CN102735247B - Drive supporting device and driving support method - Google Patents
Drive supporting device and driving support method Download PDFInfo
- Publication number
- CN102735247B CN102735247B CN201210075752.5A CN201210075752A CN102735247B CN 102735247 B CN102735247 B CN 102735247B CN 201210075752 A CN201210075752 A CN 201210075752A CN 102735247 B CN102735247 B CN 102735247B
- Authority
- CN
- China
- Prior art keywords
- road
- chain
- vehicle
- road chain
- drive supporting
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 76
- 230000008878 coupling Effects 0.000 claims abstract description 37
- 238000010168 coupling process Methods 0.000 claims abstract description 37
- 238000005859 coupling reaction Methods 0.000 claims abstract description 37
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 11
- 230000013011 mating Effects 0.000 description 7
- 238000001310 location test Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 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
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Be provided in the technology that also can start to perform drive supporting when not being matching status.Judge whether it is matching status, matching status is, determines the state of coupling road chain in map match process with fiduciary level more than stipulated standard, determines that namely the road chain that the road interval that exists with vehicle is suitable mates road chain in this map match process; To the current location detecting this vehicle; When not being this matching status, the road chain suitable with the road interval closest to this current location is defined as candidate roads chain; Become the Object node judging object is connected with multiple road chain and changes to other road chains at this candidate roads chain from a road chain the plurality of road chain time, be judged as that this vehicle have passed the position represented by this Object node; When being judged as the position that this vehicle have passed represented by this Object node, perform the drive supporting that the drive supporting that predetermines is used as after the position that this vehicle have passed represented by this Object node.
Description
Technical field
The present invention relates to drive supporting device and the method for carrying out drive supporting (assisting) to vehicle.
Background technology
In the past, the existing travel conditions according to vehicle and vehicle is carried out to the technology of drive supporting.Such as, Patent Document 1 discloses following technology: when carrying out drive supporting when being incorporated to arterial road from access road (access road), judge whether there is node on the access road of vehicle front, and be judged as being in the start time of drive supporting when vehicle have passed the position representing this node, start to carry out drive supporting in this start time thus.
Prior art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2008-129816 publication
At the end points that general cartographic information interior joint is road chain, in order to determine the position relationship between node and vehicle, need the road chain determining that the road interval that travelling with vehicle is suitable.As the technology in the past for determining the road chain that the road interval that travelling with vehicle is suitable, map match process can be exemplified out.That is, determine end points and the node of the coupling road chain determined by map match process, and by determining the travel direction of vehicle, the node being set in vehicle front can be determined.But, in map match process, also likely can not determine the state of coupling road chain.Now, owing to not determining on road chain by the position of vehicle, the node being positioned at vehicle front can not thus be determined.
The present invention makes in view of above-mentioned problem, its object is to, providing a kind of technology that also can start to carry out drive supporting when not being matching status.
Summary of the invention
In order to achieve the above object, in the present invention, when not being matching status (unmatched state), based on the current location detected by current location detecting unit, determine candidate and the candidate roads chain of the road chain that the road interval that exists with vehicle is suitable, and when this candidate roads chain changes to other road chains from a road chain in the multiple road chains be connected to Object node, be judged as that vehicle have passed the position represented by Object node.Further, the drive supporting that the drive supporting that predetermines is used as after the position that vehicle have passed represented by Object node is performed.
That is, in map match process, owing to becoming matching status when determining coupling road chain with fiduciary level more than stipulated standard, thus road chain is mated in fiduciary level lower than can not determine when stipulated standard.Therefore, determine candidate roads chain to replace coupling road chain, and when this candidate roads chain changes to other road chains from a road chain in the multiple road chains be connected to Object node, be judged as that vehicle have passed the position represented by Object node.Therefore, also can judge that when not being matching status vehicle have passed the position represented by Object node, thus can start to perform the drive supporting that should start using the position represented by this Object node as benchmark to perform.
In addition, due to the position judging to have passed represented by Object node based on the change of candidate roads chain, thus not necessarily need to compare the current location of vehicle and the position of node.Therefore, do not need the travel direction determining vehicle, just can judge whether vehicle have passed the position represented by Object node, thus also can judge whether vehicle have passed the position represented by Object node when the accuracy of detection of the travel direction to vehicle etc. is lower.
Here, with regard to matching judgment unit, as long as can judge whether it is the matching status determining coupling road chain in map match process with fiduciary level more than stipulated standard.Map match process refers to following process: determine the road chain that the road interval that exists with vehicle is suitable together with fiduciary level, and by road chain suitable for the road interval existed with vehicle determined with fiduciary level more than stipulated standard, as coupling road chain.That is, in the road interval represented by road chain between node and node, determine vehicle travels in which road interval, thus determine coupling road chain.
