CN102735247A - Driving assisting device and driving assisting method - Google Patents
Driving assisting device and driving assisting method Download PDFInfo
- Publication number
- CN102735247A CN102735247A CN2012100757525A CN201210075752A CN102735247A CN 102735247 A CN102735247 A CN 102735247A CN 2012100757525 A CN2012100757525 A CN 2012100757525A CN 201210075752 A CN201210075752 A CN 201210075752A CN 102735247 A CN102735247 A CN 102735247A
- Authority
- CN
- China
- Prior art keywords
- road
- chain
- vehicle
- object node
- situation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000008878 coupling Effects 0.000 claims description 46
- 238000010168 coupling process Methods 0.000 claims description 46
- 238000005859 coupling reaction Methods 0.000 claims description 46
- 230000006870 function Effects 0.000 claims description 16
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 28
- 239000012467 final product Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000001310 location test Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000013011 mating Effects 0.000 description 3
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a technique which can execute driving assistance under non-matching state. Under the matching state, the state of a matching road chain is determined by reliability above a regulated reference in a map matching process. In the map matching process, a road chain, equivalent to a road area of existing vehicle is determined to be the matching road chain. The current position of the vehicle is detected. Under the non-matching state, a road chain equivalent to a road area closest to the current position is determined as a candidate road chain. An object node of a judging object is connected to a plurality of road chains, and when the candidate road chain changes from one of the plurality of road chains into other road chains, it is determined that the vehicle has passed the position expressed by the object node, and a predetermined driving assistance is conducted.
Description
Technical field
The present invention relates to be used for vehicle is carried out the drive supporting device and the method for drive supporting (assisting).
Background technology
In the past, existing according to vehicle travel conditions and vehicle carried out the technology of drive supporting.For example; Following technology is disclosed in patent documentation 1: carrying out under the situation of drive supporting when incorporating arterial road into from access road (access road); Whether judgement exists node on the access road of vehicle front; And passed through to represent that at vehicle the situation of the position of this node judges to being in the zero hour of drive supporting, begin to carry out drive supporting thus in this zero hour.
The prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2008-129816 communique
Node is the end points of road chain in general cartographic information, in order to confirm the position relation between node and the vehicle, needs definite suitable road chain of road interval that is going with vehicle.As the technology in the past that is used for the suitable road chain of road interval definite and that vehicle is going, the map match of can giving an example out is handled.That is, the end points of confirming to handle through map match the coupling road chain of confirming is a node, and the travel direction through definite vehicle, can confirm to be set in the node of vehicle front.But, in map match is handled, also might be not sure of the state of coupling road chain.At this moment, owing to can not the position of vehicle be confirmed on the road chain, thereby can not confirm to be positioned at the node of vehicle front.
The present invention makes in view of above-mentioned problem, and its purpose is, a kind of technology that under the situation that is not matching status, also can begin to carry out drive supporting is provided.
Summary of the invention
In order to achieve the above object; In the present invention; Under the situation that is not matching status (unmatched state), based on the current location that goes out by the current location detection, come to confirm with automobile storage the candidate of the suitable road chain of road interval be the candidate roads chain; And a road chain a plurality of road chains of this candidate roads chain on being connected Object node changes under the situation of other road chains, is judged as vehicle and passed through the represented position of Object node.And the drive supporting that execution is predetermined is used as vehicle and has passed through the represented position drive supporting afterwards of Object node.
That is, in map match is handled, owing under the situation of having confirmed coupling road chain with the fiduciary level more than the stipulated standard, become matching status, thereby be lower than in fiduciary level under the situation of stipulated standard and be not sure of coupling road chain.Therefore, confirm that the candidate roads chain replaces mating the road chain, and a road chain a plurality of road chains of this candidate roads chain on being connected Object node changes under the situation of other road chains, be judged as vehicle and passed through the represented position of Object node.Therefore, can judge also that under the situation that is not matching status vehicle has passed through the represented position of Object node, thereby can begin to carry out the drive supporting that should begin to carry out as benchmark with the represented position of this Object node.
In addition, passed through the represented position of Object node owing to judging, thereby not necessarily need compare the current location of vehicle and the position of node based on the variation of candidate roads chain.Therefore; Need not confirm the travel direction of vehicle; Just can judge whether vehicle has passed through the represented position of Object node, thereby under to lower situation such as the accuracy of detection of travel direction of vehicle etc., can judge also whether vehicle has passed through the represented position of Object node.
Here, with regard to the matching judgment unit, be the matching status of in map match is handled, having confirmed coupling road chain with the fiduciary level more than the stipulated standard as long as can judge whether.Map match is handled and to be meant following processing: with fiduciary level confirm with automobile storage the suitable road chain of road interval, and will confirm with the fiduciary level more than the stipulated standard with automobile storage the suitable road chain of road interval, as coupling road chain.That is, in the represented road interval of the road chain between node and node, confirm vehicle goes in which road interval, thereby confirm coupling road chain.
For judge whether be automobile storage road interval; Can add various condition; For example can adopt following multiple structure: the shape to the represented road of the track of the vehicle current location confirmed based on the combination of any or they in car speed, angular velocity, the gps signal and cartographic information compares, and the high more fiduciary level of then regarding as of both consistent degree is high more; It is high more that the accepting state of GPS is more well then regarded fiduciary level as; The shape of road is not easy to cause the shape of mistake coupling, and it is high more then to regard fiduciary level as.
In addition; As long as can confirm coupling road chain with the fiduciary level more than the stipulated standard; Can adopt various processing to be used as being used for confirming the processing of coupling road chain; For example, can adopt following structure etc.:, the road in the specialized range is carried out map match handle as object from as the vehicle current location and detected position begins; And extract the different a plurality of road chains of fiduciary level and be used as the candidate, thus with fiduciary level more than stipulated standard and the highest road chain of fiduciary level as coupling road chain.At this moment, if one can not be determined the road chain of fiduciary level more than stipulated standard, then not matching status.
