Vehicle position calculating device and vehicle position calculating method

• US 8,285,476 B2
• Filed: 09/03/2008
• Issued: 10/09/2012
• Est. Priority Date: 09/06/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamada, Yuki
• Primary Examiner(s): O'Connor, Gerald J.
• Assistant Examiner(s): Patel, Neha
• Application Number:
  US12/515,457
• Publication Number:
  US 20100076682A1
• Time in Patent Office: 1,497 Days
• Field of Search: 701/300
• US Class Current: 701/300
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle position calculating apparatus and vehicle position calculating method which can accurately calculate a current position of a vehicle regardless of the orientation of the vehicle at the time when acquiring positional information.

An advancing direction detecting section in a vehicle position calculating ECU detects an advancing direction of a vehicle in a receiving area according to receiving area form information issued from a receiving area form acquiring section, moving distance information issued from a moving distance calculating section, and course change information issued from a course changing action detecting section. A vehicle position calculating section sets a reference position according to reference positional information issued from a reference position acquiring section, and calculates the current vehicle position by taking account of the advancing direction in addition to a relative change based on relative change information issued from the relative position change detecting section.

Claims

1. A vehicle position calculating apparatus comprising:

a vehicle position electronic control unit, the vehicle position electronic control unit including;

a reference positional information acquiring section to acquire reference positional information to become a reference position for detecting a position of a vehicle from a road-side device;

an advancing direction detecting section to detect an advancing direction of the vehicle at a point of time when the reference position is acquired;

a running state relative change detecting section to detect a relative change in a running state of the vehicle with respect to the running state of the vehicle at the point of time when the reference position is acquired;

a position calculating section to calculate the position of the vehicle according to the advancing direction of the vehicle detected by the advancing direction detecting section and the change in the running state of the vehicle detected by the running state change detecting section; and

a course changing action detecting section to detect a course changing action of the vehicle, wherein

when the course changing action is detected during communication with the road-side device, the advancing direction detecting section detects the advancing direction of the vehicle according to a distance traveled from when starting the communication until the course changing action is detected and a distance traveled from when the course changing action is detected until the communication ends, and

the road-side device is a beacon for feeding wireless data to a receiving area having a predetermined shape on a road where the vehicle runs, the beacon supplying receiving area information concerning the receiving area by the wireless data, the vehicle position calculating apparatus further comprising;

a receiving area information acquiring section to acquire the receiving area information supplied from the beacon; and

a moving distance calculating section to calculate a distance traveled by the vehicle during communication with the beacon wherein,

the advancing direction detecting section detects the advancing direction of the vehicle according to the shape of the receiving area fed with the wireless data and the moving distance calculated by the moving distance calculating section.

2. A vehicle position calculating apparatus according to claim 1, wherein the position calculating section determines a relative change in the position of the vehicle with respect to the reference position according to the advancing direction of the vehicle detected by the advancing direction detecting section and the change in the running state of the vehicle detected by the running state change detecting section, and

calculates the position of the vehicle according to the reference position and the relative change in the position of the vehicle with respect to the reference position.

3. A vehicle position calculating apparatus according to claim 1, wherein the advancing direction detecting section detects the advancing direction at the point of time when the vehicle acquires the reference position, while discriminating a direction along a lane provided with the road-side device and a direction traversing the lane from each other.

4. A vehicle position calculating apparatus according to claim 1, wherein the advancing direction of the vehicle defines an orientation of the vehicle at the reference position.

5. A vehicle position calculating apparatus according to claim 1, wherein the advancing direction of the vehicle is detected by comparing the distance traveled from a time when the communication with the road-side device begins until the course changing action is detected and the distance traveled from at time when the course changing action is detected until the communication with the road-side device ends.

6. A vehicle position calculating method, the method performed by a vehicle position electronic control unit, the method comprising:

acquiring reference positional information to become a reference position for detecting a position of a vehicle from a road-side device;

detecting an advancing direction of the vehicle at a point of time when the reference position is acquired;

detecting a relative change in a running state of the vehicle with respect to the running state of the vehicle at the point of time when the reference position is acquired;

calculating the position of the vehicle according to the advancing direction of the vehicle detected by the advancing direction detecting step and the change in the running state of the vehicle detected by the running state change detecting step; and

detecting a course changing action of the vehicle, wherein

when the course changing action is detected during communication with the road-side device, the advancing direction detecting step detects the advancing direction of the vehicle according to a distance traveled from when starting the communication until the course changing action is detected and a distance traveled from when the course changing action is detected until the communication ends,

at least one of the preceding steps is performed by the vehicle position electronic control unit, and

the road-side device is a beacon for feeding wireless data to a receiving area having a predetermined shape on a road where the vehicle runs, the beacon supplying receiving area information concerning the receiving area by the wireless data, the method further comprising;

acquiring the receiving area information supplied from the beacon; and

calculating a distance traveled by the vehicle during communication with the beacon, wherein

the advancing direction detecting step detects the advancing direction of the vehicle according to the shape of the receiving area fed with the wireless data and the moving distance calculated by the moving distance calculating step.

7. A vehicle position calculating method according to claim 6, wherein the position calculating step is a step of determining a relative change in the position of the vehicle with respect to the reference position according to the advancing direction of the vehicle detected by the advancing direction detecting step and the change in the running state of the vehicle detected by the running state change detecting step, and

calculates the position of the vehicle according to the reference position and the relative change in the position of the vehicle with respect to the reference position.

8. A vehicle position calculating method according to claim 7, wherein the advancing direction detecting step detects the advancing direction at the point of time when the vehicle acquires the reference position, while discriminating a direction along a lane provided with the road-side device and a direction traversing the lane from each other.