Source: https://patents.google.com/patent/JP2011013039A/en
Timestamp: 2020-01-20 06:38:54
Document Index: 619926725

Matched Legal Cases: ['art 2', 'art 3', 'art 4', 'art 5', 'art 6', 'art 7', 'art 8', 'art 9', 'art 100']

JP2011013039A - Lane determination device and navigation system - Google Patents
Lane determination device and navigation system Download PDF
JP2011013039A
JP2011013039A JP2009156118A JP2009156118A JP2011013039A JP 2011013039 A JP2011013039 A JP 2011013039A JP 2009156118 A JP2009156118 A JP 2009156118A JP 2009156118 A JP2009156118 A JP 2009156118A JP 2011013039 A JP2011013039 A JP 2011013039A
JP2009156118A
2009-06-30 Application filed by Clarion Co Ltd, クラリオン株式会社 filed Critical Clarion Co Ltd
2009-06-30 Priority to JP2009156118A priority Critical patent/JP2011013039A/en
2011-01-20 Publication of JP2011013039A publication Critical patent/JP2011013039A/en
PROBLEM TO BE SOLVED: To provide a lane determination device quickly and accurately determining the lane in which its own vehicle is traveling on a road with a plurality of lanes each way.SOLUTION: The lane determination device 100 detects a reference position 402 or 502 set in advance at an entrance to the road B with a plurality of lanes each way, and determines in which lane out of traveling lanes B1-B3 of the road B with a plurality of lanes each way the own vehicle 400 travels, based on an entry distance L from the reference position 402 or 502 and map information.
In the present invention, when the own vehicle is traveling on a road having a plurality of vehicle lanes in the same direction (hereinafter referred to as one-side multiple lane road) such as a so-called one-side two lane or one-side three lane, The present invention relates to a lane determination device and a navigation system that determine which lane (vehicle lane) the vehicle is traveling.
A navigation system mounted on an automobile has a function of displaying a vehicle position detected by an autonomous method such as GPS (Global Positioning System) or a gyro system together with map information in the vicinity thereof.
The closer the vehicle position displayed in the navigation system is to the actual vehicle position, the higher the position accuracy, and by outputting a highly accurate vehicle position, the occupant can select the appropriate road at the actual vehicle position. Information can be grasped.
Conventional navigation systems have low accuracy in estimating the vehicle position. For example, when the vehicle is traveling on a multi-lane road on one side, it is difficult to determine which lane the vehicle is traveling on. there were. Therefore, when performing guidance on a branch on an expressway or guidance in the direction of travel at an intersection, it is difficult to perform different route guidance for each lane and it is difficult to improve comfort for passengers. That is, in order to realize advanced route guidance, it is necessary to accurately determine the lane in which the vehicle is traveling.
For example, in Patent Document 1, lane change is determined by a winker operation signal and a signal (white line straddling) from a white line detection unit, a lane position in which the host vehicle is traveling is determined, and a front branch is detected. An in-vehicle navigation device that provides branch guidance to a driver at a position a predetermined distance ahead based on a determined lane is disclosed. Patent Document 2 discloses a vehicle control device that determines a lane that is running from the type of white line (solid line or broken line).
Furthermore, in Patent Document 3, the turning radius of a vehicle is calculated from the amount of change in travel direction of the vehicle or the traveling locus when turning left or right at an intersection, and based on the turning radius, the vehicle is detected for each lane of the road after the right turn or left turn. A vehicle position identification device that calculates the probability of traveling and identifies the traveling lane in which the vehicle is traveling based on the probability is disclosed.
JP 2006-023278 A JP 2000-105898 A JP-A-11-211491
However, in Patent Document 1, since both the blinker operation and the white line crossing are detected and the lane change is determined, there is a possibility that the lane position where the host vehicle is traveling may be lost due to forgetting to turn the blinker or the white line crossing not being detected. In addition, since it is assumed to cross the white line, it can be used on expressways and exclusive roads. However, at the intersection of ordinary roads, there is no white line in the intersection, so the lane position cannot be estimated by crossing the white line.
In Patent Document 2, for example, in the case of a four-lane road on one side, the second and third lanes in which the line types of the left and right lanes are the same cannot be distinguished. Therefore, it is practically impossible to use on roads with four or more lanes on one side. In addition, in order to detect a broken line or a dotted line due to a white line, since the line type is determined after detecting some paints, it takes time to determine the lane. Also, if the paint is faint, it may cause undetected or erroneous detection. Furthermore, since the standards for line types differ between different countries, it is not practical.
Furthermore, Patent Document 3 adopts a method for calculating the current position of the vehicle based on the direction data of the vehicle, the travel distance data, and the position data from the GPS receiver, that is, a position detection method using a so-called conventional navigation system. Therefore, the estimation accuracy of the own vehicle position is low, and it is impossible to obtain the position accuracy that can accurately determine the lane in which the own vehicle travels. In particular, since the travel locus is obtained from the current position of the own vehicle calculated by the conventional calculation method, errors are accumulated according to the length of the travel locus, and the estimation accuracy of the own vehicle position deteriorates.
Also, since the driving lane is judged based on the turning radius at the time of turning left and right, for example, when going straight to the vicinity of the center of the intersection and turning the handle fully at this position and turning at the minimum turning radius, Compared to the case where the steering wheel is turned from the time of entry and the inside of the intersection is bent with a large turning radius, it is easily affected by differences in driving, etc., and it is possible to obtain position accuracy that can accurately determine the lane in which the vehicle is traveling I can't.