In order to judge whether it is the road interval that vehicle exists, various condition can be added, such as can adopt following various structures: compare the shape of the road represented by the track of the current vehicle position determined based on any one in car speed, angular velocity, gps signal or their combination and cartographic information, both consistent degree are higher, regard as fiduciary level higher; The accepting state of GPS is better, regards as fiduciary level higher; The shape of road is not easy the shape causing error hiding, then regard as fiduciary level higher.
In addition, as long as coupling road chain can be determined with fiduciary level more than stipulated standard, the process that various process is used as determining to mate road chain can be adopted, such as, following structure etc. can be adopted: from the position detected as current vehicle position, road in specialized range is carried out map match process as object, and the multiple road chains extracting fiduciary level different are used as candidate, thus using fiduciary level more than stipulated standard and the highest road chain of fiduciary level as coupling road chain.Now, if one can not be determined the road chain of fiduciary level more than stipulated standard, then not matching status.
As long as current location detecting unit can detect the current location of vehicle.That is, as long as can use and be arranged on sensor on drive supporting device to detect the current location of vehicle.But here, because supposition is not the situation of matching status, thus removing utilizes coupling road chain to determine the structure of current vehicle position.Therefore, such as by the structure determining current vehicle position based on any one in vehicle speed sensor, gyro sensor, gps signal or their combination, current location detecting unit can be formed.
With regard to candidate roads chain determining unit, as long as when being when not being matching status by matching judgment unit judges, the road chain suitable with the road interval closest to current location can be defined as candidate roads chain.Namely, the current vehicle position determined by current location detecting unit and the distance arbitrarily between road interval can be determined (such as, from current location to the linearly extended vertical line distance representing road interval) be minimum road interval, and the road chain being equivalent to this road interval is defined as candidate roads chain etc.
With regard to regard to judging unit, as long as can when become the Object node judging object is connected with multiple road chain and candidate roads chain changes to other road chains from a road chain multiple road chain, be judged as that vehicle have passed the position represented by Object node.Namely, as long as when can be other road chains be connected on Object node in the Status Change being candidate roads chain from certain the road chain be connected on Object node being the state of candidate roads chain, be judged as that vehicle have passed the position represented by Object node.
With regard to drive supporting unit, as long as can when being judged as the position that vehicle have passed represented by Object node, perform the drive supporting that the support predetermined is used as after the position that vehicle have passed represented by Object node.With regard to drive supporting, as long as start the drive supporting performed with have passed the position represented by node, without particular limitation of support content.Such as, can adopt to perform after have passed Object node on travelled road, need the deceleration performed to support, accelerate to support, be incorporated to supports, attention is aroused etc. is used as drive supporting.Certainly, with regard to support content, can be wagon control, also can be the guiding to driver, can plurality of kinds of contents be adopted.
Not preferably that the occasion of matching status implements the present invention being assumed to.Therefore, also can be positioned at facility in the current location of vehicle and be not matching status, determine candidate roads chain, described facility is provided with the parking lot that specified link is interval and travel in this specified link interval and can arrive, and described specified link interval refers to the road interval not setting described road chain.That is, if in the facility being provided with the road interval not setting road chain and the parking lot travelling in the road interval that this does not set road chain and can arrive, if travelled in the road interval that this does not set road chain, be then usually unmatched state.Therefore, if apply the present invention when current vehicle position is positioned at such facility and is not matching status, then in the facility that the situation that be can not determine coupling road chain by map match process is easily occurred, also the position that have passed represented by Object node can be performed drive supporting as the start time of supporting.
In addition, as the facility being provided with the road interval not setting road chain and the parking lot travelling in the road interval that this does not set road chain and can arrive, the parking lot etc. in service area, parking area, shop can be exemplified out.Namely, road interval due to the parking lot etc. in service area, parking area, shop is complicated shape and does not need the information of all road interval when path of navigation, and the situation that the information that thus there is node and the road chain usually a part not being represented road interval is not defined as cartographic information is more.But, about in parking lot in service area, parking area, shop etc., usually in order to have a rest etc. and vehicle is stopped at the situation in parking lot more in, now, arrive parking lot owing to travelling traveling in the road interval not setting road chain in this case, thus usually become the state can not determining to mate with fiduciary level more than stipulated standard road chain in map match process.
Therefore, as long as in the facility being provided with the road interval not setting road chain and the parking lot travelling in the road interval that this does not set road chain and can arrive, candidate roads chain is determined when not being matching status, then easily occur the service area of the situation that be can not determine coupling road chain by map match process, parking area, shop parking lot etc. facility in, also the position that have passed represented by Object node can be performed drive supporting as the start time of supporting.In addition, for judging whether current vehicle position is positioned at the process of the facility in the road interval being provided with and not setting road chain and the parking lot travelling in this road interval not setting road chain and can arrive, such as can adopt following process: in cartographic information, when current vehicle position to be positioned at ad-hoc location within the predetermined distance, be judged as that the current location of vehicle is positioned at this facility etc., wherein, this ad-hoc location refers to, with the position of the corresponding facility associated of information representing service area or parking area.
