Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer-readable storage medium

• US 8,868,334 B2
• Filed: 01/11/2013
• Issued: 10/21/2014
• Est. Priority Date: 03/13/2012
• Status: Active Grant

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Ando, Yohei, Yagi, Takuma
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US13/739,603
• Publication Number:
  US 20130245934A1
• Time in Patent Office: 648 Days
• Field of Search: 701/446, 701/472, 701/445, 701/450, 701/409, 701/532, 701/468, 701/500, 340/995.25, 340/995.27, 340/995, 340/28, 340/19
• US Class Current: 701/446
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments

Abstract

A moving body position detection system including a unit that acquires dead reckoning navigation information on a moving body; a unit that identifies a position on the moving body on a link based on the dead reckoning navigation information on the moving body; a unit that acquires current position link data on a current position link and neighboring link data on a neighboring link. The current position link is a link on which the moving body position is located, and the neighboring link is connected to the current position link. The system also includes a unit that compares the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data; and a unit that updates the position of the moving body based on a comparison result of the comparison unit.

Claims

1. A moving body position detection system comprising:

a dead reckoning navigation information acquisition unit that acquires dead reckoning navigation information on a moving body;

a position identification unit that identifies a position of the moving body on a link based on the dead reckoning navigation information on the moving body;

a link data acquisition unit that acquires current position link data on a current position link and neighboring link data on a neighboring link, the current position link being a link on which the position of the moving body identified by the position identification unit is located, the neighboring link connected to the current position link;

a comparison unit that compares the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data; and

a position update unit that updates the position of the moving body, identified by the position identification unit, based on a comparison result of the comparison unit,

wherein;

the dead reckoning navigation information includes information on a direction of the moving body;

the link data acquisition unit acquires a direction of the current position link and a direction of the neighboring link; and

the comparison unit compares the direction of the moving body with the direction of the current position link and with the direction of the neighboring link.

2. The moving body position detection system according to claim 1, wherein:

the dead reckoning navigation information includes information on a direction of the moving body;

the link data acquisition unit acquires a direction of the current position link and a direction of the neighboring link; and

the comparison unit compares the direction of the moving body with the direction of the current position link and with the direction of the neighboring link.

3. The moving body position detection system according to claim 1, wherein:

the position update unit comprises a target position setting unit that sets a corrected target position based on a comparison result of the comparison unit; and

the position update unit updates the position of the moving body so that a difference between the position of the moving body, identified by the position identification unit, and the corrected target position is reduced.

4. The moving body position detection system according to claim 3, wherein, when the direction of the moving body, the direction of the current position link, and the direction of the neighboring link satisfy a predetermined first condition, the target position setting unit sets the corrected target position at the midpoint of the current position link or at the midpoint of the neighboring link.

5. The moving body position detection system according to claim 3, wherein, when the direction of the moving body, the direction of the current position link, and the direction of the neighboring link satisfy a predetermined second condition, the target position setting unit calculates a first direction angle and a second direction angle and sets the corrected target position at a point obtained by internally dividing a link segment extending from the midpoint of the current position link to the midpoint of the neighboring link in a ratio between the first direction angle and the second direction angle, the first direction angle being a difference between the direction of the moving body and the direction of the current position link, the second direction angle being a difference between the direction of the moving body and the direction of the neighboring link.

6. The moving body position detection system according to claim 3, wherein:

the dead reckoning navigation information includes information on a movement distance of the moving body;

the position update unit updates the position of the moving body each time the moving body moves a predetermined distance;

when the corrected target position is located ahead of a temporary update position in a traveling direction, the position update unit updates the position of the moving body to a position ahead of the temporary update position in the traveling direction, the temporary update position being a location the predetermined distance ahead of the position of the moving body before the update; and

when the corrected target position is located behind the temporary update position in the traveling direction, the position update unit updates the position of the moving body to a position behind the temporary update position in the traveling direction.

7. The moving body position detection system according to claim 1, wherein the position update unit updates the position of the moving body, identified by the position identification unit, based on the comparison result of the comparison unit when the moving body is moving in a rotary, when the moving body enters a rotary, or when the moving body exits a rotary.

8. A moving body position detection apparatus comprising:

a dead reckoning navigation information acquisition unit that acquires dead reckoning navigation information on a moving body;

a position identification unit that identifies a position of the moving body on a link based on the dead reckoning navigation information on the moving body;

a link data acquisition unit that acquires current position link data on a current position link and neighboring link data on a neighboring link, the current position link being a link on which the position of the moving body identified by the position identification unit is located, the neighboring link connected to the current position link;

a comparison unit that compares the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data; and

a position update unit that updates the position of the moving body, identified by the position identification unit, based on a comparison result of the comparison unit,

wherein;

the dead reckoning navigation information includes information on a direction of the moving body;

the link data acquisition unit acquires a direction of the current position link and a direction of the neighboring link; and

the comparison unit compares the direction of the moving body with the direction of the current position link and with the direction of the neighboring link.

9. A moving body position detection method comprising:

using a processor to execute;

acquiring dead reckoning navigation information on a moving body;

identifying a position of the moving body on a link based on the dead reckoning navigation information on the moving body;

acquiring current position link data on a current position link and neighboring link data on a neighboring link, the current position link being a link on which the identified position of the moving body is located, the neighboring link connected to the current position link;

comparing the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data; and

updating the identified position of the moving body based on a comparison result of comparing the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data,

wherein;

the dead reckoning navigation information includes information on a direction of the moving body;

the acquiring current position link data includes acquiring a direction of the current position link and a direction of the neighboring link; and

the comparing comprises comparing the direction of the moving body with the direction of the current position link and with the direction of the neighboring link.

10. A non-transitory computer-readable storage medium that stores computer-executable instructions for performing a moving body position detection function comprising:

acquiring dead reckoning navigation information on a moving body;

identifying a position of the moving body on a link based on the dead reckoning navigation information on the moving body;

acquiring current position link data on a current position link and neighboring link data on a neighboring link, the current position link being a link on which the identified position of the moving body is located, the neighboring link connected to the current position link;

comparing the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data; and

updating the identified position of the moving body based on a comparison result of comparing the dead reckoning navigation information on the moving body with the current position link data and with the neighboring link data,

wherein;

the dead reckoning navigation information includes information on a direction of the moving body;

the acquiring current position link data includes acquiring a direction of the current position link and a direction of the neighboring link; and

the comparing comprises comparing the direction of the moving body with the direction of the current position link and with the direction of the neighboring link.