And since the structure which raises the precision of identification of driving | running | working lane by performing a lane change in multiple times is employ | adopted immediately after intersection left-right turn or when lane change is not performed, the precision of identification of driving | running | working lane is low. Therefore, for example, when traveling at a continuous intersection with a short distance interval, it is not possible to perform appropriate route guidance for each traveling lane, and as a result, the driver cannot change lanes and cannot travel according to route guidance.
The present invention has been made in view of the above points, and the object of the present invention is, for example, for a vehicle traveling on a multi-lane road on one side to enable advanced route guidance by a navigation system. An object of the present invention is to provide a lane determination device and a navigation system that can quickly and accurately determine a traveling lane.
The lane determination device of the present invention that solves the above problems is a lane determination device that determines the traveling lane of the host vehicle traveling on one side multi-lane road, and is a reference set around the entrance of the one side multi-lane road The travel lane is determined based on the approach distance that is the distance in the width direction of the one-side multi-lane road from the position to the own vehicle position on the one-side multi-lane road and the map information.
According to the present invention, based on the approach distance which is the road width direction distance of the one-side multi-lane road from the reference position set around the entrance of the one-side multi-lane road to the own vehicle position on the one-side multi-lane road and the map information Since the travel lane is determined, the travel distance until the travel lane is determined can be shortened, and the accumulated error can be reduced according to the length of the travel locus.
Therefore, it is possible to accurately determine which lane of the one-side multiple lane road is traveling and to determine the traveling lane of the own vehicle quickly and accurately. Therefore, advanced route guidance by the navigation system is possible. For example, when traveling at continuous intersections with short distance intervals, the traveling lane of the host vehicle can be determined immediately after turning the intersection, so that appropriate route guidance can be performed at the next intersection.
Hereinafter, embodiments of the lane determination device according to the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing functions of a navigation system 100 having a lane determination device according to the present embodiment.
First, the configuration of the navigation system 100 and its processing contents will be described. The navigation system 100 includes a reference position detection unit 1, a vehicle speed detection unit 2, a host vehicle direction change detection unit 3, a travel locus calculation unit 4, a lane determination unit 5, a host vehicle position detection unit 6, a map information acquisition unit 7, a map The information storage unit 8 and the information notification unit 9 are configured, programmed in a computer (not shown) of the navigation system 100, and repeatedly executed at a predetermined cycle.
The reference position detection unit 1 performs a process of detecting a reference position that is set in advance at or around an entrance that enters a multi-lane road on one side. The reference position is detected using image data around the own vehicle imaged by the in-vehicle camera, communication data acquired by the communication means, and the like.
The vehicle speed detection unit 2 detects the vehicle speed of the host vehicle. For example, the vehicle speed detection unit 2 detects the vehicle speed by averaging the values obtained by the wheel speed sensors attached to the front, rear, left, and right wheels of the vehicle, and is mounted on the host vehicle. There is a method of calculating the vehicle speed by integrating the acceleration value of the own vehicle obtained by the acceleration sensor.
The own vehicle azimuth change amount detection unit 3 detects the change amount of the own vehicle azimuth, and calculates the change amount of the own vehicle azimuth from the value obtained by the gyro sensor or the yaw rate sensor.
The travel locus calculation unit 4 calculates the travel locus of the host vehicle from the reference position based on the reference position detected by the reference position detection unit 1 and the amount of change in the vehicle speed and direction of the host vehicle.
The lane determination unit 5 performs a process of determining a lane (vehicle lane) in which the vehicle is traveling in the one-side multiple lane road based on the travel locus of the vehicle from the reference position and the map information. Specifically, the travel distance in the road width direction from the reference position to the vehicle position is calculated based on the travel locus, and the travel lane of the host vehicle is determined based on the calculated road width direction travel distance and map information. .
The own vehicle position detection unit 6 detects the own vehicle position based on an external signal, for example, using GPS. The vehicle position may be calculated by integrating the vehicle movement vector by combining the vehicle speed detected by the vehicle speed detection unit 2 and the information on the vehicle direction detected by the vehicle direction change detection unit 3. In addition, the calculation may be performed in combination with position information detected using GPS.
The map information storage unit 8 includes a storage medium that stores map information. Examples of the storage medium include a computer-readable CD-ROM, DVD-ROM, and hard disk. However, the storage medium may be obtained by communication from an information center.
The map information includes road map data displayed on a monitor screen (not shown) of the navigation system 100, location data of each location, registration location data necessary for destination search and location registration, and the like. In addition, information such as node information and link information is stored.
In addition, the map information includes the number of lanes (number of vehicle lanes) of one-side multiple lane roads into which the vehicle enters, the lane width (width of vehicle lanes), road types such as general roads and expressways, and temporary stops Various road information such as an offset distance L0 (see, for example, FIG. 5 and FIG. 6) that is a road width direction distance from a road marking object such as a line or a pedestrian crossing to a multi-lane road on one side is included.
The map information acquisition unit 7 accesses the map information storage unit 8 based on the vehicle position detected by the vehicle position detection unit 6, and acquires map information around the vehicle position from the map information storage unit 8.
The information notifying unit 9 performs a process of notifying various information obtained from the map information acquiring unit 7 and the lane determining unit 5 with a voice or a monitor screen in an easily understandable manner. In addition, it is possible to provide easy-to-understand and kind guidance by switching the content notified to the occupant based on the lane in which the host vehicle obtained from the lane determination unit 5 is traveling.
Next, a lane determination method by the navigation system 100 having the above-described configuration will be described. FIG. 2 is a flowchart showing the processing contents of the lane determination method in the present embodiment.