Further, can as progresses and methods apply as the present invention when not being matching status based between candidate roads chain and Object node position relationship change judge that vehicle have passed the method for the position represented by Object node.In addition, drive supporting device as above, program, method comprise various mode, sometimes realize as independent drive supporting device, sometimes utilize each portion universal accessories possessed with vehicle to realize.Such as, guider, method and the program with drive supporting device as above can be provided.In addition, also a part can be software and a part is hardware etc., can be suitable for changing.Further, as the recording medium of the program of control 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, and on this point, any recording medium of Future Development is all identical.
Accompanying drawing explanation
Fig. 1 shows the block diagram of the guider comprising drive supporting device.
Fig. 2 is the process flow diagram of drive supporting process.
Fig. 3 is the figure of the highway diagrammatically illustrated around service area.
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 determination portion
21d passes through judging part
21e drive supporting portion
30 recording mediums
30a cartographic information
41GPS acceptance division
42 vehicle speed sensor
43 gyro sensors
44 user I/F portions
45 cameras
Embodiment
Here, according to following order, embodiments of the present invention are described.
(1) structure of guider
(2) drive supporting process
(3) other embodiments
(1) structure of guider
Fig. 1 shows the block diagram of the structure of the guider 10 comprising drive supporting device of the present invention.Guider 10 has control part 20 and recording medium 30, wherein, described control part 20 has CPU (CPU (central processing unit)), RAM (random access memory), ROM (ROM (read-only memory)) etc., and this guider 10 can use control part 20 to perform the program be stored in recording medium 30 and ROM.Present 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 forming this Navigator.
Pre-recorded in recording medium 30 have cartographic information 30a.Cartographic information 30a is the information used when determining the current location etc. of vehicle, this cartographic information 30a comprise represent the node location etc. be located on road that vehicle travels node data, for determine the road shape between node shape interpolated point data, represent the link information between node road chain data, represent the atural object data etc. being present on road or being present in the position of atural object around road (representing the spray figure of stop line and buildings etc.) and kind etc.In addition, atural object comprises service area and parking area, and, for representing the road chain data of the road chain of the road interval be present in service area or parking area, and for representing that the information that each road chain is present in service area or parking area sets up corresponding relation.
With regard to the vehicle (having installed the vehicle of guider 10) of present embodiment, GPS acceptance division 41, vehicle speed sensor 42, gyro sensor 43, user I/F (interface) portion 44 and camera 45 is possessed, by the function making these parts and control part 20 collaborative work realize drive supporting program 21 in order to realize the function of drive supporting program 21.
GPS acceptance division 41 receives the electric wave from gps satellite, and exports the information of the current location for calculating vehicle via not shown interface.Control part 20 obtains the current location of vehicle by obtaining this signal.Vehicle speed sensor 42 exports the signal corresponding with the vehicle wheel rotational speeds of vehicle.Control part 20 is by obtaining this signal via not shown interface thus obtaining car speed.Gyro sensor 43 export with vehicle towards corresponding signal.Control part 20 obtains this signal via not shown interface thus obtains the travel direction of vehicle.Vehicle speed sensor 42 and gyro sensor 43 etc., the current location for the vehicle determined the output signal according to GPS acceptance division 41 is revised etc.
That is, in the present embodiment, control part 20 is by performing the process of Navigator thus carrying out map match process.Specifically, control part 20 determines the traveling starting position of vehicle based on the output signal of GPS acceptance division 41, and determine, from the supposition track of the vehicle travelled starting position, to determine the current location of vehicle thus based on the output signal of vehicle speed sensor 42 and gyro sensor 43.And, control part 20 is with reference to cartographic information 30a, determine to be present in and consistent degree between the shape of the road of vehicle within predetermined distance and the shape inferring track, and when fiduciary level is more than stipulated standard, road the highest for fiduciary level in the road of fiduciary level more than stipulated standard is considered as the road that vehicle is travelling, wherein, the higher then above-mentioned fiduciary level of above-mentioned consistent degree is larger.Further, the road chain being equivalent to specified link interval is defined as coupling road chain, described specified link interval refers to, in the road of fiduciary level more than stipulated standard, and the road interval that vehicle travels on the road that fiduciary level is the highest.In addition, when determining coupling road chain, control part 20 determines the current location of the vehicle in the road interval represented by coupling road chain, revises thus to the current location represented by the output signal of above-mentioned vehicle speed sensor 42 and gyro sensor 43.
