Apparatus and program for finding vehicle position

• US 8,180,566 B2
• Filed: 05/14/2009
• Issued: 05/15/2012
• Est. Priority Date: 05/15/2008
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kobayashi, Tomokazu
• Primary Examiner(s): Rodriguez, Joseph C
• Application Number:
  US12/453,567
• Publication Number:
  US 20090287410A1
• Time in Patent Office: 1,097 Days
• Field of Search: 701/208, 701/209, 701/210, 701/214, 701/216, 701/409, 701/410, 701/411, 701445-447
• US Class Current: 701/411
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A navigation apparatus calculates a current position candidate of a vehicle based on absolute position information, and calculates a travelable area based on road width data and the like, and further calculates a center locus of the travelable area and an estimated position of the vehicle. The estimated position of the vehicle is then evaluated based on a distance between the estimated position and the center locus to yield a position candidate evaluation for displaying a current position mark on a displayed map.

Claims

1. A position finding apparatus comprising:

a position information acquisition unit for acquiring absolute position information indicative of an absolute position of a subject vehicle;

a relative travel information acquisition unit for acquiring travel information on relative travel of the subject vehicle,

a road data acquisition unit for acquiring information on road links and road width;

a candidate finding unit for finding, based on the absolute position information derived from the position information acquisition unit, one or more position candidates of a current vehicle position on a road link after extracting at least one road link that is possibly traveled by a subject vehicle from among multiple road links acquired by the road data acquisition unit;

a link series finding unit for finding, in association with respective position candidates derived from the candidate finding unit, a series of road links extending from a candidate road link that has the position candidate based on the information on the road links derived from the road data acquisition unit;

a locus finding unit for finding a center locus of travelable area in the series of road links that is indicative of a center of the travelable area based on calculation of the travelable area for the subject vehicle by utilizing the information on road width derived from the road data acquisition unit after the series of road links is found by the link series finding unit;

a position candidate update unit for updating the position candidate of the current vehicle position based on the travel information on the relative travel of the subject vehicle;

a travel position estimation unit for estimating a travel position of the subject vehicle based on the absolute position derived from the position information acquisition unit;

an evaluation unit for performing evaluation of the position candidate on the series of road links based on a distance between the estimated travel position derived from the travel position estimation unit and the center locus derived from the locus finding unit;

a current position finding unit for finding the current vehicle position of the subject vehicle on the candidate road link after selecting one of the position candidates according to an evaluation result of each of the position candidates by the evaluation unit; and

a locus calculation unit for calculating a travel locus of the subject vehicle based on the travel information derived from the travel information acquisition unit, wherein

the travel position estimation unit selects, at a predetermined timing, a most matching center locus relative to the travel locus derived from the locus calculation unit from among multiple center loci derived from the locus finding unit, and

the travel position estimation unit sets a matching point on the selected most matching center locus and finds, as the estimated travel position, a position resulting from defining the matching point as a start point of the travel locus that is derived from the locus calculation unit, instead of finding the estimated travel position of the subject vehicle based on the absolute position information derived from the position information acquisition unit.

2. The position finding apparatus of claim 1, wherein

the link series finding unit finds the series of road links by arranging road links from the candidate road link toward one of a predetermined number of links and a predetermined distance.

3. The position finding apparatus of claim 1, wherein

the link series finding unit finds the series of road links in a manner that prioritizes a straightforward road link that extends in a straight travel direction from the candidate road link.

4. The position finding apparatus of claim 1 further comprising:

a guidance route information acquisition unit for acquiring information on guidance route, wherein

the link series finding unit finds the series of road links that extends along a guidance route that is determined by the information derived from the guidance information acquisition unit.

5. The position finding apparatus of claim 1, wherein

the position candidate update unit defines, as a road surface point, a closest point on the center locus relative to the estimated travel position, and

the position candidate update unit uses a position on the road link that corresponds to the road surface point as the updated position candidate of the current vehicle position.

6. The position finding apparatus of claim 1, wherein

the evaluation unit performs the evaluation based on a distance between the estimated travel position derived from the travel position estimation unit and each of the travelable areas derived from the locus finding unit.

7. The position finding apparatus of claim 1 further comprising:

a candidate elimination unit for eliminating the position candidate after selecting the position candidate according to an evaluation result once the evaluation of each of the position candidates is performed by the evaluation unit.

