JP2017161556A - Position recognition device, control method, program, and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position recognition device that can accurately display the current location on a map even during a travel on a road with a bank.SOLUTION: A position recognition device recognizes the current location of a movable body and includes a storage part, determination means, and current location determination means. The storage part stores map data including information on a bank provided on a road. The determination means determines whether or not a traveling road on which the movable body is traveling has a bank on the basis of the information on a bank in the map data. The current location determination means, if the traveling road has a bank, recognizes the current location on a map on the basis of the map data.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a position recognition device that recognizes the current location of a moving object.

  2. Description of the Related Art Conventionally, a technique for correcting an output error of an orientation sensor based on an output from a GPS receiver or the like when determining a display position of the current location of the vehicle based on an output from an orientation sensor or the like is known. Further, Patent Document 1 discloses a technique for more accurately calculating the position and orientation of a vehicle by correcting the output of the angular velocity sensor when the vehicle turns a predetermined angle and the GPS receiver cannot receive radio waves. Is disclosed.

JP 2010-38889 A

  In Patent Document 1, since the error of the direction sensor caused by the gradient in the front-rear direction of the vehicle when passing through the slope of the underground parking lot is corrected, the direction sensor caused by the difference in height (bank) in the left-right direction There is no disclosure or suggestion on how to deal with these errors. Furthermore, in Patent Document 1, there are specific preconditions such as fixing the gradient angle to a predetermined angle, and the same method cannot be applied when a vehicle passes through a road with a bank.

  The present invention has been made to solve the above problems, and provides a position recognition device capable of accurately displaying the current location on a map even when the bank is traveling on a road. Is the main purpose.

  The invention according to claim 1 is a position recognition device for recognizing the current location of a mobile object, and based on the information of the bank, a storage unit that stores map data including bank information provided on a road, A determination unit that determines whether or not the traveling road on which the mobile body is traveling has a bank, and recognizes the current location on the map based on the map data when the determination unit determines that the traveling road has a bank Current location determining means.

It is a figure which shows the loop type road provided with the bank. It is a figure which shows the vehicle currently drive | working on the road in which the bank was provided. It is an example of schematic structure of the navigation apparatus concerning a present Example. It is a flowchart which shows the process sequence in 1st Example. It is a flowchart which shows the process sequence in 2nd Example.

  According to a preferred embodiment of the present invention, there is provided a position recognition device for recognizing the current location of a mobile object, the storage unit storing map data including bank information provided on a road, and based on the bank information. Determining means for determining whether or not the traveling road on which the mobile body is traveling has a bank; and if the determining means determines that the traveling road has a bank, the current location on the map based on the map data Current location determination means for recognizing

  Said position recognition apparatus is an apparatus which displays the present location of a mobile body on a map, and is provided with a memory | storage part, a determination means, and a present location determination means. A memory | storage part memorize | stores the map data containing the information of the bank provided in the road. The determination means determines whether or not the traveling road on which the mobile body is traveling has a bank based on the bank information in the map data. The current location determination means recognizes the current location on the map based on the map data when the traveling road has a bank.

  Generally, the bank is provided on a road having a spiral shape, and when a moving body travels on the road, an error occurs in the output of the direction sensor due to an angle difference between the road plane and the horizontal plane. Accordingly, when traveling on such a road, the position recognition device can recognize the current location accurately by recognizing the current location on the map based on the map data.

  In one aspect of the position recognition apparatus, the position recognition device further includes an azimuth sensor that detects an angular velocity change amount of the moving body based on a lateral acceleration of the moving body, and the current location determination unit does not have a bank on the traveling road. When the determination means determines, the present location is recognized based on the output of the direction sensor. Here, the “left and right direction of the moving body” refers to a direction perpendicular to the traveling direction of the moving body on the ground surface where the moving body exists. Since there is no direction sensor error due to the bank on a road without a bank, the position recognition device can accurately recognize the current location by using the output of the direction sensor when traveling on a road without a bank. it can.

