JP2019117059A - Electronic system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic device capable of accurately specifying a lane position of an own vehicle. An in-vehicle device 100 of the present invention includes a navigation unit 130, a storage unit 180 that stores map data including road lane information, a vehicle position detection unit 120 that detects a vehicle position, and at least a vehicle. As a specific means for specifying the lane position where the own vehicle travels by referring to the position and lane information, and as a determination means for determining whether or not an error occurs when the lane position of the own vehicle is specified by the lane information of the map data. If it is determined by the determination means that an error occurs, the determination means has a reliability correction means for lowering the reliability of the lane position specified by the specific means. [Selection diagram] Fig. 1

Description

  The present invention relates to an in-vehicle apparatus equipped with a navigation function, and more particularly to a method of correcting reliability when a lane position is specified.

  The navigation device analyzes the image data captured by the on-vehicle camera, or uses lane connectivity information stored in the map data or a high-accuracy GPS signal to determine the lane position where the vehicle is traveling. It is possible to identify and provide route guidance in lane units. For example, when the host vehicle enters a fork, guidance can be provided according to the lane position. The navigation device of Patent Document 1 suspends the guidance processing when the accuracy of the vehicle position information is lower than a preset reference accuracy, and starts the guidance processing when the accuracy is higher than the reference accuracy. We perform guidance processing that adapted to the sense of the person.

JP 2008-197004 A

  A problem when performing route guidance in lane units in a conventional navigation device will be described. From the logical structure of lane connectivity information, when the actual lane connectivity can not be accurately reflected in the map database, or when the actual lane connectivity does not match the lane connectivity information of the map database, the wrong lane position is identified A situation occurs that

  FIG. 6A shows an example of a road shape in which a road R1 having a plurality of lanes L1, L2 and L3 branches into a road R2 having lanes L4 and L5 and a road R3 having lanes L6 and L7. . In addition, the vehicle M travels on the lane L2 of the road R1 toward the branch point P.

  In the case of a road shape having such a branch, the map data is such that lanes L1 and L2 of road R1 are connected to lanes L4 and L5 of road R2, and lane L3 of road R1 is connected to lane L7 of road R3 , Lane connectivity information. When the branch determination is performed using the lane connectivity information, if the vehicle M enters the branch path P while traveling on the lane L2, the vehicle M travels on the lane L5 of the road R2. Therefore, it is determined that the vehicle has traveled straight to the road R2.

  However, in practice, the vehicle M can turn right from lane L2 of road R1 to lane L6 of road R3. If branch determination is performed based on lane connectivity information, branch determination, that is, the vehicle is traveling The wrong lane position is required. As a result, on the display of the navigation device, as shown in FIG. 6 (B), although the vehicle M is turning right and travels in the lane L6 of the road R3, the vehicle M1 is on the road R2. It will be displayed as it travels on lane L5.

  The present invention solves such conventional problems, and an object of the present invention is to provide an electronic device capable of accurately identifying the lane position of the vehicle.

  The electronic device provided with the navigation function according to the present invention comprises storage means for storing map data including lane information of a road, own vehicle position detection means for detecting the own vehicle position, at least own vehicle position and the lane information. An identifying means for identifying a lane position where the own vehicle travels with reference, a determining means for determining whether an error occurs when the lane position of the own vehicle is specified by the lane information, and an error is determined by the determining means. And a reliability correction unit that reduces the reliability of the lane position specified by the specification unit when it is determined to occur.

  In one embodiment, the reliability correction means reduces the reliability of the lane position for a certain section. In one embodiment, the reliability correction means causes the specifying means to prohibit the specification of the lane position using the lane information during a certain section. In one embodiment, the reliability correction means causes the specifying means to specify a lane position by map matching. In one embodiment, the electronic device further includes guiding means for guiding a route for each lane along which the vehicle travels, and the reliability correction means prohibits the route guiding means for guidance for each lane during a certain section. Let In one embodiment, the lane information includes lane connectivity information on a branch of a road, and the reliability correction unit uses the lane connectivity information to the identification unit during a certain section including the branch. Prohibit the identification of the lane position In one embodiment, the determination means determines that the number of lanes of the road on which the vehicle is traveling is in advance, the vehicle position is within a predetermined region, the vehicle orientation is within a predetermined range, and It is the number of lanes, and it is determined that an error occurs when the lane position of the vehicle is specified by the lane information when the lane position of the vehicle is at a predetermined lane position.

