Navigation apparatus

• US 8,244,470 B2
• Filed: 07/11/2007
• Issued: 08/14/2012
• Est. Priority Date: 07/12/2006
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kobori, Norimasa, Kagawa, Kazunori
• Primary Examiner(s): Thein, M.
• Application Number:
  US12/308,942
• Publication Number:
  US 20090271108A1
• Time in Patent Office: 1,861 Days
• Field of Search: None
• US Class Current: 701/532
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A navigation apparatus that detects a position of a movable body includes map data storage means for storing map data; an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor on a result of position determination performed using radio navigation; characteristic position detection means for detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means for extracting positional information on a road position corresponding to the characteristic position, by referring to the map data storage means; and position correction means for correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position.

Claims

1. A navigation apparatus that detects a position of a movable body, comprising:

a map data storage portion that stores map data;

an autonomous sensor that detects behavior information of the movable body;

a position-determination portion for determining whether radio waves for radio navigation are blocked;

an inertial position determination portion that detects an inertial position-determination position of the movable body by accumulating the information detected by the autonomous sensor when the radio waves for radio navigation are blocked, the inertial position-determination position being a determined position of the movable body that is based on a result of position determination performed using radio navigation;

a characteristic position detection portion that detects a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior;

a correction amount detection portion that extracts positional information of a road position corresponding to the characteristic position, by referring to the map data storage portion; and

a position correction portion that corrects the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position,

wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time.

2. The navigation apparatus according to claim 1, wherein the position of the movable body is determined based on a radio wave from a GPS satellite in the radio navigation.

3. The navigation apparatus according to claim 1, wherein the map data storage portion stores information relating to a node and information relating to a link, which are associated with an actual road network.

4. The navigation apparatus according to claim 1, wherein the behavior information of the movable body includes a vehicle speed, a steering angle, and a travel direction.

5. The navigation apparatus according to claim 1, wherein the autonomous sensor is an INS device that outputs a signal in accordance with at least one of a travel distance of the movable body, a travel direction of the movable body, and an orientation of the movable body defined by yaw, roll, and pitch.

6. The navigation apparatus according to claim 1, wherein the movable body is a vehicle, and the characteristic position detection portion detects the characteristic behavior, when it is detected that a yaw rate of the vehicle is equal to or larger than a predetermined value while a direction indicator of the vehicle is operated.

7. The navigation apparatus according to claim 1, further comprising:

a travel path detection portion for detecting a travel path of the movable body,

wherein the characteristic position detection portion detects the characteristic behavior of the movable body, based on the travel path.

8. The navigation apparatus according to claim 1, wherein the correction amount detection portion extracts positional information of a node that is closest to the characteristic position, from the map data.

9. The navigation apparatus according to claim 1, wherein the position correction portion corrects the characteristic position so that a distance between the characteristic position and the road position is zero.

10. The navigation apparatus according to claim 1, wherein the position correction portion corrects the inertial position-determination positions ahead of, and behind the characteristic position by the same amount and in the same direction in which the characteristic position is corrected.

11. A method of correcting a detected position of a movable body, comprising:

determining whether radio waves for radio navigation are blocked;

detecting behavior information of the movable body when the radio waves for radio navigation are blocked;

detecting an inertial position-determination position of the movable body by accumulating the behavior information when the radio waves for radio navigation are blocked, the inertial position-determination position being a determined position of the movable body that is based on a result of a position determination performed using radio navigation;

detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior;

extracting positional information of a road position corresponding to the characteristic position, by referring to a map data; and

correcting with a computer the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position;

wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time.

12. The method of claim 11, further comprising:

displaying the corrected characteristic position on a display.