JP5145735B2 - Positioning device and positioning system - Google Patents

Description

  The present invention relates to a positioning device and a positioning system, and more particularly to a positioning device and a positioning system that measure the position of the device.

  Conventionally, a satellite positioning method that performs three-dimensional positioning using signals from at least five satellites is known (Patent Document 1). In this satellite positioning method, pseudorange measurement is performed by solving an equation having X, Y, Z, and T unknowns. Note that (X, Y, Z) represents a three-dimensional moving body position in a predefined coordinate system, and T represents a synchronous measurement time for determining a pseudorange for all satellites.

There is also known a position detection device that arranges an infrared transmission device that transmits position information and acquires position information using an infrared reception device attached to an object (Patent Document 2). In this position detection device, the infrared transmission device transmits different information depending on the irradiation direction, and divides the target space. In order to divide the space more finely, it is effective to use a high-density movable mirror device, and irradiation with little overlap between signals can be performed while being high definition. By using a plurality of the position detection devices, it is possible to specify a three-dimensional position.
JP 2006-284442 A JP 2006-250554 A

  However, in the technique described in the above-mentioned Patent Document 1, a necessary number of GPS satellites may not be captured in the city center where there is an elevated road such as a high-rise building or a three-dimensional intersection. Therefore, there is a problem that positioning cannot be performed stably. In addition, there is a problem that positioning accuracy is lowered due to the influence of multipath in which radio waves are reflected in a high-rise building or the like.

  Further, the technique described in Patent Document 2 has a problem that it is difficult to realize highly accurate positioning because the position is measured in units of divided spaces.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a positioning device and a positioning system that can stably and highly accurately measure the position of the device itself.

In order to achieve the above object, a positioning apparatus according to the present invention includes a plurality of light receiving elements arranged two-dimensionally, and receives an optical signal indicating the location of the light source from a light source that transmits an optical signal indicating the location. An optical receiving means for detecting, a direction detecting means for detecting a direction in which the light source exists based on an optical signal received by the optical receiving means, and a movement detecting means for detecting a moving distance of the own apparatus in a predetermined period When the optical signal is received from at least three light sources by the light receiving means, the direction in which each of the at least three light sources detected by the direction detecting means exists, and the light received by the light receiving means based on the location of each of the light source shown is an optical signal from at least three light sources, measuring the position of the own apparatus, only two light sources by the light receiving means When the optical signal is received, the position of the own device is measured in time series, the angle formed by the direction in which each of the two light sources exists, the calculated angle formed by the two light sources, Based on each existence position, the position of the own apparatus measured last time, and the movement distance of the period from the previous measurement time to the present time detected by the movement detecting means, the position of the own apparatus is measured, and the light receiving means When the optical signal is received from only one light source, the position of the own device is measured in time series, and the relative direction of the direction in which the one light source is detected by the direction detecting means with respect to a predetermined direction of the own device. An angle is calculated, and the calculated relative angle, the existence position of the one light source, the position of the own device measured last time, and the movement distance in the period from the previous measurement time to the current time detected by the movement detection means are calculated. And Zui is configured to include a positioning means for measuring the position of the own apparatus.

In addition, the positioning system according to the present invention includes a plurality of light sources that transmit an optical signal indicating an existing position and a plurality of light receiving elements that are two-dimensionally arranged, and an optical receiving unit that receives the optical signal from the light source. At least by a direction detecting means for detecting a direction in which the light source exists based on an optical signal received by the light receiving means , a movement detecting means for detecting a moving distance of the own apparatus in a predetermined period, and the light receiving means. The direction in which each of the at least three light sources is detected by the direction detecting means when the optical signals are received from three light sources, and the optical signals from the at least three light sources received by the light receiving means. based on the location of each of the light sources indicated, and measures the position of the apparatus, receiving the optical signals from only two light sources by the light receiving means Measuring the position of the own device in time series, calculating the angle formed by the direction in which each of the two light sources exists, calculating the formed angle, the existing position of each of the two light sources, Based on the measured position of the own device and the movement distance of the period from the previous measurement time to the present time detected by the movement detecting means, the position of the own device is measured, and the light receiving means is used only from one light source. When the optical signal is received, the position of the own device is measured in time series, and the relative angle of the direction in which the one light source detected by the direction detecting unit with respect to the predetermined direction of the own device is calculated, Based on the calculated relative angle, the existence position of the one light source, the position of the own apparatus measured last time, and the movement distance of the period from the previous measurement time to the present time detected by the movement detection means, Place It is configured to include a positioning device comprising a positioning means for measuring.

  According to the present invention, an optical signal indicating the position of the light source is transmitted by the plurality of light sources, and the optical signal is received from the light source by the light receiving means in the positioning device. At this time, an optical signal is received by any one of the plurality of light receiving elements arranged two-dimensionally.

  Then, the direction detecting unit of the positioning device detects the direction in which the light source exists based on the position of the light receiving element that has received the optical signal received by the light receiving unit.

  In addition, when the optical signal is received from the at least three light sources by the light receiving unit, the direction in which each of the at least three light sources detected by the direction detecting unit exists by the positioning unit, and at least received by the optical receiving unit. Based on the location of each of the light sources indicated by the optical signals from the three light sources, the position of the device itself is measured by the principle of triangulation.