  In another aspect of the position recognition device, the current location determination unit recognizes that the current location is at a position along the road on the map when the determination unit determines that the traveling road has a bank. . By doing so, the position recognition device can prevent the current location from being recognized as being off the road on the map when traveling on a road having a bank.

  In another aspect of the position recognition device, the storage unit stores a bank angle as the bank information included in the map data, and the current location determination unit corrects the direction corrected based on the bank angle. The present location is recognized based on the output value of the sensor. According to this aspect, the position recognition device can appropriately correct the output error of the azimuth sensor caused by the bank and accurately determine the current location.

  In another aspect of the position recognition device, the storage unit stores, as the bank information included in the map data, a correction value for correcting the output value of the direction sensor when traveling on a road having a bank. Then, the current location determination means recognizes the current location based on the output value of the direction sensor corrected by the correction value. According to this aspect, the position recognition device can easily correct the output error of the azimuth sensor due to the bank and accurately determine the current location.

  In another aspect of the position recognition device, the determination unit prohibits calibration of the output value of the direction sensor when it is determined that the traveling road has a bank. Thereby, the position recognition device can suppress erroneously calibrating the output of the direction sensor based on the output error of the direction sensor due to the bank.

  In another aspect of the position recognition device, the GPS device further includes a GPS receiver, and the current location determination unit recognizes the current location based on the map data when the GPS receiver cannot receive radio waves. According to this aspect, the position recognition device can recognize the current location based on the map data only when there is a high possibility that the display of the current location is shifted from the road on the map.

  In another aspect of the position recognition device, when the determination unit determines that the traveling road has a bank, the determination unit further determines whether or not the mobile body passes through a branch point, and the mobile body is a branch point. When the determination means determines that the vehicle passes, the angle change amount output by the azimuth sensor immediately before the determination and the angle change amount on the map data of the traveling road calculated immediately before the determination Based on the ratio, a traveling road recognition unit that corrects the amount of angle change output by the azimuth sensor at the time of determination and recognizes the road on which the moving body travels after the branch point based on the corrected amount of angle change. Prepare. In general, on a road with a bank, the bank angle does not change abruptly. Therefore, in this aspect, the position recognition device outputs the azimuth sensor at the demarcation point based on the ratio between the previous value of the angle change amount output by the azimuth sensor and the road angle change amount on the map data. It is possible to accurately correct the amount of change in the angle and recognize the road after the branch.

  In another embodiment of the present invention, there is provided a control method executed by a position recognition device that includes a storage unit that recognizes a current location of a moving object and stores map data including bank information provided on a road, A determination step for determining whether or not the traveling road on which the vehicle is traveling has a bank based on the information of the current location, and a current location for recognizing the current location based on the map data when the determination step determines that the traveling road has a bank. Setting step. By using this control method, the position recognition device can accurately display the current location on the map even when traveling on a road having a bank.

  In another embodiment of the present invention, a program that is installed and executed in a position recognition device that includes a storage unit that recognizes the current location of a moving object and stores map data including bank information provided on a road, Based on the information of the bank, when the determination unit determines whether the traveling road on which the mobile body is traveling has a bank and the determination unit determines that the traveling road has a bank, based on the map data The position recognizing device is caused to function as a current position determining means for recognizing the current position on the map. By installing and executing this program, the position recognition device can accurately display the current location on the map even when traveling on a road having a bank. The program is preferably stored in a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, “correction” means to temporarily correct the information output by each device with other information, etc., and “calibration” means a steady state such as a hardware error. This means that the measured value has an offset or a gain in order to correct a simple error.

[Basic explanation]
Prior to the description of the specific embodiments, basic matters related to the present invention will be described.

(1) Road provided with a bank FIG. 1 shows a difference in elevation in the left-right direction perpendicular to the traveling direction of the vehicle, that is, a loop road 90 provided with a bank. In addition, the arrow shown by FIG. 1 shows the advancing direction of a vehicle.

  A bank may exist on a road having a constant curvature (turning angle) and having a relatively high speed limit, such as a loop road 90 shown in FIG. The bank is provided to alleviate the centrifugal force generated by the rotation of the vehicle in the horizontal direction with respect to the traveling direction by releasing a part in the direction of pushing back the ground for the purpose of reducing the centrifugal force when the vehicle travels. It is done. Hereinafter, a road provided with a bank is referred to as a “bank road”.

