Current position calculating device

• US 5,941,934 A
• Filed: 06/07/1996
• Issued: 08/24/1999
• Est. Priority Date: 06/09/1995
• Status: Expired due to Term

• Current Assignee: Clarion Co., Ltd. (Faurecia SA)
• Original Assignee: Xanavi Informatics Corporation (Hitachi, Ltd.)
• Inventors: Sato, Hiroyuki
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/660,898
• Time in Patent Office: 1,173 Days
• Field of Search: 701/207, 701/208, 701/217, 701/224, 701/220, 701/221, 340/995
• US Class Current: 701/217
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A microprocessor 24 detects turn start and turn finish of a vehicle on the basis of outputs of various sensors 11, 12 and 13, and during this operation, the microprocessor 24 successively sets a current position to a middle point of a next link every time a predetermined condition is satisfied. While the current position is shifted from the middle point of a link to the middle point of a next link, the vehicle travel azimuth output from the sensor is corrected to approach to the azimuth of the link by an amount corresponding to the difference between the link azimuth of the just-previous middle point and the vehicle travel azimuth, and the current position is displayed on the basis of the corrected travel azimuth and the travel distance. Information on each link is obtained form a road map which is stored in a CD-ROM 15 and in which roads are expressed by an assembly of links. With this device, the current position can be displayed in the vicinity of a road on a road map on which the vehicle runs, even on a curve which is not accurately displayed on the road map.

Claims

1. A current position calculating device, for a vehicle, for calculating a current position of the vehicle, comprising:

azimuth detecting means for detecting a travel azimuth of the vehicle at a predetermined interval;

distance calculating means for calculating a travel distance of the vehicle at a predetermined interval;

storage means for storing road maps;

travel azimuth correcting means for correcting a current travel azimuth of the vehicle detected by said azimuth detecting means;

current position calculating means for presuming a current position on a road on a basis of both a road map read out from said storage means and a relative displacement of the vehicle which is determined from a previously-presumed current position of the vehicle, a corrected current travel azimuth of the vehicle corrected by the travel azimuth correcting means and a current travel distance of the vehicle calculated by the distance calculating means; and

display means for displaying the current position of the vehicle together with the road map read out from said storage means,

wherein said travel azimuth correcting means calculates a difference between an azimuth of the road on which the current position is located and the current travel azimuth of the vehicle when said azimuth detecting means detects the travel azimuth of the vehicle, and corrects the current travel azimuth of the vehicle according to an amount of the differences obtained during predetermined interval so that the difference is to be reduced.

2. A current position calculating device, for a vehicle, for calculating a current position of the vehicle, including:

azimuth detecting means for detecting a travel azimuth of the vehicle at a predetermined interval;

distance calculating means for calculating a travel distance of the vehicle at a predetermined interval;

storage means for storing road maps;

travel azimuth correcting means for correcting a current travel azimuth of the vehicle detected by said azimuth detecting means;

current position calculating means for presuming a temporary current position which is calculated on a basis of a preceding set current position and a relative displacement of the vehicle determined on a basis of a corrected current travel azimuth of the vehicle corrected by the travel azimuth correcting means and a current travel distance of the vehicle calculated by the distance calculating means, and verifying the temporary current position with a road map read out from said storage means to set the most probable position on a road as a latest current position; and

display means for displaying the latest current position of the vehicle together with the road on where the latest current position is located,

wherein said travel azimuth correcting means corrects the current travel azimuth of the vehicle by an amount corresponding to a difference between the azimuth of the road on which the latest current position is located and the current travel azimuth of the vehicle, so that the difference is to be reduced, and

when a difference between the current travel azimuth of the vehicle and the preceding detected travel azimuth of the vehicle is over a predetermined value, said current position calculating means sets as the latest current position the temporary current position determined on the basis of the preceding set current position of the vehicle and the relative displacement of the vehicle which is calculated from the corrected current travel azimuth of the vehicle and the current travel distance of the vehicle without verifying the temporary current position with the road map read out from said storage means to set the most probable position on the road as the latest current position.

3. A current position calculating device, for a vehicle, for calculating a current position of the vehicle, comprising:

azimuth detecting means for detecting a travel azimuth of the vehicle;

distance calculating means for calculating a travel distance of the vehicle;

storage means for storing road maps;

travel azimuth correcting means for correcting the travel azimuth of the vehicle detected by said azimuth detecting means;

current position calculating means for successively presuming the current position on road on a basis of both a road map read out from said storage means and a relative displacement of the vehicle which is determined from a previously-presumed current position of the vehicle, one of the vehicle azimuth detected by said azimuth detecting means or a corrected travel azimuth corrected by the travel azimuth correctly means, and the travel distance calculated by the distance calculating means;

display means for displaying the current position of the vehicle together with the road map read out from said storage means on a basis of a presumed current position; and