User I/F portion 44 comprises the output unit exporting various guiding (guidance information) based on the control signal exported from control part 20.The output unit in the user I/F portion 44 of present embodiment, is comprised and exports the loudspeaker of guiding by voice and exported the display of guiding by image.Camera (camera) 45 includes the specialized range of vehicle periphery in visual field, thus shoots the view data of the image representing vehicle periphery.Control part 20 is exported to by taking by camera 45 surrounding image data obtained via not shown interface.Control part 20 detects other vehicles based on the image represented by view data.
Control part 20 carries out above-mentioned map match process by performing Navigator, thus determine coupling road chain, drive supporting program 21 is carried out for supporting the process of (assisting) driver-operated drive supporting in the occasion predetermined (in situation).In order to carry out this drive supporting, drive supporting program 21 have matching judgment portion 21a, current location test section 21b, candidate roads chain determination portion 21c, by judging part 21d and drive supporting portion 21e.
Matching judgment portion 21a is the module for making control part 20 realize following function, and this function refers to, judge whether be with stipulated standard more than fiduciary level determine the matching status of coupling road chain.That is, control part 20 is by performing the process of matching judgment portion 21a, judges the result being performed above-mentioned map match process by Navigator, that is, judge current be whether with stipulated standard more than fiduciary level and determine the matching status of coupling road chain.
Current location test section 21b is the module for making control part 20 realize the function detecting current vehicle position.That is, control part 20 determines 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 result of map match process when determining current location.Namely, control part 20, by determining the vehicle location in the road interval suitable with mating road chain under the state of mating road chain with the current time immediate moment, as reference position (when not yet determining will travel starting position as reference position when once mating road chain).Then, control part 20 by vehicle from this reference position supposedly track move after position, be defined as the current location of vehicle, wherein, this supposition track determines based on the output signal of vehicle speed sensor 42 and gyro sensor 43.
Candidate roads chain determination portion 21c is the module for making control part 20 realize following function, this function refers to, when not being matching status, determines candidate roads chain based on current location, this candidate roads chain refers to, the candidate of the road chain suitable with the road interval existing for vehicle.In the present embodiment, control part 20 is with reference to cartographic information 30a, the road chain being equivalent to specified link interval is defined as candidate roads chain, wherein, this specified link interval refers to, the road interval immediate with current vehicle position detected by the process of execution current location test section 21b.
By the module that judging part 21d is for making control part 20 realize following function, this function refers to, be connected with multiple road chain becoming on the Object node judging object, and candidate roads chain is when changing to other road chains from a road chain multiple road chain, be judged as that vehicle have passed the position represented by Object node.That is, control part 20 is with reference to cartographic information 30a, will form the node of the end points of candidate roads chain as Object node, thus judges whether Object node is connected with multiple road chain.In addition, except the road interval situation that no through traffic, general node can be connected with multiple road chain.Object node is connected with multiple road chain, change is there occurs at the candidate roads chain determined by candidate roads chain determination portion 21c, and specified link chain is when becoming new candidate roads chain, control part 20 is judged as that vehicle have passed the position represented by Object node, described specified link chain refers to, in the multiple road chains be connected with Object node, from the road chain that just still the road chain (the candidate roads chain before this change) of candidate roads chain is different.
Drive supporting portion 21e is the module for making control part 20 realize following function, this function refers to, when being judged as the position that vehicle have passed represented by Object node, perform the drive supporting that the drive supporting that predetermines is used as after the position that vehicle have passed represented by Object node.That is, control part 20 is have passed Object node as trigger event, performs drive supporting.With regard to drive supporting, can be various support, such as, can when exit the service area or parking area set up on a highway and from highway and approach is incorporated to highway perform and be incorporated to support.Now, the view data that can export based on camera 45, is determined to be provided with the relative velocity between the vehicle of guider 10 and other vehicles by control part 20, and guides the vehicle in the convoy spacing that formed between other vehicles.
In map match process, becoming matching status when determining coupling road chain with fiduciary level more than stipulated standard, thus mating road chain in fiduciary level lower than can not determine when stipulated standard.In cartographic information 30a, adopt by road chain and form the node of road chain end points to reproduce the mode of road.In guider in the past, determine the node of the end points as coupling road chain, and determine to be located at the node of vehicle front by the travel direction determining vehicle.Therefore, do not determining that under the state of mating road chain, guider in the past can not determine the node of vehicle front, therefore can not determine the relation between vehicle and node.Its result, can not judge that vehicle have passed the position represented by node.