As long as the current location detecting unit can detect the current location of vehicle.That is, as long as can use the sensor that is installed on the drive supporting device to wait the current location that detects vehicle.But, here,, thereby remove and utilize coupling road chain to confirm the structure of vehicle current location because supposition is not the situation of matching status.Therefore, for example can constitute the current location detecting unit by the structure of confirming the vehicle current location based on the combination of any or they in vehicle speed sensor, gyro sensor, the gps signal.
With regard to the candidate roads chain is confirmed the unit, if can by the matching judgment unit judges for being not under the situation of matching status, will with confirm as the candidate roads chain near the suitable road chain of the road interval of current location and get final product.Promptly; The vehicle current location that can confirm to confirm and the distance between the road interval is (for example arbitrarily by the current location detecting unit; From the linearly extended vertical line distance of current location to the expression road interval) be the road interval of minimum, and the road chain that will be equivalent to this road interval is confirmed as candidate roads chain etc.
With regard to regard to judging unit; As long as can on becoming the Object node of judging object, be connected with a plurality of road chains and the road chain of candidate roads chain from a plurality of road chains changes under the situation of other road chains, be judged as vehicle and passed through the represented position of Object node and get final product.Promptly; As long as can be that the Status Change of candidate roads chain is under the situation of the state that to be connected other road chains on the Object node be the candidate roads chain, be judged as vehicle and have passed through the represented position of Object node and get final product from being connected certain road chain on the Object node.
With regard to the drive supporting unit, as long as can pass through under the situation of the represented position of Object node being judged as vehicle, carry out the support that is predetermined and be used as the drive supporting that vehicle passed through after the represented position of Object node and get final product.With regard to drive supporting, passed through the drive supporting that node represented position begins to carry out and got final product so long as follow, do not limit especially and support content.For example, can be employed in and passed through to carry out after the Object node that the deceleration that on the road that is gone, needs to carry out supports, quickens to support, incorporates into that supports, attention are aroused etc. and be used as drive supporting.Certainly, with regard to supporting content, can be vehicle control, also can be guiding to the driver, can adopt plurality of kinds of contents.
Preferably be assumed to the occasion embodiment of the present invention that is not matching status.Therefore; Also can be positioned at facility in the current location of vehicle and be not under the situation of matching status; Confirm the candidate roads chain; It is interval and in this specified link interval, go and the parking lot that can arrive that said facility is provided with specified link, and said specified link interval is meant the road interval of not setting said road chain.That is,, then usually be unmatched state, if in this sets the road interval of road chain, do not go if be provided with the road interval of not setting the road chain and in this does not set the road interval of road chain, going and in the facility in the parking lot that can arrive.Therefore; If be positioned at such facility and be not to use the present invention under the situation of matching status in the vehicle current location; Then taking place easily to handle in the facility of the situation of being not sure of coupling road chain through map match, also can be with having passed through the represented position of Object node as carrying out drive supporting the zero hour of supporting.
In addition, as being provided with the road interval of not setting the road chain and in this does not set the road interval of road chain, going and the facility in the parking lot that can arrive the parking lot in the service area of can giving an example out, parking area, shop etc.Promptly; Because the road interval in the parking lot in service area, parking area, shop etc. does not need the information of all road interval for the shape of complicacy when the path of navigation, thereby usually have not that a part is represented that the information of node and the road chain of road interval is not defined as the situation of cartographic information is more.But; About in the parking lot in service area, parking area, shop etc.; Usually in order to have a rest etc. and with vehicle stop at the situation in parking lot more in; At this moment, going in the road interval of not setting the road chain owing to going in this case arrives the parking lot, thereby usually becomes the state that in map match is handled, can not confirm to mate the road chain with the fiduciary level more than the stipulated standard.
Therefore; As long as be provided with the road interval of not setting the road chain and in this does not set the road interval of road chain, going and in the facility in the parking lot that can arrive; Under the situation that is not matching status, confirm the candidate roads chain; Then in the facility in the parking lot in the service area that the situation of being not sure of coupling road chain takes place easily to handle through map match, parking area, shop etc., also can be with having passed through the represented position of Object node as carrying out drive supporting the zero hour of supporting.In addition; Be used to judge whether the vehicle current location is positioned at is provided with the road interval of not setting the road chain and goes and the processing of the facility in the parking lot that can arrive in this road interval of not setting the road chain; For example can adopt following processing: in cartographic information; The vehicle current location be positioned at ad-hoc location at a distance of predetermined distance with situation under, the current location that is judged as vehicle is positioned at this facility etc., wherein; This ad-hoc location is meant, with the position of the facility of the information associated in correspondence of expression service area or parking area.
And, can use as the present invention as program and method and judge that based on the position relationship change between candidate roads chain and the Object node vehicle has passed through the method for the represented position of Object node under the situation that is not matching status.In addition, aforesaid drive supporting device, program, method comprise variety of way, realize as independent drive supporting device sometimes, utilize each universal accessories that is possessed with vehicle to realize sometimes.For example, guider, method and the program with aforesaid drive supporting device can be provided.In addition, can a part be that a software and a part are hardware etc. also, change can suit.And as the recording medium of the program of controlling drive supporting device, the present invention also sets up.Certainly, with regard to this recording medium of software, can be magnetic recording media, also can be Magnetooptic recording medium, just in this point, any recording medium of exploitation is all identical from now on.
Description of drawings
Fig. 1 shows the block diagram of the guider that comprises drive supporting device.
