Track information generating device, track information generating method, and computer-readable storage medium

Patent metadata

Field	Value
Publication number	US-9273968-B2
Application number	US-201113098860-A
Country	US
Kind code	B2
Filing date	May 2, 2011
Priority date	Jun 23, 2010
Publication date	Mar 1, 2016
Grant date	Mar 1, 2016

Abstract

Track information generating devices, methods, and programs acquire a self-contained navigation track of a vehicle indicated by time-series pieces of self-contained navigation information, and acquire a GPS track that is a track of the vehicle indicated by time-series pieces of GPS information. The devices, methods, and compare the self-contained navigation track with the GPS track to acquire a first correction amount for obtaining the highest degree of coincidence between the self-contained navigation track and the GPS track and then correct the self-contained navigation information using a second correction amount that is smaller than the first correction amount.

First claim

What is claimed is:

1. A track information generating device comprising:
a self-contained navigation track acquisition unit that acquires a self-contained navigation track of a vehicle, the self-contained navigation track being indicated by a plurality of time-series pieces of self-contained navigation information that are obtained from a speed sensor and a direction sensor on the vehicle and that span from a previously-obtained piece of self-contained navigation information to a latest piece of self-contained navigation information;
a GPS track acquisition unit that acquires a GPS track of the vehicle, the GPS track being indicated by a plurality of time-series pieces of GPS information that are obtained from a GPS sensor on the vehicle and that span from a previously-obtained piece of GPS information to a latest piece of GPS information; and
a self-contained navigation information correcting unit that:
compares the self-contained navigation track indicated by the plurality of time-series pieces of self-contained navigation information with the GPS track indicated by the plurality of time-series pieces of GPS information by calculating a first correction amount, the first correction amount being an amount of rotation and an amount of translation of the self-contained navigation track by which the self-contained navigation track most closely matches the GPS track;
acquires a degree of reliability of the GPS track;
obtains a second correction amount that is smaller than the first correction amount and that increases as the degree of reliability of the GPS track increases; and
rotates and translates the self-contained navigation track using the second correction amount, wherein the self-contained navigation information correcting unit rotates and translates the self-contained navigation track while maintaining the shape of the self-contained navigation track.

2. The track information generating device according to claim 1 , wherein
the second correction amount increases as a value obtained by subtracting a degree of reliability of the self-contained navigation track from the degree of reliability of the GPS track increases.

3. The track information generating device according to claim 1 , wherein
the constant second correction amount is smaller than the first correction amount when the degree of reliability of the GPS track satisfies a predetermined criteria.

4. A track information generating method comprising:
acquiring, with a controller, a self-contained navigation track of a vehicle, the self-contained navigation track being indicated by a plurality of time-series pieces of self-contained navigation information that are obtained from a speed sensor and a direction sensor of the vehicle and that span from a previously-obtained piece of self-contained navigation information to a latest piece of self-contained navigation information;
acquiring, with the controller, a GPS track of the vehicle, the GPS track being indicated by a plurality of time-series pieces of GPS information that are obtained from a GPS sensor on the vehicle and that span from a previously-obtained piece of GPS information to a latest piece of GPS information;
comparing, with the controller, the self-contained navigation track indicated by the plurality of time-series pieces of self-contained navigation information with the GPS track indicated by the plurality of time-series pieces of GPS information by calculating a first correction amount, the first correction amount being an amount of rotation and an amount of translation of the self-contained navigation track by which the self-contained navigation track most closely matches the GPS track;
acquiring, with the controller, a degree of reliability of the GPS track;
obtaining, with the controller, a second correction amount that is smaller than the first correction amount and that increases as the degree of reliability of the GPS track increases; and
rotating and translating, with the controller, the self-contained navigation track using the second correction amount, wherein the controller rotates and translates the self-contained navigation track while maintaining the shape of the self-contained navigation track.

5. A non-transitory computer-readable storage medium that stores computer-executable instructions for performing a track information generating method comprising:
acquiring a self-contained navigation track of a vehicle, the self-contained navigation track being indicated by a plurality of time-series pieces of self-contained navigation information that are obtained from a speed sensor and a direction sensor of the vehicle and that span from a previously-obtained piece of self-contained navigation information to a latest piece of self-contained navigation information;
acquiring a GPS track of the vehicle, the GPS track being indicated by a plurality of time-series pieces of GPS information that are obtained from a GPS sensor on the vehicle and that span from a previously-obtained piece of GPS information to a latest piece of GPS information;
comparing the self-contained navigation track indicated by the plurality of time-series pieces of self-contained navigation information with the GPS track indicated by the plurality of time-series pieces of GPS information by calculating a first correction amount, the first correction amount being an amount of rotation and an amount of translation of the self-contained navigation track by which the self-contained navigation track most closely matches the GPS track;
acquiring a degree of reliability of the GPS track;
obtaining a second correction amount that is smaller than the first correction amount and that increases as the degree of reliability of the GPS track increases; and
rotating and translating the self-contained navigation track using the second correction amount, wherein the self-contained navigation track is rotated and translated while the shape of the self-contained navigation track is maintained.

Assignees

• Oohashi Yusuke
• Sakaki Daisuke
• Ando Yohei
• Aisin Aw Co

Inventors

• Oohashi Yusuke
• Sakaki Daisuke
• Ando Yohei

Classifications

• G01C21/30

  Map- or contour-matching · CPC title

• G01C21/188 Primary

  for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems · CPC title

• G01C21/165 Primary

  combined with non-inertial navigation instruments · CPC title