Therefore, in the present embodiment, determine candidate roads chain to replace coupling road chain, and when this candidate roads chain changes to other road chains from a road chain in the multiple road chains be connected to Object node, be judged as that vehicle have passed the position represented by Object node.Therefore, also can judge that when not being matching status vehicle have passed the position represented by Object node, thus the drive supporting that carries out to start as benchmark using the position represented by this Object node to carry out can be started.
In addition, implementing for judging that vehicle have passed the judgement process of the position represented by Object node due to the change based on candidate roads chain, thus not necessarily needing to compare the current location of vehicle and the position of node.Therefore, do not need the travel direction determining vehicle, just can judge whether vehicle have passed the position represented by Object node, thus also can judge whether vehicle have passed the position represented by Object node when the state that the accuracy of detection of the travel direction to vehicle etc. is lower.
(2) drive supporting process:
Then, the drive supporting process that the guider 10 of above structure is implemented is described.Fig. 2 is the process flow diagram of the drive supporting process representing drive supporting program 21, and Fig. 3 is then the figure of the highway diagrammatically illustrated around service area S and this service area S.In addition, at service area S illustrated in fig. 3, with sail into from highway H enter road Ri and be connected to the road Ro that exits that highway H sails into.In addition, in figure 3, represent node with black circle, represent shape interpolated point with white circle, represent road chain in order to black circle and white circle as the thick straight line of end points.That is, in example illustrated in fig. 3, enter road Ri and be provided with road chain Li, exit road Ro and be provided with road chain Lo, in service area, be provided with road chain L
1, L
2, L
3, L
4.Further, in figure 3, the parking lot P be located in service area S is shown with rectangle.
With specified time limit (such as, 100ms) for unit, perform drive supporting process illustrated in fig. 2.In addition, control part 20 and this drive supporting process carry out map match process concurrently.In the drive supporting process shown in Fig. 2, control part 20 is by performing the process of candidate roads chain determination portion 21c, judge whether the current location of 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 not setting road chain, this parking lot be vehicle this do not set travel in the road interval of road chain and the parking lot that can arrive) in (step S100).Here, as long as can judge that the current location of vehicle is whether in service area or parking area, can detect the current location of vehicle, use the current location detected to judge, this current location detected also can not be used to judge.
In the present embodiment, do not use the current location with detecting, but preset the condition of current location in service area or parking area that can deduce vehicle, and when meeting at least one condition in this condition, be estimated as the current location of vehicle in service area or parking area.Specifically, setting condition below.
(1) gear level is set on reversing gear.
(2) vehicle traveling predetermined distance during in change more than predetermined angular from the travel direction of vehicle.
(3) in map match process, all road interval of the consistent degree between the track of vehicle and shape more than stipulated standard is the road interval in service area or parking area.
In addition, with regard to condition (1), control part 20 obtains the output signal to the sensor that the gear of not shown gearshift detects, and judges whether satisfy condition (1) based on this output signal.With regard to condition (2), control part 20 obtains the output signal of vehicle speed sensor 42 and gyro sensor 43 to determine the angle between operating range and travel direction, and judge vehicle traveling predetermined distance during in its travel direction whether change more than predetermined angular, judge whether thus satisfy condition (2).In addition, in advance predetermined distance and predetermined angular are set as particular value respectively, described particular value refers to, in service area or parking area, when travelling to parking lot, these distances and angle can become (effectively) combination, and when travelling on a highway, these distances and angle can not become (effectively) combination.With regard to condition (3), the result being performed map matching treatment by control part 20 is judged, the all road chains judging to represent specified link interval whether with represent that to be that the information of service area or parking area is corresponding associate herein, judge whether thus satisfy condition (3), wherein, described specified link interval is the consistent degree between the track of vehicle and shape is the road interval of stipulated standard.
Such as, in the example shown in figure 3, due at vehicle from entering after road Ri enters service area S, tune operation etc. is carried out in order to vehicle being parked in a certain position of parking lot P, if thus gear level to be set as gear of moveing backward, then satisfy condition (1), is judged as that vehicle is in service area S thus.In addition, vehicle from entering after road Ri enters service area S, in order to vehicle being parked in a certain position of parking lot P, from being equivalent to road chain L
2or road chain L
4road interval when travelling to parking lot P or when carrying out tune operation etc., if travel direction changes more than predetermined angular in during traveling predetermined distance, then satisfy condition (2), is judged as that vehicle is in service area S thus.Further, because vehicle enters service area S from entering road Ri, if the road interval of consistent degree more than stipulated standard therefore in map match process between the track of vehicle and shape is restricted to road chain L
1~ L
4, then satisfy condition (3), is judged as that vehicle is in service area S thus.
In the step s 100, in the current location out of reach being judged as vehicle or parking area, control part 20 is skipped step S105 ~ S140 and ends process.In the step s 100, when being judged as that the current location of vehicle is in service area or parking area, by the process performing matching judgment portion 21a, control part 20 judges whether current be matching status (step S105).When being judged as YES matching status in step S105, control part 20 performs step S130 and later process thereof.