Fig. 2 is the process flow diagram that drive supporting is handled.
Fig. 3 is the figure that has schematically shown service area highway on every side.
The explanation of Reference numeral
10 guiders
20 control parts
21 drive supporting programs
21a matching judgment portion
21b current location test section
21c candidate roads chain is confirmed portion
21d passes through judging part
21e drive supporting portion
30 recording mediums
The 30a cartographic information
The 41GPS acceptance division
42 vehicle speed sensor
43 gyro sensors
44 user I/F portions
45 cameras
Embodiment
Here, according to following order, embodiment of the present invention is described.
(1) structure of guider
(2) drive supporting is handled
(3) other embodiments
(1) structure of guider
Fig. 1 shows the block diagram of the structure of the guider 10 that comprises drive supporting device of the present invention.Guider 10 has control part 20 and recording medium 30; Wherein, Said control part 20 has CPU (CPU), RAM (RAS), ROM (ROM (read-only memory)) etc., and this guider 10 can use control part 20 to carry out the program that is stored among recording medium 30 and the ROM.This embodiment has the drive supporting program 21 as one of this program, with regard to this drive supporting program 21, can implement Navigator, is one of program module that constitutes this Navigator.
In recording medium 30, record cartographic information 30a in advance.Cartographic information 30a is the information of when the current location of confirming vehicle etc., using, and road chain data, the expression that this cartographic information 30a comprises the link information between the node data of the node location on the road that expression is located at vehicle ' etc., the shape interpolated point data that are used for confirming the road shape between the node, the expression node is present on the road or is present in the atural object data etc. of position and the kind etc. of the atural object (the spray figure of expression stop line and buildings etc.) around the road.In addition, atural object comprises service area and parking area, and, be used to represent to be present in the road chain data of the road chain of the road interval in service area or the parking area, and be used to represent that the information that each road chain is present in service area or the parking area establishes corresponding relation.
With regard to the vehicle (vehicle of guider 10 has been installed) of this embodiment; Possess GPS acceptance division 41, vehicle speed sensor 42, gyro sensor 43, user I/F (interface) portion 44 and camera 45 for the function that realizes drive supporting program 21, realize the function of drive supporting program 21 through making these parts and control part 20 collaborative works.
That is, in this embodiment,, handles control part 20 thereby carrying out map match through the processing of carrying out Navigator.Particularly; Control part 20 is confirmed the starting position of going of vehicle based on the output signal of GPS acceptance division 41; And the supposition track of the vehicle of confirming based on the output signal of vehicle speed sensor 42 and gyro sensor 43 to begin from the starting position of going, confirm the current location of vehicle thus.And; Control part 20 is with reference to cartographic information 30a; Confirm to be present in vehicle at a distance of predetermined distance with the shape of interior road with infer the consistent degree between the shape of track, and in fiduciary level under the situation more than the stipulated standard, will in the road of fiduciary level more than stipulated standard, be regarded as the road that vehicle is going by the highest road of fiduciary level; Wherein, the high more then above-mentioned fiduciary level of above-mentioned consistent degree is big more.And, will be equivalent to the interval road chain of specified link and confirm as coupling road chain, said specified link interval is meant that in the road of fiduciary level more than stipulated standard, vehicle is in the road interval of the highest travels down of fiduciary level.In addition; Under the situation of having confirmed coupling road chain; Control part 20 is confirmed the current location of the vehicle on the represented road interval of coupling road chain, thus the represented current location of output signal of above-mentioned vehicle speed sensor 42 and gyro sensor 43 is revised.
User I/F portion 44 comprises based on the output unit of exporting various guiding (guidance information) from the control signal of control part 20 outputs.The output unit of the user I/F portion 44 of this embodiment comprises through voice and exports the loudspeaker of guiding and export the display of guiding through image.Camera (camera) 45 included the specialized range of vehicle periphery in visual field, thereby shoots the view data of the image of expression vehicle periphery.To take the surrounding image data that obtains by camera 45 via not shown interface and export control part 20 to.Control part 20 detects other vehicles based on the represented image of view data.
Control part 20 carries out above-mentioned map match processing through carrying out Navigator, thereby confirms coupling road chain, and drive supporting program 21 is used for supporting (assisting) driver-operated drive supporting in the occasion that is predetermined (under the situation) and handles.In order to carry out this drive supporting, drive supporting program 21 have the 21a of matching judgment portion, current location test section 21b, candidate roads chain confirm the 21c of portion, through judging part 21d and the 21e of drive supporting portion.
The 21a of matching judgment portion is used to make control part 20 to realize the module of following function, and this function is meant, judges whether it is the matching status of having confirmed coupling road chain with the fiduciary level more than the stipulated standard.That is, control part 20 is judged by Navigator and has been carried out above-mentioned map match process result through carrying out the processing of the matching judgment 21a of portion,, judges whether current be the matching status of having confirmed coupling road chain with the fiduciary level more than the stipulated standard that is.
Current location test section 21b is used to make control part 20 to realize the module of the function of detection vehicle current location.That is, control part 20 is confirmed the current location of vehicle based on the output signal of vehicle speed sensor 42, gyro sensor 43.Here, control part 20 does not use the map match process result when confirming current location.Promptly; Control part 20; Will be at the vehicle location in the state of having confirmed coupling road chain with the immediate moment of the current time suitable road interval down with mating the road chain, as reference position (will go the starting position as the reference position not confirming as yet once to mate under the situation of road chain).Then, control part 20 begins vehicle to confirm as the current location of vehicle according to inferring the position of track after moving from this reference position, and wherein, this supposition track is based on that the output signal of vehicle speed sensor 42 and gyro sensor 43 confirms.