  The bank may be set even on a curved road having a turning angle of about 90 degrees. However, the road formed in a loop shape as shown in FIG. Because it becomes higher, it is often set.

(2) Angular Speed Sensor Output Error on Bank Road Next, an error (output error) that occurs in the output of the direction sensor when a vehicle is traveling on the bank road will be described. Hereinafter, a description will be given of a case where an azimuth sensor (here, an angular velocity sensor that detects a change in azimuth based on acceleration) is mounted on a navigation device that detects an angle change amount of an azimuth in which the vehicle travels.

  FIG. 2 is a diagram showing a state in which a vehicle equipped with a navigation device having an angular velocity sensor is traveling on a loop type road 90 that is a bank road. In FIG. 2, the line segment “AB” is a line segment along the left-right direction of the bank road, the line segment “BC” is a line segment extending in the vertical direction, and the line segment “CA” is a vertical line. A line segment extending in a horizontal direction perpendicular to the direction. The angular velocity sensor is attached so as to detect the acceleration in the line segment AB direction (that is, the side surface direction of the vehicle). Further, the angle formed by the bank road with respect to the horizontal direction (the angle “θ” in FIG. 2) is also referred to as “bank angle”.

  As shown in FIG. 2, when the vehicle is traveling on the bank road, the angular velocity sensor outputs an angle change amount smaller than the actual turning angle of the vehicle. This will be described. The angular velocity sensor is attached to detect the acceleration in the direction of the line segment AB, whereas the ground surface to be displayed on the map displayed by the navigation device is parallel to the line segment AC. Therefore, the acceleration applied to the angular velocity sensor is a value obtained by multiplying the acceleration on the map plane (that is, on the horizontal plane) by the cosine (cos θ) of the bank angle θ. Accordingly, the angular velocity sensor outputs an angle change amount smaller than the actual turning angle of the vehicle.

(3) General method and its subject First, the specific example of the general method for a navigation apparatus to determine the display position of the present location of the vehicle on a map is demonstrated. When the vehicle starts to travel, the navigation device recognizes the current position and the direction of travel based on the output of the GPS receiver that can acquire the absolute position and direction. After that, the navigation device recognizes the current location and the direction of the traveling direction using the vehicle speed sensor and the angular velocity sensor, and finely adjusts the recognized current location etc. with the map data to display the current location on the map. Further, the navigation device determines whether or not the display position of the current location specified based on the vehicle speed sensor, the angular velocity sensor, and the map data is largely deviated from the position of the vehicle based on the output of the GPS receiver. If it is determined, the position of the vehicle based on the output of the GPS receiver is set as the display position of the current location of the vehicle.

  Further, in general, when the navigation device corrects the display position of the current location to be output on the map based on the output of the GPS receiver or the map data from the current location of the vehicle recognized based on the output of the angular velocity sensor, the angular velocity sensor Is calibrated based on the GPS receiver output and map data. This will be supplementarily described. While the GPS receiver outputs the absolute azimuth of east, west, south, and north with one positioning data, the angular velocity sensor calculates the azimuth by integrating the amount of angle change with respect to the previous azimuth. Therefore, if there is an error in the output of the angular velocity sensor, the absolute azimuth obtained by integrating the outputs may be greatly deviated. Therefore, the angular velocity sensor is calibrated as described above.

  Next, a problem when the vehicle travels on the bank road will be described. As described above, in this case, the angular velocity sensor outputs an angle value smaller than the actual turning angle. As a coping method, the navigation device can correct the position to be output on the map based on the output from the GPS receiver.

