Source: https://patents.google.com/patent/US9733092B2/en
Timestamp: 2019-12-09 19:03:18
Document Index: 478396564

Matched Legal Cases: ['art 301', 'art 302', 'art 303', 'art 304', 'art 303', 'art 303', 'art 303', 'art 303', 'art 303', 'art 303', 'art 304']

US9733092B2 - Vehicle position detection device and program - Google Patents
US9733092B2
US9733092B2 US14/404,414 US201314404414A US9733092B2 US 9733092 B2 US9733092 B2 US 9733092B2 US 201314404414 A US201314404414 A US 201314404414A US 9733092 B2 US9733092 B2 US 9733092B2
US20150149072A1 (en
2012-05-30 Priority to JP2012-122680 priority Critical
2012-05-30 Priority to JP2012122680A priority patent/JP6054638B2/en
238000007514 turning Methods 0 abstract claims description 123
FIG. 3 is a diagram illustrating functional blocks of the navigation device 100. The navigation device 100 includes an overall control part 301, a sensor information processing part 302, an own vehicle state detection part 303, and a map matching processing part 304.
When the own vehicle state detection part 303 does not detect a turning of the vehicle (No in Step S0041), the own vehicle state detection part 303 acquires the link direction of the matching subject link from the link information 203 (Step S0046), and calculates the direction error, which is the difference between the vehicle direction and the link direction (Step S0047). Moreover, the own vehicle state detection part 303 stores the calculated direction error in a memory such as the RAM 3, and finishes the direction error calculation processing.
Then, when a link connected at the predetermined angle or more exists (Yes in Step S0042), the own vehicle state detection part 303 proceeds to processing in Step S0043. On the other hand, when such a link does not exist (No in Step S0046), the own vehicle state detection part 303 proceeds to processing in Step S0047 described before.
X ⁢ ⁢ 1 = α ⁢ ⁢ 1  sin ⁢ ⁢ θ  ( 1 ) X ⁢ ⁢ 2 = α ⁢ ⁢ 2  tan ⁢ ⁢ θ  ( 2 ) X ⁢ ⁢ 3 = r ⁢ ⁢ 1  tan ⁡ ( θ 2 )  ( 3 )
r ⁢ ⁢ 2 =  L × tan ⁡ ( π - θ 2 )  ( 4 )
θ ⁢ ⁢ 1 = arctan ⁢ M r ⁢ ⁢ 2 ( 5 )
θ ⁢ ⁢ 2 =  θ  - arctan ⁢ 2 ⁢ ⁢ L - M r ⁢ ⁢ 2 ( 6 )
After the direction error is acquired as described above, the own vehicle state detection part 303 finishes the direction error calculation processing. When the direction error calculation processing is finished, the map matching processing part 304 carries out link evaluation amount calculation processing (Step S005 in FIG. 4).
wherein the central processing unit is programmed to:
generate a virtual link that connects a turning start point on a pre-turning link and a turning end point on a post-turning link, by using a turning start distance calculated based on a link width of the pre-turning link and a link width of the post-turning link;
calculate a virtual link direction that is a direction at a predetermined position on the virtual link;
calculate a direction error of a vehicle direction based on the virtual link direction;
identify a matching subject link based on the direction error;
use the turning start distance to generate the virtual link;
wherein the virtual link is generated based on the link width of the pre-turning link, the link width of the post-turning link, and a direction difference angle between the pre-turning link and the post-turning link; and
align a car mark, representing a current vehicle position of a vehicle, to the matching subject link on a map, and move the car mark along the matching subject link during a turning movement of the vehicle.
2. The vehicle position detection device according to claim 1, wherein the virtual link is generated based also on a minimum turning radius between the pre- turning link and the post-turning link.
3. The vehicle position detection device according to claim 1, wherein the central processing unit extends a perpendicular line drawn from a virtual current position acquired by a sensor value to the pre-turning link, and calculates a direction at an intersection between an extension of the perpendicular line and the virtual link as the virtual link direction.
4. The vehicle position detection device according to claim 3, wherein the central processing unit is programmed to:
5. The vehicle position detection device according to claim 4, wherein the central processing unit uses an arc of a circle that is externally tangent to the pre-turning link and the post-turning link to calculate the virtual link.
6. A method for determining a direction error of a vehicle direction, the method comprising:
generating, by a central processing unit, a virtual link that connects a turning start point and a turning end point on a post-turning link, by using a turning start distance calculated based on a link width of the pre-turning link and a link width of the post- turning link;
calculating, by the central processing unit, a virtual link direction that is a direction at a predetermined position on the virtual link;
calculating, by the central processing unit, the direction error of the vehicle direction based on the virtual link direction;
identifying, by the central processing unit, a matching subject link based on the direction error;
wherein the virtual link is generated based on the turning start distance; and
wherein the link width of the pre-turning link, the link width of the post-turning link, and a direction difference angle between the pre-turning link and the post-turning link; and
aligning a car mark, representing a current vehicle position of a vehicle, to the matching subject link on a map, and moving the car mark along the matching subject link during a turning movement of the vehicle.
7. The method according to claim 6, wherein a minimum turning radius between the pre-turning link and the post-turning link is also used to generate the virtual link.
8. The method according to claim 6, wherein a perpendicular line drawn from a virtual current position acquired by a sensor value to the pre-turning link is extended, and a direction at an intersection between an extension of the perpendicular line and the virtual link is calculated as the virtual link direction.
when the vehicle direction is included in a predetermined range between the virtual link direction and a reference direction that is a direction of the pre-turning link, a predetermined value is used as the direction error; and
when the vehicle direction is not included in the predetermined range, a smaller one of a direction error between the vehicle direction and the reference direction and a direction error between the vehicle direction and the virtual link direction is used as the direction error.
10. The method according to claim 9, wherein an arc of a circle that is externally tangent to the pre-turning link and the post-turning link is used to calculate the virtual link.
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