The candidate roads chain confirms that the 21c of portion is used to make control part 20 to realize the module of following function; This function is meant, under the situation that is not matching status, confirms the candidate roads chain based on current location; This candidate roads chain is meant, the candidate of the road chain suitable with the existing road interval of vehicle.In this embodiment; Control part 20 is with reference to cartographic information 30a; To be equivalent to the interval road chain of specified link and confirm as the candidate roads chain; Wherein, this specified link interval is meant, the detected and immediate road interval of vehicle current location through the processing of carrying out current location test section 21b.
Through judging part 21d is to be used to make control part 20 to realize the module of following function; This function is meant; On the Object node that becomes the judgement object, be connected with a plurality of road chains; And the road chain of candidate roads chain from a plurality of road chains changes under the situation of other road chains, is judged as vehicle and passed through the represented position of Object node.That is, control part 20 is with reference to cartographic information 30a, with the node of the end points that constitutes the candidate roads chain as Object node, thereby judge whether be connected with a plurality of road chains on the Object node.In addition, except the road interval situation that no through traffic, can be connected with a plurality of road chains on the general node.Under the situation that is connected with a plurality of road chains on the Object node; Confirming that by the candidate roads chain variation has taken place the candidate roads chain that the 21c of portion confirms; And the specified link chain becomes under the situation of new candidate roads chain, and control part 20 is judged as vehicle and has passed through the represented position of Object node, and said specified link chain is meant; In a plurality of road chains that are connected with Object node, with the still different road chain of the road chain of candidate roads chain (this change before candidate roads chain) just.
The 21e of drive supporting portion is used to make control part 20 to realize the module of following function; This function is meant; Passed through under the situation of the represented position of Object node being judged as vehicle, carried out the drive supporting that is predetermined and be used as vehicle and passed through the drive supporting after the represented position of Object node.That is, control part 20 is carried out drive supporting to have passed through Object node as trigger event.With regard to drive supporting, can be various supports, for example, can be withdrawing from the service area that is attached on the highway or parking area from highway and approach incorporate into to carry out under the situation on the highway and incorporate support into.At this moment, the view data that can be exported based on camera 45 confirms to be equipped with the vehicle of guider 10 and the relative velocity between other vehicles by control part 20, and with in guiding vehicles to the convoy spacing that between other vehicles, forms.
In map match is handled, under the situation of having confirmed coupling road chain with the fiduciary level more than the stipulated standard, become matching status, thereby be lower than in fiduciary level under the situation of stipulated standard and be not sure of coupling road chain.In cartographic information 30a, adopt the mode of reproducing road by road chain and the node that constitutes road chain end points.In guider in the past, confirm node, and confirm to be located at the node of vehicle front through the travel direction of confirming vehicle as the end points of coupling road chain.Therefore, under the state of not confirming coupling road chain, guider in the past is not sure of the node of vehicle front, therefore is not sure of the relation between vehicle and the node.Its result can not judge that vehicle has passed through the represented position of node.
Therefore; In this embodiment; Confirm that the candidate roads chain replaces mating the road chain, and a road chain a plurality of road chains of this candidate roads chain on being connected Object node changes under the situation of other road chains, be judged as vehicle and passed through the represented position of Object node.Therefore, can judge also that under the situation that is not matching status vehicle has passed through the represented position of Object node, thereby can begin to carry out to begin the drive supporting that carries out with the represented position of this Object node as benchmark.
In addition, owing to implementing based on the variation of candidate roads chain to be used to judge that vehicle has passed through the judgment processing of the represented position of Object node, thereby not necessarily need compare the current location of vehicle and the position of node.Therefore; Need not confirm the travel direction of vehicle; Just can judge whether vehicle has passed through the represented position of Object node, thereby under situation, can judge also whether vehicle has passed through the represented position of Object node lower state such as the accuracy of detection of travel direction of vehicle etc.
(2) drive supporting is handled:
Then, the drive supporting of the guider 10 of above structure being implemented is handled and is described.Fig. 2 is the process flow diagram that the drive supporting of expression drive supporting program 21 is handled, and Fig. 3 then is the figure that has schematically shown service area S and this service area S highway on every side.In addition, at service area S illustrated in fig. 3, be connected with the entering road Ri that sails into from highway H and to the road Ro that withdraws from that highway H sails into.In addition, in Fig. 3, represent node, represent the shape interpolated point, represent the road chain as the thick straight line of end points in order to black circle and white circle with white circle with black circle.That is, in example illustrated in fig. 3, get into road Ri and be provided with road chain Li, withdraw from road Ro and be provided with road chain Lo, be provided with road chain L in the service area
1, L
2, L
3, L
4And, in Fig. 3, show the parking lot P that is located in the service area S with rectangle.
(for example, 100ms) to be unit, to carry out drive supporting illustrated in fig. 2 and handle specified time limit.In addition, control part 20 is handled with this drive supporting and is carried out the map match processing concurrently.In drive supporting shown in Figure 2 is handled; Control part 20 is confirmed the processing of the 21c of portion through carrying out the candidate roads chain; Whether the current location of judging vehicle (is provided with the facility in specified link interval and parking lot at service area or parking area; This specified link interval is in the road interval of not setting the road chain, and to be vehicle go in this does not set the road interval of road chain in this parking lot and the parking lot that can arrive) in (step S100).Here; As long as whether the current location that can judge vehicle is in service area or parking area; Can the current location of vehicle be detected, use detected current location to judge, also can not use detected this current location to judge.
In this embodiment; Do not use and use detected current location; But preestablish the condition of current location in service area or parking area that to infer out vehicle; And under the situation of at least one condition in satisfying this condition, the current location that is estimated as vehicle is in service area or parking area.Particularly, set following conditions.
(1) gear level is set on the reversing gear.
