WO2000042386A1 - Procede permettant de detecter la position d'une voiture sur une route a plusieurs voies superposees - Google Patents
Procede permettant de detecter la position d'une voiture sur une route a plusieurs voies superposees Download PDFInfo
- Publication number
- WO2000042386A1 WO2000042386A1 PCT/JP2000/000131 JP0000131W WO0042386A1 WO 2000042386 A1 WO2000042386 A1 WO 2000042386A1 JP 0000131 W JP0000131 W JP 0000131W WO 0042386 A1 WO0042386 A1 WO 0042386A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- road
- layer
- vehicle
- traveling
- determined
- Prior art date
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
Definitions
- the present invention relates to a method for determining the position of an own vehicle road using a GPS (Global Positioning System), and in particular, it is possible to determine on which layer of a multi-layer road the own vehicle (vehicle such as the vehicle on which the user is riding) is located.
- the present invention relates to a method for determining the position of a vehicle road on a multilayer road.
- FIG. 6 shows an overview of a conventional navigation system.
- the navigation system searches for a GPS satellite 28, a vehicle position calculating means 20 for calculating the position of the vehicle based on data from the GPS satellite 28, and facilities to use.
- Information search means 23 route search means 21 for searching the route to the facility, guidance means 22 for guiding the vehicle along the searched route, liquid crystal display, CRT display, etc.
- Display means 26 for display on the display means 26, and map data 27 stored in a storage medium such as a CD-ROM.
- Figure 7 shows an example in which three GPS satellites in the sky are visible from the vehicle. This is shown in the sky map in Fig. 8, which shows that there are three different Since the GPS satellite can be seen in the direction of, correct positioning is possible in such a case.
- the correct road is determined using map matching using the own vehicle direction and the road direction. If the GPS satellites are in such a state, the position of the own vehicle and the road on which the own vehicle is running are determined. Can be determined correctly.
- parallel roads are multi-layered roads, that is, they are divided into an upper layer and a lower layer, and their positions on the horizontal plane are the same, so it is possible to correctly determine which of them is located. And it becomes difficult.
- the highway map map for the Tokyo Metropolitan Expressway
- voice guidance and the emergency call system, there is a problem that the reliability is not sufficiently guaranteed.
- the present invention solves the above-mentioned problems by providing a self-vehicle road on a multi-layer road capable of distinguishing the upper layer and the lower layer of the multi-layer road without adding new devices and parts to the navigation device.
- the purpose is to provide a method for determining the location.
- One embodiment of the present invention is directed to an autonomous vehicle in a multi-layered road that determines whether a vehicle traveling on any layer of the multi-layered road is traveling on the uppermost layer of the multi-layered road or a lower layer below the uppermost layer.
- This is a method for determining the road position of a car. If the ratio of the distance of a section where GPS positioning is possible within a predetermined section distance is equal to or greater than a predetermined upper-layer discrimination threshold, the upper layer (top layer) and another predetermined layer.
- This is a method for determining the position of a vehicle road on a multi-layer road that is determined to be a lower layer (a layer lower than the uppermost layer) if it is equal to or less than the threshold value.
- a new device is added to the navigation device. In particular, it has the effect that the upper and lower layers of a multi-layered road can be distinguished.
- upper layer refers to the uppermost layer as described above
- lower layer refers to a layer below the uppermost layer. That is, for example, in the case of a three-layer structure, the uppermost layer is the upper layer, and the two lower layers correspond to the lower layer.
- another aspect of the present invention is a multi-layered road that determines whether a vehicle traveling on any layer of the multilayered road is traveling on the uppermost layer of the multilayered road or a lower layer below the uppermost layer.
- This is a method for determining the position of a vehicle road on a road, and in the case where a section where GPS positioning is possible within a predetermined section distance is discrete, a method for determining the position of a vehicle road on a multilayered road that is determined to be a lower layer. This has the effect that the lower layer of a multi-layer road can be recognized without adding new devices and parts to the navigation device.
- a vehicle traveling on any layer of a multi-layered road is provided on the uppermost layer or the uppermost layer of the multi-layered road.
- a self-vehicle road position determination method for a multi-layer road that determines whether the vehicle is traveling in a lower layer below the layer. The upper layer if the left and right satellites are seen equally in the traveling direction, and the lower layer if they are not visible. This is a method for discriminating the position of a vehicle on a multi-layered road, characterized by distinguishing between the upper layer and the lower layer of a multi-layer road without adding new devices and parts to the navigation device. It has the effect of being able to
- Still another aspect of the present invention is a method for determining whether a vehicle traveling on any layer of a multilayered road is traveling on the uppermost layer of the multilayered road or on a lower layer below the uppermost layer.
