Vehicle position detecting apparatus

• US 6,023,653 A
• Filed: 11/27/1996
• Issued: 02/08/2000
• Est. Priority Date: 11/30/1995
• Status: Expired due to Term

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Yamamoto, Jyunichi, Kamimura, Masatsugu, Ichimura, Atsushi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US08/757,451
• Time in Patent Office: 1,168 Days
• Field of Search: 701/207, 701/201, 701/208, 701/202, 701/209, 701/205, 701/214, 701/212, 701/217, 340/990, 340/995, 344/988
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

The navigation apparatus gives, to a map match processing portion, the measured present location and progress bearing of the vehicle with the use of the position bearing measuring portion for each predetermined period. The map match processing portion reads out the road data about the road close to the measured present position from the memory apparatus to effect the map match processing with respect to each link in accordance with the road data for correcting the measured present position. The correcting operation is effected only when the frequency, where the similarity degree with respect to the measured present position and progress bearing at this time is judged to be larger than the predetermined threshold value, is larger than the predetermined constant Ck. The road data are visually displayed on the visual displaying region of the displaying apparatus. The predetermined diagrams are displayed in a superimposed manner, in the corrected present position, on the road data visually displayed.

Claims

1. A vehicle position detecting apparatus comprising:

road data recording means for recording road data composed of linear road portions;

reading means for reading out the recorded road data from said road data recording means;

present position detecting means for detecting a present position of a vehicle;

vehicle bearing detecting means for detecting a progress bearing corresponding to a progress direction of the vehicle at the present position; and

map matching means for receiving outputs of said reading means, said present position detecting means, and said vehicle bearing detecting means, wherein said map matching means comprises;

degree of similarity calculating means for retrieving linear road portions from the recorded road data which are close to the detected present position of the vehicle, and calculating a degree of similarity value for each of the retrieved linear road portions on the basis of the present position and the progress direction of the vehicle, wherein the degree of similarity value reflects a degree of similarity between a bearing of the retrieved linear road portion and a running history of the vehicle; and

position correcting means comprising;

degree of similarity judgement means for receiving an output of said degree of similarity calculating means and for judging whether the degree of similarity value calculated for each of the retrieved linear road portions is larger than a predetermined value; and

section measurement means for receiving an output of said degree of similarity judgement means and measuring either a distance traveled by the vehicle or a time period which is passed during a period the degree of similarity value for a single retrieved linear road portion is continuously judged to be larger than the predetermined value;

said position correcting means corrects the present position of the vehicle on the single retrieved linear road portion when either the measured distance is greater than a predetermined distance or the measured time period is greater than a predetermined time period.

2. A vehicle position detecting apparatus as claimed in claim 1, wherein said section measurement means accumulates into a accumulative result a length of a section which is passed from an immediately preceding judgement to the current judgement when the degree of similarity value is equal to or larger than the predetermined value, and subtracts the length from the accumulative result when the degree of similarity value is smaller than the predetermined value.

3. A vehicle position detecting apparatus comprising:

road data recording means for recording road data composed of linear road portions;

reading means for reading out the recorded road data from said road data recording means;

present position detecting means for detecting a present position of the vehicle;

vehicle bearing detecting means for detecting a progress bearing corresponding to a progress direction of the vehicle at the present position; and

map matching means for receiving outputs of said reading means, said present position detecting means, and said vehicle bearing detecting means, wherein said map matching means comprises;

road retrieving means for retrieving linear road portions from the recorded road data which are connected with an end portion of a linear road portion to which a past present position of the vehicle belongs;

road distinguishing means for receiving an output of said road retrieving means and distinguishing the retrieved linear road portions into upstream side road portions which have a direction that is reverse to the progress direction of the vehicle and into downstream side road portions which have a same direction as the progress direction of the vehicle;

degree of similarity calculating means for receiving an output of said road retrieving means and calculating a degree of similarity value for each of retrieved road portions on the basis of the present position and the progress direction of the vehicle, wherein the degree of similarity value reflects a degree of similarity between a bearing of the retrieved linear road portion and a running history of the vehicle;

degree of similarity reducing means for receiving an output of said road distinguishing means and said degree of similarity calculating means, and reducing the degree of similarity value for each of the upstream side road portions; and

position correcting means for receiving an output of said degree of similarity reducing means and correcting the present position of the vehicle on a correcting candidate point of one of the retrieved linear road portions which has a largest degree of similarity value.

4. A vehicle position detecting apparatus as claimed in claim 3, wherein said road distinguishing means distinguishes the retrieved linear road portions which are connected with both ends of the linear road portion to which a past corrected present position of the vehicle belongs, into upstream side road portions composed of linear road portions which are connected with an end on the upstream side in the progress direction of the vehicle, and into downstream side road portions composed of linear road portions which are connected with an end of the downstream side in the progress direction of the vehicle.

5. A vehicle position detecting apparatus comprising:

road data recording means for recording road data composed of linear road portions;

reading means for reading out the recorded road data from said road data recording means;

present position detecting means for detecting a present position of a vehicle;

vehicle bearing detecting means for detecting a progress bearing corresponding to a progress direction of the vehicle at the present position; and

map matching means for receiving outputs of said reading means, said present position detecting means, and said vehicle bearing detecting means, wherein said map matching means comprises;

road retrieving means for retrieving linear road portions from the recorded road data which are near the detected present position of the vehicle;

correcting candidate point setting means for receiving outputs of said road retrieving means and setting correcting candidate points on the retrieved linear road portions in a predetermined manner; and

degree of similarity calculation accumulating means for receiving outputs of said correcting candidate point setting means, calculating a degree of similarity value for each of the correcting candidate points on the basis of a distance between the present position of the vehicle and each of the correcting candidate points and on the basis of a bearing difference between the bearing of each of the retrieved linear road portions to which each of the correcting candidate point belongs and a progress bearing of the vehicle, wherein the degree of similarity value indicates a degree of similarity between the retrieved linear road portions to which each of the correcting candidate points belong and a running history of the vehicle, and accumulating degree of similarity values obtained from past corrected present positions of each of the correcting candidate points with the current degree of similarity value calculated for each of the correcting candidate points, respectively;

wherein a correcting candidate point having a largest accumulated degree of similarity value is considered the present position of the vehicle.

6. A vehicle position detecting apparatus as claimed in claim 5, wherein said map matching means further comprises:

correcting candidate point removing means for receiving outputs of said degree of similarity calculation accumulating means, comparing the accumulation results of the degree of similarity values of the respective correcting candidate points, and removing, from a subsequent degree of similarity value calculation, a correcting candidate point having an accumulation result which is beyond an allowable range which is predetermined using a maximum accumulation result among the accumulation results of the respective correcting candidate points as a reference.

7. A vehicle position detecting apparatus as claimed in claim 5, wherein said correcting candidate point setting means sets the correcting candidate points on linear roads portions, among the plurality of linear road portions retrieved by said road retrieving means, which include linear road portions corrected in a past present position and linear road portions which are connected to the linear road portions corrected in the past present position, linear road portions whose bearing differences from the measured progress bearings are within a predetermined range of bearing difference, and linear road portions whose distances from the measured present position are within a predetermined range of distance.

8. A vehicle position detecting apparatus as claimed in claim 7, wherein said present position detecting means comprises:

first position detecting means for detecting a first present position; and

second position detecting means for detecting a second present position using a method different from said first position detecting means; and

wherein said correcting candidate point setting means receives outputs of said first and second position detecting means and sets points to be corrected with respect to the first and second present positions onto linear road portions retrieved by said road retrieving means as the correcting candidate points.