  In this way, the optical signal indicating the presence position is received from at least three light sources, and the position of the own device is measured based on the direction in which each of the three light sources exists and the presence position of each of the three light sources. Thus, the position of the device itself can be measured stably and with high accuracy.

The positioning means according to the present invention, based on the direction in which each of the at least three light sources detected by the direction detection means is present, an angle formed by the direction in which each of the two light sources out of the at least three light sources exists, Angle calculating means for calculating each of at least two combinations of two light sources, and when an optical signal is received from at least three light sources by the light receiving means, an angle formed by each combination calculated by the angle calculating means, and The position of the own apparatus can be measured based on the position of each of the at least three light sources. Thereby, based on the principle of triangulation, the position of the own device can be measured with high accuracy based on the angle formed by the direction in which the two light sources exist and the position of each light source.

Further, the positioning apparatus according to the present invention, measuring position means measures the position of the own device in time series, when receiving an optical signal from only two light sources by the light receiving unit, there are each of two light sources The position on the circle is calculated by calculating the angle formed by the direction to be measured, centered on the position of the device measured last time, and having the radius of the moving distance from the previous measurement to the present time detected by the movement detection means. And detecting a plurality of candidate positions whose angles formed by the directions from the position to each of the two light sources are calculated, and from the detected plurality of candidate positions, the two light sources with respect to a predetermined direction of the own apparatus are detected. A position where the relative angle of the existing direction is closest to the direction in which the two light sources detected by the direction detection means are obtained, and the position of the own apparatus can be measured based on the obtained position . Thereby , even if it is a case where an optical signal is received only from two light sources, the position of an own apparatus can be measured with high precision.

Last positioning apparatus according to the present invention, measuring position means, when receiving an optical signal from only one light source by the light receiving means, centered on the position of the apparatus was last measured, detected by the movement detecting means The one light source in which the relative angle in the direction in which one light source is present with respect to a predetermined direction of its own device is detected by the direction detection means from each position on the circle whose radius is the moving distance from the time of measurement to the present. It is possible to obtain a position that is closest to the direction in which the device exists, and to measure the position of the own device based on the obtained position . Thereby , even if it is a case where an optical signal is received only from one light source, the position of an own apparatus can be measured with high precision.

  The optical receiving means receives the optical signal from the light source by imaging the light source, and the direction detecting means can detect the receiving direction of the optical signal based on the image captured by the optical receiving means. it can.

  The light source can be any one of a traffic light, a streetlight, and a road fence. Thereby, since the existing installation can be utilized, it can comprise at low cost.

  In addition, the positioning device includes a relative angle calculation unit that calculates a relative angle in a direction in which the light source detected by the direction detection unit with respect to a predetermined direction of the own device, and an existing position of the light source indicated by the optical signal from the light source, It can further include direction measuring means for measuring the direction of the own apparatus based on the position of the own apparatus measured by the positioning means and the relative angle calculated by the relative angle calculating means. Thereby, the direction of the own device can be measured with high accuracy together with the position of the own device.

  As described above, according to the positioning device and the positioning system of the present invention, the optical signal indicating the existing position is received from at least three light sources, the direction in which each of the three light sources exists, and each of the three light sources. By measuring the position of the own apparatus based on the presence position, an effect is obtained that the position of the own apparatus can be stably measured with high accuracy.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a case where the present invention is applied to a vehicle positioning system that measures the position of a vehicle using optical communication in a positioning device mounted on the vehicle will be described as an example.

  As shown in FIG. 1, the vehicle positioning system 10 according to the first embodiment includes a plurality of light sources 12 that transmit optical signals indicating position information of the device itself, a vehicle mounted on the vehicle, and And a positioning device 14 that receives an optical signal and measures the position of the host vehicle.

  The light source 12 is configured by using infrastructure equipment that can emit light, which already exists in a road environment such as a streetlight, a traffic light, and a road fence. The light source 12 includes a memory 16 in which position information indicating the position of the light source 12 is stored, a signal generation unit 18 that reads out the position information stored in the memory 16 and generates a transmission signal, and an LED, for example. The light emitting unit 20 that emits light and transmits an optical signal using high-speed blinking, and the light emission control that controls the light emission of the light emitting unit 20 so that the transmission signal generated by the signal generating unit 18 is transmitted by the optical signal. Part 22. The position information indicates the absolute position of the light source 12 measured in advance (for example, a three-dimensional absolute position expressed using longitude, latitude, and altitude).

  The light source 12 performs communication using light instead of radio waves, blinks light emitted from the LED at high speed, and determines the length of lighting time, the position of the lighting pulse during the scheduled lighting period, and the like according to the position information to be transmitted. Position information is transmitted as an optical signal. In addition, communication using light is a technology that transmits information using blinking of light that is too fast to be recognized by the human eye, and is limited to communications within the line of sight because it uses light. It can be said that it is an advantage over radio communication that the identification of the communication partner and the specification of the position are easy from the receiving direction. In general, the human eye appears to be continuously lit for light that is lit at a speed of 50 Hz or higher due to afterimage development, but has an imaging capability of 100 Hz or higher on the receiving side. By using a TV camera or a light receiving diode, it is possible to transmit data at high speed while making it appear to humans that the light source is turned on or off.