First, in step S201, the vehicle speed detection unit 2 detects the vehicle speed of the host vehicle, and the host vehicle direction change amount detection unit 3 detects the direction of the host vehicle. And in step S300, the process which acquires the map information around the own vehicle is performed. In addition, when the map information around the own vehicle cannot be acquired, the lane determination process is not performed.
FIG. 3 is a flowchart for explaining in detail the contents of the map information acquisition process in step S300 of FIG.
In step S301, the vehicle position detection unit 6 detects the vehicle position using the vehicle position information (latitude, longitude, etc.) received from the GPS and the vehicle speed and vehicle direction information detected in step S201. In step S302, the map information acquisition unit 7 reads a necessary portion around the vehicle position from the map information stored in a storage medium such as a CD-ROM, DVD-ROM, or hard disk in the map information storage unit 8.
In step S303, a process for matching the vehicle position detected in step S301 with the map information read in step S302 is performed. As an example of the matching process, create a mesh on the map, compare the vehicle position (latitude, longitude) and the position of the mesh grid point on the map, map the mesh grid point closest to the vehicle position Map matching with the vehicle position above is common.
In step S304, the vehicle position is updated according to the result of the matching process executed in step S303. In step S305, map information around the vehicle is output based on the updated vehicle position. Here, the output map information includes at least road information such as the number of lanes, the road type, the position of the road marking object, and the offset distance from the road marking object to the approaching road. As described above, the map information around the own vehicle can be output using the own vehicle position detection unit 6 and the map information acquisition unit 7.
Returning to the description of the flowchart shown in FIG. 2 again, after acquiring map information around the vehicle in step S300 of FIG. 2, the process proceeds to step S202. In step S202, it is determined whether or not the own vehicle exists in the vicinity of the road on which the lane determination is to be performed.
Here, the road on which the vehicle is to determine the lane refers to a one-side multi-lane road that the vehicle enters by turning a vehicle such as a left turn or a right turn, and the own vehicle exists in the vicinity of the one-side multi-lane road ( If YES in step S202), the process proceeds to step S203 to detect the reference position. If the vehicle does not exist in the vicinity of the road on which the lane determination is to be performed (NO in step S202), the series of processing ends. (RETURN).
In step S203, it is determined whether or not the reference position is detected by the reference position detection unit 1. If the reference position is detected (YES in step S203), the process proceeds to step S204 to obtain the travel locus of the host vehicle. On the other hand, if the vehicle has not detected the reference position (NO in step S203), the series of processing ends (RETURN).
The reference position is detected, for example, by imaging a road marking object, a road edge such as a curb or a guard rail, or a place with a characteristic outside the road such as a building boundary (hereinafter referred to as a road marking object) with an in-vehicle camera. Is done.
In addition, road markings include road markings (stop lines, pedestrian crossings, pedestrian crossings, or bicycle crossings, etc.) drawn on the road surface of an approach road that enters a multi-lane road on one side. Etc.), road signs placed beside the road (temporary stop, slow travel, vehicle entry prohibition, closed roads, etc.), traffic lights, places with white line shapes (places where white lines cross each other, places that are largely bent) Etc.).
The reference position detection unit 1 detects the position of the road marking object photographed by the in-vehicle camera and the position of the own vehicle that has detected the road marking object as the reference position. When an in-vehicle camera (imaging device) is used to detect the reference position, the imaging direction of the in-vehicle camera is the vehicle front (front view camera), the vehicle side (side view camera), the vehicle rear (rear view camera), or an oblique direction. Or an omnidirectional camera that captures images in all directions.
With respect to the type of the on-vehicle camera, a monocular camera that captures an image with one camera and a stereo camera that captures an image with two cameras may be used.
Image information captured by the in-vehicle camera is subjected to image processing by the reference position detection unit 1, a specific road marking object is detected by a known method such as pattern matching, and a distance to the road marking object is calculated. Is done.
FIG. 4 is a diagram for explaining an example of a method for calculating a distance from the own vehicle to a road marking object using an image captured by an in-vehicle camera. FIG. 4A shows an image captured by the rear view camera. In the imaging range 600, a white line 601 on the left side, a white line 602 on the right side, and a stop line 603 exist.
In order to detect these road markings 601 to 603, for example, the video is binarized by a known method to detect edges, and the respective road markings 601 to 603 are detected.
Next, a separation distance Lc from the own vehicle 400 camera to the front edge of the stop line 603 is calculated. Due to the characteristics of the camera image, as the distance axis shown on the left side of the imaging range 600 moves to the upper side of the image, the distance increases exponentially, and this distance axis depends on the camera mounting position and mounting angle. Can be determined uniquely. As described above, in the case of FIG. 4A, the separation distance from the own vehicle 400 camera to the front edge of the stop line 603 can be calculated as Lc = 1 [m].
FIG. 4B is an image captured by the front view camera, and in the imaging range 610, as a road marking object, a white line 611 on the left side, a white line 612 on the right side, a stop line 613, a stop sign 614, and beyond There are white lines 615 and 616 of a one-lane two-lane road that intersects the road. Here, the separation distance Lc from the own vehicle 400 camera to the road sign 614 indicating temporary stop can be obtained in the same manner as in FIG. 4A, and in this case, Lc = 20 [m] can be calculated.
Here, as shown in FIG. 4 (b), when there are road marking objects of both a stop line and a stop sign in the video imaged by the camera, the road marking which is a target for obtaining the separation distance Lc. Objects should be stop signs. The reason for this is that while the stop line is generally detected using the information on the edge in the horizontal direction, the stop sign is detected by pattern matching, and thus the detection rate is relatively high.