On the other hand, when being judged as not being matching status in step S105, control part 20 performs step S110 and later process thereof.In step s 110, control part 20 obtains the current location (step S110) of vehicle by the process of execution current location test section 21b.That is, owing to not being matching status performing stage of step S110, thus control part 20 determines the current location of vehicle based on the output signal of vehicle speed sensor 42 and gyro sensor 43, and the result of unfavorable map matching treatment.
Such as, in figure 3 vehicle as illustrated in the dotted line of arrow from road chain L
2represented road interval is advanced to the road interval not setting road chain and vehicle is parked in parking lot, and again sets out and to advance and at road chain L in the road interval not setting road chain as illustrated in the dotted line of arrow
4in situation about travelling in represented road interval etc., easily become unmatched state.Like this, due under unmatched state, the vehicle speed sensor 42 of vehicle and gyro sensor 43 also continue output signal, thus obtain the current location of vehicle based on the output signal of these vehicle speed sensor 42 and gyro sensor 43.Now, based on the output signal of vehicle speed sensor 42 and gyro sensor 43, the track from the position on the coupling road chain the matching status before this to current vehicle position is determined.Therefore, even if under unmatched state, the possibility that current vehicle position significantly departs from from physical location is also very little.
Then, control part 20, by performing the process of candidate roads chain determination portion 21c, determines candidate roads chain (step S115).That is, control part 20 is with reference to cartographic information 30a, and the road chain being equivalent to specified link interval is defined as candidate roads chain, and described specified link interval refers to, the road interval nearest with the current vehicle position obtained in step s 110.Such as, in figure 3, the track of the current location detected under unmatched state is the such track of the arrow shown in single dotted broken line, now, if at position P
1upper execution step S115, then at position P
1surrounding (with position P
1within predetermined distance, such as 100m) exist by road chain L
4, road chain L
3, the road interval that represents of road chain Lo, but because of with position P
1nearest road chain is road chain L
4, therefore road chain L
4become candidate roads chain.In addition, by representing that the information of the candidate roads chain determined is recorded in RAM, whenever performing step S115, this information recorded is upgraded.
Then, control part 20, by performing the process by judging part 21d, judges whether vehicle have passed the position (step S120) represented by Object node.That is, control part 20 is with reference to cartographic information 30a, will form the node of candidate roads chain end points as Object node.In example illustrated in fig. 3, be road chain L at candidate roads chain
4when, Object node is node N
1, N
2.If determine Object node, then control part 20 judges on Object node, whether be connected with multiple road chain.In the example shown in figure 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, any one Object node is all connected with multiple road chain, is judged as thus Object node being connected with multiple road chain.
And then, control part 20 is with reference to the information be recorded in step sl 15 in RAM, the road chain different from the candidate roads chain before this is changed at candidate roads chain, and specified link chain is when becoming new candidate roads chain, be judged as that vehicle have passed the position represented by Object node, wherein, described specified link chain refers to, with multiple road chains that Object node is connected, from the road chain that just still the road chain (the candidate roads chain before this change) of candidate roads chain is different.Such as, in figure 3, from candidate roads chain be road chain L
4state start, candidate roads chain changes, thus road chain Lo or road chain L
3become candidate roads chain, in the case, be judged as that vehicle have passed Object node N
1represented position.In addition, in the present embodiment, the travel direction of vehicle is also determined according to the change of candidate roads chain.That is, when candidate roads chain changes to other road chains from certain road chain, regard as vehicle and advance to the direction towards other road chains from this certain road chain.Such as, when the track of current location is with track shown in single dotted broken line in figure 3, at position P
1on to be defined as candidate roads chain be road chain L
4afterwards, at position P
2on road chain Lo is defined as candidate roads chain.Now, be judged as that vehicle have passed Object node N
1and to exiting road Ro direction running.
In the step s 120, when being judged as vehicle not by position represented by Object node, skipping step S125 and ending process.On the other hand, in the step s 120, when being judged as the position that vehicle have passed represented by Object node, control part 20, by performing the process of drive supporting portion 21e, performs the drive supporting (step S125) after the support (process) predetermined is used as have passed Object node thus.In the present embodiment, as the drive supporting after have passed Object node and the support (process) predetermined, be incorporated to support (process) when being incorporated to highway.Therefore, to travel after exiting Object node and vehicle on approach, perform drive supporting.In addition, be incorporated to support to refer to, control part 20, based on the view data exported by camera 45, is determined to have installed the relative velocity between the vehicle of guider 10 and other vehicles, and guides the vehicle to the guiding etc. in the convoy spacing that formed between other vehicles.
