Vehicle position estimating apparatus and vehicle position estimating method

• US 7,561,961 B2
• Filed: 12/04/2006
• Issued: 07/14/2009
• Est. Priority Date: 12/05/2005
• Status: Active Grant

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Watanabe, Takayuki, Wakamatsu, Kotaro
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Kiswanto; Nicholas
• Application Number:
  US11/566,502
• Publication Number:
  US 20070150192A1
• Time in Patent Office: 953 Days
• Field of Search: None
• US Class Current: 701/207
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A vehicle position estimating apparatus for estimating a vehicle position on the basis of a vehicle position (GPS position) calculated from a signal received from a GPS satellite includes a travel direction history storage unit for storing a plurality of pieces of vehicle travel direction history information and a position estimating unit for predicting the position of a vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time on the basis of the GPS position, a vehicle velocity (GPS velocity), and a vehicle travel direction (GPS travel direction) which are calculated from the transmitted GPS signal or on the basis of the position of the vehicle that has been predicted at the previous position measurement time, the GPS velocity, and data on a vehicle travel direction stored in the travel direction history storage unit.

Claims

1. A vehicle position estimating apparatus for estimating a vehicle position on the basis of a vehicle position (GPS position) calculated from a signal received from a GPS satellite, comprising:

a travel direction history storage unit for storing vehicle travel direction history information; and

a position estimating unit for predicting the position of a vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time, where the predicted vehicle position range is a predetermined area that is larger than the predicted vehicle position, and

wherein, when the GPS position exists within a vehicle position range that has been predicted at the previous position measurement time, the position estimating unit defines the GPS position as the current position of the vehicle, and predicts the position of the vehicle at the next measurement time and a vehicle position range in which the vehicle is likely to be located at the next measurement time on the basis of the GPS position, a vehicle velocity (GPS velocity), and a vehicle travel direction (GPS travel direction) which are calculated from the signal received from a GPS satellite, and

wherein, when the GPS position does not exist within the vehicle position range, the position estimating unit defines the position of the vehicle that has been predicted at the previous position measurement time as the current position of the vehicle, and predicts the position of the vehicle at the next measurement time and the vehicle position range in which the vehicle is likely to be located at the next measurement time on the basis of the current vehicle position, the GPS velocity, and data on a vehicle travel direction stored in the travel direction history storage unit.

2. The vehicle position estimating apparatus according to claim 1, further comprising:

a self-contained navigation sensor for detecting a travel direction change θ

_GYRO and a distance traveled every predetermined point in time;

a GPS position reliability determining unit for determining whether a GPS position is reliable; and

a travel direction history updating unit for updating the travel direction history information stored in the travel direction history storage unit, the travel direction history information including data on a vehicle travel direction and data on a vehicle velocity difference Δ

V between a GPS velocity and a vehicle velocity detected by the self-contained navigation sensor, and

wherein, when it is determined by the GPS position reliability determining unit that a GPS position is reliable, the travel direction history updating unit stores the latest GPS travel direction calculated from a signal received from a GPS satellite and the vehicle velocity difference Δ

V in the travel direction history storage unit as the latest piece of travel direction history information, and deletes the oldest piece of travel direction history information stored in the travel direction history storage unit, and updates any remaining pieces of travel direction history information stored in the travel direction history storage unit by adding the travel direction change θ

_GYRO to the remaining pieces of travel direction history information, and

wherein, when it is determined by the GPS position reliability determining unit that the GPS position is unreliable, the travel direction history updating unit updates the travel direction history information stored in the travel direction history storage unit by adding the travel direction change θ

_GYRO to all the pieces of travel direction history information, and

wherein, when a GPS position does not exist within a vehicle position range that was predicted at the previous position measurement time, the position estimating unit predicts the position of the vehicle at the next measurement time and a vehicle position range in which the vehicle is likely to be located at the next measurement time on the basis of data on a vehicle travel direction θ

included in one of the pieces of travel direction history information having data on the vehicle velocity difference Δ

V of the minimum value.

3. The vehicle position estimating apparatus according to claim 2, wherein the GPS position reliability determining unit determines that a GPS position is unreliable when any one of the following conditions is met:

a vehicle position cannot be measured using a signal received from a GPS satellite, a vehicle velocity calculated from a signal received from a GPS satellite is equal to or lower than 1 km/h, a difference value between a GPS travel direction change and the travel direction change θ

_GYRO detected by the self-contained navigation sensor is equal to or greater than a preset value, and the value of the travel direction change θ

_GYRO is equal to or greater than a preset value.