In addition, when using communication for detection of road marking objects, communication terminals are installed on both the vehicle and the roadside, information on road marking objects is transmitted to the vehicle from the roadside communication terminal, and the vehicle's communication terminal A road marking object may be detected by receiving the information, and communication means (frequency band, output, etc.) are not limited. Examples of roadside communication terminals include VICS radio beacons and optical beacons. Specifically, the distance between the road marking object from the own vehicle can be calculated by acquiring the position of the road marking object such as a stop line (absolute position or relative position with the own vehicle) using a beacon.
Here, the road markings detected by the own vehicle have a high probability of being painted on the temporary stop line 613 or pedestrian crossing at the intersection, so it is desirable to detect them.
Returning to the description of the flowchart shown in FIG. 2 again, in step S204, a process of calculating the traveling locus of the host vehicle is performed. For example, the position of the vehicle where the road marking object is detected in step S203 is used as the reference position, and the travel locus from the reference position is calculated using the vehicle speed and vehicle direction information detected in step S201.
This traveling locus calculation method is generally called autonomous navigation. Autonomous navigation is a method of sequentially calculating the position of a vehicle by adding a vehicle speed vector obtained from the vehicle speed and direction to an initial position. Specifically, it can be calculated by the equations (1) and (2) using the speed VSP of the own vehicle and the vehicle turning angle DIR of the own vehicle.
X = Xz1 + VSP × Δt × sin (DIR) (1)
Y = Yz1 + VSP × Δt × cos (DIR) (2)
Here, (X, Y) is the current position of the host vehicle, (Xz1, Yz1) is the previous calculation result of the host vehicle position, and Δt is the calculation cycle.
Next, in step S205, it is determined whether or not the vehicle has turned a predetermined angle or more after the vehicle has detected a road marking object. Here, it is determined whether or not the vehicle turning angle DIR, which is the amount of change in the direction of the vehicle, is greater than or equal to a preset first reference angle, and is greater than or equal to the first reference angle (YES in step S205). In step S206, it is determined that the host vehicle is turning and entering a multi-lane road on one side, and lane determination is performed.
On the other hand, if the vehicle turning angle of the host vehicle is less than the first reference angle (NO in step S205), the series of processing ends (RETURN).
Since the lane cannot be determined while the vehicle is turning, it is determined whether or not the vehicle has finished turning based on conditions such as the steering angle of the steered wheels and the direction of the vehicle being stable. Then, lane determination is performed after the vehicle turns. For example, in the case of an intersection, the difference between the azimuth of a one-sided multi-lane road that has entered a vehicle by turning more than a predetermined angle, such as turning left or right, and the azimuth of the vehicle at that time is equal to or less than a preset second reference angle It can be determined that the vehicle has finished turning.
Next, in step S206, a lane determination process for determining the lane in which the vehicle is traveling is performed. Here, the extending direction of the one-side multiple lane road into which the host vehicle enters is set as the X-axis direction, and the road width direction of the one-side multiple lane road is set as the Y-axis direction. In this embodiment, the case where the X-axis direction and the Y-axis direction are almost orthogonal to each other is described as an example. However, the angle is not limited to the orthogonal direction, and the X-axis and the Y-axis intersect. It only has to be.
First, an approach distance L, which is a road width direction movement distance (Y axis direction movement distance) from the reference position detected in step S203 to the rear part of the own vehicle, is calculated using the traveling locus of the own vehicle calculated in step S204. To do.
Then, the offset distance L0 is subtracted from the approach distance L to calculate the road-to-vehicle distance L1 that is the road width direction distance from the outer end of the one-side multiple lane road to the host vehicle position. Then, the traveling lane in which the host vehicle is traveling is estimated from the road-to-vehicle distance L1 and the map information (number of lanes, road type, distance from the road marking to the road to be entered, etc.) acquired in step S300.
Finally, in step S207, the road guidance is switched based on the information on the traveling lane of the host vehicle estimated in step S206, and the information is notified to the occupant using voice or a screen.
According to the navigation system 100 having the above-described configuration, when the host vehicle enters the multi-lane road on one side by turning the vehicle, the moving distance in the vehicle width direction from the reference position set in advance around the entrance of the multi-lane road on the single side Since the travel lane is determined based on L and the map information, the distance of the travel locus until the travel lane is determined can be shortened.
Therefore, the traveling lane of the host vehicle can be determined quickly and accurately, and the accumulated error can be reduced according to the length of the traveling locus. Therefore, for example, when the navigation system 100 guides a branch on an expressway or guides the direction of travel at an intersection located in front of the vehicle, different route guidance can be performed for each lane, and advanced route guidance for passengers Can be realized.
Next, a specific example of the lane determination process in the navigation system 100 will be described with reference to FIG.
FIG. 5 shows a case where an own vehicle 400 traveling on one side one lane road A turns left at intersection C and enters one side three lane road B at an intersection C where one side one lane road A and one side three lane road B intersect. It is a figure explaining about. Note that the vehicle 400 at this time travels in the order of points P1, P2, P3, and P4 and draws a travel locus as indicated by a solid line 401.
First, when the own vehicle 400 exists at the point P1, it is determined based on the map information whether or not the point P1 exists in the vicinity of the road on which the lane determination is to be performed. Since the road B that is about to enter is a one-sided three-lane road, it is determined that the host vehicle 400 is in the vicinity of the road on which the lane determination is to be made (YES in step S202), and the detection of the reference position is started. This determination may be performed in the vicinity of the intersection C, and a determination range is set in consideration of the vehicle position estimation error and the map error.