However, when the bank road on which the vehicle is traveling is present in the tunnel, the navigation device corrects the turning angle on the map surface based on the output value of the GPS receiver because the GPS receiver cannot receive radio waves. I can't. Therefore, in this case, the navigation device must trust either the erroneous data output by the angular velocity sensor or the azimuth (line segment angle) indicated by the line segment (link) indicating the road on the map data. You won't get.
(3-1) Problem in Trusting Output of Angular Velocity Sensor In this case, the navigation apparatus determines that the vehicle is rotating only by an angle smaller than the turning angle of the vehicle to be shown on the map. Therefore, the display position of the current location on the output map is gradually shifted from the accurate position to be displayed.
(3-2) Problems in trusting map data When determining the display position of the current location based on map data, the navigation device recognizes that the vehicle is moving along the road on the map. The display position of the current location displayed above does not greatly deviate from the exact position that should be displayed. However, the following two problems occur during normal operation.

  The first problem is that it is difficult to set conditions for determining whether to execute a method for determining the display position of the current location based on map data. In general, when traveling on roads other than bank roads, it is necessary to assume the possibility that the vehicle will go out to an area other than the road, such as when the vehicle enters a parking lot. However, if the conditions for executing the method for determining the display position of the current location based on the map data are relaxed, the navigation device may mistakenly assume that the vehicle is traveling on the road even when the vehicle is traveling on a road other than the road. The possibility of judging increases.

  The second problem is that the output of the angular velocity sensor may be erroneously calibrated based on the map data. As described above, when the navigation device corrects the display position of the current location output on the map based on the output of the GPS receiver or the map data from the position recognized based on the output of the angular velocity sensor, in addition to this, the angular velocity sensor Is calibrated based on the GPS receiver output and map data. Therefore, in this case, the navigation apparatus may determine the output error of the angular velocity sensor due to the bank angle as an error of the output of the sensor itself, and erroneously learn the output of the angular velocity sensor based on the map data. There is sex.

  The second problem is that even if the GPS receiver can receive radio waves, if the vehicle is traveling on a bank road, the current location display position is corrected based on the output of the GPS receiver. Can occur.

  Considering the above, the navigation device described below stores bank information as map data in advance, and refers to the map data to determine whether the vehicle is traveling on a bank road. When it is determined that the vehicle is traveling on the bank road, the display position of the current location on the map is determined based on the map data.

[Schematic configuration]
FIG. 3 shows a schematic configuration of the navigation apparatus 1 to which the position recognition apparatus according to the present invention is applied. The navigation device 1 is mounted on a vehicle. As shown in FIG. 3, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, a voice output. A unit 50 and an input device 60 are provided.

  The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor (vehicle speed sensor) 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation apparatus 1.

  The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor (vehicle speed sensor) 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20 by executing a program prepared in advance. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are mutually connected via a bus line 30. It is connected to the.

  The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.

  The data storage unit 36 is configured by, for example, an HDD and stores various data used for navigation processing such as map data. The data storage unit 36 stores road data in which information of each road is expressed by nodes and links as map data. Here, the road data specifically includes a node number, position coordinates, node type, number of connected links, connected node number, intersection name, and the like. Furthermore, the data storage unit 36 stores the road data corresponding to the bank road with information indicating that it is a bank road. The data storage unit 36 is an example of the “storage unit” in the present invention.

  The communication device 38 includes, for example, an FM tuner, a beacon receiver, a cellular phone, a dedicated communication card, and the like, and information distributed from a VICS (Vehicle Information Communication System) center (hereinafter referred to as “VICS information”). Is obtained from the radio wave 39. The interface 37 performs an interface operation of the communication device 38 and inputs the VICS information to the system controller 20 or the like.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map read from the data storage unit 36 by the system controller 20 and the current location of the vehicle on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.

  The audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20. A D / A converter 51 to perform, an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

  On the map displayed on the display unit 40, the system controller 20 is based on the output signal supplied from the self-contained positioning device 10, the output signal supplied from the GPS receiver 18, and the map data stored in the data storage unit 36. To display the current location of the vehicle. Thus, the system controller 20 is an example of the “determination means”, “current location determination means”, and “traveling road recognition means” in the present invention.

[First embodiment]
First, in the first embodiment, a method for the navigation device 1 to determine the display position of the current location will be described. In the first embodiment, when the system controller 20 of the navigation device 1 refers to the map data and determines that the vehicle is traveling on the bank road, the distance sensor 13 is moved along the link on the map data. The display position of the current location is moved by the detected travel distance. In this case, the system controller 20 does not calibrate the output value of the angular velocity sensor 12.