  In addition, instead of using an existing infrastructure capable of emitting light as the light source 12, a positioning device may be separately provided as the light source. However, using the existing infrastructure capable of emitting light has a problem in terms of cost. Less is enough. The light emitted by the optical transmitter may be visible region light or infrared region light.

  Further, the positioning device 14 detects, for example, a CCD camera 26 as light receiving means for imaging the front of the vehicle and an optical signal from an image captured by the CCD camera 26, decodes the detected optical signal, and outputs the light source 12. The position information acquisition unit 28 for acquiring the absolute position of the optical signal is detected from the image captured by the CCD camera 26, and the direction in which the light source 12 exists with respect to the CCD camera 26 is acquired from the detected position of the optical signal in the image. Based on the absolute position of the light source 12 acquired by the direction acquisition unit 30, the position information acquisition unit 28, and the direction of the light source 12 acquired by the direction acquisition unit 30, the position and imaging direction of the CCD camera 26 are determined. A navigation map that is configured using a position / direction calculation unit 32 that calculates the position and traveling direction of the host vehicle and a display mounted on the host vehicle and is displayed on the display. In, and a display unit 34 for displaying the position and traveling direction of the vehicle calculated by the position-direction calculating unit 32.

  As shown in FIG. 2, the plurality of light sources 12 are configured using, for example, a plurality of street lamps installed around the road, and transmit optical signals to vehicles traveling on the road. In addition, the positioning device 14 mounted on the vehicle images the plurality of light sources 12 simultaneously by the CCD camera 26 and simultaneously receives the optical signals transmitted from the plurality of light sources 12.

  Next, the operation of the vehicle positioning system 10 according to the first embodiment will be described.

  First, by each of the plurality of light sources 12 installed around the road, an optical signal indicating the position information of the light source 12 is constantly transmitted to a vehicle traveling on the road.

  Further, the positioning processing routine shown in FIG. 3 is executed by the positioning device 14 mounted on the vehicle. First, in step 100, it is determined whether or not the optical signals transmitted from the three or more light sources 12 are received simultaneously, and when three or more optical signals are detected from the image captured by the CCD camera 26. In step 102, each of the three or more optical signals received in step 100 is decoded, and the absolute position information of the light source 12 included in each optical signal is acquired. The absolute position of the light source 12 is expressed in a global coordinate system such as latitude, longitude, and altitude. Further, it may be expressed in a coordinate system determined for each specific area (country or local government). Hereinafter, a case where optical signals are received from the three light sources 12 will be described as an example.

  Then, in step 104, as shown in FIG. 4, the detection positions Ii (xi, yi) (i = 1, 2, 3) of the optical signal in the image picked up by the CCD camera 26 are acquired. Here, as shown in FIG. 4, the position of the CCD camera 26 and the position of each light source 12 are defined by a space composed of xyz axes. The CCD camera 26 is located on the z-axis, and the z-axis direction is the same direction as the imaging direction of the CCD camera 26. Also, the y-axis direction is the same direction as the altitude direction, and the xz plane is the same plane as the plane represented by longitude and latitude.

  Since the magnitude of the optical signal in the image changes depending on the position up to the light source 12, in step 104, the coordinates of the barycentric point of the area representing the optical signal are calculated, and the barycentric point of the calculated optical signal is calculated. The coordinates are set as a detection position Ii (xi, yi).

  Since the three light sources need not be on the same straight line when viewed from the CCD camera 26, the following description will be made on the assumption that three light sources are observed in the image.

In the next step 106, as the direction in which the light source 12 exists, the relative angle of the direction in which the light source 12 exists with respect to the reference direction, which is the imaging direction of the CCD camera 26, is calculated. As the projection onto the xz plane in FIG. 5 shows, since the focal position O (x0, y0, z0) (= (0, 0, z0)) of the CCD camera 26 and the focal length f are known, the image Relative angle θ _i (in the direction in which the light source 12 exists with respect to the imaging direction of the CCD camera 26 on the xz plane from the light source positions I1 (x1, y1), I2 (x2, y2), I3 (x3, y3) i = 1, 2, 3) is calculated by the following equation (1) to be an azimuth angle.
θ _i = tan ⁻¹ {(xi−x0) / f} (1)

Further, the relative angle in the direction in which the light source 12 exists with respect to the imaging direction of the CCD camera 26 on the yz plane from the light source positions I1 (x1, y1), I2 (x2, y2), and I3 (x3, y3) in the image. φ _i (i = 1, 2, 3) is calculated by the following equation (2) to be a depression angle.
φ _i = tan ⁻¹ {(yi−y0) / f} (2)

In the next step 108, each of the two light sources 12 on the xz plane exists for each combination of the two light sources 12 of the three light sources 12 based on the plurality of azimuth angles calculated in step 106. direction of the angle theta _{1, 2,} theta _{1, 3,} and calculates the theta _2,3, also based on a plurality of depression angle calculated in step 106, the two light sources 12 of the three light sources 12 for each combination, the direction of the angle phi _{1, 2,} each of the two light sources 12 in the yz plane is present, phi _{1, 3,} and calculates the phi _2,3.