(2) vehicle has changed more than the predetermined angular from the travel direction of vehicle in during the predetermined distance that goes.
(3) in map match was handled, all road interval of the consistent degree between the track of vehicle and the shape more than stipulated standard was the road interval in service area or the parking area.
In addition, with regard to condition (1), control part 20 obtains the signal of sensor that the gear to not shown gearshift detects, and based on this output signal judge whether to satisfy condition (1).With regard to condition (2); Control part 20 obtains the output signal of vehicle speed sensor 42 and gyro sensor 43 and confirms the angle between operating range and the travel direction; And judge whether its travel direction has changed more than the predetermined angular in vehicle is during the predetermined distance that goes, and judges whether satisfy condition (2) thus.In addition; In advance predetermined distance and predetermined angular are set at particular value respectively; Said particular value is meant; In service area or parking area, these distances and angle can become (effectively) combination under the situation of going to the parking lot, and these distances and angle can not become (effectively) and make up when running on expressway.With regard to condition (3); Result to carrying out the map matching treatment by control part 20 judges; Judge that whether the interval all road chains of expression specified link are the information associated in correspondence of service area or parking area with expression, judge whether satisfy condition (3), wherein thus here; Said specified link interval is that the track and the consistent degree between the shape of vehicle is the road interval of stipulated standard.
For example; In example illustrated in fig. 3; Owing to from getting into after road Ri gets into service area S, reverse end for end operation etc. for a certain position that vehicle is parked in parking lot P at vehicle, if thereby gear level is set at the reversing gear; Then satisfy condition (1), be judged as vehicle thus in service area S.In addition, vehicle is after getting into road Ri entering service area S, in order vehicle to be parked in a certain position of parking lot P, from being equivalent to road chain L
2Or road chain L
4Road interval under the situation that parking lot P goes or under the situation of reversing end for end to operate etc., if in during the predetermined distance that goes more than the travel direction change predetermined angular, then satisfy condition (2) are judged as vehicle thus in service area S.And, because of vehicle gets into service area S from getting into road Ri, if therefore in map match is handled the track of vehicle and the road interval of consistent degree more than stipulated standard between the shape be restricted to road chain L
1～L
4, then satisfy condition (3) are judged as vehicle thus in service area S.
In step S100, under the situation in current location out of reach that is judged as vehicle or parking area, control part 20 skips steps S105～S140 and end process.In step S100, under the situation of the current location that is judged as vehicle in service area or parking area, control part 20 judges through the processing of carrying out the matching judgment 21a of portion whether current be matching status (step S105).In step S105, being judged as is under the situation of matching status, control part 20 execution in step S130 and later processing thereof.
On the other hand, in step S105, be judged as under the situation that is not matching status control part 20 execution in step S110 and later processing thereof.In step S110, control part 20 obtains the current location (step S110) of vehicle through the processing of carrying out current location test section 21b.That is, owing to be not matching status in the stage of execution in step S110, thereby control part 20 confirms the current location of vehicle based on the output signal of vehicle speed sensor 42 and gyro sensor 43, and unfavorable result with the map matching treatment.
For example, vehicle among Fig. 3 as being shown in dotted line of arrow from road chain L
2Represented road interval is advanced and vehicle is parked in the parking lot to the road interval of not setting the road chain, and sets out once more and as being shown in dotted line of arrow, advance and at road chain L in the road interval of not setting the road chain
4The situation of going in the represented road interval etc. become unmatched state down easily.Like this, because under unmatched state, the vehicle speed sensor 42 of vehicle and gyro sensor 43 also continue the output signal, thereby obtain the current location of vehicle based on the output signal of these vehicle speed sensor 42 and gyro sensor 43.At this moment, based on the output signal of vehicle speed sensor 42 and gyro sensor 43, confirm track from the position on the coupling road chain under the matching status before this to the vehicle current location.Therefore, even under unmatched state, the vehicle current location is also very little from the possibility that physical location significantly departs from.
Then, control part 20 is confirmed the processing of the 21c of portion through carrying out the candidate roads chain, confirms candidate roads chain (step S115).That is, control part 20 will be equivalent to the interval road chain of specified link and confirm as the candidate roads chain with reference to cartographic information 30a, and said specified link interval is meant, with the nearest road interval of in step S110, obtaining of vehicle current location.For example, in Fig. 3, the track of detected current location is the such track of arrow shown in the single-point line under unmatched state, at this moment, and as if P in the position
1Last execution in step S115, then P in the position
1Around (with position P
1In the predetermined distance, 100m for example) exist by road chain L
4, road chain L
3, the road interval represented of road chain Lo, but because of with position P
1Nearest road chain is road chain L
4, so road chain L
4Become the candidate roads chain.In addition, the information of the candidate roads chain that expression is definite is recorded among the RAM, when execution in step S115, upgrades this information that has write down.
Then, control part 20 judges through carrying out the processing through judging part 21d whether vehicle has passed through the represented position (step S120) of Object node.That is, control part 20 is with reference to cartographic information 30a, with the node that constitutes candidate roads chain end points as Object node.In example illustrated in fig. 3, be road chain L at the candidate roads chain
4Situation under, Object node is node N
1, N
2If confirmed Object node, then control part 20 judges on Object node, whether to be connected with a plurality of road chains.In example illustrated in fig. 3, at Object node N
1On be connected with road chain L
4, road chain L
3, road chain Lo, at Object node N
2On be connected with road chain L
4, road chain L
1, road chain Li.Therefore, on any Object node, all be connected with a plurality of road chains, be judged as thus and be connected with a plurality of road chains on the Object node.