When the own vehicle 400 reaches the point P2 that is the entrance to the road B, the stop line 402 of the road marking object is detected (YES in step S203), and the autonomous navigation is performed using the position of the stop line 402 as a reference position. Thus, the process of calculating the travel locus 401 of the host vehicle 400 is started (step S204).
The stop line 402, which is a road marking object, is detected using a rear view camera (not shown) mounted on the rear part of the host vehicle 400, and an area 403 shown in the drawing is a detection range of the rear view camera. is there.
Here, as described with reference to FIG. 4A, since the separation distance from the own vehicle 400 to the front edge of the stop line 402 is calculated as Lc, in actuality, autonomously from a point away from the reference position by the separation distance Lc. Calculation of the travel locus 401 by navigation is started.
Then, after the own vehicle 400 detects the stop line 402, it turns more than a predetermined angle, and it is determined whether or not the turn is finished (step S205). For example, when the vehicle 400 is present at a point P3 where the vehicle is turning left, it is determined that the vehicle is turning because the turning angle DIR is less than a preset first reference angle (for example, 80 degrees (deg) or more). Is done. And when the own vehicle 400 turns more than a predetermined angle and exists in the point P4, since the vehicle turning angle DIR is more than the 1st reference angle, it is judged that the turn is completed.
Whether the vehicle is turning may be determined based on the rudder angle and direction of the host vehicle 400. For example, when the steering angle of the steered wheel is larger than a preset threshold value and the vehicle direction is not stable, it can be determined that the vehicle is turning. And when the own vehicle 400 turns more than a predetermined angle and exists in the point P4, since the rudder angle of a steered wheel is below a threshold value and the own vehicle direction is also stable, it can be judged that the turn is completed.
When it is determined that the turn has ended, the approach distance L is calculated in order to determine the lane in which the host vehicle 400 is traveling (step S206). The approach distance L turns from the front edge of the stop line 402 in a biaxial coordinate set so that the X axis extends along the road B and the Y axis extends along the road width direction of the road B. The distance traveled in the road width direction of the road B to the host vehicle position P4 after the completion, and is calculated by autonomous navigation with the stop line 402 as a reference position. Note that the approach distance L calculated by autonomous navigation is the travel distance in the road width direction of the road B from the front edge of the stop line 402 to the vehicle's reference position (for example, the center of gravity position). The approach distance L at the time of detection is expressed by the expression (3) when the distance from the rear view camera to the reference position of the vehicle is Lr (not shown), and the road calculated by the autonomous navigation to the approach distance L of the expression (3) The moving distance in the width direction is added together, and an approach distance L after the turn is calculated.
L = Lc + Lr (3)
Using this approach distance L, the lane in which the host vehicle 400 is traveling in the one-side multiple lane road B is determined. First, road information such as the number of lanes and road type of one-side multiple lane road B is acquired from the map information. Here, the reason for acquiring the road type is that it is assumed that the road type and the lane width Lw correspond to each other. If the lane width Lw is added to the road information, the lane width Lw is directly acquired. The structure to do may be sufficient.
Further, the offset distance L0 from the near edge of the stop line 402 to the one-side multiple lane road B is also acquired from the map information. Then, the lane in which the host vehicle 400 is traveling is determined according to how many times the road-to-vehicle distance L1 that is a value obtained by subtracting the offset distance L0 from the approach distance L is the lane width Lw. That is, the road-to-vehicle distance L1 is expressed by equation (4).
L1 = L−L0 (4)
The offset distance L0 is measured at each location or measured using aerial photographs and stored in the map information.
This road-to-vehicle distance L <b> 1 indicates the movement distance in the road width direction from the roadside end outside the road B to the vehicle position on the road B. For example, when the road-to-vehicle distance L1 is 0.3 to 0.7 times the lane width Lw, it is determined as the left lane (first lane) B1, which is the outermost lane, and the road-to-vehicle distance L1 is the lane width Lw. When the distance is 1.3 to 1.7 times the center lane (second lane) B2, it is determined that it is the center lane (second lane) B2. It is determined that the vehicle is on the right lane (third lane) B3, which is a lane closer to the line, and other than that, there is a high possibility that the vehicle crosses the lane.
As described above, based on the approach distance L from the front edge of the stop line 402, which is the reference position provided at the entrance of the one-side multiple lane road B, and the map information, the own vehicle 400 turns at the intersection C. When the vehicle enters the one-side multiple lane road B, the traveling lane of the host vehicle 400 can be determined.
Next, specific example 2 of the lane determination process in the navigation system 100 will be described with reference to FIG.
FIG. 6 is a diagram for explaining the second specific example, and is a diagram illustrating a case where the own vehicle 400 enters the main road B having three lanes on one side from the narrow alley D. FIG. It is assumed that the vehicle 400 at this time travels in the order of P1, P2, P3, and P4 and draws a travel locus as indicated by a solid line 501.
First, when the own vehicle 400 exists at the point P1, it is determined whether or not the point P1 exists in the vicinity of the road on which the lane determination is to be performed. Since the road B is a multi-lane road on one side, it is determined that the host vehicle 400 exists in the vicinity of the road for which the lane determination is to be performed (YES in step S202), and the detection of the reference position is started. This determination may be performed in the vicinity of the entrance entering the road B from the alley D, as in the first specific example, and the range is set in consideration of the vehicle position estimation error and the map error.