  As described in the [Basic explanation] section, when traveling on a bank road, there are problems that the current location on the map cannot be displayed correctly and that the output of the angular velocity sensor 12 is unnecessarily calibrated. Considering the above, in the first embodiment, the data storage unit 36 stores bank information in map data so that it can be recognized in advance whether each road is a bank road or not. Thereby, the system controller 20 can appropriately determine whether or not the vehicle is traveling on the bank road.

  Further, the system controller 20 determines the display position of the current location based on processing different from the case where the current location is not the bank road when the bank road is running. Specifically, the system controller 20 does not use the angular velocity sensor 12 in which an inevitable error caused by a bank occurs when traveling on a bank road, but the current location along a line segment indicating a road on a map data, that is, a link. Move the display position of. Thereby, the system controller 20 can appropriately display the current location on the map and suppress unnecessary calibration of the output of the angular velocity sensor 12.

  In addition to this, when there is a branch point when traveling on the bank road, the system controller 20 estimates an estimated value (“estimated value Δβtag”) that excludes an error caused by the bank from the angle change amount output by the angular velocity sensor 12. Also, the traveling road after the branch point is recognized from the estimated value Δβtag.

  Here, a method of calculating the estimated value Δβtag will be specifically described. First, the system controller 20 calculates the amount of change in the direction indicated by the link on the map data corresponding to the current location (also referred to as “data angle change amount Δα”), and the angle change amount output by the angular velocity sensor 12 (“ Also referred to as “sensor angle change amount Δβ”), and these values are stored in a memory such as the data storage unit 36. Here, the data angle change amount Δα is specifically set to an angle formed by a link corresponding to the current location and a link corresponding to the current location immediately before the link. If the system controller 20 determines that the current location is at the branch point of the branch road, the sensor controller obtains the sensor angle change amount “Δβ1” acquired at the branch point immediately before as shown in the following equation (1). Alternatively, a value obtained by multiplying the ratio of the calculated data angle change amount “Δα0” and the sensor angle change amount “Δβ0” stored in the memory is calculated as the estimated value Δβtag.

Δβtag = (Δα0 / Δβ0) × Δβ1 Formula (1)
As described above, the system controller 20 assumes that the bank angle does not change suddenly on the bank road, and acquires it at the branch point based on the data angle change amount Δα0 and the sensor angle change amount Δβ0 acquired or calculated immediately before the branch point. The error generated in the sensor angle change amount Δβ1 is corrected.

  When the road is branched into “n” (n is a positive integer) from the branch point, the data storage unit 36 stores n links corresponding to each branch road as map data. . Here, each link has a different data angle change amount Δα (here, “Δα11” to “Δα1n”). Accordingly, in this case, the system controller 20 recognizes that the road indicated by the link corresponding to the data angle variation Δα11 to Δα1n closest to the estimated value Δβtag is the branch destination driving road. By doing in this way, the system controller 20 can specify the branch road of a branch destination appropriately, even if a branch point exists in a bank road.

(Processing flow)
Next, a processing procedure executed by the system controller 20 in the first embodiment will be described. FIG. 4 is a flowchart showing a processing procedure executed by the system controller 20 in the first embodiment. The system controller 20 repeatedly executes the processing of the flowchart shown in FIG. 4 according to a predetermined cycle.

  First, the system controller 20 determines whether or not the vehicle is traveling on a bank road (step S101). Specifically, the system controller 20 recognizes the current location based on output signals supplied from the angular velocity sensor 12, the distance sensor 13 and the like as in step S103 described later, and refers to the map data to determine the road where the current location is. It is determined whether it is a bank road.

  When the vehicle is traveling on the bank road (step S101: Yes), the system controller 20 recognizes the current location based on the map data and the output of the distance sensor 13 (step S102). Specifically, in this case, the system controller 20 moves the current location along a link indicating a road on the map data by the travel distance detected by the distance sensor 13. Thus, the system controller 20 can display the current location on the map at an appropriate position without being affected by the bank. Further, the system controller 20 can prevent the output of the angular velocity sensor 12 from being unnecessarily calibrated.