And then control part 20 is with reference in step S115, being recorded in the information among the RAM, the different road chain of candidate roads chain before the candidate roads chain changes to this; And the specified link chain becomes under the situation of new candidate roads chain; Be judged as vehicle and passed through the represented position of Object node, wherein, said specified link chain is meant; With Object node in a plurality of road chains of being connected, with the still different road chain of the road chain of candidate roads chain (this change before candidate roads chain) just.For example, in Fig. 3, be road chain L from the candidate roads chain
4State begin, the candidate roads chain changes, thus road chain Lo or road chain L
3Become the candidate roads chain, in the case, be judged as vehicle and passed through Object node N
1Represented position.In addition, in this embodiment, also confirm the travel direction of vehicle according to the variation of candidate roads chain.That is, change under the situation of other road chains from certain road chain at the candidate roads chain, regard as vehicle from this certain road chain to advancing towards the direction of other road chains.For example, the track of current location is under the situation with the track shown in the single-point line in Fig. 3, the P in the position
1On to confirm as the candidate roads chain be road chain L
4Afterwards, the P in the position
2Go up road chain Lo is confirmed as the candidate roads chain.At this moment, be judged as vehicle and passed through Object node N
1And to withdrawing from road Ro direction running.
In step S120, be judged as vehicle under the situation through the represented position of Object node, skips steps S125 and end process.On the other hand; In step S120; Be judged as vehicle and passed through under the situation of the represented position of Object node, control part 20 is carried out the support (processings) that is predetermined thus and has been used as passing through Object node drive supporting (step S125) afterwards through carrying out the processing of the drive supporting 21e of portion.In this embodiment,, be to incorporate support (processing) into when incorporating highway into as the support (processing) that the drive supporting that has passed through after the Object node is predetermined.Therefore, to withdraw from go behind the Object node and approach on vehicle, carry out drive supporting.In addition; Incorporate into to support and be meant; Control part 20 has confirmed to install the vehicle of guider 10 and the relative velocity between other vehicles based on the view data by camera 45 output, and with the guiding in guiding vehicles to the convoy spacing that between other vehicles, forms etc.
For example, in example illustrated in fig. 3, vehicle is passing through Object node N
1Represented position is before at road chain L
4Represented road intervals is being passed through Object node N
1After the represented position, regarded as under the situation of the represented road intervals of road chain Lo, carry out and incorporate support into.On the other hand, vehicle is passing through Object node N
1Represented position is before at road chain L
4Represented road intervals is being passed through Object node N
1After the represented position, regarded as at road chain L
3Under the situation of represented road intervals, do not carry out and incorporate support into.
On the other hand, in step S105, being judged as is under the situation of matching status, and control part 20 is confirmed the Object node (step S130) in the place ahead of the road suitable with coupling road chain through carrying out the processing of drive supporting program 21.Promptly; Control part 20 is with reference to cartographic information 30a; Confirm to handle the node of the formation coupling road chain end points of confirming through map match; And confirm the place ahead of vehicle based on the output signal of gyro sensor 43, in the node of the end points that constitutes coupling road chain, the node that will be positioned at vehicle front is confirmed as Object node thus.For example, in example illustrated in fig. 3, at road chain L
4For coupling road chain and vehicle to withdrawing under the situation that road Ro advances, with node N
1Confirm as Object node.
Then, control part 20 judges through carrying out the processing of drive supporting program 21 whether vehicle has passed through the represented position (step S135) of Object node.Here, owing to confirmed coupling road chain, thereby the vehicle current location is confirmed on the represented road interval of coupling road chain.Therefore; Control part 20 is confirmed the vehicle current location on this coupling road chain; And; The vehicle current location in the represented road interval of a certain coupling road chain to the represented position of Object node near and with the represented position consistency of Object node after, and then under this vehicle current location situation that represented position is far gone from Object node in the represented road interval of other coupling road chains, be judged as vehicle and passed through Object node.
For example, in example illustrated in fig. 3, supposed that vehicle is at road chain L
4After the represented road intervals in the situation of the represented road intervals of road chain Lo.At this moment, the vehicle current location is at road chain L
4Approaching in the represented road interval to the represented position of Object node, soon with Object node N
1Represented position consistency.Then, the vehicle current location on the represented road interval of road chain Lo from Object node N
1Represented position is far gone.At this moment, be judged as vehicle and passed through Object node N
1
In step S135; Passed through under the situation of the represented position of Object node being judged as vehicle; Control part 20 is carried out the support (processing) that is predetermined through carrying out the processing of drive supporting program 21, has been used as passing through Object node drive supporting (step S140) afterwards.Here, as the support (processings) that the drive supporting that has passed through after the Object node is predetermined, also be used to incorporate into highway incorporate support (processing) into, the support content is identical with step S 125.In addition, in step S135, be judged as vehicle under the situation through the represented position of Object node, skips steps S140.
(3) other embodiments:
Above embodiment is the example for embodiment of the present invention; As long as can be in the variation that concerns based on the position between candidate roads chain and the Object node under the situation that is not matching status; Judge that vehicle has passed through the represented position of Object node and got final product, also can adopt other various embodiments.In map match is handled, for judge whether be automobile storage road interval and can add multiple condition, for example, multiple structure below can adopting: the accepting state of the GPS that map match is handled more good visual to make fiduciary level high more; It is high more that the shape of road is not easy to cause that the shape of mistake coupling is then regarded fiduciary level as.
When definite candidate roads chain,, also can utilize with the above-mentioned map match of the coupling road chain of fiduciary level more than definite stipulated standard and handle diverse ways as long as can confirm the candidate of road chain based on current location.Therefore; Except as stated such will be near the road interval of current location the suitable structure of road chain as the candidate roads chain; Also can adopt following structure etc.: in map match is handled; From the road chain of the fiduciary level that is lower than stipulated standard, extract the highest road chain of fiduciary level, it is confirmed as the candidate roads chain.