- This is a method for determining the position of a vehicle road on a multi-layered road, in which the upper layer is determined if the satellite above the oncoming lane in the traveling direction is visible, and the lower layer is determined if the satellite is not visible.
- This is a method for discriminating the road position of the vehicle and has the function of distinguishing the upper and lower layers of a multi-layer road without adding new equipment and parts to the navigation device. .
- Still another aspect of the present invention is directed to the last aspect, wherein when the reception level from a satellite above the oncoming lane in the traveling direction is lower than the reception level from a satellite in the opposite direction to the opposite lane,
- This is a method of discriminating the position of the own vehicle road on a multi-layered road that is judged to be the upper layer above, and it is possible to prevent the apparent upper layer discrimination by reflection of buildings etc. It has.
- FIG. 1 shows the method for discriminating the position of the own vehicle road on a multilayer road according to the present invention.
- FIG. 1 illustrates an embodiment
- FIGS. 2A to 2D are sky maps showing that the visibility range of the GPS satellite is different depending on the vehicle on the multi-layer road according to the present invention.
- FIG. 3 is a flowchart for explaining the operation of the first embodiment of the present invention based on the positioning rate.
- FIG. 4 is a flowchart for explaining the operation of the second embodiment of the present invention based on the positioning rate
- FIG. 5 is a diagram showing how the condition of apparent GPS positioning is established by reflection of a building on vehicles on a multi-layered road by the discrimination according to the present invention
- FIG. 6 is a block diagram illustrating the configuration of a conventional navigation system
- FIG. 7 is a diagram showing an example in which general GPS positioning is possible
- FIG. 8 is a diagram showing an example in which general GPS positioning is possible on a sky map
- FIG. 9 is an explanatory diagram of the third embodiment of the present invention, in which the upper and lower layers are determined by using the arrangement of visible satellites on the sky map regardless of the positioning rate.
- FIG. 14 is an explanatory diagram of a fourth embodiment of the present invention, in which the upper and lower layers are determined using the arrangement of visible satellites on the sky map, regardless of the location.
- FIG. 1 is a diagram for explaining a method of determining the position of a vehicle road on a multilayer road according to an embodiment of the present invention.
- Vehicle A is shown as a vehicle traveling on a confined road
- vehicles B and C are shown as vehicles traveling on a road under an elevated road.
- the first and second buildings that are higher than the elevated road are constructed on both sides of the road.
- vehicle A running on an upper-level road will have: There is nothing obstructing the reception of GPS satellites in the sky except for a part of the first building.
- visible satellite means that the electric field strength of the radio wave from the satellite received by the own vehicle, which is a vehicle, is equal to or higher than a predetermined value, and refers to a state in which the satellite is visible. Not necessarily. Also, “visible in the sky” means that the electric field strength of the radio waves received from these satellites in the vehicle is greater than or equal to a predetermined value, assuming that there are countless satellites in the sky.
- GPS positioning is possible means that, in order to determine the position of the vehicle using GPS satellites, usually at least three satellites can be seen. This is based on the same principle as triangulation, etc. If no more data can be obtained from more than one GPS satellite, it is said that GPS positioning is impossible. so To process.
- the present invention provides an upper layer when the ratio of the distance of a section where GPS positioning is possible in a certain section distance is equal to or higher than a certain upper layer discrimination threshold, and is performed when the ratio is equal to or less than a certain lower layer discrimination threshold. It determines the position of the own vehicle road on the multi-layered road in such a way that it is determined to be the lower layer. In this case, the lower layer is exceptionally good in the positioning rate near the intersection, but the upper layer can determine the position of the own vehicle road on the multi-layer road even if the positioning rate is uniformly high. It should be noted that the judgment threshold can be determined arbitrarily, and is not an absolute value.
- step (abbreviated as St. in the figure) 31 it is determined whether or not the current position of the own vehicle is within the multi-story road section by referring to the map data.
- the map data contains a signal indicating whether or not it is a multi-layer road in advance, and the judgment is made based on the relationship with the own vehicle position. If no, the process ends without making a determination. If yes, the process proceeds to step 32 to calculate a positioning rate. Then, in step 33, the upper and lower layer discrimination thresholds corresponding to the traveling distance are searched from the table.