  On the other hand, when the vehicle is not traveling on the bank road (step S101: No), the system controller 20 recognizes the current location based on the outputs of the angular velocity sensor 12 and the distance sensor 13 (step S103). That is, in this case, the system controller 20 recognizes the current location using, for example, the angular velocity sensor 12 and the distance sensor 13 as described in the section [Basic description] (3) above, and Based on the output and map data, the recognized current location is corrected as necessary and displayed on the map. Further, the system controller 20 appropriately calibrates the output value of the angular velocity sensor 12 based on the output of the GPS receiver 18 and the map data.

  Next, in step S104, the system controller 20 determines whether or not the vehicle is at a branch point (step S104). If the vehicle is not at the branch point (step S104: No), the system controller 20 calculates or acquires the data angle change amount Δα and the sensor angle change amount Δβ, and stores them in a memory such as the data storage unit 36 (step). S105). On the other hand, when the vehicle is at a branch point (step S104: Yes), the system controller 20 detects the sensor angle change amount Δβ from the angular velocity sensor 12, and calculates an estimated value Δβtag that excludes the influence of the bank (step S106). ). Specifically, the system controller 20 is based on the data angle change amount Δα (Δα0) and the sensor angle change amount Δβ (Δβ0) stored in the memory, and the sensor angle change amount Δβ (Δβ1) detected at the branch point. The estimated value Δβtag is calculated according to the above equation (1). Then, the system controller 20 recognizes the travel road after the branch based on the calculated estimated value Δβtag (step S107). As a result, the system controller 20 accurately recognizes the travel road after the branch even when there is an error in the output of the angular velocity sensor 12 due to the bank, and follows the recognized travel road after the branch. To display your current location.

[Second Embodiment]
In the first embodiment, the system controller 20 calculates the current location based on the map data and the distance sensor 13 when traveling on the bank road. Instead, in the second embodiment, in addition to the information indicating that the road is a bank road, the data storage unit 36 includes information for correcting the output of the angular velocity sensor 12 when traveling on the bank road (“bank correction information”). Is also called.). Then, the system controller 20 corrects the output of the angular velocity sensor 12 based on the bank correction information. Thereby, the system controller 20 appropriately determines the display position of the current location based on the output of the angular velocity sensor 12.

  Here, the bank correction information is, for example, a bank angle or a correction value of the output of the angular velocity sensor 12 theoretically calculated based on the bank angle. In the former case, that is, when the bank angle is stored in the data storage unit 36 as bank correction information, the system controller 20 reads the bank angle of the bank road from the map data when traveling on the bank road. Then, the system controller 20 corrects the output angle of the angular velocity sensor 12 (that is, the data angle change amount Δα) by dividing by the cosine of the read bank angle. In the latter case, that is, when the correction value of the output of the angular velocity sensor 12 is stored in the data storage unit 36 as bank correction information, the system controller 20 detects the detected angular velocity sensor 12 based on the correction value. Correct the output of. When the above correction value is, for example, the cosine of the bank angle, the system controller 20 corrects by dividing the output angle of the angular velocity sensor 12 by the correction value, as in the former case. As described above, the navigation device 1 can appropriately correct the output error of the angular velocity sensor 12 caused by the bank by storing the bank correction information, and can accurately display the current location on the map.

(Processing flow)
Next, a processing procedure executed by the system controller 20 in the second embodiment will be described. FIG. 5 is a flowchart showing a processing procedure executed by the system controller 20 in the second embodiment. The system controller 20 repeatedly executes the process of the flowchart shown in FIG. 5 according to a predetermined cycle.

  First, the system controller 20 determines whether or not the vehicle is traveling on a bank road (step S201). Specifically, the system controller 20 recognizes the current location based on output signals supplied from the angular velocity sensor 12, the distance sensor 13, and the like as in step S203, which will be described later, and refers to the map data to determine the road where the current location is. It is determined whether it is a bank road.