In step 110, based on the absolute position of each of the three light sources 12, the distances r ₁ , ₂ , r between the light sources 12 on the xz plane for each combination of two light sources 12 of the three light sources 12. _1,3, to calculate the _{r 2,3,} the distance _s 1, 2 between the light source 12 on the xz _plane, s _1,3, calculates the _{s 2,3.}

In step 112, the angles θ ₁ , ₂ , θ ₁ , ₃ formed on the xz plane calculated in step 108 and the distances r ₁ , ₂ , r ₁ , ₃ on the xz plane calculated in step 110 are calculated. Based on the above, the following equation is solved by the principle of triangulation, and the position (longitude, latitude) of the CCD camera 26 is calculated as the position of the host vehicle.

As shown in FIG. 6, on the xz plane, if the distance between the position of the CCD camera 26 and the position P1 of the light source 12 is d1, and the distance between the position of the CCD camera 26 and the position P2 of the light source 12 is d2, the cosine. According to the theorem, it is expressed by the following equation (3).
r _1, ^{2 2} = d ₁ ² + d ₂ ² -2d ₁ d ₂ · cos θ _{1, 2,} ... (3)

  Here, on the xz plane, assuming that the position P1 of the light source 12 is the origin and the position P2 of the light source 12 is a point on the x-axis, the position of the CCD camera 26 can be represented by (x, z). x, z) is a point on the curve C in FIG. The distances d1 and d2 can be expressed by the following formulas (4) and (5).

Further, when the distance between the position of the CCD camera 26 and the position P3 of the light source 12 is d3, it is expressed by the following equation (6).
r _{1, 3} ² = d ₁ ² + d ₃ ² -2d ₁ d ₃ · cos θ _{1, 3} (6)

  Here, (x, z) is a point on the curve D in FIG. 6, and when the position P3 of the light source 12 is (x3, z3), the distance d3 can be expressed by the following equation (7). it can.

  Note that (x3, z3) can be calculated based on the relative positional relationship of the position P3 with respect to the position P1 and the position P2 obtained from the absolute positions of the positions P1 to P3.

  As described above, since the equations (3) and (6) are simultaneous equations concerning x and z, the unknown variables (x, z) are calculated by solving the simultaneous equations. Further, since x and z represent relative positions from the position P1 of the light source 12, the position of the CCD camera 26 (based on the position P1 (latitude and longitude) of the light source 12 and the calculated x and z ( Longitude, latitude) is calculated.

In step 113, the angles φ ₁ , ₂ , φ ₁ , ₃ formed on the yz plane calculated in step 108 and the distances s ₁ , ₂ , s _1, on the yz plane calculated in step 110 are displayed _{. 3} is solved by the triangulation principle and the following equation is solved to calculate the position (altitude) of the CCD camera 26 as the position of the host vehicle.

On the yz plane, assuming that the distance between the position of the CCD camera 26 and the position P1 of the light source 12 is e1, and the distance between the position of the CCD camera 26 and the position P2 of the light source 12 is e2, the following (8 ) Expression.
s _1, ^{2 2} = e ₁ ² + e ₂ ² -2e ₁ e ₂ · cos φ _{1, 2,} ... (8)

  Here, assuming that the position P1 of the light source 12 is the origin and the position P2 of the light source 12 is a point on the y-axis, the position of the CCD camera 26 can be represented by (y, z), and the distances e1 and e2 are as follows: (9) and (10).

Further, when the distance between the position of the CCD camera 26 and the position P3 of the light source 12 is e3, it is expressed by the following equation (11).
s _{1, 3} ² = e ₁ ² + e ₃ ² -2e ₁ e ₃ · cos θ _{1, 3} (11)

  Here, assuming that the position P3 of the light source 12 is (y3, z3), the distance e3 is expressed by the following equation (12).

  Note that (y3, z3) can be calculated based on the relative positional relationship of the position P3 with respect to the position P1 and the position P2 obtained from the absolute positions of the positions P1 to P3.

  As described above, since the equations (8) and (11) are simultaneous equations concerning y and z, the unknown variables (y, z) are calculated by solving the simultaneous equations. Since y and z represent relative positions from the position P1 of the light source 12, the position (altitude) of the CCD camera 26 is calculated based on the position P1 (altitude) of the light source 12 and the calculated z. .

In step 114, the imaging direction of the CCD camera 26 in the absolute coordinate system is calculated as the traveling direction of the host vehicle. In step 114, one of the positions (latitude, longitude, altitude) where the light source 12 obtained in 102 is present (for example, position P1) and the position of the CCD camera 26 calculated in steps 112 and 113 ( Based on the latitude, longitude, altitude), the direction of the absolute coordinate system (for example, east, west, south, and north) from the position of the CCD camera 26 to the position P1 of the light source 12 is calculated. Based on the relative angles θ ₁ and φ ₁ of the direction in which the light source 12 exists with respect to the imaging direction of the CCD camera 26 calculated in step 106, the imaging direction of the CCD camera 26 in the absolute coordinate system is calculated as the traveling direction of the host vehicle. To do.

  In the next step 116, the position calculated in steps 112 and 113 and the direction calculated in step 114 are displayed on the navigation map of the display unit 34, and the process returns to step 100. In this step 116, it is preferable to distinguish and display whether the vehicle is traveling on an elevated automobile exclusive road or a general road under the elevated, based on the calculated altitude information.

