Patent Grant
8510027
The present invention relates to a vehicle traveling position judging method and a vehicle traveling position judgment device for judging the traveling position of a preceding vehicle.
Conventionally, as a technique in this field, a position detecting device disclosed in Japanese Unexamined Patent Application Publication No. 2003-337029 is known. In this device, the relative position relationship between a host vehicle and another vehicle is calculated on the basis of host vehicle position information by a GPS, which is created by the host vehicle, and the other vehicle position information by a GPS received from another vehicle. In addition, it is possible to know the traveling position of another vehicle by matching and specifying the host vehicle position and the other vehicle position on the read map while maintaining this positional relationship.
It is thought that this device can know along which road another vehicle is traveling. In various recent kinds of drive assisting systems, however, not only specifying the road along which another vehicle travels is requested, but also the information which even specifies in which lane of the road another vehicle is traveling is requested in many cases. In the position detecting device described above, however, it was difficult to specify the lane in which another vehicle travels due to the problem of GPS accuracy. In addition, although the map information is used in the position detecting device described above, roads for which detailed lane information is present on the map are only some of the main roads, and it is not possible to specify the position up to the lane on the other road. Moreover, as another method, it may be considered to judge the lane of another preceding vehicle by millimeter wave radar or a camera image obtained by imaging a preceding vehicle. However, when there is another vehicle cutting in between a host vehicle and a preceding vehicle or when another vehicle whose position is to be judged is not directly seen due to environmental factors, such as a sharp curve, it cannot be applied.
Therefore, it is an object of the present invention to provide a vehicle traveling position judging method and a vehicle traveling position judgment device capable of accurately judging the lane in which a preceding vehicle travels.
A vehicle traveling position judging method of the present invention is a vehicle traveling position judging method for judging the traveling position of a preceding vehicle, and is characterized in that it includes: a relative position information acquisition step of acquiring the relative position information of the preceding vehicle and a host vehicle at a predetermined point in time; a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.
According to this vehicle traveling position judging method, it is possible to acquire the relative position information of the preceding vehicle and a host vehicle at a predetermined point in time, to acquire the traveling trajectory information of the host vehicle after the predetermined point in time, and to judge the traveling position of the preceding vehicle with high precision on the basis of the relative position information and the traveling trajectory information of the host vehicle. Accordingly, even the lane in which the preceding vehicle travels can be judged.
Moreover, in the relative position information acquisition step, the relative position information may be calculated on the basis of a difference between the coordinate information of the preceding vehicle acquired by a GPS and the coordinate information of the host vehicle acquired by a GPS.
According to this configuration, since the coordinate information of the host vehicle and other vehicles is acquired by simple means called a GPS (Global Positioning System), the relative position information can be calculated.
Moreover, the vehicle traveling position judging method of the present invention may further include a lane change information acquisition step of acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time. In the preceding vehicle position judging step, the traveling position of the preceding vehicle may be judged on the basis of the additional lane change information.
According to this configuration, it is possible to judge with high precision in which lane another vehicle is located by combining the relative position information of the host vehicle and another vehicle at the predetermined point in time, the traveling trajectory information of the host vehicle after the predetermined point in time, and the information regarding lane changes of the preceding vehicle after the predetermined point in time.
Moreover, the vehicle traveling position judging method of the present invention may further include: a preceding vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the preceding vehicle after the predetermined point in time; and a lane shape acquisition step of acquiring a lane shape of a lane, in which the preceding vehicle travels, on the basis of the traveling trajectory information of the preceding vehicle and the lane change information. In the preceding vehicle position judging step, the traveling position of the preceding vehicle may be judged on the basis of the additional lane shape.
According to this configuration, since the lane shape is acquired on the basis of the traveling trajectory information of the preceding vehicle after the predetermined point in time and the lane change information of the preceding vehicle, the traveling position of the preceding vehicle can be judged with high precision by taking the lane shape into consideration further.
Moreover, a vehicle traveling position judging method of the present invention is a vehicle traveling position judging method for judging the traveling position of a preceding vehicle, and is characterized in that it includes: a relative position information acquisition step of calculating relative position information of the preceding vehicle and a host vehicle at a predetermined point in time on the basis of coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS; a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.