  According to the present invention, when it is determined that an error occurs when the lane position of the vehicle is specified by the lane information of the map data, the reliability of the lane position specified by the specifying means is lowered. As a result, it is possible to suppress the identification of the vehicle at the wrong lane position and to prevent the guidance of inappropriate lane units.

It is a block diagram showing composition of an in-vehicle device concerning an example of the present invention. It is a figure explaining the example of composition of map data. It is a figure showing the functional composition of the reliability amendment program concerning the example of the present invention. It is a figure explaining the content of the reliability correction | amendment program which concerns on a present Example. It is a flowchart explaining the reliability correction | amendment operation | movement which concerns on a present Example. It is a figure explaining the subject of the conventional navigation apparatus.

  Next, embodiments of the present invention will be described in detail. The electronic device according to the present invention can be an on-vehicle device fixedly mounted on a mobile object such as a car or a portable computer device that can be carried in the mobile object. Further, the electronic device of the present invention has a navigation function, but as other functions, for example, a function of reproducing audio and video data, a function of receiving television and radio broadcasting, a function of executing application software, etc. It may be mounted.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an in-vehicle apparatus according to an embodiment of the present invention. The on-vehicle apparatus 100 according to the present embodiment includes an input unit 110, a vehicle position detection unit 120, a navigation unit 130, an imaging unit 140, an audio output unit 150, a display unit 160, a communication unit 170, a storage unit 180, and a control unit 190. It comprises.

  The input unit 110 receives an instruction from the user and provides the instruction to the control unit 190. The vehicle position detection unit 120 detects the vehicle position based on GPS positioning, a self-contained navigation sensor (for example, a gyro sensor, an acceleration sensor, etc.) and the like.

  The navigation unit 130 causes the display unit 160 to display corresponding map data based on the vehicle position detected by the vehicle position detection unit 120, and guides the road around the vehicle position. In addition, the navigation unit 130 identifies the lane position where the vehicle travels by referring to the vehicle position detected by the vehicle position detection unit 120, the image data captured by the imaging unit 140, the map data, and the like. Have a function to Details of the map data will be described later.

  The imaging unit 140 includes, for example, one or more cameras installed at the rear, front, side, etc. of the vehicle. The imaging unit 140 images a road surface including lanes (white lines) and the like on the road on which the vehicle travels. The captured image data or the analysis result thereof is provided to the navigation unit 130, and the navigation unit 130 uses this information to identify the lane position where the vehicle travels.

  The voice output unit 150 outputs voice such as guidance when the navigation unit 130 is executed, and the display unit 160 displays a road map when the navigation unit 130 is executed. The communication unit 170 enables wired or wireless data communication with an external device, an external network, or the like. The storage unit 180 stores map data used by the navigation unit 130, and stores application software and the like executed by the in-vehicle apparatus 100.

  An example of map data is shown in FIG. The map data includes link data 180, node data 182, facility data 184, and the like. The link data 180 is road information connecting nodes and nodes, and includes road types such as general roads and expressways, coordinates of start and end points of links, directions of links, lane information of roads, and the like. The lane information of the road further includes lane connectivity representing a connection relationship with the lane of another link when being connected to another link at the number of lanes, a branch point, an intersection or the like. As for lane connectivity, in the example of FIG. 6, lane L1 of road R1 is connected to lane L4 of road R2, lane L2 of road R1 is connected to lane L5 of road R2, and lane L3 of road R1 is road It is information that defines the relationship connected to the link L6 or L7 of R3. Lane connectivity is used, for example, for branch determination when the host vehicle passes an intersection, a branch point, or the like, or identification of a lane position therefor. The node data 182 is information representing position coordinates such as intersections and branch points, attributes of intersections, and the like. The facility data 184 is information indicating each facility drawn on the map.

  The map data may be provided in advance by the storage unit 180 or may be acquired as needed from a server that delivers the map data via the communication unit 170 when the navigation unit 130 executes it. May be

  Control unit 190 controls the overall operation of on-vehicle apparatus 100. In the present embodiment, the control unit 190 includes a microcontroller or microprocessor having a ROM / RAM or the like, and executes a reliability correction program 200 for correcting the reliability when specifying the lane position of the vehicle. The reliability correction program 200 is operated when the navigation unit 130 is executed.

  FIG. 3 is a diagram showing a functional configuration of the reliability correction program 200. As shown in FIG. The reliability correction program 200 includes a designated area determination unit 210, a vehicle direction determination unit 220, a designated lane number determination unit 230, a lane position determination unit 240, and a reliability reduction unit 250. The designated area determination unit 210, the host vehicle direction determination unit 220, the designated lane number determination unit 230, and the lane position determination unit 240 specify the wrong lane position when the lane position is specified using the lane information of the map data. Is a process for determining the condition of the road shape. These configurations will be described with reference to FIG.