8. A non-transitory computer-readable storage medium comprising instructions for execution by a computer serving as a position finding apparatus, the instructions for implementing:

acquiring, in a position information acquisition unit, absolute position information indicative of an absolute position of a subject vehicle;

acquiring, in a relative travel information acquisition unit, travel information on relative travel of the subject vehicle,

acquiring, in a road data acquisition unit, information on road links and road width;

finding, in a candidate finding unit, based on the absolute position information derived from the position information acquisition unit, one or more position candidates of a current vehicle position on a road link after extracting at least one road link that is possibly traveled by a subject vehicle from among multiple road links acquired by the road data acquisition unit;

finding, in a link series finding unit, in association with respective position candidates derived from the candidate finding unit, a series of road links extending from a candidate road link that has the position candidate based on the information on the road links derived from the road data acquisition unit;

finding, in a locus finding unit, a center locus of travelable area in the series of road links that is indicative of a center of the travelable area based on calculation of the travelable area for the subject vehicle by utilizing the information on road width derived from the road data acquisition unit after the series of road links is found by the link series finding unit;

updating, in a position candidate update unit, the position candidate of the current vehicle position based on the travel information on the relative travel of the subject vehicle;

estimating, in a travel position estimation unit, a travel position of the subject vehicle based on the absolute position derived from the position information acquisition unit;

performing, in an evaluation unit, an evaluation of the position candidate on the series of road links based on a distance between the estimated travel position derived from the travel position estimation unit and the center locus derived from the locus finding unit;

finding, in a current position finding unit, the current vehicle position of the subject vehicle on the candidate road link after selecting one of the position candidates according to an evaluation result of each of the position candidates by the evaluation unit; and

calculating, in a locus calculation unit, a travel locus of the subject vehicle based on the travel information derived from the travel information acquisition unit, wherein

the travel position estimation unit selects, at a predetermined timing, a most matching center locus relative to the travel locus derived from the locus calculation unit is selected at a predetermined timing from among multiple center loci derived from the locus finding unit, and

the travel position estimation unit sets a matching point on the selected most matching center locus and finds, as the estimated travel position, a position resulting from defining the matching point as a start point of the travel locus that is derived from the locus calculation unit, instead of finding the estimated travel position of the subject vehicle based on the absolute position information derived from the position information acquisition unit.

9. A method for finding vehicle position, comprising:

acquiring, in a position information acquisition unit, absolute position information indicative of an absolute position of a subject vehicle;

acquiring, in a relative travel information acquisition unit, travel information on relative travel of the subject vehicle,

acquiring, in a road data acquisition unit, information on road links and road width;

finding, in a candidate finding unit, based on the absolute position information derived from the position information acquisition unit, one or more position candidates of a current vehicle position on a road link after extracting at least one road link that is possibly traveled by a subject vehicle from among multiple road links acquired by the road data acquisition unit;

finding, in a link series finding unit, in association with respective position candidates derived from the candidate finding unit, a series of road links extending from a candidate road link that has the position candidate based on the information on the road links derived from the road data acquisition unit;

finding, in a locus finding unit, a center locus of travelable area in the series of road links that is indicative of a center of the travelable area based on calculation of the travelable area for the subject vehicle by utilizing the information on road width derived from the road data acquisition unit after the series of road links is found by the link series finding unit;

updating, in a position candidate update unit, the position candidate of the current vehicle position based on the travel information on the relative travel of the subject vehicle;

estimating, in a travel position estimation unit, a travel position of the subject vehicle based on the absolute position derived from the position information acquisition unit;

performing, in an evaluation unit, an evaluation of the position candidate on the series of road links based on a distance between the estimated travel position derived from the travel position estimation unit and the center locus derived from the locus finding unit;

finding, in a current position finding unit, the current vehicle position of the subject vehicle on the candidate road link after selecting one of the position candidates according to an evaluation result of each of the position candidates by the evaluation unit; and

calculating, in a locus calculation unit, a travel locus of the subject vehicle based on the travel information derived from the travel information acquisition unit, wherein

the travel position estimation unit selects, at a predetermined timing, a most matching center locus relative to the travel locus derived from the locus calculation unit is selected at a predetermined timing from among multiple center loci derived from the locus finding unit, and

the travel position estimation unit sets a matching point on the selected most matching center locus and finds, as the estimated travel position, a position resulting from defining the matching point as a start point of the travel locus that is derived from the locus calculation unit, instead of finding the estimated travel position of the subject vehicle based on the absolute position information derived from the position information acquisition unit.

10. The method of claim 9, wherein

the series of road links are found, in the link series finding unit, by arranging road links from the candidate road link toward one of a predetermined number of links and a predetermined distance.

11. The method of claim 9, wherein

the series of road links are found, in the link series finding unit, in a manner that prioritizes a straightforward road link that extends in a straight travel direction from the candidate road link.

12. The method of claim 9, further comprising:

acquiring, in a guidance route information acquisition unit, information on guidance route, wherein

the series of road links are found, in the link series finding unit, that extends along a guidance route that is determined by the information derived from the guidance information acquisition unit.

13. The method of claim 9, wherein

a closest point on the center locus relative to the estimated travel position is defined, in the position candidate update unit, as a road surface point, and

a position on the road link that corresponds to the road surface point is used, in the position candidate update unit, as the updated position candidate of the current vehicle position.

14. The method of claim 9, wherein

the evaluation is performed, in the evaluation unit, based on a distance between the estimated travel position derived from the travel position estimation unit and each of the travelable areas derived from the locus finding unit.

15. The method of claim 9, further comprising:

eliminating, in a candidate elimination unit, the position candidate after selecting the position candidate according to an evaluation result once the evaluation of each of the position candidates is performed by the evaluation unit.