In this vehicle traveling position judging method, the relative position information of the host vehicle and the preceding vehicle at the predetermined point in time is acquired using a GPS, and the traveling trajectory information of the host vehicle after the predetermined point in time is further acquired. In addition, since the traveling position of the preceding vehicle can be judged with high precision on the basis of the relative position and the traveling trajectory information of the host vehicle, even the lane in which the preceding vehicle travels can be judged.
In addition, a vehicle traveling position judgment device of the present invention is a vehicle traveling position judgment device for judging a traveling position of a preceding vehicle, and is characterized in that it includes: relative position information acquisition means for acquiring relative position information of the preceding vehicle and the host vehicle at a predetermined point in time; host vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and preceding vehicle position judging means for judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.
According to this vehicle traveling position judgment device, it is possible to acquire the relative position information of the preceding vehicle and a host vehicle at a predetermined point in time, to acquire the traveling trajectory information of the host vehicle after the predetermined point in time, and to judge the traveling position of the preceding vehicle with high precision on the basis of the relative position information and the traveling trajectory information of the host vehicle. Accordingly, even the lane in which the preceding vehicle travels can be judged.
Moreover, the relative position information acquisition means may calculate the relative position information on the basis of a difference between coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS.
According to this configuration, since the coordinate information of the host vehicle and other vehicles is acquired by simple means called a GPS, the relative position information can be calculated.
Moreover, the vehicle traveling position judgment device of the present invention may further include lane change information acquisition means for acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time. The preceding vehicle position judging means may judge the traveling position of the preceding vehicle on the basis of the additional lane change information.
According to this configuration, it is possible to judge with high precision in which lane another vehicle is located by combining the relative position information of the host vehicle and another vehicle at the predetermined point in time, the traveling trajectory information of the host vehicle after the predetermined point in time, and the information regarding lane changes of the preceding vehicle after the predetermined point in time.
Moreover, the vehicle traveling position judgment device of the present invention may further include: preceding vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the preceding vehicle after the predetermined point in time; and lane shape acquisition means for acquiring a lane shape of a lane, in which the preceding vehicle travels, on the basis of the traveling trajectory information of the preceding vehicle and the lane change information. The preceding vehicle position judging means may judge the traveling position of the preceding vehicle on the basis of the additional lane shape.
According to this configuration, since the lane shape is acquired on the basis of the traveling trajectory information of the preceding vehicle after the predetermined point in time and the lane change information of the preceding vehicle, the traveling position of the preceding vehicle can be judged with high precision by taking the lane shape into consideration further.
In addition, a vehicle traveling position judgment device of the present invention is a vehicle traveling position judgment device for judging the traveling position of a preceding vehicle, and is characterized in that it includes: relative position information acquisition means for calculating relative position information of the preceding vehicle and a host vehicle at a predetermined point in time on the basis of coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS; host vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and preceding vehicle position judging means for judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.
In this vehicle traveling position judgment device, the relative position information of the host vehicle and the preceding vehicle at the predetermined point in time is acquired using a GPS, and the traveling trajectory information of the host vehicle after the predetermined point in time is further acquired. In addition, since the traveling position of the preceding vehicle can be judged with high precision on the basis of the relative position and the traveling trajectory information of the host vehicle, even the lane in which the preceding vehicle travels can be judged.
According to the vehicle traveling position judging method and the vehicle traveling position judgment device of the present invention, it is possible to accurately judge the lane in which a preceding vehicle travels.
Hereinafter, preferred embodiments of a vehicle traveling position judging method and a vehicle traveling position judgment device related to the present invention will be described in detail with reference to the drawings.
As shown in
As shown in
The GPS (Global Positioning System) unit 11 receives a GPS data signal from a GPS satellite. The control ECU 20 can acquire the coordinate information of the host vehicle or the traveling trajectory of the host vehicle on the basis of the received GPS data signal. The INS (Inertial Navigation System) unit 13 can acquire the traveling trajectory of the host vehicle by inertial navigation based on the measurement information of a yaw sensor or a G sensor, separately from the GPS unit 11. Also when it is not possible to acquire the host vehicle traveling trajectory by the GPS unit 11, the host vehicle traveling trajectory can be acquired by the INS unit 13.