  As described above, according to the inter-vehicle communication system according to the first embodiment, an optical signal indicating an existing position is received from at least three light sources, and based on the direction in which each of the three light sources exists, To calculate the angle formed by the direction in which two light sources exist for each combination, and to measure the position of the vehicle based on the principle of triangulation based on the angle formed by each combination and the position of each of the three light sources The position of the device can be measured stably and with high accuracy.

  In addition, the traveling direction of the host vehicle can be measured with high accuracy along with the position of the host vehicle.

  Since a traffic light, a streetlight, or a road fence is used as a light source, existing road equipment can be used, and a new infrastructure is not required, and it can be configured at low cost.

  In addition, high-precision positioning can be realized even in urban areas and inside tunnels where GPS cannot exhibit sufficient performance due to elevated buildings such as high-rise buildings and three-dimensional intersections. In addition, by using a traffic light or a streetlight installed at a high place, an optical signal can be received without being obstructed by surrounding vehicles, so that positioning can be performed more stably.

  In the city center, there are many street lamps and traffic lights on the road, and there are few situations where positioning is impossible. Therefore, stable positioning can be achieved.

  In the above embodiment, the case where an optical signal is received using a CCD camera has been described as an example. However, the present invention is not limited to this, and an optical signal using a plurality of two-dimensionally arranged photodiodes is used. May be received. In this case, the light signal from the light source is received by the two-dimensionally arranged photodiodes, and the direction in which the light source exists may be specified based on the position of the photodiode having the largest amount of received light.

  In the light source, the case where the position information of itself is stored in the memory and the transmission signal is generated based on the position information from the memory has been described as an example. However, since the position information does not change with time, the position information is A transmission signal (pulse waveform) shown may be generated in advance and stored in a memory. In that case, since the transmission signal is read from the memory, the signal generation unit is not necessary.

  In the positioning processing routine, the case where the processing after step 102 is performed when three optical signals are received has been described as an example. However, in steps 100 and 102, the optical signals are transmitted regardless of the number of optical signals. Reception and decoding may be performed, and when three or more light source positions are detected in step 104, it may be determined that three or more optical signals have been received, and the processing subsequent to step 106 may be performed.

  Moreover, although the case where three or more light sources are simultaneously imaged by one CCD camera and three optical signals are received has been described as an example, it is shared by a plurality of CCD cameras attached to the vehicle. Two light sources may be imaged simultaneously. In this case, it is necessary to measure in advance the position and orientation between the CCD cameras.

Moreover, although the case where the unknown variable (x, z) or the unknown number (y, z) is obtained from the two equations has been described as an example, the unknown variable (x, z) or the unknown number (y, z) is obtained from the three equations. You may do it. In this case, the above equation (3) for the light source positions P1 and P2, the above equation (6) for the light source positions P1 and P3, and the following equation (13) for the light source positions P2 and P3 are obtained. From these three equations, an unknown variable (x, z) may be obtained using the least square method.
r _{2, 3} ² = d ₂ ² + d ₃ ² -2d ₂ d ₃ · cos θ _{2, 3} (13)

  Similarly, an unknown variable (y, z) may be obtained from the three equations by the least square method. Thereby, the influence of the observation error of the light source by the CCD camera can be reduced.

  Further, when three or more light sources are observed, the positioning accuracy can be improved by increasing the number of equations and solving by the least square method, as described above.

  Next, a vehicle positioning system according to the second embodiment will be described. In addition, about the part of the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The second embodiment is different from the first embodiment in that the position of the host vehicle is measured even when an optical signal transmitted from one or two light sources is received. Is different.

  The positioning device 214 according to the second embodiment includes a CCD camera 26, a position information acquisition unit 28, a direction acquisition unit 30, and the host vehicle in a measurement interval period from the previous position measurement to the current measurement time. The movement information detection unit 236 for detecting the movement information (for example, movement distance), the absolute position of the light source 12 acquired by the position information acquisition unit 28, the direction of the light source 12 acquired by the direction acquisition unit 30, and the movement information Based on the movement information detected by the detection unit 236, a position / direction calculation unit 232 that calculates the position and imaging direction of the CCD camera 26 as the position and traveling direction of the host vehicle and a display unit 34 are provided.

  The movement information detection unit 236 includes a sensor (not shown) that detects the wheel speed, and detects the movement distance in the measurement interval period using the detected wheel speed. In addition, the vehicle movement trajectory may be detected by acquiring the steering angle. Note that the movement distance may be detected by continuously observing a surrounding stationary object using a sensor such as a camera or a radar that observes the surrounding environment.

  The positioning device 214 includes a memory (not shown), and stores the measured position and direction in the memory.

  Next, a positioning processing routine according to the second embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  First, in step 250, it is determined whether or not the optical signal transmitted from the light source 12 has been received. If one or more optical signals are detected from the image captured by the CCD camera 26, the process proceeds to step 102. Proceeding, the one or more optical signals received in step 250 are decoded, and the absolute position information of the light source 12 included in the optical signals is acquired.

  In step 104, one or a plurality of optical signal detection positions Ii (xi, yi) in the image captured by the CCD camera 26 are acquired.

In the next step 106, as the direction in which the light source 12 exists, one or a plurality of relative angles (azimuth angle θ _i , depression angle φ _i ) in the direction in which the light source 12 exists with respect to the reference direction that is the imaging direction of the CCD camera 26 are calculated. To do.