With regard to drive supporting,, be not particularly limited the support content so long as follow the drive supporting that begins through the shown position of node to get final product.For example, incorporate into the support, can also be employed in the deceleration of having passed through on the road that is gone, need to carry out after the Object node and support, quicken to support, note arousing etc. and be used as drive supporting except aforesaid.Certainly, with regard to supporting content, can adopt plurality of kinds of contents, can be vehicle control, also can be the guiding to the driver.The facility of carrying out drive supporting also is not limited to service area or parking area, for example, also can be the charge station of highway or the parking lot in shop etc.Become the occasion of supporting object and also can be assumed to multiple occasion, also can be and the irrelevant occasion of other vehicles.For example, the structure that also can be vehicle warn under the situation of driving in the wrong direction on the road of one-way traffic etc.
Claims (4)
1. a drive supporting device is characterized in that,
Have:
The matching judgment unit; It judges whether it is matching status; Said matching status is meant; In map match is handled, confirmed the state of coupling road chain with the fiduciary level more than the stipulated standard, said map match is handled and is used for confirming said coupling road chain, said coupling road chain be with automobile storage the suitable road chain of road interval;
The current location detecting unit, it detects the current location of said vehicle;
The candidate roads chain is confirmed the unit, and under the situation that is not said matching status, said candidate roads chain confirms that the unit will confirm as the candidate roads chain with near the suitable road chain of road interval of said current location;
Pass through judging unit; On the Object node that becomes the judgement object, be connected with a plurality of road chains; And the road chain of said candidate roads chain from said a plurality of road chains changes under the situation of other road chains, and said is that said vehicle has passed through the represented position of said Object node through judgment unit judges;
The drive supporting unit; Said be that said vehicle has passed through under the situation of the represented position of said Object node through judgment unit judges; The drive supporting that is predetermined is carried out in said drive supporting unit, is used as said vehicle and has passed through the represented position of said Object node drive supporting afterwards.
2. according to the drive supporting device of claim 1 record, it is characterized in that,
Said current location at said vehicle is positioned at facility; And not under the situation of said matching status; Said candidate roads chain confirms that the unit confirms said candidate roads chain; It is interval and in this specified link interval, go and the parking lot that can arrive that said facility is provided with specified link, and said specified link interval is meant the road interval of not setting said road chain.
3. a driving support method is characterized in that,
Comprise following operation:
The matching judgment operation; Judge whether it is matching status; Said matching status is meant; In map match is handled, confirmed the state of coupling road chain with the fiduciary level more than the stipulated standard, said map match is handled and is used for confirming said coupling road chain, said coupling road chain be with automobile storage the suitable road chain of road interval;
Current location detects operation, detects the current location of said vehicle;
The candidate roads chain is confirmed operation, under the situation that is not said matching status, will with confirm as the candidate roads chain near the suitable road chain of road interval of said current location;
Through judging operation; On the Object node that becomes the judgement object, be connected with a plurality of road chains; And change under the situation of other road chains at the road chain of said candidate roads chain from said a plurality of road chains, be judged as said vehicle and passed through the represented position of said Object node;
The drive supporting operation has been passed through under the situation of the represented position of said Object node being judged as said vehicle, carries out the drive supporting that is predetermined, and is used as said vehicle and has passed through the drive supporting after the represented position of said Object node.
4. a drive supporting program is characterized in that,
Make the following function of computer realization:
The matching judgment function; Judge whether it is matching status; Said matching status is meant; In map match is handled, confirmed the state of coupling road chain with the fiduciary level more than the stipulated standard, said map match is handled and is used for confirming said coupling road chain, said coupling road chain be with automobile storage the suitable road chain of road interval;
The current location measuring ability detects the current location of said vehicle;
The candidate roads chain is confirmed function, under the situation that is not said matching status, will with confirm as the candidate roads chain near the suitable road chain of road interval of said current location;
Pass through arbitration functions; On the Object node that becomes the judgement object, be connected with a plurality of road chains; And change under the situation of other road chains at the road chain of said candidate roads chain from said a plurality of road chains, be judged as said vehicle and passed through the represented position of said Object node;
The drive supporting function has been passed through under the situation of the represented position of said Object node being judged as said vehicle, carries out the drive supporting that is predetermined, and is used as said vehicle and has passed through the drive supporting after the represented position of said Object node.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011075380 | 2011-03-30 | ||
| JP2011-075380 | 2011-03-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102735247A true CN102735247A (en) | 2012-10-17 |
| CN102735247B CN102735247B (en) | 2015-09-09 |
Family
