公开(公告)号：EP0359287A2

公开(公告)日：1990-03-21

申请号：EP89117144.9

申请日：1989-09-15

申请人： HITACHI, LTD.

发明人： Komura, Fuminobu Okurayama-Furatto Nr. 406 ,  Hirayama, Yoshikazu ,  Homma, Koichi Hakuraku-hausu Nr. 602 ,  Kato, Makoto Hitachi-Saginuma-ryo ,  Shibata, Takanori ,  Matsuoka, Yoji Murata Apt. Nr. 13 ,  Kagami, Akira Hitachi-Saginuma-ryo ,  Kosaka, Michitaka

IPC分类号： G01C21/22 ,  G01C21/20

CPC分类号： G01C21/30

摘要： In a navigation system which has sensors for detecting a running distance, an azimuth, etc. of a vehicle, and a memory for storing map data, a probability density of a position of the vehicle is calculated on the basis of the sensor outputs and the map data for each of quantization units with which a probability computation determined by detection accuracies of the sensors and quanti­zation of the map data can be executed. In addition, a final stage calculation of DP matching between trajectory data obtained from the. on-board sensor data from a start point of the vehicle till a current time and a candidate route estimated from the road map data is iteratively executed, whereby a plurality of estimative vehicular positions and uncertainties (costs) corresponding to the respective estimative positions are iteratively evaluated, and a correct vehicular position is estimated by selecting at least one estimative vehicular position of low uncertainty (cost).

摘要翻译： 在具有用于检测行驶距离的传感器，车辆的方位等的导航系统和用于存储地图数据的存储器的情况下，基于传感器输出来计算车辆的位置的概率密度， 可以执行由传感器的检测精度和地图数据的量化确定的概率计算的每个量化单元的映射数据。 另外，最后一个阶段的DP匹配计算得到的轨迹数据。 反复执行从车辆起点到当前时间的车载传感器数据和从路线图数据估计的候选路线，由此迭代地对应于各个估计位置的多个估计车辆位置和不确定性（成本） 通过选择至少一个低不确定性（成本）的估计车辆位置来估计正确的车辆位置。

公开(公告)号：EP0359287B1

公开(公告)日：1994-12-14

申请号：EP89117144.9

申请日：1989-09-15

申请人： HITACHI, LTD.

发明人： Komura, Fuminobu Okurayama-Furatto Nr. 406 ,  Hirayama, Yoshikazu ,  Homma, Koichi Hakuraku-hausu Nr. 602 ,  Kato, Makoto Hitachi-Saginuma-ryo ,  Shibata, Takanori ,  Matsuoka, Yoji Murata Apt. Nr. 13 ,  Kagami, Akira Hitachi-Saginuma-ryo ,  Kosaka, Michitaka

IPC分类号： G01C21/22 ,  G01C21/20

CPC分类号： G01C21/30

公开(公告)号：EP0359287A3

公开(公告)日：1992-01-22

申请号：EP89117144.9

申请日：1989-09-15

申请人： HITACHI, LTD.

发明人： Komura, Fuminobu Okurayama-Furatto Nr. 406 ,  Hirayama, Yoshikazu ,  Homma, Koichi Hakuraku-hausu Nr. 602 ,  Kato, Makoto Hitachi-Saginuma-ryo ,  Shibata, Takanori ,  Matsuoka, Yoji Murata Apt. Nr. 13 ,  Kagami, Akira Hitachi-Saginuma-ryo ,  Kosaka, Michitaka

IPC分类号： G01C21/22 ,  G01C21/20

CPC分类号： G01C21/30

摘要： In a navigation system which has sensors for detecting a running distance, an azimuth, etc. of a vehicle, and a memory for storing map data, a probability density of a position of the vehicle is calculated on the basis of the sensor outputs and the map data for each of quantization units with which a probability computation determined by detection accuracies of the sensors and quanti­zation of the map data can be executed. In addition, a final stage calculation of DP matching between trajectory data obtained from the. on-board sensor data from a start point of the vehicle till a current time and a candidate route estimated from the road map data is iteratively executed, whereby a plurality of estimative vehicular positions and uncertainties (costs) corresponding to the respective estimative positions are iteratively evaluated, and a correct vehicular position is estimated by selecting at least one estimative vehicular position of low uncertainty (cost).