JP2007240345A - Route searching device, its method, its program and its recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new route searching device and a route searching method capable of performing route re-search at a rational timing. <P>SOLUTION: In the case where a recommendation route searched for by a route searching part 230 is set, when a new map matching position not existing on the recommendation route is acquired by map matching, a route re-search control part 240 determines whether nonexistence of a vehicle on the recommendation route can be determined surely or not. When the determination result is affirmative, the route re-search control part 240 transmits immediately a route re-search command to a route searching part 230. The route searching part 230 receiving the route re-search command performs route re-search. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a route search device, a route search method, a route search program, and a recording medium on which the route search method is recorded.

  2. Description of the Related Art Conventionally, navigation devices that are mounted on a moving body such as a vehicle, search for a recommended route to a destination, and guide and guide movement along the recommended route have been widely used. In such a navigation apparatus, when it is determined that the position of the moving body deviates from the recommended route, a re-route search function for re-searching the route from the current position to the destination is adopted in many models.

  The determination that the position of the moving body that is the condition for starting the reroute search deviates from the recommended route is, for example, that the map matching position obtained by matching the current position of the moving body on the map leaves the recommended route. In general, the determination is made based on whether or not the moving distance in the above state is a predetermined moving distance or more. Here, the current position of the moving body is, for example, a positioning result based on a radio wave received from a GPS (Global Positioning System) satellite, or a speed or movement of the moving body by a traveling sensor such as a speed sensor or an angular velocity sensor mounted on the moving body. It is obtained based on the detection result such as the direction.

  However, the result of GPS positioning and the detection result by the travel sensor always have an error. Also, map information used for map matching is accompanied by an error. For this reason, a so-called “position skip” in which the moving path of the map matching position suddenly changes may occur. It is known that such a position jump often occurs near a branch path.

  In the vicinity of a branch road in which such a position jump often occurs, a technique has been proposed in which the reroute search is not performed or the reroute search start time is delayed (see Patent Document 1; hereinafter, “ Conventional example ”). According to this conventional example, it is possible to prevent a reroute search from being performed in the vicinity of a branch road even though the recommended route is actually being traveled.

Japanese Patent Laid-Open No. 2000-241182

  The technology of the conventional example described above is a technology that adjusts the timing until the reroute search by not performing the reroute search near the branch road or by delaying the reroute search start time. When the condition that the body is in the vicinity of the branch path is not satisfied, a uniform reroute search condition is applied. However, the relationship between the map matching position and the recommended route can occur in various forms. Depending on the relationship between the map matching position and the recommended route, it may become clear early that the mobile object has deviated from the recommended route. In such a case, it is desirable to quickly start a reroute search without applying a uniform reroute search condition. Responding to such a request is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a new route search apparatus and route search method capable of performing a reroute search at a reasonable timing.

  The invention according to claim 1 is a positioning means for positioning the position of the moving body based on information received from the outside of the moving body; a movement mounted on the moving body and detecting a moving state of the moving body A situation detection means; a map matching means for matching a current position of the moving body on a map based on a positioning result by the positioning means and a detection result by the movement situation detection means, and obtaining a map matching position; Route search means for searching for a travel route; a new map matching position that does not exist on the travel route searched by the route search means is obtained, and it is certain that the mobile object does not exist on the travel route. Re-route search command means for instructing the route search means to immediately perform a re-route search when determined. It is a door search device.

  The invention according to claim 6 is a route searching step for searching for a moving route to a destination; a map matching step for matching a current position of the moving body on a map to obtain a map matching position; and the route searching means When a new map matching position that does not exist on the travel route searched for is obtained, and it is determined that the mobile object does not exist on the travel route, the route search means is immediately re-established. A route search instruction step for instructing route search; and a route search step for searching for a travel route from a current position to the destination in response to the reroute search command. Is the method.

  A seventh aspect of the present invention is a route search program characterized by causing a calculation means to execute the route search method according to the sixth aspect.

  The invention according to claim 8 is a recording medium in which the route search program according to claim 7 is recorded so as to be readable by the calculation means.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a navigation device mounted on a vehicle and having a function of a route search device will be described as an example.