target point arrival judgment means for successively setting, as a candidate road, a road which is connected in front of the vehicle in a vehicle travel direction to a road on which the previously-presumed current position is located, during a period when variation of one of the vehicle travel azimuth detected by said azimuth detection means or the corrected travel azimuth corrected by the travel azimuth correcting means shows that the vehicle is under turn, and judging whether the difference between the travel azimuth of the vehicle and an azimuth of the candidate road is below a predetermined value when the vehicle runs by a distance from the previously-presumed current position to a target point which is set in a vicinity of a middle point of the candidate road,

wherein said travel azimuth correcting means corrects the travel azimuth detected by said azimuth detecting means by any one of an amount corresponding to a difference between an azimuth of a road on where a presumed current position is located and the travel azimuth of the vehicle detected by said azimuth detecting means when said current position calculating means presumes the current position, and an amount corresponding to past records of the differences so that the difference is to be reduced,

and wherein while the variation of any one of the travel azimuth of the vehicle detected by said azimuth detecting means and the corrected travel azimuth corrected by the travel azimuth correcting means shows that the vehicle is under-turn, said current position calculating means presumes a position of the target point as the reference current position when said target point arrival judgment means judges that a difference between the travel azimuth of the vehicle and the azimuth of the candidate road is below a predetermined value.

4. The current position calculating device as claimed in claim 3, wherein said target point arrival judgment means sets, as a candidate road, a road which is connected in front of the vehicle in the vehicle travel direction only when the travel azimuth of the vehicle is below a judgement azimuth which is set between the azimuth of a preceding road on which the previously-presumed current position is located and the azimuth of the road which is connected to the preceding road in front of the vehicle in the vehicle travel direction.

5. A current position calculating device, for a vehicle, for calculating a current position of the vehicle, comprising:

azimuth detecting means for detecting a travel azimuth of the vehicle;

distance calculating means for calculating a travel distance of the vehicle;

storage means for storing road maps;

current position calculating means for presuming a temporary current position which is calculated on a basis of a preceding set current position and a relative displacement of the vehicle determined on a basis of the travel azimuth and the travel distance of the vehicle, and verifying the temporary current position with a road map read out from said storage means to set a most probable position on a road as a latest current position; and

turn judgment means for judging whether the vehicle is turning,

wherein if said turning judgment means judges that the vehicle is turning, said current position calculating means sets as the latest current position the temporary current position determined on a basis of a preceding set current position of the vehicle and the relative displacement of the vehicle which is calculated from the travel azimuth and the travel distance of the vehicle without verifying the temporary current position with a road map read out from said storage means to set a most probable position on a road as the latest current position.

6. The current position calculating device as claimed in claim 5, wherein said turn judgment means includes means for judging whether a difference between a current vehicle travel azimuth and an average value of past calculated travel azimuth values obtained while the vehicle runs at a constant distance is below a predetermined threshold value every time the vehicle runs at a predetermined distance, and means for judging whether the vehicle is under turn, on a basis of the number of times that it has been continuously judged until now that the difference between the current vehicle travel azimuth and the average value of past calculated travel azimuth values is below the predetermined threshold value.

7. A method for detecting turning of a vehicle for a current position calculating device, for a vehicle, for calculating a current position of the vehicle, comprising the steps of:

judging whether a difference between a current vehicle travel azimuth and an average value of past calculated travel azimuth values obtained while the vehicle runs at a constant distance is below a predetermined threshold value every time the vehicle runs at a predetermined distance; and

judging a turn of the vehicle if the number of times that it has been continuously judged until now that the difference between the current vehicle travel azimuth and the average value of past calculated travel azimuth values is below the predetermined threshold value, is below a predetermined number.

8. A current position calculating device, for a vehicle, for calculating a current position of the vehicle, including:

azimuth detecting means for detecting a travel azimuth of the vehicle;

distance calculating means for calculating a travel distance of the vehicle;

storage means for storing road maps;

current position calculating means for successively presuming the current position on a road on a basis of both a road map read out from said storage means and a relative displacement of the vehicle which is determined from a previously-presumed current position of the vehicle, the travel azimuth and the travel distance;

display means for displaying the current position of the vehicle together with the road map read out from said storage means on a basis of the presumed current position; and

target point arrival judgment means for successively setting, as a candidate road, a road which is connected in front of the vehicle in a vehicle travel direction to a road on which the previously-presumed current position is located, during a period when the travel azimuth of the vehicle shows that the vehicle is under turn, and judging whether a difference between the travel azimuth of the vehicle and an azimuth of the candidate road is below a predetermined value when the vehicle runs by a distance from the previously-presumed current position to a target point which is set in the vicinity of a middle point of the candidate road,

wherein, when said target point arrival means judges that the difference between the travel azimuth of the vehicle and the azimuth of the candidate road is below the predetermined value, said current position calculating means presumes the position of the target point as the current position.

9. The current position calculating device as claimed in claim 8, wherein said target point arrival judgment means sets, as the candidate road, the road which is connected in front of the vehicle in the vehicle travel direction only when the travel azimuth of the vehicle is below a judgement azimuth which is set between the azimuth of the preceding road on which the previously-presumed current position is located and the azimuth of the road which is connected to the preceding road in front of the vehicle in the vehicle travel direction.