4. The vehicle position estimating apparatus according to claim 1,

further comprising a self-contained navigation position estimating unit for predicting the position of the vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time on the basis of a signal provided from a self-contained navigation sensor, and

wherein, when a vehicle position cannot be measured using a signal received from a GPS satellite, the position estimating unit defines a vehicle position that has been predicted by the self-contained navigation position estimating unit as a current vehicle position, and

wherein, after it has become possible to measure a vehicle position using a signal received from a GPS satellite, when a GPS position exists within a vehicle position range that has been predicted by the self-contained navigation position estimating unit, the position estimating unit defines the GPS position as a current vehicle position, and, when the GPS position does not exist within the vehicle position range, the position estimating unit defines the vehicle position that has been predicted by the self-contained navigation position estimating unit as a current vehicle position.

5. A vehicle position estimating method of estimating a vehicle position on the basis of a vehicle position (GPS position) calculated from a signal received from a GPS satellite, comprising:

storing a plurality of pieces of vehicle travel direction history information in a travel direction history storage unit; and

predicting the position of a vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time, where the predicted vehicle position range is a predetermined area that is larger than the predicted vehicle position, and

wherein, when the GPS position exists within a vehicle position range that has been predicted at the previous position measurement time, the GPS position is defined as the current position of the vehicle, and the position of the vehicle at the next measurement time and a vehicle position range in which the vehicle is likely to be located at the next measurement time are predicted on the basis of the GPS position, a vehicle velocity (GPS velocity), and a vehicle travel direction (GPS travel direction) which are calculated from the signal received from a GPS satellite, and

wherein, when the GPS position does not exist within the vehicle position range, the position of the vehicle that has been predicted at the previous position measurement time is defined as the current position of the vehicle, and the position of the vehicle at the next measurement time and the vehicle position range in which the vehicle is likely to be located at the next measurement time are predicted on the basis of the current vehicle position, the GPS velocity, and data on a vehicle travel direction stored in the travel direction history storage unit.

6. The vehicle position estimating method according to claim 5, further comprising:

causing a self-contained navigation sensor to detect a travel direction change θ

_GYRO and a distance traveled every predetermined point in time;

determining whether a GPS position is reliable; and

updating the pieces of travel direction history information, each piece including data on a vehicle travel direction and data on a vehicle velocity difference Δ

V between a GPS velocity and a vehicle velocity detected by the self-contained navigation sensor, and

wherein, when it is determined that a GPS position is reliable, the latest GPS travel direction calculated from a signal received from a GPS satellite and the vehicle velocity difference Δ

V are stored in the travel direction history storage unit as the latest piece of travel direction history information, the oldest piece of travel direction history information stored in the travel direction history storage unit is deleted, and the remaining pieces of travel direction history information stored in the travel direction history storage unit are updated by adding the travel direction change θ

_GYRO to the remaining pieces of travel direction history information, and

wherein, when it is determined that the GPS position is unreliable, all the pieces of travel direction history information stored in the travel direction history storage unit are updated by adding the travel direction change θ

_GYRO to all the pieces of travel direction history information, and

wherein, when a GPS position does not exist within a vehicle position range that was predicted at the previous position measurement time, the position of the vehicle at the next measurement time and a vehicle position range in which the vehicle is likely to be located at the next measurement time are predicted on the basis of data on a vehicle travel direction θ

included in one of the pieces of travel direction history information having data on the vehicle velocity difference Δ

V of the minimum value.

7. The vehicle position estimating method according to claim 6, wherein it is determined that a GPS position is unreliable when any one of the following conditions is met:

a vehicle position cannot be measured using a signal received from a GPS satellite, a vehicle velocity calculated from a signal received from a GPS satellite is equal to or lower than 1 km/h, a difference value between a GPS travel direction change and the travel direction change θ

_GYROdetected by the self-contained navigation sensor is equal to or greater than a preset value, and the value of the travel direction change θ

_GYRO is equal to or greater than a preset value.

8. The vehicle position estimating method according to claim 5,

further comprising predicting the position of the vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time on the basis of a signal provided from a self-contained navigation sensor, and

wherein, when a vehicle position cannot be measured using a signal received from a GPS satellite, a vehicle position that has been predicted using the signal provided from the self-contained navigation sensor is defined as a current vehicle position, and

wherein, after it has become possible to measure a vehicle position using a signal received from a GPS satellite, when a GPS position exists within a vehicle position range that has been predicted using the signal provided from the self-contained navigation sensor, the GPS position is defined as a current vehicle position, and, when the GPS position does not exist within the vehicle position range, the vehicle position that has been predicted using the signal provided from the self-contained navigation sensor is defined as a current vehicle position.