The communication unit 15 performs vehicle-to-vehicle communication with a communication unit 215 of the preceding vehicle B. By this vehicle-to-vehicle communication, it is possible to share the information regarding the host vehicle position or the host vehicle traveling trajectory between the host vehicle and another vehicle. That is, the vehicle A can transmit to the vehicle B the information regarding the host vehicle position or the host vehicle traveling trajectory acquired by the GPS unit 11, or the vehicle A can receive the information regarding the position of the vehicle B and the traveling trajectory acquired by a GPS unit 211 of the vehicle B. In addition, by this vehicle-to-vehicle communication, it is possible to share the travel state (for example, a vehicle speed, acceleration, and the like) or other information between the host vehicle and another vehicle.
The camera unit 17 acquires an image of the front of the host vehicle and/or the rear of the host vehicle. For example, when the preceding vehicle B is included in an image, the control ECU 20 can acquire the traveling trajectory of the preceding vehicle B on the basis of the image. In addition, it is possible to detect lane change of the host vehicle by detecting the centerline of the road from the image of the camera unit 17.
The control ECU 20 of the vehicle A is an electronic control unit that performs overall control of the entire vehicle traveling position judgment device 1 and is configured to include as a main component a computer including a CPU, a ROM, and a RAM, for example. The control ECU 20 performs various kinds of information processing on the basis of signals acquired by the GPS unit 11, the INS unit 13, the communication unit 15, and the camera unit 17.
Similar to the vehicle A described above, a vehicle traveling position judgment device 201 mounted in the vehicle B includes the GPS unit 211, an INS unit 213, a communication unit 215, a camera unit 217, and a control ECU 220. Since the configuration of each of the GPS unit 211, the INS unit 213, the communication unit 215, the camera unit 217, and control ECU 220 is the same as that of each of the GPS unit 11, the INS unit 13, the communication unit 15, the camera unit 17, and the control ECU 20, repeated explanation thereof will be omitted.
The control ECU 20 of the vehicle A includes a relative position measuring section 21, a host vehicle traveling trajectory measuring section 23, and a lane judging section 25. Each component of the relative position measuring section 21, the host vehicle traveling trajectory measuring section 23, and the lane judging section 25 is a constituent component realized by software when hardware components such as a CPU, a RAM, and a ROM of the control ECU 20 collaborate with each other according to a predetermined program to operate.
The relative position measuring section 21 calculates the relative position of the vehicles A and B on the basis of a difference between the position coordinates Pa of the host vehicle A obtained by the GPS unit 11 and the position coordinates Pb of the vehicle B, which are measured by the GPS unit 211 of the vehicle B and are transmitted by vehicle-to-vehicle communication, by a so-called “vehicle-to-vehicle code differential positioning method”. According to this vehicle-to-vehicle code differential positioning method, the influence of the ionosphere and the troposphere on GPS satellite signals can be canceled. Therefore, the relative position between the vehicles A and B can be acquired with high precision.
The host vehicle traveling trajectory measuring section 23 acquires the host vehicle position coordinates continuously by the GPS unit 11 and calculates the traveling trajectory of the host vehicle by integration of the GPS speed. In addition, for a section where it is not possible to acquire the host vehicle position coordinates by the GPS unit 11, the traveling trajectory can be complemented by the information from the INS unit 13. The lane judging section 25 judges eventually whether the preceding vehicle B is traveling in the same lane as the host vehicle A or traveling in a different lane.
On the other hand, the control ECU 220 of the vehicle traveling position judgment device 201 of the vehicle B includes a lane change judging section 227, a lane change counting section 229, and a host vehicle traveling trajectory measuring section 223. Each component of the lane change judging section 227, the lane change counting section 229, and the host vehicle traveling trajectory measuring section 223 is a constituent component realized by software when hardware components such as a CPU, a RAM, and a ROM of the control ECU 220 collaborate with each other according to a predetermined program to operate. The lane change judging section 227 detects a centerline 103 (
Subsequently, processing in which the vehicle A judges the lane, in which the preceding vehicle B travels, on the basis of the configuration of each of the vehicles A and B, will be described with reference to the flow chart in
At a certain time t1, the positional relationship between the vehicles A and B traveling along the road 100 is assumed to be shown in
Then, the relative position measuring section 21 calculates a difference between the GPS code of the vehicle A and the GPS code of the vehicle B and calculates a relative position Pab(t1) of the vehicles A and B by the vehicle-to-vehicle code differential positioning method (S105). At this time, as shown in
After time t1, the host vehicle traveling trajectory measuring section 23 of the vehicle A acquires the traveling trajectory of the host vehicle A continuously until the host vehicle A passes through the same lane judgment region C (S107) or the host vehicle A passes through the judgment end line D (S109). Then, when the traveling trajectory of the host vehicle A passes either the same lane judgment region C or the judgment end line D, lane comparison processing for determining whether or not the position Pa(t2) and the position Pb(t1) are in the same lane is performed at time t2 at this time (S111).