[Constitution]
FIG. 1 is a block diagram showing the configuration of the navigation device 100 according to this embodiment. As shown in FIG. 1, the navigation device 100 includes a control unit 110 and a storage device 120. In addition, the navigation device 100 includes a sound output unit 130, a display unit 140, an operation input unit 150 as an operation input unit, a travel sensor unit 160 as a movement state detection unit, and a GPS (Global Positioning) as a GPS positioning unit. System) receiving unit 170 and a position information receiving unit 180 as position information receiving means. Elements 120 to 180 other than the control unit 110 are connected to the control unit 110, respectively.

  The control unit 110 performs various processes while controlling the entire navigation device 100. The control unit 110 includes a navigation processing unit 200 that performs processing related to navigation.

  The navigation processing unit 200 includes a sensor data processing unit 210, a map matching unit 220 as a map matching unit, a route search unit 230 as a route search unit, and a reroute search control unit 240 as a reroute search command unit. I have. The navigation processing unit 200 configured as described above provides navigation information to the user by using the above-described components 130 to 180 while accessing the storage device 120. That is, the navigation processing unit 200 corresponds to the command input result from the operation input unit 150 related to the navigation processing, the detection result by the travel sensor unit 160, the positioning result in the GPS receiving unit 170, the position information receiving unit 180, and the like. Then, the navigation data stored in the storage device 120 is read as appropriate. The navigation processing unit 200 (a) displays a map of a region designated by the user on the display device 140, and (b) indicates where the vehicle is located on the map and in which direction. Map matching to calculate whether you are heading, (c) Search for a recommended route from the current position of the vehicle to the destination location specified by the user, (d) Drive to the destination along the set route Sometimes, guidance to display on the display device of the display unit 140, route guidance to output voice guidance from the sound output unit 130, etc., in order to give accurate advice on the expected arrival time to the destination and the direction to proceed I do.

  The sensor data processing unit 210 calculates travel state information such as a travel distance and a travel direction (may include a vehicle tilt angle (tilt direction)) based on the detection result of the travel sensor unit 160. The sensor data processing unit 210 reports the calculated traveling state information to the map matching unit 220.

  The map matching unit 220 has the function (b) described above. When executing this function, the map matching unit 220 receives the input result of the vehicle position to the operation input unit by the user, the travel status information calculated by the sensor data processing unit 210, the report result from the GPS receiving unit 170, and the position information. Based on the reception result by the receiving unit 180, the position of the vehicle and its accuracy are calculated. Then, the map matching unit 220 uses the map information 121 to match the calculated position of the vehicle to the most likely position as the position of the vehicle on the map to obtain a map matching position. Further, the map matching unit 220 calculates accuracy information of the map matching position.

  For example, the accuracy of the map matching position based on the input result of the vehicle position to the operation input unit by the user is very high. Further, the accuracy of the map matching position with reference to the reception result by the position information receiving unit 180 described in detail later is very high. Further, the higher the accuracy of the positioning result obtained by the GPS receiving unit, the higher the accuracy of the map matching position.

  The map matching unit 220 sends the obtained map matching position and its accuracy to the reroute search control unit 240.

  The route search unit 230 has the function (c) described above. The execution of this function is performed in response to a route search command specifying a destination by the user and in response to a reroute search command specifying the current position from the reroute search control unit 240. Note that the route search unit 230 sends information of the searched recommended routes to the reroute search control unit 240.

  The reroute search control unit 240 has a function of controlling the reroute search performed by the route search unit 230. As shown in FIG. 2, the reroute search control unit 240 includes a reroute search condition setting unit 241 and a reroute search command unit 242.

  The reroute search condition setting unit 241 sets a reroute search condition for starting a reroute search based on the map matching position and accuracy from the map matching unit 220 and the recommended route information from the route search unit 230. To do. Such reroute search conditions include an immediate start condition and a normal reroute search condition.

  Here, as a normal reroute search condition, a distance condition such as a travel distance (for example, 30 m) while the map matching position is away from the recommended route, or a state where the map matching position is away from the recommended route are continued. A time condition of time (for example, 10 seconds) can be employed. One of these time conditions or distance conditions can be adopted, or both can be adopted. When both the time condition and the distance condition are adopted, the reroute search condition can be satisfied when either one of the conditions is satisfied, or when both the conditions are satisfied, It can also be assumed that the reroute search condition is satisfied.

  When the reroute search condition is satisfied, the reroute search condition setting unit 241 notifies the reroute search command unit 242 that a reroute search command should be issued. When issuing a reroute search command, the latest map matching position received from the map matching unit 220 is designated as the current position of the vehicle.