- step 34 it is determined whether the positioning rate exceeds the upper threshold. If yes, it is determined that it is the upper layer. If it is no, it proceeds to step 35, where it is determined whether the positioning rate is smaller than the lower layer threshold. If it is yes, it can be determined that it is the lower layer, and if it is no, it cannot be determined that it is the upper and lower layers. Set.
- FIG. 4 is a flowchart showing a second embodiment of the present invention based on the positioning rate.
- step (abbreviated as St. in the figure) 41 it is determined whether or not it is a multi-story road section as in the case of FIG. If no, the process ends without performing the determination. If yes, the process proceeds to step 42, and the positioning rate within each 100 m interval is calculated every 100 m. Then, in step 43, it is determined whether or not 800 m has been accumulated.
- 100 m and 800 m are not absolute values, but are appropriate road sections determined by road conditions. If the condition of step 43 is not satisfied, that is, if the result is no, the process ends without performing the determination.
- step 44 the difference between the maximum value and the minimum value of the positioning rate is obtained.
- step 45 it is determined whether the difference exceeds a threshold. If it is no, it cannot be determined, and if it is yes, it can be determined that it is a lower layer. In other words, vehicles traveling in the lower layers generally have a low positioning rate due to the presence of an elevated road above them.
- the difference between the maximum value and the minimum value of the positioning rate is equal to or more than a predetermined value. Using this property, if the difference between the maximum value and the minimum value of the positioning rate exceeds a predetermined threshold, it can be determined to be a lower layer.
- the range on the lower layer road where GPS satellite radio waves can be received becomes narrower on the sky map, so It will be convinced that the number decreases on average and the probability that positioning is not possible increases.
- the sky maps in Figs. 2A and 2B it can be seen that when traveling on a multi-layered road, the vehicle can be distinguished from the upper layer if the left and right satellites are visible in the direction of travel, and if it is not visible, the lower layer. That is, as shown in Fig. 9, a left window and a right window are provided on the sky map, and if the satellite is visible in both windows, the upper layer is determined, and if one of them is the lower layer, the lower layer is determined.
- the skymaps shown in Figures 2A, 2B, and 2C show that when traveling on a multi-layer road, the satellite above the oncoming lane in the direction of travel is If it can be seen, it can be distinguished from the upper layer, and if not, it can be distinguished from the lower layer. In other words, if the satellite is visible on the right window as shown in Fig. 10 for left-hand traffic, the upper layer is determined, and if not, the lower layer is determined.
- the upper layer is determined if the satellite above the oncoming lane in the traveling direction is visible, and the lower layer is determined if the satellite is not visible.
- the reception level from the satellite in the upper lane is lower than the reception level from the satellite in the opposite direction to the oncoming lane, it is determined that the vehicle is in an apparent upper layer, and the reflection from buildings and the like is reflected. Avoid discriminating the upper layer only by appearance.
- the upper layer and the lower layer of the multilayer road can be determined without adding new devices and parts to the navigation device. It has the effect of being able to.
- the information necessary for calculating the position of the vehicle using the GPS satellites is positioning information, which is used by most navigation devices as information on whether positioning is valid or invalid. Since the method of the present invention uses it, most navigation devices have the effect of being usable without adding new devices and parts.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/623,794 US6385540B1 (en) | 1999-01-13 | 2000-01-13 | Method for detecting road position of car in multiformation road |
