ROAD LEARNING APPARATUS
First Claim
Patent Images
1. A road learning apparatus for a vehicle, the apparatus comprising:
- a road map storage device configured to store road map data;
a vehicle position detection device configured to detect a position of the vehicle using a dead reckoning navigation;
a travel locus storage device configured to store a travel locus generated by a movement of a vehicle position detected by the vehicle position detection device;
a new road travel determination section configured to execute a new road travel determination as to whether the vehicle travels a new road that is not contained in the stored road map data;
a new road update section configured to update the road map data in the road map storage device by adding a new road based on a travel locus stored in the travel locus storage device when the new road travel determination is affirmatively made;
an error accumulation calculation section configured to calculate, when the new road travel determination is affirmatively made, an error which is accumulated in a first travel locus corresponding to the new road for a duration for which the vehicle travels the new road; and
an error accumulation amendment section configured to amend the accumulated error calculated by the error accumulation calculation section with respect to the first travel locus to obtain a second travel locus as a post-amendment travel locus,the new road update section being further configured to update the road map data in the road map storage device by adding as the new road the post-amendment travel locus obtained by the error accumulation amendment section.
1 Assignment
0 Petitions
Accused Products
Abstract
In adding a new road to update road map data, an amendment process is executed to remove an accumulated error included in a travel locus based on dead reckoning navigation at the time of running the new road. The new road can be thus added in updating the road map data so as to fit more with an actual shape of the new road.
36 Citations
7 Claims
-
1. A road learning apparatus for a vehicle, the apparatus comprising:
-
a road map storage device configured to store road map data; a vehicle position detection device configured to detect a position of the vehicle using a dead reckoning navigation; a travel locus storage device configured to store a travel locus generated by a movement of a vehicle position detected by the vehicle position detection device; a new road travel determination section configured to execute a new road travel determination as to whether the vehicle travels a new road that is not contained in the stored road map data; a new road update section configured to update the road map data in the road map storage device by adding a new road based on a travel locus stored in the travel locus storage device when the new road travel determination is affirmatively made; an error accumulation calculation section configured to calculate, when the new road travel determination is affirmatively made, an error which is accumulated in a first travel locus corresponding to the new road for a duration for which the vehicle travels the new road; and an error accumulation amendment section configured to amend the accumulated error calculated by the error accumulation calculation section with respect to the first travel locus to obtain a second travel locus as a post-amendment travel locus, the new road update section being further configured to update the road map data in the road map storage device by adding as the new road the post-amendment travel locus obtained by the error accumulation amendment section. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A method for updating road map data to add a new road for a vehicle having a storage device storing the road map data, and a vehicle position detection device detecting a position of the vehicle using a dead reckoning navigation,
the method comprising: -
recording a travel locus generated by a movement of a vehicle position detected by the vehicle position detection device; executing a new road travel determination as to whether the vehicle travels a new road that is not contained in the stored road map data; defining, when the new road travel determination is affirmatively made, within the recorded travel locus, a first travel locus corresponding to the new road for a duration for which the vehicle travels the new road; calculating an error which is accumulated in the first travel locus corresponding to the new road for the duration for which the vehicle travels the new road; amending the calculated error accumulated in the first travel locus to obtain a second travel locus as a post-amendment travel locus; and updating the road map data in the storage device by adding as the new road the obtained post-amendment travel locus.
-
Specification