In step 252, the number of optical signals received simultaneously in step 250 is determined. When optical signals are received simultaneously from only two light sources 12, the two calculated in step 106 are calculated in step 254. Based on the azimuth angle, the angles θ ₁ , ₂ formed by the direction in which the two light sources 12 exist on the xz plane are calculated, and 2 on the yz plane is calculated based on the two depression angles calculated in step 106. An angle φ _1,2 formed by the direction in which each of the two light sources 12 exists is calculated.

In step 256, the distances r ₁ and r ₂ between the light sources 12 on the xz plane are calculated based on the absolute positions of the _two light sources 12, and the distance s ₁ between the light sources 12 on the yz plane is calculated _{. 2} is calculated.

  In step 258, the movement distance dm from the previous measurement detected by the movement information detection unit 236 is acquired. In step 260, the position of the host vehicle measured last time is acquired from the memory.

In step 262, the angles θ ₁ and ₂ formed on the xz plane calculated in step 254, the distances r ₁ and ₂ on the xz plane calculated in step 256, and the values obtained in step 258 are obtained. Based on the moving distance dm and the position of the host vehicle measured in the previous step 260, the position (longitude, latitude) of the CCD camera 26 is calculated as the position of the host vehicle as follows.

As shown in FIG. 9, since the angles θ ₁ and ₂ formed by the distances r ₁ and ₂ between the positions P1 and P2 of the light source 12 are determined on the xz plane, the position O of the CCD camera 26 is a curve C. Further, the current position candidate of the CCD camera 26 is narrowed down to two points based on the previous positioning point Op and the movement distance dm. Note that the position of the previous positioning point Op on the xz plane can be obtained from the relative relationship between the absolute position measured last time and the absolute position of the position P1 of the light source 12.

Then, at each of the two candidate points, a relative angle in the direction in which each of the positions P1 and P2 of the light source 12 is present with respect to the imaging direction of the CCD camera 26 is calculated, and the azimuth angle θ ₁ calculated in step 106 is calculated. compared to theta _2, the calculated relative angle is the azimuth angle theta _1, obtains the coordinates of the candidate point is close to θ ₂ (x, z). Then, based on the obtained (x, z) and the absolute position (latitude, longitude) of the position P1 of the light source 12 obtained in step 102, the current position (latitude, longitude) of the CCD camera 26 is specified. To do.

In step 264, the angles φ ₁ and ₂ formed on the yz plane calculated in step 254, the distance s ₁ and ₂ on the YZ plane calculated in step 256, and the values acquired in step 258. Based on the movement distance dm and the position of the host vehicle measured in the previous step 260, the position (altitude) of the CCD camera 26 is calculated as the position of the host vehicle, as will be described below. 114.

On the yz plane, since the angles φ ₁ and ₂ formed by the distances s ₁ and ₂ between the positions P1 and P2 of the light source 12 are determined, the current CCD is based on the previous positioning point Op and the moving distance dm. The candidate positions of the camera 26 are narrowed down to two points, and at each of the two candidate points, the relative angle in the direction in which each of the positions P1 and P2 of the light source 12 is present with respect to the imaging direction of the CCD camera 26 is calculated. depression phi ₁ is calculated _in, compared to phi _2, the calculated relative angle is depression phi _1, obtains the coordinates of the candidate points close to φ ₂ (y, z). Then, based on the obtained z and the absolute position (altitude) of the position P1 of the light source 12 acquired in step 102, the current position (altitude) of the CCD camera 26 is specified.

  When it is determined in step 252 that an optical signal has been received from only one light source 12, in step 266, the movement distance dm from the previous measurement detected by the movement information detection unit 236 is acquired. In step 268, the position of the host vehicle measured last time is acquired from the memory.

In step 270, based on the azimuth angle θ ₁ calculated in step 106, the movement distance dm acquired in step 266, and the position of the host vehicle previously measured acquired in step 268. As described below, the position (longitude, latitude) of the CCD camera 26 is calculated as the position of the host vehicle.

  In step 270, as shown in FIG. 10, on the xz plane, based on the previous positioning point Op and the moving distance dm, the current position candidate of the CCD camera 26 is centered on the positioning point Op, and the radius Is narrowed down to a point on the circle having a moving distance dm. Note that the position of the previous positioning point Op on the xz plane can be obtained from the relative relationship between the absolute position measured last time and the absolute position of the position P1 of the light source 12.

Then, at each point on the circle, and calculates a direction of the relative angular position P1 of the light source 12 is present with respect to the imaging direction of the CCD camera 26, compared with the azimuth angle theta ₁ which is calculated in step 106, it is calculated relative angle is determined closest point coordinates azimuth θ ₁ (x, z). Then, based on the obtained (x, z) and the absolute position (latitude, longitude) of the position P1 of the light source 12 obtained in step 102, the current position (latitude, longitude) of the CCD camera 26 is specified. To do.

  The relative angle calculated at each point on the circle is obtained by the relative angle in the direction from the point on the circle to the position P1 with respect to the radial direction.

In the next step 272, based on the depression angle φ ₁ calculated in step 106, the movement distance dm acquired in step 266, and the position of the host vehicle measured last time acquired in step 268, As described below, the position (altitude) of the CCD camera 26 is calculated as the position of the host vehicle, and the process proceeds to step 114.