ID=46991173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210075752.5A Expired - Fee Related CN102735247B (en) | 2011-03-30 | 2012-03-19 | Drive supporting device and driving support method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5810979B2 (en) |
| CN (1) | CN102735247B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104884897A (en) * | 2012-11-02 | 2015-09-02 | 通腾科技股份有限公司 | Map matching methods for mobile devices |
| CN110095126A (en) * | 2019-05-07 | 2019-08-06 | 北京百度网讯科技有限公司 | Map-matching method, device, equipment and medium |
| CN111699122A (en) * | 2018-03-07 | 2020-09-22 | 宝马汽车股份有限公司 | Control unit and method for operating a driving function at a signaling device |
| CN112750302A (en) * | 2019-10-29 | 2021-05-04 | 丰田自动车株式会社 | Automatic parking system |
| US20230202509A1 (en) * | 2021-12-27 | 2023-06-29 | Here Global B.V. | Method, apparatus, and computer program product for real-time map-matching |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6982954B2 (en) * | 2016-09-30 | 2021-12-17 | コイト電工株式会社 | Map matching processing device, map matching processing program and transportation related system |
| GB2580388B (en) * | 2019-01-09 | 2021-07-28 | Jaguar Land Rover Ltd | Control system for a vehicle |
| JP7516467B2 (en) | 2022-08-26 | 2024-07-16 | 株式会社トヨタマップマスター | Information processing device, information processing method, and information processing program |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09304093A (en) * | 1996-05-09 | 1997-11-28 | Alpine Electron Inc | Method for correcting current position of moving body |
| JP2001056228A (en) * | 1999-08-18 | 2001-02-27 | Alpine Electronics Inc | Navigation system |
| CN1948913A (en) * | 2006-08-25 | 2007-04-18 | 北京航空航天大学 | Heuristic path culculating method for treating large scale floating vehicle data |
| CN101545788A (en) * | 2009-05-14 | 2009-09-30 | 四川长虹电器股份有限公司 | Vehicle positioning implementing method |
| CN101553854A (en) * | 2006-11-20 | 2009-10-07 | 爱信艾达株式会社 | Method and device for judging traveling state of vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61100898A (en) * | 1984-10-22 | 1986-05-19 | 日産自動車株式会社 | Course guidance unit for vehicle |
| JP2681985B2 (en) * | 1988-03-31 | 1997-11-26 | ソニー株式会社 | Vehicle navigation method |
| JP2000258179A (en) * | 1999-03-12 | 2000-09-22 | Denso Corp | On-vehicle navigator |
| JP2010267000A (en) * | 2009-05-13 | 2010-11-25 | Nec Corp | Path estimation device, path estimation method and program |
-
2012
- 2012-03-08 JP JP2012051421A patent/JP5810979B2/en not_active Expired - Fee Related
- 2012-03-19 CN CN201210075752.5A patent/CN102735247B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09304093A (en) * | 1996-05-09 | 1997-11-28 | Alpine Electron Inc | Method for correcting current position of moving body |
| JP2001056228A (en) * | 1999-08-18 | 2001-02-27 | Alpine Electronics Inc | Navigation system |
| CN1948913A (en) * | 2006-08-25 | 2007-04-18 | 北京航空航天大学 | Heuristic path culculating method for treating large scale floating vehicle data |
| CN101553854A (en) * | 2006-11-20 | 2009-10-07 | 爱信艾达株式会社 | Method and device for judging traveling state of vehicle |
| CN101545788A (en) * | 2009-05-14 | 2009-09-30 | 四川长虹电器股份有限公司 | Vehicle positioning implementing method |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104884897A (en) * | 2012-11-02 | 2015-09-02 | 通腾科技股份有限公司 | Map matching methods for mobile devices |
| US9638531B2 (en) | 2012-11-02 | 2017-05-02 | Tomtom Navigation B.V. | Map matching methods for mobile devices |
| CN111699122A (en) * | 2018-03-07 | 2020-09-22 | 宝马汽车股份有限公司 | Control unit and method for operating a driving function at a signaling device |
| CN111699122B (en) * | 2018-03-07 | 2024-05-14 | 宝马汽车股份有限公司 | Control unit and method for operating a driving function at a signaling device |
| CN110095126A (en) * | 2019-05-07 | 2019-08-06 | 北京百度网讯科技有限公司 | Map-matching method, device, equipment and medium |
| CN110095126B (en) * | 2019-05-07 | 2021-03-12 | 北京百度网讯科技有限公司 | Map matching method, apparatus, device and medium |
| CN112750302A (en) * | 2019-10-29 | 2021-05-04 | 丰田自动车株式会社 | Automatic parking system |
| US20230202509A1 (en) * | 2021-12-27 | 2023-06-29 | Here Global B.V. | Method, apparatus, and computer program product for real-time map-matching |
| US12017680B2 (en) * | 2021-12-27 | 2024-06-25 | Here Global B.V. | Method, apparatus, and computer program product for real-time map-matching |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102735247B (en) | 2015-09-09 |
| JP2012215564A (en) | 2012-11-08 |
| JP5810979B2 (en) | 2015-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102735247A (en) | Driving assisting device and driving assisting method | |
| EP3692337B1 (en) | Map information provision system | |
| CN115214661B (en) | Cooperative adaptive cruise control system based on target vehicle's driving style | |
| JP5066123B2 (en) | Vehicle driving support device | |
| CN101622514B (en) | Vehicle position calculating device and vehicle position calculating method | |
| CN103577682B (en) | The anchor choosing lane method of navigation input is used in road changes situation | |
| CN101641248B (en) | Collision avoidance device | |
| CN103477191B (en) | The signal for turn that navigation system controls | |
| KR101573764B1 (en) | System and method for recognizing driving road of vehicle | |
| JP6036198B2 (en) | Driving support device and driving support system | |
| JP6600995B2 (en) | Vehicle control apparatus and program | |
| US10885358B2 (en) | Method for detecting traffic signs | |
| US20100231718A1 (en) | Lane recognition device | |
| JP6252252B2 (en) | Automatic driving device | |
| JP3608259B2 (en) | Automobile route estimation device | |
| JP6592051B2 (en) | Vehicle control device | |
| CN111033589A (en) | Lane information management method, travel control method, and lane information management device | |
| KR20180056322A (en) | Method for producing virtual lane based on short-range radar sensor | |
| JP2007178271A (en) | Own position recognition system | |
| CN106803353B (en) | Method for determining a transformation rule of a traffic light and on-board system | |
| JP2008139104A (en) | Exit detection device | |
| JP5272902B2 (en) | Vehicle travel support device and vehicle travel support method | |
| JP5682302B2 (en) | Traveling road estimation device, method and program | |
| CN109427212A (en) | Vehicle running detection method and vehicle running detection system | |
| JP4416021B2 (en) | Vehicle navigation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20210319 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |