the two points the vehicle is by comparing with the two points. Accordingly, the traveling direction confirmation unit 180 may not be essential.
As the traveling direction confirmation means 180, a gyro sensor is used, or a difference between a plurality of previous fixed point determination values on the road is observed, or a difference between the previous GPS measurement coordinates and the current GPS measurement coordinates. Means such as viewing are possible.

2) Next, when the fixed point value on the road is not fixed with respect to the position coordinates of the measurement before the GPS, the fixed point value determining means 132 on the road corresponds to the fixed point value determining unit 132 after determining and determining the area and the road. Although the fixed point value is obtained, it is preferable to do the following in order to reduce the amount of calculation for determining the fixed point on the road.
The road where the car is located has been decided,
A. When entering from the end of a road segment. When entering from an interchange in the middle of a road segment c. When the device is operated after entering the road In the case of (a), the fixed point on the road may be determined by comparing in order from the fixed point on the end of the road.
In the case of (b), when entering the interchange, the position coordinates measured by the GPS are compared with the position coordinates of the interchange, and the interchange is first determined. This is because the number of interchanges is extremely small compared to the number of fixed points on the road every 100 m, so that comparative calculations can be reduced. If the interchange is confirmed, comparison calculation is performed with a neighboring road point, and thereafter, the normal time corresponding road fixed point value determining means 131 is followed.
Further, the following case may be used.
In the case of C, the number of calculations is the least. First, when calculating the distance from the two interchanges on the road, the distance between the two is calculated, which is between the left and right (up and down) range Since the distance is known, a fixed point on the road corresponding to the distance is selected as a target, and a definite calculation is performed. This can be done with three calculations.

As described above, the road fixed point value determining means is different between the case where the road fixed point value is fixed and the case where the road fixed point value is not determined with respect to the position coordinates of the measurement before GPS.
The location confirmation means 120 can also simplify the calculation process.
As shown in 1-C, if the area for the previous measurement of GPS has been determined, it is possible to calculate the neighboring area in consideration of this and the traveling direction of the car. Of course, if the direction of travel is not taken into account, some of the surroundings will be subject to calculation, so this is also possible in that only some calculations increase and not the entire area.
Also, by reducing the number of comparison calculations from the viewpoint of comparison by raising the hierarchy, if the area for the previous measurement of GPS is fixed, it is also possible to return to the hierarchy one level higher for obtaining this area. However, in general, since it is often located in the same area and the same road, it is appropriate to select the same or a nearby area or road.

In addition, in FIG. 1, although it demonstrated in the state by which all the components were comprised in one place, GPS is attached to a vehicle-mounted terminal station, However, Other means are divided into a vehicle-mounted terminal station and a monitoring base station, Of course, it is possible to connect between them by wireless communication, for example,
1) The GPS, wireless communication terminal, display and computer are installed in the in-vehicle terminal station. The monitoring base station has road fixed point data memory, map data memory, road fixed point value determining means, etc.
The position coordinates measured by the GPS are sent to the monitoring base station, where a fixed point on the road is determined and sent back to the terminal station. In other words, the in-vehicle terminal station has only the periphery of the GPS positioning unit, and the monitoring base station has the main part for determining the fixed point value on the road.
2) On the other hand, it is also possible for the in-vehicle terminal to have all the means to calculate the fixed point value on the road and transmit the calculation result to the monitoring base station.
3) In the above two intermediate modes, the in-vehicle terminal station has the main parts such as GPS and fixed point value determination means on the road, and has fixed point data and map data on the monitoring base station. It is also possible to determine the fixed point value on the road by loading via the communication terminal.

Next, the operation of the vehicle position determination device corresponding to a fixed point on the road according to the present invention will be described using a flow.
FIG. 3 is a diagram showing an example of the operation of the vehicle position determination device for road fixed points according to the present invention and the corresponding road fixed point determination flow.
First,
1. About the position coordinate value input correspondence determination processing flow It is checked at appropriate intervals whether there has been a new measurement of position coordinates by GPS, and if there is a measurement, the location is displayed on the map as necessary.
1) If the fixed point value on the road is not fixed, consider further higher layers. For example,
Whether the road for the previous GPS measurement coordinates is fixed.
If the road is fixed, 2. Process C in the initial decision flow is performed.
2) If the road has not been confirmed, consider the higher levels. For example, is the area for the previous GPS measurement coordinate established?
If the area is fixed, 2. Process B of the initial decision flow is performed. Alternatively, an interchange or the like is confirmed in response to 2-B in FIG. As a result, the road is also determined.
3) If the area is not confirmed, nothing has been confirmed. Process A in the initial decision flow is performed.

2. About Initial Determination Flow Here, it is a process for determining an area, (interchange, etc.), road, and fixed point on the road in order when position coordinates are measured by GPS. Once determined, it is not necessary to perform all calculations in the hierarchy in these order. (Interchange etc.) is written in the case corresponding to 2-B in FIG. 2, and the calculation process becomes efficient.
1) Determination of location area: Process A (process entered from mark A, and so on)
Normally, if the vehicle is moved while the device is in operation, for example, if the vehicle is moved this morning, the existing area is at the place where the previous day's car was stopped. In this case, it is not necessary to determine the area. Absent.
However, when the apparatus is operated for the first time, or when the apparatus is moved without operating the apparatus, it may not be known in which area. Including such a case, an area where the position coordinates measured by GPS exist is determined.
A. Is it within the previous area? Most are in the previous area, so compare from the previous area.
B. If it is outside the range of the previous area, compare it sequentially from the neighboring area.

2) Location road determination: Processing of B Here, in response to the determination of the area, which road (or interchange etc. corresponding to 2-B of FIG. 2) is included in the area ( It is determined whether GPS position coordinates are included in the interchange etc.). In addition, when going through an interchange etc., the road including it is decided automatically. When comparing by road, it can be understood which road is included by comparing with the representative coordinate value of the road. If the distance is more than a predetermined distance from these representative values, the coordinate position is displayed on the map and the next GPS If there is a measurement, repeat the same calculation. After that, every time there is a GPS measurement, a road fixed point value corresponding to the position coordinates is calculated.

Returning to FIG. 3, thereafter, the fixed point value on the road corresponding to the GPS position coordinates is determined by comparing with the data in the fixed point group data on the road.

3) Determination of the corresponding fixed point on the road The initial fixed point on the road is preferably determined as follows.
In this case, the fixed point value on the road corresponding to the previous position coordinates of the GPS is often not known because the flow for determining the area or the road is passed. For example, once you get out of a general road and move on a general road, you can see the area, but there is no corresponding highway road and fixed point on the road. It also comes out when crossing between areas. From this state, since the area and road are fixed, it is possible to obtain the corresponding fixed point on the road when riding on the expressway. Since a car does not necessarily enter from the start point that defines the road range, it may not be appropriate to compare the start point and the end point.
In order to determine easily, a plurality of fixed points on the road having X coordinates or Y coordinates close to the X coordinates or Y coordinates of the GPS position coordinates are first selected as targets, and then the fixed points on the road where the positions between the XY coordinates are the closest among them. May be set as the corresponding fixed point value on the road. Alternatively, as described with reference to 2-B of FIG. 2, the interchange where the vehicle is located may be determined by comparing with the coordinates of a plurality of interchanges existing in the area, and a fixed point on the road close to the interchange may be obtained. .
When the fixed point on the corresponding road is determined in this way, the fixed point on the corresponding road is displayed.
Once the corresponding fixed point on the road is determined, if the next GPS position coordinate is measured,
In general, when considering the characteristics of a car, the location can never fly discontinuously and moves continuously, so the area and the road are often the same. For this reason, since it is often a (fixed) road fixed point value that is close to the road fixed point at the time of the previous measurement of the GPS position coordinates, it is preferable to use a road fixed point determination means that uses this feature. This is whether the fixed point on the road at the previous GPS measurement is confirmed, whether the road at the previous GPS measurement is confirmed (whether the interchange at the previous GPS measurement is confirmed) Since the process is divided depending on whether or not the area at the time of the previous GPS measurement is fixed, This is as shown in the position coordinate value input correspondence determination processing flow.
In particular, if the fixed point on the road at the time of the previous GPS measurement is fixed, the determination of the fixed point on the road at the time of the next GPS measurement is facilitated as follows. It can be done as such, but it is much preferred because it is much easier. Normally, while driving continuously on the same road, fixed points on the road also pass in succession in order (it is impossible to fly. Since this is a large case, this situation should be taken into account). It is performed according to the normal road fixed point determination flow.

3. Normal road fixed point determination flow Once the road fixed point is fixed, at the next GPS measurement, 1. As described above, since the fixed point on the road is fixed in the position coordinate value input correspondence determination processing flow, the process proceeds to E.
The processing of E is shown in detail in FIG. FIG. 4 is a diagram showing an example of a flow of confirmation processing and response processing of the possibility of straddling roads of the vehicle position determination device corresponding to a fixed point on the road according to the present invention.
1) Confirmation of the possibility of crossing the road and handling process: Process E a. If the fixed point on the road at the previous GPS measurement is the start point or end point in the road, there is no possibility of crossing the road.
If so, there is a possibility of crossing the road.
B. In the latter case, there is no possibility of crossing the road if it is not the direction of travel across the road.
If so, cross the road.
C. Road decision
Find out which road fixed point corresponds to the GPS position coordinates from multiple roads,
The road to which the fixed point on the road belongs is determined.
In this case, the fixed point on the road may be determined by selecting the calculation target sequentially from the fixed point on the road that becomes the start point or end point in the road. Thereafter, the fixed points on the road are sequentially calculated. Eventually, there is no possibility of crossing the road, so as a regular fixed point determination process on the road,
The following processing D is performed.

2) Normal road fixed point determination process: Process D a. Here, it is grasped whether the traveling direction is the forward direction or the reverse direction. When road fixed points are arranged in order along the road, the direction in which the road fixed point value increases is the forward direction, and the direction in which the road fixed point decreases is the reverse direction.
B. In the case of the road fixed point to be compared and calculated with the GPS measured position coordinate value, select one large road fixed point in the forward direction, and in some cases N large road fixed points, and one smaller road fixed point in the reverse direction. In some cases, N small fixed points on the road are selected, and which is closest to which side is calculated. Note that N is the number of divisions for each unit when the fixed points on the road are divided by appropriate divisions (usually in units of 100 m). For example, N = 1 corresponds to an adjacent fixed point on the road, and N = 2 corresponds to one adjacent place. The reason why N other than 1 is considered is that it is assumed that the traveling speed of the vehicle is large with respect to the GPS measurement time interval and exceeds a plurality of fixed points on the road. Thus, the calculation can be reduced by making the determination considering the traveling speed and the GPS measurement time interval.
If the range of the fixed point on the target road is exceeded, the next fixed point on the road is selected as the calculation target, or if N = 1, first, the actual fixed point on the road is calculated based on the distance from the fixed point on the road. good. For example, when the distance to the adjacent road fixed point is obtained, if it is 350 m ahead, if there is a road fixed point for every 100 m, it will be a point 50 m from the road fixed point three further ahead. Here, it is calculated to which side how much from the fixed point on the target road with good separation. Then, for confirmation, the coordinates of the three fixed points on the road may be compared for calculation.

As described above, when the current position coordinates of the GPS are measured, the fixed point value on the road corresponding to the position coordinates (on the road, for example, 23560 m points from the reference point / this is the 235th and 236th points in 100 m units. Point between 235th and 60m) is obtained.
In addition, the judgment when leaving the expressway is performed as follows. A fixed point on the road that is close to the interchange is determined in advance, and if the distance from the fixed point on the road becomes larger than a predetermined value in the vicinity of the fixed point, it is determined that the road has got off the general road from the interchange or the like.

An example of grouping of road fixed point group data will be described.
FIG. 5 is a diagram illustrating an example of road fixed point grouping by the vehicle position determination device corresponding to road fixed points according to the present invention. Here, an example of road fixed point grouping in order of distance along the road is shown.
1) This is a grouping of road fixed points and coordinates arranged along the road between junctions in the road, shown in 5-A.
2) This is a grouping of road fixed point positions and coordinates on the route from one interchange to the next, shown in 5-B.
3) This is a grouping of road fixed point positions and coordinates arranged along the route between multiple interchanges, such as between Hamamatsu Interchange and Shizuoka Interchange, as shown in 5-C.
4) This is a grouping of road fixed point positions and coordinates arranged along the route between appropriate delimiters of the road fixed point positions (eg 1000m to 5000m section), and is shown in 5-D.
As described above, a road fixed point group is created in which road fixed points are arranged in order between desired locations along the road. In such a group, in addition to being easy to group, the amount of fixed point data on the road in the group can be optimized, and if the previous fixed point on the road is fixed, the order is clear and the vehicle Considering continuous mobility limited to moving roads, there is an advantage that the selection of a fixed point on the road to be calculated and the relationship between neighboring roads connected to the road are naturally clarified. In addition, since the road fixed point only needs to be compared with the surrounding road fixed points, there is a great advantage that the calculation is simplified.

In the above description, the fixed point on the road of the expressway has been described as a fixed point. However, for roads with road numbers such as national roads and prefectural roads, the fixed point is separated from the starting point as the starting point or the ending point as a starting point and separated by an appropriate interval. Can be set. On a highway, there is a kilometer post as a fixed point on the road, and a display tag is on the road side. However, if the fixed point on the road can be set as position data along the road, the display tag is not necessarily required. Therefore, the above gist can be applied to general roads other than highways.

As described above, the vehicle position determination device corresponding to the fixed point on the road according to the present invention forms a group in which the fixed points on the road are arranged in order along the road, and the fixed point value on the road corresponding to the position coordinates measured by the GPS is further obtained. Since it is calculated and displayed with a small number of calculations, it is very effective for industrial use.

100 vehicle position determination device 110 GPS for fixed points on the road
120 Location confirmation means 121 Previous road fixed point determination determination means 122 Road crossing determination means 123 Connection road determination means 124 Area / road confirmation means 1241 Road determination determination means 1242 Area determination determination means 1243 Area determination means 1244 Road determination means 130 Road fixed point Value determination output stage 131 Normal time corresponding road fixed point determination means 132 Initial correspondence road fixed point value determination means 140 Memory 141 Road fixed point data memory 142 Road fixed point determined value memory 143 Program memory 144 Map data memory 150 Display 160 Computer 170 Map display means 180 Travel direction confirmation means

Claims (7)

A GPS for measuring the position coordinates of the car, a location confirmation means for receiving the measurement coordinates to determine which area or road the vehicle is on, and a confirmation result of the location confirmation means for receiving the confirmation Road fixed point value determining means for calculating a fixed point on the road corresponding to the measurement coordinates from the location, and a display for displaying the fixed point determined value on the road obtained by the fixed point value determined on the road,
The measured coordinates of the GPS, a predetermined fixed point value on the road to be calculated by the fixed point value determining means on the road, and a fixed point data memory on the road for storing the coordinate position, and the GPS obtained by the fixed point value determining means on the road A road fixed point determined value memory for storing the road fixed point determined value corresponding to the measurement coordinates, and a memory and a computer including a program memory for storing a program for functioning and controlling these, and the road fixed point. The data memory stores data in which road fixed points, which are fixed points set to indicate the distance from the reference point, are arranged in order of distance along the road between desired points on the road as a group, and the road fixed point value When the road fixed point determination value for the previous measurement of the GPS has been determined, the determination means uses the road fixed point adjacent to this in the data group as a reference. In the calculation target by calculating between the coordinates and the measurement coordinates of this said GPS, street fixed point corresponding vehicle position determination apparatus characterized by calculating a road fixed point determinations. As a method of taking the neighboring road fixed points, each of the road fixed points is set to be separated by a predetermined distance, and assuming a number in the order of the road fixed points around the reference road fixed point determination value, ± N ( The number, + is the increasing direction of the road fixed point value,-is the decreasing direction, N = 1 is adjacent, N = 2 is adjacent to the road fixed point as the neighboring road fixed point, and the vehicle speed is 2. The vehicle according to claim 1, wherein N can be selected to a desired value in order to cope with exceeding a plurality of the fixed points on the road during the GPS measurement interval. Positioning device. The road fixed point value determining means obtains a road fixed point determined value using the neighboring road fixed point as a calculation target,
When the difference between the fixed point on the road and the fixed point on the road is larger than the predetermined distance interval, the neighboring road fixed point obtained by increasing the number by an integer value obtained by dividing the difference by the predetermined distance interval. The vehicle position determination device corresponding to a fixed point on the road according to claim 2, wherein recalculation is possible. The road fixed point value determining means, if the road fixed point determined value for the previous measurement of GPS is not fixed, the location confirmation means, if the road for the current or previous measurement of GPS is fixed The X coordinate or the Y coordinate of the fixed point on the road on the road is compared with the X coordinate or the Y coordinate of the current measurement of the GPS, respectively, and the fixed point determined value on the road is calculated using the close fixed point on the road as a calculation target The vehicle position determination device corresponding to a fixed point on the road according to any one of claims 1 to 3. The road fixed point value determining means, if the road fixed point determined value for the previous measurement of GPS is not fixed, the location confirmation means, if the road for the current or previous measurement of GPS is fixed , A plurality of interchanges on the road or smart parking areas or smart service areas (interchanges etc.) as fixed points to be calculated, and determined from the coordinates and the current measurement coordinates of the GPS, 5. The vehicle position determination device corresponding to a road fixed point according to claim 1, wherein the road fixed point determined value is obtained from the current measurement coordinates of GPS. The road fixed point value determining means calculates the road fixed point determined value by calculating two different road fixed points or two different interchanges, etc., and in which range and distance to the two calculated objects. The vehicle position determination device corresponding to a fixed point on the road according to claim 5. The road fixed point value determining means, if the road fixed point determined value for the previous measurement of the GPS is not fixed, the location confirmation means must determine the area including the road for the current measurement of the GPS. For example, the location confirming means calculates the area determined with respect to the previous measurement or a nearby area with the measurement coordinates before the GPS as a calculation target and determines the area. The vehicle position determination device corresponding to a fixed point on the road according to any one of claims 1 to 6.

Images