When the own vehicle 400 reaches the point P2 that is the entrance of the one-side multiple lane road B, the stop line 502 of the road marking object is detected (YES in step S203), and the position of the stop line 502 is autonomous with the position of the stop line 502 as a reference position. A process of calculating the travel locus 501 of the host vehicle 400 by navigation is started (step S204).
Here, as described with reference to FIG. 4A, since the separation distance from the own vehicle to the front edge of the stop line 402 is calculated as Lc, it is actually autonomous from a point separated from the reference position by the separation distance Lc. Calculation of the travel locus 401 by navigation is started.
Then, after the own vehicle 400 detects the stop line 502, the vehicle turns more than a predetermined angle, and it is determined whether or not the turn is finished (step S205). Note that the determination of whether or not the turn is completed is the same as in the first specific example, and thus detailed description thereof is omitted.
When it is determined that the turn is finished, the approach distance L in the figure is calculated in order to determine the lane in which the host vehicle 400 is traveling (step S206). The approach distance L turns from the front edge of the stop line 502 in a biaxial coordinate set so that the X axis extends along the multi-lane road B on one side and the Y axis extends along the road width direction. The distance traveled in the road width direction to the host vehicle 400 is calculated by autonomous navigation with the stop line 502 as a reference position. Note that the approach distance L calculated by autonomous navigation is the travel distance in the road width direction of the road B from the front edge of the stop line 502 to the vehicle reference position (for example, the center of gravity position). The approach distance L at the time of detection is expressed by the equation (5) when the distance from the rear view camera to the vehicle reference position is Lr (not shown), and is calculated by the autonomous navigation to the approach distance L of the equation (5). The moving distance in the width direction is added together, and an approach distance L after the turn is calculated.
L = Lc + Lr (5)
Using this approach distance L, the lane in which the host vehicle 400 is traveling in the one-side multiple lane road B is determined. Here, as in the case of FIG. 5, first, the number of lanes and the road type of one-side multi-lane road B are acquired from the map information. Further, the offset distance L0 from the near edge of the stop line 502 to the one-side multiple lane road B is also acquired from the map information. Then, the lane in which the host vehicle 400 is traveling is determined according to how many times the lane width Lw is a value obtained by subtracting the offset distance L0 from the approach distance L. That is, the road-to-vehicle distance L1 is expressed by equation (6).
L1 = L−L0 (6)
As described above, based on the approach distance L from the stop line 502 which is the reference position provided at the entrance of the one-side multi-lane road B and the map information, the own vehicle 400 enters the one-side multi-lane road B from the alley D. In this case, the traveling lane of the own vehicle 400 can be determined.
Next, specific example 3 of the lane determination process in the navigation system 100 will be described with reference to FIG.
FIG. 7 is a diagram for explaining the third specific example, and is a diagram showing a case where the own vehicle 700 enters the main road B having three lanes on one side from the narrow alley D. FIG. Note that the vehicle 700 at this time travels in the order of P1, P2, P3, and P4 and draws a travel locus as indicated by a solid line 701.
First, when the own vehicle 700 exists at the point P1, it is determined whether or not the point P1 exists in the vicinity of the road on which the lane determination is to be performed. Since the road B is a multi-lane road on one side, it is determined that the host vehicle 700 exists in the vicinity of the road on which the lane determination should be performed (YES in step S202), and the detection of the reference position is started. This determination may be performed in the vicinity of the entrance that enters the road B from the alley D, as in the specific example 1 and the specific example 2, and the range is set in consideration of the vehicle position estimation error and the map error. To do.
When the own vehicle 700 reaches a point P2 that is before the entrance of the one-side multiple lane road B, a stop sign 703 that is a road marking is detected (YES in step S203), and the position of the stop sign 703 is used as a reference. A process of calculating a travel locus 701 of the own vehicle 700 by autonomous navigation as a position is started (step S204).
The stop sign 703, which is a road marking object, is detected using a front view camera (not shown) mounted on the front portion of the host vehicle 700. An area 704 shown in the figure is a front view camera. It is a detection range. In addition, at the point P2 in this embodiment, a stop line 702 that is a road marking object can also be detected using the front view camera. However, in the case of image processing using pattern matching, the stop sign 703 is generally used. Is easier to recognize than the stop line 702, and the stop sign 703 is preferentially detected.
Here, as described with reference to FIG. 4B, since the distance from the vehicle to the sign 703 is calculated as Lc, the autonomous navigation is actually performed from the point P2 separated from the reference position by the distance Lc. Calculation of the travel locus 701 is started.
Then, after the own vehicle 700 is stopped and the sign 703 is detected, the vehicle turns more than a predetermined angle, and it is determined whether or not the turn is finished (step S205). Note that the determination of whether or not the turn is completed is the same as in the first and second specific examples, and thus detailed description thereof is omitted.
When it is determined that the turn is finished, the approach distance L in the figure is calculated in order to determine the lane in which the host vehicle 700 is traveling (step S206). The approach distance L is determined by two-axis coordinates set so that the X axis extends along the one-side multi-lane road B and the Y axis extends along the road width direction. The distance traveled in the road width direction of the road B to the car 700 is calculated by autonomous navigation with the stop sign 703 as a reference position. Note that the approach distance L calculated by autonomous navigation is the distance traveled in the road width direction of the road B from the stop sign 703 to the reference position (for example, the center of gravity) of the vehicle, so when the stop sign 703 is detected at the point P2. The approach distance L is expressed by the equation (7) when the distance from the front view camera to the vehicle reference position is Lf (not shown), and the road width direction calculated by the autonomous navigation to the approach distance L of the equation (7) Are added together, and the approach distance L after the turn is calculated.