  The designated area determination unit 210 determines, based on the vehicle position information detected by the vehicle position detection unit 120, whether or not the vehicle M is present, for example, in the rectangular area Z. The rectangular area Z is specified by latitude and longitude. The rectangular area Z defines an area in which the lane position of the vehicle may be erroneously identified, and is an area including, for example, a branch point or an intersection. In the example of FIG. 6, it is a rectangular area including the branch point P. The branch point P is a position where the road R1 branches into the road R2 and the road R3, and the branch point P is a common node to which these three links are connected.

  The rectangular area Z may be defined in advance in association with the branch point P, or includes the branch point P if the branch point P exists in front of it while the vehicle M is traveling. The rectangular area Z may be determined. In the latter case, information (the length in the latitudinal direction, the length in the longitudinal direction) for determining at least the size of the rectangular area Z is previously defined. In addition, by designating a rectangular area by latitude and longitude, the load of arithmetic processing can be reduced compared to the case of extracting a road by designating a complicated shape, and it is possible to limit the target area to a smaller size. It is.

  The area determined by the designated area determination unit 210 is not necessarily limited to the rectangular area, and may have another shape. For example, the designated area determination unit 210 determines whether the vehicle M is present in an area such as a polygonal polygon, a circle, or an ellipse. The polygon is identified from the latitude and longitude coordinates, the circle is identified by the center coordinates and radius, and the ellipse is identified by the center coordinates and the major and minor axes. In the example of FIG. 6, a polygon, a circle, an ellipse or the like is an area including the branch point P, and it is determined whether or not the own vehicle exists in this area.

The vehicle orientation determination unit 220 determines whether or not the angle formed by the traveling direction of the vehicle M and the heading of the road in the traveling direction is within a certain range. That is, roads within a certain range in the traveling direction of the vehicle are extracted. The traveling direction of the vehicle M is calculated, for example, from the link orientation included in the link data on which the vehicle travels, the temporal change in the vehicle position, the change in the angular velocity sensor, and the like. If the vehicle orientation determination unit 220 is shown in the example of FIG. 4, the link orientation of the road R1 on which the vehicle M travels and a road within a certain range, for example, ± 45 degrees, are extracted. If the angle θ between the link direction of the road R1 and the link direction of the road R3 is 45 or less, the road R3 is extracted.
By limiting the traveling direction, for example, it is possible to exclude a road in the opposite direction from the target.

  The designated lane number determination unit 230 determines whether the number of lanes of the road on which the host vehicle M is traveling is the number of lanes designated in advance. Thereby, the target road can be limited. For example, in the example of FIG. 4, if the number of designated lanes is 3, the road R1 is included in the target.

  The lane position determination unit 240 determines whether the lane on which the host vehicle travels is a lane position designated in advance. Thereby, a specific lane position can be limited. As described above, the navigation unit 130 identifies the lane position where the vehicle travels, and determines whether the identified lane position is the designated lane position. As shown in the example of FIG. 4, if the designated lane is L2, the vehicle is traveling on the lane L2, and the vehicle is excluded if traveling on the other lanes.

  The determination result of the designated area determination unit 210, the host vehicle direction determination unit 220, the designated lane number determination unit 230, and the lane position determination unit 240 determines whether the reliability of the lane position is to be reduced. It is In other words, when the designated area determination unit 210, the vehicle direction determination unit 220, the specified lane number determination unit 230, and the lane position determination unit 240 specify the lane position of the vehicle using lane information of the map data, the lane It is determined whether an error may occur in specifying the position. If it is determined that such an error may occur, the reliability reduction unit 250 reduces the reliability of the lane position for a certain section or a certain distance. The fixed section has a size obtained by adding a fixed margin to the distance at which the lane position returns to the correct position. For example, in the example of FIG. 6, this is a section in which a certain value is added to the distance at which the vehicle position M returns to the road R3.

  Specifically, the reliability reduction unit 250 prohibits specification of a lane position using lane information of map data for a certain section, and instead specifies a road on which the vehicle travels by map mapping processing. . For example, the link closest to the vehicle position is extracted, and the link within a certain angle range with the vehicle traveling direction is specified. In map matching, a road is identified rather than a lane position. In the example of FIG. 6, in the branch determination of the vehicle, the road R3 on which the vehicle travels is specified by performing the branch determination by the map matching process without using the lane connectivity information included in the lane information.

