Vehicle navigation system and its road matching method using path combining hypothesis

摘要

The present invention relates to a vehicle navigation system using a path combining hypothesis and a road matching method thereof, the method comprising: (a) initializing a car navigation system and collecting azimuth and speed information provided from a GPS satellite, an azimuth sensor, and a speed sensor; (B) The road is searched based on the information collected in the step (a) and the preset road information, and the road within the allowable position error range is discriminated from the measured position according to the collected information among the searched roads. Predicting the closest road and intersection probabilistically; (C) In step (b), if the current measurement position according to the azimuth and speed information collected is not an intersection, the road matching error is determined according to the measurement position information, and the error-Performing road matching by projecting; (D) If the current measurement location according to the azimuth and speed information collected at step (b) is an intersection, a path combining hypothesis is generated for each predicted path, and the conditional path combining probability And then sequentially performing a hypothesis test on the probability of each path to determine a path having the largest probability value; (E) determining a route having the largest probability value determined in step (c) as an optimal route, determining an optimal position on the optimal route, and projecting the road on the road according to the road information Respectively.