  When the vehicle is traveling on the bank road (step S201: Yes), the system controller 20 corrects the output of the angular velocity sensor 12 based on the bank correction information (step S202). Thereby, the system controller 20 can correct | amend appropriately the output error of the angular velocity sensor 12 resulting from a bank. At this time, the system controller 20 does not calibrate the output value of the angular velocity sensor 12 because the output error of the angular velocity sensor 12 is caused by the bank.

  Then, the system controller 20 outputs the angular velocity sensor 12 and the distance sensor 13 or the like after execution of step S202 or in any case where the vehicle is not traveling on the bank road (step S201: No). Based on the current position (step S203). That is, in this case, the system controller 20 recognizes the current location using, for example, the angular velocity sensor 12 and the distance sensor 13 as described in the section [Basic description] (3) above, and Based on the output and map data, the recognized current location is corrected as necessary and displayed on the map. Further, the system controller 20 appropriately calibrates the output value of the angular velocity sensor 12 based on the map data and the output of the GPS receiver 18. Since the output error of the angular velocity sensor 12 caused by the bank has not already occurred after the execution of step S202, the calibration of the output value of the angular velocity sensor 12 here is an unnecessary calibration for the error caused by the bank. Not hit.

  As described above, according to the second embodiment, the system controller 20 does not need to change the calculation method of the display position of the current location depending on whether it is a bank road or not. Therefore, the system controller 20 is more stable and does not complicated the control. The display position can be determined. Further, according to the second embodiment, the system controller 20 always corrects the output of the angular velocity sensor 12 based on the bank correction information while traveling on the bank road, and therefore when the branch point exists in the bank road. Even if it is, it is possible to correctly recognize the travel road after the branch without separately calculating the estimated value Δβtag.

[Modification]
Hereinafter, modified examples suitable for the first and second embodiments will be described. The following modifications may be applied in any combination to the above-described embodiments.

(Modification 1)
In step S101 of FIG. 4, the system controller 20 may determine whether or not the GPS receiver 18 cannot receive the radio wave 19 in addition to determining whether or not the vehicle is traveling on the bank road. In this case, the system controller 20 executes the process of step S102 only when traveling on the bank road and the GPS receiver 18 cannot receive the radio wave 19, and otherwise executes step S103. To do. Similarly, in step S201 of FIG. 5, the system controller 20 may execute the process of step S202 only when traveling on the bank road and the GPS receiver 18 cannot receive the radio wave 19. .

(Modification 2)
In the first embodiment and the second embodiment, the navigation device 1 displays the current location of the vehicle on the map displayed on the display unit 40. However, the configuration to which the present invention is applicable is not limited to this. Instead of this, the navigation device 1 may display only the traveling direction in which the vehicle should travel with respect to the destination without displaying a map. In another example, the navigation device 1 may perform voice output and output driving assistance information such as a traveling direction in which the vehicle should travel with respect to the destination by voice. Even in this case, the navigation apparatus 1 can accurately recognize the current location based on the method described in the first embodiment and the second embodiment, and can provide guidance appropriately.

  Further, the navigation device 1 is not limited to the case where the destination and the stopover are set and the navigation is performed, and the first embodiment is applied even when the destination and the stopover are not set. The processing described in the second embodiment may be performed. Even in this case, the navigation apparatus 1 can preferably recognize the current location accurately and display the current location on the map.

  The present invention can be suitably applied to a vehicle navigation device, a PND (Personal Navigation Device), and other devices that display a current location together with a map.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 10 Self-supporting positioning apparatus 12 Angular velocity sensor 13 Distance sensor 18 GPS receiver 20 System controller 22 CPU
36 Data storage unit 38 Communication device 40 Display unit 44 Display

Claims (1)

A position recognition device for recognizing the current location of a moving object,
A storage unit that stores map data including bank information provided on the road;
Based on the information of the bank, determination means for determining whether or not the traveling road on which the moving body is traveling has a bank;
If the determination means determines that the travel road has a bank, current location determination means for recognizing the current location on the map based on the map data;
A position recognition apparatus comprising:

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