In step 270, on the yz plane, based on the previous positioning point Op and the moving distance dm, the current position candidate of the CCD camera 26 is a circle whose center is the positioning point Op and whose radius is the moving distance dm. diaphragm a point above, at each point on the circle, and calculates a direction of the relative angular position P1 of the light source 12 is present with respect to the imaging direction of the CCD camera 26, compared depression phi ₁ and calculated in step 106 , the calculated relative angle is determined the closest point of coordinates depression φ ₁ (y, z). Then, based on the obtained z and the absolute position (altitude) of the position P1 of the light source 12 acquired in step 102, the current position (altitude) of the CCD camera 26 is specified.

If it is determined in step 252 that optical signals have been received from three or more light sources 12, the process proceeds to step 108. Hereinafter, a case where three optical signals are received simultaneously will be described as an example. In step 108, based on a plurality of azimuth angle calculated in step 106, the direction of the angle theta _{1, 2,} each of the two light sources 12 on the xz plane are present, theta _{1, 3,} theta _2,3 Further, based on the plurality of depression angles calculated in step 106, the angles φ ₁ , ₂ , φ ₁ , ₃ , φ _2, formed by the directions in which each of the two light sources 12 exists on the yz plane are calculated _{. 3} is calculated.

Then, in step 110, the distance _r 1, 2 between the light source 12 on the xz _plane, r 1, _3, calculates _{r 2,3,} The distance _{s 1, 2} between the light source 12 on the yz plane, s ₁ , ₃ , s ₂ , ₃ are calculated, and in the next step 112, the angles θ ₁ , ₂ , θ ₁ , ₃ formed on the xz plane calculated in step 108 and the xz plane calculated in step 110 are calculated. Based on the above distances r ₁ , ₂ , r ₁ , ₃ , the position (longitude, latitude) of the CCD camera 26 is calculated as the position of the host vehicle.

In step 113, the angles φ ₁ , ₂ , φ ₁ , ₃ formed on the yz plane calculated in step 108 and the distances s ₁ , ₂ , s ₁ , ₃ on the yz plane calculated in step 110 are _displayed. Based on the above, the position (altitude) of the CCD camera 26 is calculated as the position of the host vehicle.

In step 114, the position P1 where the light source 12 obtained in 102 is present, and the position of the CCD camera 26 calculated in any of steps 112, 113, steps 262, 264, and steps 270, 272 ( Based on the latitude, longitude, altitude), the direction of the absolute coordinate system (for example, east, west, south, and north) from the CCD camera 26 to the position P1 of the light source 12 is calculated. Based on the relative angles θ ₁ and φ ₁ in the direction in which the light source 12 is present with respect to the imaging direction of the CCD camera 26 calculated in step ₁ , the imaging direction of the CCD camera 26 relative to the absolute coordinate system is calculated as the traveling direction of the host vehicle. .

  In the next step 116, the position calculated in any one of the above steps 112, 113, 262, 264, and 270, 272 and the direction calculated in the above step 114 are displayed on the navigation map on the display unit 34. And return to step 250.

  As described above, according to the vehicle positioning system according to the second embodiment, optical signals cannot be received from three or more light sources, and optical signals are received from only two light sources or only one light source. Even if it is a case where it receives from, since the position of an own apparatus can be measured with high precision, it can measure more stably.

  In the above embodiment, the case where the movement distance is detected as the movement information has been described as an example, but the movement direction may be detected together with the movement distance. In this case, the current position of the CCD camera can be specified using the moving distance and moving direction in the measurement interval period. For example, when two optical signals are received, the current CCD camera position candidate point is specified as one point from the moving distance, moving direction, distance between the light source positions P1 and P2, and the angle formed by the light source direction. Is done. When one optical signal is received, one candidate point for the current position of the CCD camera is identified from the relative distance in the moving distance, moving direction, and light source direction.

  Moreover, you may make it detect a driving | running | working locus | trajectory further as movement information. In this case, the current position and direction of the vehicle can be roughly estimated, and the position and direction of the host vehicle can be measured with high accuracy using the predicted rough position and direction of the vehicle. Can do.

It is the schematic which shows the structure of the vehicle positioning system which concerns on the 1st Embodiment of this invention. It is an image figure which shows the vehicle carrying a light source and a positioning apparatus. It is a flowchart which shows the content of the positioning process routine in the positioning apparatus which concerns on the 1st Embodiment of this invention. It is an image figure which shows the reception condition of the light source by the CCD camera in xyz space. It is an image figure which shows the relative angle of the direction where the light source exists with respect to the imaging direction of the CCD camera in xz plane. It is an image figure for demonstrating the method to calculate the position of a CCD camera in xz plane. It is the schematic which shows the structure of the positioning apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the content of the positioning process routine in the positioning apparatus which concerns on the 2nd Embodiment of this invention. It is an image figure for demonstrating the method of calculating the position of a CCD camera in xz plane when two optical signals are received. It is an image figure for demonstrating the method of calculating the position of a CCD camera in xz plane when one optical signal is received.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle positioning system 12 Light source 14, 214 Positioning device 16 Memory 18 Signal generation part 20 Light emission part 22 Light emission control part 26 CCD camera 28 Position information acquisition part 30 Direction acquisition part 32, 232 Position direction calculation part 34 Display part 236 Movement information detection Part