Such as, in the example shown in figure 3, vehicle is passing through Object node N
1at road chain L before represented position
4represented road intervals, is passing through Object node N
1after represented position, be considered when the road intervals represented by road chain Lo, perform and be incorporated to support.On the other hand, vehicle is passing through Object node N
1at road chain L before represented position
4represented road intervals, is passing through Object node N
1after represented position, be considered at road chain L
3when represented road intervals, do not perform and be incorporated to support.
On the other hand, when being judged as YES matching status in step S105, control part 20, by performing the process of drive supporting program 21, determines the Object node (step S130) in the front of the road suitable with mating road chain.Namely, control part 20 is with reference to cartographic information 30a, determine the node of the formation coupling road chain end points determined by map match process, and the front of vehicle is determined based on the output signal of gyro sensor 43, thus in the node of end points forming coupling road chain, the node being positioned at vehicle front is defined as Object node.Such as, in example illustrated in fig. 3, at road chain L
4for coupling road chain and vehicle to exit road Ro advance when, by node N
1be defined as Object node.
Then, control part 20, by performing the process of drive supporting program 21, judges whether vehicle have passed the position (step S135) represented by Object node.Here, owing to determining coupling road chain, thus current vehicle position is determined in the road interval represented by coupling road chain.Therefore, control part 20 determines the current vehicle position on this coupling road chain, and, current vehicle position in the road interval represented by a certain coupling road chain to the position represented by Object node close to and with the position consistency represented by Object node after, and then this current vehicle position when far going from the position represented by Object node in the road interval represented by other coupling road chains, be judged as that vehicle have passed Object node.
Such as, in the example shown in figure 3, assume that vehicle is at road chain L
4the situation of the road intervals after represented road intervals represented by road chain Lo.Now, current vehicle position is at road chain L
4close to the position represented by Object node in represented road interval, soon with Object node N
1represented position consistency.Then, current vehicle position in the road interval represented by road chain Lo from Object node N
1represented position is far gone.Now, be judged as that vehicle have passed Object node N
1.
In step S135, when being judged as the position that vehicle have passed represented by Object node, control part 20 is by performing the process of drive supporting program 21, perform the support (process) predetermined, the drive supporting (step S140) after being used as have passed Object node.Here, the support (process) predetermined as the drive supporting after have passed Object node is also be incorporated to support (process) for what be incorporated to highway, and it is identical with step S 125 to support content.In addition, in step S135, when being judged as vehicle not by position represented by Object node, skip step S140.
(3) other embodiments:
Above embodiment is for implementing an example of the present invention, as long as can when not being matching status based on the change of the position relationship between candidate roads chain and Object node, judge that vehicle have passed the position represented by Object node, also can adopt other various embodiment.In map match process, multiple condition can be added in order to judge whether to be the road interval that exists of vehicle, such as, following various structures can be adopted: the accepting state of the GPS of map match process more good visual to make fiduciary level higher; It is higher that the shape of road is not easy to cause the shape of error hiding then to regard as fiduciary level.
When determining candidate roads chain, as long as the candidate of road chain can be determined based on current location, the above-mentioned map match process diverse ways mating road chain with the fiduciary level determining more than stipulated standard also can be utilized.Therefore, except as described above by except the structure of road chain suitable for the road interval closest to current location alternatively road chain, also following structure etc. can be adopted: in map match process, from the road chain of the fiduciary level lower than stipulated standard, extract the highest road chain of fiduciary level, be defined as candidate roads chain.
With regard to drive supporting, as long as with the drive supporting started by the position shown by node, be not particularly limited support content.Such as, except being incorporated to except support as above, the deceleration needing to carry out after have passed Object node on travelled road can also being adopted to support, accelerate to support, noting arousing etc. and be used as drive supporting.Certainly, with regard to support content, can adopt plurality of kinds of contents, can be wagon control, also can be the guiding to driver.The facility performing drive supporting is also not limited to service area or parking area, such as, also can be the charge station of highway or the parking lot etc. in shop.Becoming the occasion of supporting object and also can be assumed to multiple occasion, also can be the occasion irrelevant with other vehicles.Such as, also can be that vehicle carries out the structure warned etc. when driving in the wrong direction on the road of one-way traffic.