  When the reroute search command unit 242 receives notification from the reroute search condition setting unit 241 that the reroute search command should be issued and the current position of the vehicle, the reroute search command unit 242 searches for the reroute search command specifying the current position of the vehicle. Send to section 230. The route search unit 230 that has received this reroute search command performs a reroute search.

  The storage device 120 includes a hard disk device or the like. The storage device 120 stores various data necessary for the operation of the navigation device 100 including the map information 121. The control unit 110 can access a storage area of the storage device 120, and can write data to the storage area and read data from the storage area.

  The sound output unit 130 (i) a digital to analog converter that converts digital audio data received from the control unit 110 into an analog signal, and (ii) amplifies the analog signal output from the DA converter. And (iii) a speaker that converts the amplified analog signal into sound. Under the control of the control unit 110, the sound output unit 130 outputs guidance voice, music, etc., such as the traveling direction of the vehicle, the traveling situation, and the traffic situation.

  The display unit 140 displays (i) a display device such as a liquid crystal display panel, an organic EL (Electro Luminescence) panel, a PDP (Plasma Display Panel), and (ii) display control data sent from the control unit 110. A display controller such as a graphic renderer for controlling the entire unit 140 and (iii) a display image memory for storing display image data are included. The display unit 140 displays map information, route information, operation guidance information, and the like under the control of the control unit 110.

  The operation input unit 150 is configured by a key unit provided in the main body of the navigation device 100 or a remote input device including the key unit. Here, a touch panel provided in the display unit 140 can be used as the key part provided in the main body. In addition, it can replace with the structure which has a key part, and the structure which inputs voice can also be employ | adopted.

  The travel sensor unit 160 includes (i) a speed sensor 161 that detects the moving speed of the vehicle, (ii) an angular speed sensor 162 that detects the angular speed of the vehicle, and (iii) an acceleration sensor that detects acceleration acting on the vehicle. 163. Here, the speed sensor 161 detects, for example, a pulse signal or a voltage value output by a wheel or wheel rotation. The angular velocity sensor 162 is configured as a so-called gyro sensor, for example, and detects the angular velocity. Further, the acceleration sensor 163 detects, for example, three-dimensional acceleration. Such a detection result is sent from the traveling sensor unit 160 to the control unit 110.

  The GPS receiving unit 170 calculates the current position of the vehicle (hereinafter referred to as “positioning result”) based on reception results of radio waves from a plurality of GPS satellites, and reports it to the control unit 110 together with its accuracy information. Further, the GPS receiving unit 170 detects the speed and traveling direction of the vehicle based on the wavelength change due to the Doppler effect of the radio wave from the GPS satellite, and reports it to the control unit 110. The GPS receiving unit 170 measures the current time based on the time transmitted from the GPS satellite and reports it to the control unit 110.

  The position information receiving unit 180 reports to the information control unit 110 that it has received a signal from a position information source disposed on the road on which the vehicle is traveling. Here, as position information sources, there are beacons, ETC (Electronic Toll Collection System), magnetic nails, and the like.

[Operation]
Next, a description will be given mainly focusing on reroute search control in the navigation apparatus configured as described above.

  The reroute search control process starts when energization of the navigation device 100 is started. In this reroute search control process, as shown in FIG. 3, first, in step S11, the reroute search condition setting unit 241 determines whether or not a recommended route is set. If the result of this determination is negative (step S11: N), the process of step S11 is repeated.

  When the recommended route searched by the route search unit 230 is set and the determination result in step S11 is affirmative (step S11: Y), the process proceeds to step S12. When a recommended route is set, information on the recommended route is sent from the route search unit 230 to the reroute search condition setting unit 241.

  In step S12, the reroute search condition setting unit 241 determines whether the map matching position received from the map matching unit 220 exists on the recommended route based on the recommended route information. If the result of this determination is affirmative (step S12: Y), the process proceeds to step S11. Thereafter, the processes in steps S11 and S12 are repeated until the result of the determination in step S12 is negative.

  If the result of the determination in step S12 is negative (step S12: N), the process proceeds to step S13. In step S <b> 13, the reroute search condition setting unit 241 determines whether or not it can be determined that the vehicle position has deviated from the recommended route. Here, even if the reroute search condition setting unit 241 considers the accuracy of the map information based on the accuracy information of the map matching position received from the map matching unit 220, the vehicle position does not exist on the recommended route. By determining whether or not it can be determined, the determination in step S13 is performed.