  Furthermore, the reliability reduction unit 250 stops guidance for each lane during a certain section, and performs guidance for each road. In the example of FIG. 6, when the route guidance for the vehicle M to travel on the road R3 is made, a rough guidance "Please advance on the right lane" is performed. If it is the route guidance for each lane, if your vehicle is traveling on the left side of the target lane, "Please move to the right of one lane", if the vehicle is traveling on the target lane Will be guided by "Go straight on this lane".

  Next, the lane position reliability correction operation of this embodiment will be described with reference to the flowchart of FIG. The navigation unit 130 is operated along with the traveling of the vehicle, and the lane position of the vehicle is specified based on the vehicle position, the lane information of the map data, and the like (S100). In the subsequent traveling process, it is determined by the designated area determination unit 210 whether or not the vehicle is present in the designated rectangular area (S102). If it is determined that the host vehicle is in the designated rectangular area, the host vehicle is traveling on a road where the wrong lane position may be identified.

  When it is determined that the host vehicle is in the rectangular area, next, the host vehicle orientation determination unit 220 determines whether the traveling direction of the host vehicle is, for example, within ± 45 degrees with respect to the heading of the branch road. It is determined (S104). If it is within ± 45 degrees, then the specified lane number determination unit 230 determines whether or not the vehicle is traveling on a road with the specified number of lanes (S106), and then the lane position determination unit 240 It is determined whether the host vehicle is traveling at the designated lane position (S108).

  When traveling of the vehicle satisfies all conditions of steps S102 to S108, the process of reducing the reliability of the lane position by the reliability reducing unit 250 is performed during a certain section (S110). For example, instead of performing route guidance in units of lanes, rough route guidance is performed in units of roads, or a road is identified using map matching processing instead of identification of lane positions using lane connectivity information.

  The reliability reduction unit 250 monitors the position of the vehicle and determines whether or not the vehicle has traveled a certain section (S112). If the certain section is passed, the processing for decreasing the lane position reliability is stopped. Return to normal reliability processing. On the other hand, in the case where one of the conditions in steps S102 to S108 is not met, the process of lowering the reliability is not performed.

  As described above, according to the present embodiment, when the lane position is specified using the lane information of the map data, the lane position may be specified when the wrong lane position is specified due to the difference from the actual road shape. As the reliability of the vehicle is lowered, the lane position of the vehicle can be specified more accurately. Further, it is possible to prevent the display of the vehicle position on an inappropriate road on the road map of the display unit 160.

  Although the preferred embodiments of the present invention have been described above in detail, the present invention is not limited to the specific embodiments, and various modifications may be made within the scope of the present invention as set forth in the claims. Modifications and changes are possible.

100: in-vehicle device 110: input unit 120: vehicle position detection 130: navigation unit 140: imaging unit 150: audio output unit 160: display unit 170: communication unit 180: storage unit 190: control unit 200: reliability correction program 210 : Specified area determination unit 220: Vehicle orientation determination unit 230: Specified lane number determination unit 240: Lane position determination unit 250: Reliability reduction unit

Claims (7)

An electronic device having a navigation function,
Storage means for storing map data including road lane information;
Vehicle position detection means for detecting the vehicle position;
Specifying means for specifying a lane position where the vehicle travels with reference to at least the vehicle position and the lane information;
A determination unit that determines whether an error occurs when the lane position of the vehicle is specified by the lane information;
Reliability correction means for reducing the reliability of the lane position identified by the identification means when the determination means determines that an error occurs;
An electronic device having The electronic device according to claim 1, wherein the reliability correction means reduces the reliability of the lane position during a certain section. The electronic device according to claim 1, wherein the reliability correction unit causes the specification unit to prohibit specification of a lane position using the lane information during a certain section. The electronic device according to claim 3, wherein the reliability correction means causes the specifying means to specify a lane position by map matching. The electronic device further includes guiding means for guiding a route for each lane on which the vehicle travels,
The electronic device according to claim 1, wherein the reliability correction unit causes the route guidance unit to prohibit guidance for each lane during a certain section. The lane information includes lane connectivity information on a road branch,
The electronic device according to claim 1, wherein the reliability correction unit causes the specification unit to prohibit specification of a lane position using the lane connectivity information during a certain section including the branch path. The determination means is in a region where the vehicle position is determined in advance, the azimuth of the vehicle is in a predetermined range, and the number of lanes of the road on which the vehicle is traveling is determined by the number of lanes determined in advance. The electronic device according to claim 1, wherein when the lane position of the vehicle is at a predetermined lane position, it is determined that an error occurs when the lane position of the vehicle is specified by the lane information.

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