Claims (8)

A plurality of light receiving elements arranged two-dimensionally, an optical receiving means for receiving an optical signal indicating the presence position of the light source from a light source that transmits an optical signal indicating the existing position;
Direction detecting means for detecting a direction in which the light source exists based on an optical signal received by the light receiving means;
A movement detecting means for detecting a movement distance of the own apparatus in a predetermined period;
When the optical signal is received from at least three light sources by the light receiving means, the direction in which each of the at least three light sources detected by the direction detecting means exists, and the at least received by the light receiving means. Based on the location of each of the light sources indicated by the optical signals from the three light sources, measure the position of the device itself ,
When the optical signal is received from only two light sources by the light receiving means, the position of the device is measured in time series, and the angle formed by the direction in which each of the two light sources exists is calculated. Based on the angle between the two light sources, the position of each of the two light sources, the position of the own apparatus measured last time, and the movement distance from the previous measurement time to the present time detected by the movement detection means, Measure the position,
When the optical signal is received from only one light source by the light receiving means, the position of the own apparatus is measured in time series, and the one light source detected by the direction detecting means with respect to a predetermined direction of the own apparatus exists. The relative angle of the direction to be calculated is calculated, the calculated relative angle, the existence position of the one light source, the position of the own device measured last time, and the period from the previous measurement time detected by the movement detection means to the present time Positioning means for measuring the position of the device based on the movement distance of
Positioning device including. The positioning means, based on the direction in which each of the at least three light sources detected by the direction detection means is present, an angle formed by the direction in which each of the two light sources out of the at least three light sources is present, Angle calculating means for calculating each of at least two combinations of two light sources is provided, and each of the combinations calculated by the angle calculating means when the optical signal is received from at least three light sources by the light receiving means. The positioning device according to claim 1, wherein the position of the own device is measured based on a corner and a presence position of each of the at least three light sources. Before Symbol positioning means, upon receiving the optical signal from only two light sources by pre-Symbol light receiving unit, it calculates the angle between the direction in which each of the two light sources are present, the own apparatus previously measured A position on the circle centered on the position and having a radius of the moving distance in the period from the previous measurement time to the present time detected by the movement detecting means, and in the direction from the position to each of the two light sources A plurality of candidate positions whose angle formed is the calculated angle is detected, and a relative angle of a direction in which the two light sources exist with respect to a predetermined direction of the own apparatus is determined from the plurality of detected candidate positions. seeking comes closest as positioned in the direction in which the said detected two light sources are present by, based on said determined position, according to claim 1 Symbol mounting of the positioning apparatus for measuring the position of the own apparatus. Before Symbol positioning means, upon receiving the optical signal from only one light source by the previous SL light receiving means, centered on the position of the own apparatus previously measured, from the previous measurement detected by said movement detecting means From the respective positions on the circle whose radius is the moving distance in the period until now, the one light source in which the relative angle of the direction in which the one light source exists with respect to a predetermined direction of the own apparatus is detected by the direction detecting unit is seeking comes closest as positioned in a direction that exists, based on said determined position, according to claim 1 Symbol mounting of the positioning apparatus for measuring the position of the own apparatus. The light receiving means receives the optical signal from the light source by imaging the light source,
The positioning device according to any one of claims 1 to 4, wherein the direction detection unit detects a reception direction of the optical signal based on an image captured by the optical reception unit.   The positioning device according to claim 1, wherein the light source is any one of a traffic light, a streetlight, and a road fence. A relative angle calculating means for calculating a relative angle of a direction in which the light source exists detected by the direction detecting means with respect to a predetermined direction of the device itself;
Based on the presence position of the light source indicated by the light signal from the light source, the position of the own apparatus measured by the positioning means, and the relative angle calculated by the relative angle calculating means, the orientation of the own apparatus in the predetermined direction The positioning device according to any one of claims 1 to 6, further comprising a direction measuring means for measuring the position. A plurality of light sources for transmitting an optical signal indicating the position of existence;
A light receiving means for receiving the light signal from the light source, comprising a plurality of light receiving elements arranged two-dimensionally;
Direction detecting means for detecting a direction in which the light source exists based on an optical signal received by the light receiving means ;
When the optical signal is received from at least three light sources by the movement detecting means for detecting the movement distance of the own device in a predetermined period and the light receiving means, the at least three light sources detected by the direction detecting means. Measure the position of the device based on the direction in which each of the light sources is present and the position of each of the light sources indicated by the optical signals from the at least three light sources received by the light receiving means ,
When the optical signal is received from only two light sources by the light receiving means, the position of the device is measured in time series, and the angle formed by the direction in which each of the two light sources exists is calculated. Based on the angle between the two light sources, the position of each of the two light sources, the position of the own apparatus measured last time, and the movement distance from the previous measurement time to the present time detected by the movement detection means, Measure the position,
When the optical signal is received from only one light source by the light receiving means, the position of the own apparatus is measured in time series, and the one light source detected by the direction detecting means with respect to a predetermined direction of the own apparatus exists. The relative angle of the direction to be calculated is calculated, the calculated relative angle, the existence position of the one light source, the position of the own device measured last time, and the period from the previous measurement time detected by the movement detection means to the present time A positioning device including positioning means for measuring the position of the device based on the movement distance of
Positioning system including.

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