L = − (Lc + Lf) (7)
Using this approach distance L, the lane in which the host vehicle 700 is traveling in the one-side multiple lane road B is determined. Here, as in the case of FIG. 5, first, the number of lanes and the road type of one-side multi-lane road B are acquired from the map information. The offset distance L0 from the stop sign 703 to the one-side multiple lane road B is also acquired from the map information. Then, the lane in which the host vehicle 700 is traveling is determined according to how many times the road-to-vehicle distance L1 that is a value obtained by subtracting the offset distance L0 from the approach distance L is the lane width Lw. That is, the road-to-vehicle distance L1 is expressed by equation (8).
L1 = L−L0 (8)
As described above, based on the approach distance L from the stop sign 703, which is the reference position provided at the entrance of the one-side multi-lane road B, and the map information, the own vehicle 700 enters the one-side multi-lane road B from the alley D. when, it is possible to determine the driving lane of the vehicle 700.
Next, specific example 4 of the lane determination process in the navigation system 100 will be described with reference to FIG.
FIG. 8 is a diagram for explaining the fourth specific example, and is a diagram showing a case where the own vehicle 800 enters the main road B having three lanes on one side from the narrow alley D. FIG. It is assumed that the vehicle 800 at this time travels in the order of P1, P2, P3, and P4 and draws a travel locus as indicated by a solid line 801. The alley D and the main road B intersect at an angle α.
First, when the own vehicle 800 exists at the point P1, it is determined whether or not the point P1 exists in the vicinity of the road on which the lane determination is to be performed. Since the road B is a multi-lane road on one side, it is determined that the own vehicle 800 exists in the vicinity of the road on which the lane determination is to be performed (YES in step S202), and a search for a road marking object serving as a reference position is started. . This determination may be made in the vicinity of the entrance that enters the road B from the alley D, as in the specific example 1 to the specific example 3, and the range is set in consideration of the vehicle position estimation error and the map error. To do.
When the vehicle 800 reaches the point P2 that is the entrance of the one-side multiple lane road B, a stop line 802 that is a road marking object is detected (YES in step S203), and the position of the stop line 802 is used as a reference position. A process of calculating the travel locus 801 of the own vehicle 800 by the autonomous navigation is started (step S204).
The stop line 802, which is a road marking object, is detected using a rear view camera (not shown) mounted on the rear portion of the host vehicle 800. An area 803 shown in the figure is a detection range of the rear view camera. is there.
Here, as described with reference to FIG. 4A, since the distance from the host vehicle to the front edge of the stop line 802 is calculated as Lc, in practice, from the point P2 that is separated from the reference position by the distance Lc. Calculation of the travel locus 801 by autonomous navigation is started.
Then, after the own vehicle 800 detects the stop line 802, the vehicle turns more than a predetermined angle, and it is determined whether or not the turn is finished (step S205). The determination as to whether or not the turn is completed is the same as in specific example 1 to specific example 3, and thus detailed description thereof is omitted.
When it is determined that the turn is finished, the approach distance L in the figure is calculated in order to determine the lane in which the host vehicle 800 is traveling (step S206). The approach distance L turns from the front edge of the stop line 802 in a biaxial coordinate set so that the X axis extends along the multi-lane road B on one side and the Y axis extends along the road width direction. This is the distance traveled in the road width direction of the one-side multiple lane road B up to the host vehicle 800 and is calculated by autonomous navigation with the stop line 802 as a reference position. Note that the approach distance L calculated by autonomous navigation is the travel distance in the road width direction of the road B from the front edge of the stop line 802 to the reference position of the vehicle (for example, the center of gravity position), and therefore the stop line 802 at the point P2 The approach distance L at the time of detection is expressed by equation (9) when the distance from the rear view camera to the reference position of the vehicle is Lr (not shown), and the road calculated by the autonomous navigation to the approach distance L of equation (9) The moving distance in the width direction is added together, and an approach distance L after the turn is calculated.
L = (Lc + Lr) × sin (α) (9)
Here, the angle α between the alley D and the main road B is acquired from the map information.
Using this approach distance L, the lane in which the vehicle 800 is traveling in the one-side multiple lane road B is determined. Here, as in the case of FIG. 5, first, the number of lanes and the road type of one-side multi-lane road B are acquired from the map information. Similarly, the offset distance L0 from the front edge of the stop line 802 to the one-side multiple lane road B is acquired from the map information. Then, the lane in which the host vehicle 800 is traveling is determined according to how many times the lane width Lw is a value obtained by subtracting the offset distance L0 from the approach distance L. That is, the road-to-vehicle distance L1 is expressed by equation (10).
L1 = L−L0 (10)
As described above, based on the approach distance L from the stop line 802, which is the reference position provided at the entrance of the one-side multi-lane road B, and the map information, the own vehicle 800 enters the one-side multi-lane road B from the alley D. In this case, the traveling lane of the own vehicle 800 can be determined even if the intersection angle between the alley D and the one-side multiple lane road B is not a right angle.
6 to 8, the case where the own vehicle enters the one-side three-lane road B from the narrow alley D has been described, but the own vehicle may enter the road B from a parking lot (not shown) or the like. Similarly, it is possible to determine the lane in which the host vehicle is traveling based on the approach distance L from the reference position, for example, with the end of a guardrail or sidewalk as the reference position.
The present invention is not limited to the above-described embodiment, and can be implemented in various modes without departing from the spirit of the present invention.