Claims (3)
1. a drive supporting device, is characterized in that,
Have:
Matching judgment unit, it judges whether it is matching status, described matching status refers to, determine the state of coupling road chain with fiduciary level more than stipulated standard in map match process, described map match process is used for determining described coupling road chain, and described coupling road chain is the road chain that the road interval that exists with vehicle is suitable;
Current location detecting unit, it detects the current location of described vehicle;
Candidate roads chain determining unit, when not being described matching status, described candidate roads chain determining unit, by the road chain suitable with the road interval closest to described current location, is defined as candidate roads chain;
Pass through judging unit, be connected with multiple road chain becoming on the Object node judging object, and described candidate roads chain is when changing to other road chains from a road chain described multiple road chain, be describedly judged as that described vehicle have passed the position represented by described Object node by judging unit;
Drive supporting unit, when described be judged as by judging unit the position that described vehicle have passed represented by described Object node, described drive supporting unit performs the drive supporting predetermined, and is used as the drive supporting after the position that described vehicle have passed represented by described Object node.
2. drive supporting device according to claim 1, is characterized in that,
Facility is positioned in the described current location of described vehicle, and when not being described matching status, described candidate roads chain determining unit determines described candidate roads chain, described facility is provided with the parking lot that specified link is interval and travel in this specified link interval and can arrive, and described specified link interval refers to the road interval not setting described road chain.
3. a driving support method, is characterized in that,
Comprise following operation:
Matching judgment operation, judge whether it is matching status, described matching status refers to, determine the state of coupling road chain with fiduciary level more than stipulated standard in map match process, described map match process is used for determining described coupling road chain, and described coupling road chain is the road chain that the road interval that exists with vehicle is suitable;
Current location detects operation, detects the current location of described vehicle;
Candidate roads chain determination operation, when not being described matching status, is defined as candidate roads chain by the road chain suitable with the road interval closest to described current location;
By judging operation, be connected with multiple road chain becoming on the Object node judging object, and when described candidate roads chain changes to other road chains from a road chain described multiple road chain, be judged as that described vehicle have passed the position represented by described Object node;
Drive supporting operation, when being judged as the position that described vehicle have passed represented by described Object node, performs the drive supporting that predetermines, is used as the drive supporting after the position that described vehicle have passed represented by described 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 CN102735247A (en) | 2012-10-17 |
| CN102735247B true 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) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201219799D0 (en) | 2012-11-02 | 2012-12-19 | Tomtom Int Bv | Map Matching methods |
| 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 |
| DE102018203353A1 (en) * | 2018-03-07 | 2019-09-12 | Bayerische Motoren Werke Aktiengesellschaft | Control unit and method for operating a driving function on a signaling system |
| GB2580388B (en) * | 2019-01-09 | 2021-07-28 | Jaguar Land Rover Ltd | Control system for a vehicle |
| 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 |
| JP7207262B2 (en) * | 2019-10-29 | 2023-01-18 | トヨタ自動車株式会社 | automatic parking system |
| US12017680B2 (en) * | 2021-12-27 | 2024-06-25 | Here Global B.V. | Method, apparatus, and computer program product for real-time map-matching |
| 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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 (5)
| 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 |
| JP3451162B2 (en) * | 1996-05-09 | 2003-09-29 | アルパイン株式会社 | Navigation device and current position correction method for moving object |
| 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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012215564A (en) | 2012-11-08 |
| JP5810979B2 (en) | 2015-11-11 |
| CN102735247A (en) | 2012-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102735247B (en) | Drive supporting device and driving support method | |
| JP5066123B2 (en) | Vehicle driving support device | |
| JP4254889B2 (en) | Vehicle position calculation device | |
| CN101870292B (en) | Driving assistance apparatus, driving assistance method, and driving assistance program | |
| JP5472163B2 (en) | Speed regulation value notification device and speed regulation value notification system | |
| JP4720383B2 (en) | Vehicle control device | |
| CN102171737B (en) | Drive assist device and method | |
| JP5141709B2 (en) | Vehicle travel guidance device, vehicle travel guidance method, and computer program | |
| JP6036198B2 (en) | Driving support device and driving support system | |
| JP6600995B2 (en) | Vehicle control apparatus and program | |
| CN110023165A (en) | Controller of vehicle | |
| CN112150857B (en) | Parking entry indication system and indication method based on video image processing | |
| CN105793910A (en) | Automatic driving assistance device, automatic driving assistance method, and program | |
| JP6592051B2 (en) | Vehicle control device | |
| CN105984461A (en) | Travel control apparatus for vehicle | |
| JP7193948B2 (en) | Automated driving support device | |
| CN110023163A (en) | Controller of vehicle | |
| JP5440012B2 (en) | Branch entry determination device and branch entry determination method | |
| CN104334428A (en) | A lane-marking crossing warning system | |
| CN112937557A (en) | Curvature control-based passenger-riding parking path planning method and system | |
| JP2007333502A (en) | Merging support device, and merging support method | |
| JP2010140265A (en) | Travel support device, method, and program | |
| JP4416021B2 (en) | Vehicle navigation device | |
| JP2003252150A (en) | Parking type judgment device | |
| JP4978620B2 (en) | Vehicle position calculation 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 |