That is, as shown in
On the other hand, as shown in
Separately from the above processing by the vehicle A, the lane change judging section 227 of the vehicle B counts the number of times of regarding lane changes of the host vehicle B from time t1 to time t2. For example, in cases of the examples of
Then, the lane judging section 25 judges whether or not the position Pa(t2) and the position Pb(t2) are in the same lane on the basis of the information regarding the lane comparison in S111 and the information indicating whether the number of times of lane change in S113 is an even number or an odd number (S115). That is, for example, in the case of the example shown in
According to the vehicle traveling position judgment device 1 and the vehicle traveling position judging method described above, the relative position Pab(t1) can be acquired at time t1 with high precision compared with the width of a lane since the vehicle-to-vehicle code differential positioning method is used. Since the information regarding the number of times of lane change which can be accurately counted is combined with the relative position Pab(t1) to perform lane comparison between the position Pa(t2) and the position Pb(t2), it is possible to correctly judge whether or not the preceding vehicle B is traveling in the same lane as the host vehicle A. In addition, according to the vehicle traveling position judgment device 1 and the vehicle traveling position judging method, the judgment is also possible when there is another vehicle cutting in between the host vehicle A and the preceding vehicle B or when the preceding vehicle B is not directly seen from the host vehicle A due to environmental factors, such as a sharp curve.
In addition, the vehicle B can judge whether or not the rear vehicle A is traveling in the same lane as the host vehicle B by transmitting to the vehicle B the information regarding lane comparison between the position Pa(t2) and the position Pb(t2) judged by the vehicle A in S115. That is, the vehicle traveling position judgment devices 1 and 201 can also be used as devices when the vehicle B judges a lane in which the rear vehicle A travels.
Moreover, according to this configuration, after time t2, the vehicle A can recognize in which lane 100R or 100L the vehicle B is traveling by acquiring only the number of times of lane change of the vehicle B from time t2. In order to do so, from time t2, the lane change detection information may be transmitted from the vehicle B to the vehicle A whenever the lane change judging section 227 of the vehicle B detects a lane change. Moreover, similarly, the vehicle B can recognize in which lane 100R or 100L the vehicle A is traveling by acquiring only the number of times of lane change of the vehicle A from time t2. Therefore, from time t2, the vehicles A and B can judge the lane in which the vehicle of the other party travels with a small amount of communication such as the exchange of only the information regarding the number of times of lane change.
In a vehicle traveling position judgment device and a vehicle traveling position judging method of the present embodiment, judgment processing is further performed after the above-described processing S115, so that the judgment result in S115 can be rechecked. Hereinafter, processing performed after the processing S115 will be described with reference to
As shown in
Then, at time t3, as shown in
The present invention is not limited to the embodiments described above. For example, the lane change counting section 229 of the vehicle B counts the number of times of lane change using centerline detection of the camera unit 217. However, instead of this, it is also possible to adopt the following method of counting the number of times of lane change. That is, as shown in
In addition, although the radius r of the same lane judgment region C (
In addition, although only the information of plane coordinates of the three-dimensional coordinates acquired by the GPS unit 11 and the GPS unit 211 is used in the relative position measuring section 21, it is also possible to use the three-dimensional relative position Pab(t) between the vehicle A and the vehicle B. In this case, it may be used to judge the traveling position of the vehicle B, which travels along the road under the elevated road, from the vehicle A which travels on the elevated road, for example. In addition, the lane change counting section 229 may separately count the number of times of lane change to the right of the vehicle B and the number of times of lane change to the left. In this case, applications may also be made when the vehicles A and B travel along the road having three or more lanes.
The present invention relates to the vehicle traveling position judging method and the vehicle traveling position judgment device for judging the traveling position of a preceding vehicle, and makes it possible to judge the lane in which a preceding vehicle travels with high precision.
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2009/060698 | 6/11/2009 | WO | 00 | 10/4/2011 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2010/143291 | 12/16/2010 | WO | A |
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| Number | Date | Country | |
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| 20120029813 A1 | Feb 2012 | US |