The block diagram explaining the structure of the navigation system concerning 1st Embodiment. The flowchart which shows the processing content of the navigation system containing a lane determination process. The flowchart which shows the content of a map information acquisition process. The figure explaining the method of calculating the distance from the own vehicle to a road marking object using an image. The figure explaining the specific example 1. FIG. The figure explaining the specific example 2. FIG. The figure explaining the specific example 3. FIG. The figure explaining the specific example 4. FIG.
DESCRIPTION OF SYMBOLS 1 Reference | standard position detection part 2 Vehicle speed detection part 3 Own vehicle direction change detection part 4 Traveling track calculation part 5 Lane determination part 6 Own vehicle position detection part 7 Map information acquisition part 8 Map information storage part 9 Information alerting part 100 Navigation system ( Lane judgment device)
400, 700, 800 Own vehicle 401, 501, 701, 801 Traveling trajectory 402, 502, 803 Stop line (reference position)
L Approach distance L0 Offset distance L1 Roadside distance Lc Separation distance A One-lane road (entrance road)
B One side three lane road (one side multiple lane road)
B1 Left lane B2 Central lane B3 Right lane C Intersection D Alley
A lane determination device for determining a traveling lane on the one-side multiple lane of the own vehicle that has entered the one-side multiple lane road from outside the one-side multiple lane road having a plurality of vehicle travel zones in the same direction,
A vehicle position detector for detecting the vehicle position based on an external signal;
A map information acquisition unit for acquiring map information around the vehicle position based on the vehicle position detected by the vehicle position detection unit;
A reference position detection unit for detecting a reference position set in advance around the entrance of the one-side multiple lane road;
A road width direction movement distance calculation unit for calculating a road width direction movement distance from the reference position detected by the reference position detection unit to the vehicle position on the one-side multiple lane road;
A lane determination unit that determines the travel lane of the host vehicle based on the road width direction movement distance calculated by the road width direction movement distance calculation unit and the map information acquired by the map information acquisition unit;
A lane determination device characterized by comprising:
The map information includes each information of the number of lanes of the one-side multiple lanes, the lane width, and the offset distance along the road width direction from the reference position to the one-side multiple lanes. Item 2. A lane determination device according to item 1.
A vehicle speed detection unit that detects the vehicle speed of the host vehicle, a host vehicle direction change detection unit that detects a change in the direction of the host vehicle, and travel from the reference position based on the vehicle speed and the change in the host vehicle direction. A travel locus calculation unit for calculating the locus is provided.
The lane determination device according to claim 1, wherein the lane determination unit calculates the travel distance in the road width direction using the travel locus calculated by the travel locus calculation unit.
The lane determination unit determines that the vehicle is turning when the amount of change in the vehicle direction detected by the vehicle direction change detection unit is equal to or greater than a preset first reference angle. The lane determination device according to any one of claims 1 to 3, wherein:
The lane determining unit determines that the vehicle turn has ended when a difference between the azimuth of the one-side multiple lane road and the own vehicle azimuth is equal to or smaller than a preset second reference angle. The lane determination device according to any one of claims 1 to 4.
The said reference position detection part detects the position of a road marking as the said reference position, The lane determination apparatus as described in any one of Claims 1-5 characterized by the above-mentioned.
The lane determination device according to claim 1, wherein the reference position detection unit detects a position of a road sign as the reference position.
The reference position detection unit detects, as the reference position, at least one of a position of a feature point of a road white line shape, a position of a road edge including a curb or a guardrail, and a position of a feature point outside the road including a building boundary. The lane determination device according to any one of claims 1 to 7, characterized by:
The lane determination according to any one of claims 1 to 8, wherein the reference position detection unit detects the reference position based on an image captured by an imaging device mounted on the host vehicle. apparatus.
The lane according to any one of claims 1 to 8, wherein the reference position detecting unit detects the reference position by receiving communication from a communication device installed on a road side. Judgment device.
The lane determination unit
Road-to-vehicle distance calculation that calculates a road-to-vehicle distance that is a distance from the outer end of the one-side multi-lane road by subtracting the offset distance from the road width direction movement distance calculated by the road width direction movement distance calculation unit. And
A lane estimation unit that estimates the travel lane of the host vehicle based on the road-to-vehicle distance calculated by the road-to-vehicle distance calculation unit and the information on the lane width and the number of lanes of the map information acquired by the map information acquisition unit; The lane determination device according to any one of claims 2 to 10, wherein the lane determination device is provided.
JP2009156118A 2009-06-30 2009-06-30 Lane determination device and navigation system Withdrawn JP2011013039A (en)
JP2009156118A JP2011013039A (en) 2009-06-30 2009-06-30 Lane determination device and navigation system
EP10167694A EP2269883A1 (en) 2009-06-30 2010-06-29 Lane judgement equipment and navigation system
US12/826,159 US20100332127A1 (en) 2009-06-30 2010-06-29 Lane Judgement Equipment and Navigation System
JP2011013039A true JP2011013039A (en) 2011-01-20
ID=42829517
JP2009156118A Withdrawn JP2011013039A (en) 2009-06-30 2009-06-30 Lane determination device and navigation system
US (1) US20100332127A1 (en)
EP (1) EP2269883A1 (en)
JP (1) JP2011013039A (en)
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2009-06-30 JP JP2009156118A patent/JP2011013039A/en not_active Withdrawn
2010-06-29 US US12/826,159 patent/US20100332127A1/en not_active Abandoned
2010-06-29 EP EP10167694A patent/EP2269883A1/en not_active Withdrawn
US20100332127A1 (en) 2010-12-30
EP2269883A1 (en) 2011-01-05