EP00900371A EP1063492A4 (en) | 1999-01-13 | 2000-01-13 | METHOD FOR DETECTING THE POSITION OF A CAR ON A ROAD WITH SEVERAL SUPERIMPOSED WAYS |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11/6811 | 1999-01-13 | ||
JP11006811A JP3027574B1 (ja) | 1999-01-13 | 1999-01-13 | 多層道路における自車道路位置判別方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000042386A1 true WO2000042386A1 (fr) | 2000-07-20 |
Family
ID=11648594
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/000131 WO2000042386A1 (fr) | 1999-01-13 | 2000-01-13 | Procede permettant de detecter la position d'une voiture sur une route a plusieurs voies superposees |
Country Status (5)
Country | Link |
---|---|
US (1) | US6385540B1 (ja) |
EP (1) | EP1063492A4 (ja) |
JP (1) | JP3027574B1 (ja) |
SG (3) | SG104299A1 (ja) |
WO (1) | WO2000042386A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3967866B2 (ja) * | 2000-04-28 | 2007-08-29 | パイオニア株式会社 | ナビゲーション装置及びナビゲーションプログラムがコンピュータで読取可能に記録された情報記録媒体 |
EP1180664B1 (en) * | 2000-08-09 | 2012-10-17 | Aisin Aw Co., Ltd. | Car navigation system, corresponding navigation method and storage medium |
JP2002174528A (ja) * | 2000-09-29 | 2002-06-21 | Clarion Co Ltd | カーナビゲーションシステム及び方法、カーナビゲーション用ソフトウェア並びにカーナビゲーションソフトウェアを記録した記録媒体 |
KR100448389B1 (ko) * | 2002-08-23 | 2004-09-10 | 현대자동차주식회사 | 맵 상의 차량위치 검출 방법 및 장치 |
JP4258225B2 (ja) * | 2003-02-14 | 2009-04-30 | トヨタ自動車株式会社 | 車両の位置検出装置及び方法 |
JP4467366B2 (ja) * | 2004-06-21 | 2010-05-26 | アルパイン株式会社 | ナビゲーション装置および建築施設進入判定方法 |
KR101154079B1 (ko) | 2005-02-16 | 2012-06-11 | 삼성전자주식회사 | 네비게이션 장치의 초기 위치 결정 방법 |
KR101609679B1 (ko) * | 2009-03-31 | 2016-04-06 | 팅크웨어(주) | 도로의 면형 데이터를 이용한 맵 매칭장치 및 그 방법 |
US9189976B2 (en) | 2013-07-10 | 2015-11-17 | Telenav Inc. | Navigation system with multi-layer road capability mechanism and method of operation thereof |
JP6169945B2 (ja) * | 2013-10-25 | 2017-07-26 | アルパイン株式会社 | ナビゲーション装置および高架上下道判定方法 |
JP6332010B2 (ja) * | 2014-12-18 | 2018-05-30 | 株式会社デンソー | 車載機 |
FR3034206B1 (fr) * | 2015-03-24 | 2017-03-24 | Peugeot Citroen Automobiles Sa | Procede de suivi du comportement d’un vehicule circulant sur un reseau routier |
FR3034205B1 (fr) * | 2015-03-24 | 2017-03-24 | Peugeot Citroen Automobiles Sa | Procede de suivi du comportement d’un vehicule circulant sur un reseau routier multivoies |
CN105547309B (zh) * | 2015-12-02 | 2018-11-02 | 百度在线网络技术(北京)有限公司 | 一种高架桥道路的识别方法及装置 |
US20180335306A1 (en) * | 2017-05-16 | 2018-11-22 | GM Global Technology Operations LLC | Method and apparatus for detecting road layer position |
CN109959894B (zh) * | 2017-12-26 | 2021-06-04 | 深圳市优必选科技有限公司 | 定位方法及终端设备 |
US10922969B2 (en) * | 2018-06-04 | 2021-02-16 | GM Global Technology Operations LLC | Systems, methods and apparatuses for detecting elevated freeways to prevent engaging cruise features |
CN113049029A (zh) * | 2021-03-06 | 2021-06-29 | 义乌市叶微建筑科技有限公司 | 基于无线通信技术的城市道路运行安全在线监测云平台 |
CN113419266B (zh) * | 2021-08-23 | 2021-12-10 | 腾讯科技(深圳)有限公司 | 定位方法及装置、电子设备、计算机可读存储介质 |
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1999
- 1999-01-13 JP JP11006811A patent/JP3027574B1/ja not_active Expired - Fee Related
-
2000
- 2000-01-13 EP EP00900371A patent/EP1063492A4/en not_active Withdrawn
- 2000-01-13 SG SG200201098A patent/SG104299A1/en unknown
- 2000-01-13 SG SG200201099A patent/SG105538A1/en unknown
- 2000-01-13 WO PCT/JP2000/000131 patent/WO2000042386A1/ja active Application Filing
- 2000-01-13 US US09/623,794 patent/US6385540B1/en not_active Expired - Lifetime
- 2000-01-13 SG SG200200949A patent/SG102038A1/en unknown
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JPH09304515A (ja) * | 1996-05-15 | 1997-11-28 | Japan Radio Co Ltd | 測位システム衛星信号受信機 |
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Also Published As
Publication number | Publication date |
---|---|
SG102038A1 (en) | 2004-02-27 |
JP2000205867A (ja) | 2000-07-28 |
EP1063492A1 (en) | 2000-12-27 |
SG105538A1 (en) | 2004-08-27 |
JP3027574B1 (ja) | 2000-04-04 |
SG104299A1 (en) | 2004-06-21 |
US6385540B1 (en) | 2002-05-07 |
EP1063492A4 (en) | 2010-03-24 |
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