  For example, as shown in FIG. 4, map matching position P <b> 1 indicated by a white circle (◯) on road R <b> 1 on which a recommended route is drawn because GPS positioning is not possible or low-precision GPS positioning results are used. However, a new GPS positioning result is obtained, and map matching is performed using the new GPS positioning result. As a result, a new map matching position P2 indicated by a black circle (●) on the road R2 There is a case. If it can be determined from the error range ERG of the new map matching position P2 determined from the accuracy of the new map matching position P2 that the current position of the vehicle does not exist on the road R1, in step S13 A positive determination result is obtained.

  Further, for example, as shown in FIG. 5, map matching indicated by a white circle (◯) on the road R3 on which the recommended route is drawn because GPS positioning cannot be performed or the GPS positioning result with low accuracy is used. Although it was the position P3, the result that the user input that the current position is in the facility adjacent to the road R4 is used and the map matching is performed. As a result, the road is close to the road R4 instead of the road R3. In some cases, a new map matching position P4 indicated by a black circle (●) is displayed. In this case, the error range ERP of the new map matching position P4 is the size of the facility, and it can be determined that the current position of the vehicle does not exist on the road R3. A correct determination result can be obtained.

  Further, for example, as shown in FIG. 6, map matching indicated by a white circle (◯) on the road R5 on which the recommended route is drawn because GPS positioning is not possible or low-precision GPS positioning results are used. As a result of map matching using the signal received from the position information source arranged on the road R6 at the position P5, a new map matching indicated by a black circle (●) on the road R6 There may be a position P6. In this case, the error range ERS of the new map matching position P6 is in the road R6, and it can be determined that the current position of the vehicle does not exist on the road R5. Therefore, a positive determination result in step S13 Will be obtained.

  Returning to FIG. 3, when the result of the determination in step S13 is affirmative (step S13: Y), the reroute search condition setting unit 241 determines that the condition for immediate execution of the reroute search is satisfied. The reroute search command unit 242 is notified of the fact that the reroute search command should be issued and the latest map matching position. Then, the process proceeds to step S18.

  In step S18, the reroute search command unit 242 designates the latest map matching position received from the reroute search condition setting unit 241 as the current position of the vehicle, and sends a reroute search command to the route search unit 230. Receiving this reroute search command, the route search unit 230 performs a reroute search.

  If the result of the determination in step S13 is negative (step S13: N), the process proceeds to step S14. In step S14, the reroute search condition setting unit 241 sets the normal reroute search condition described above.

  Subsequently, in step S15, the reroute search condition setting unit 241 determines whether or not the normal reroute search condition is satisfied. If the result of this determination is negative (step S15: N), the process proceeds to step S16.

  In step S16, as in step S13 described above, based on the new map matching position received from the map matching unit 220 and its accuracy information, the reroute search condition setting unit 241 deviates from the recommended route. It is determined whether or not it can be determined whether or not it is certain. If the result of this determination is negative (step S16: N), the process proceeds to step S17.

  In step S17, the reroute search condition setting unit 241 determines whether or not the new map matching position has returned to the recommended route. If the result of this determination is negative (step S17: N), the process proceeds to step S15. Thereafter, the processes in steps S15 to S17 described above are repeated until a positive determination is made in any of steps S15, S16, or S17.

  If the result of determination in step S15 or S16 is affirmative (step S15: Y or step S16: Y), the reroute search condition setting unit 241 performs a reroute search command as in step S13 described above. Is notified to the reroute search command unit 242 and the process proceeds to step S18. In step S18, the above-described processing is performed, and a reroute search is performed.

  When the process of step S18 ends, the process proceeds to step S11. Moreover, also when the result of determination in step S17 is affirmative (step S17: Y), the process proceeds to step S11. Thereafter, the processes of steps S11 to S18 are repeated until the energization of the navigation device 100 is stopped.

  As described above, in this embodiment, when a recommended route is set, a new map matching position that does not exist on the recommended route is obtained, and it is certain that there is no vehicle on the recommended route. When it is determined, a reroute search is immediately performed. Therefore, according to this embodiment, a reroute search can be performed at a reasonable timing.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above embodiment, when a new map matching position deviating from the recommended route is obtained, the current position of the vehicle deviates from the recommended route based on the accuracy of the new map matching position and the recommended route position. Judgment was made as to whether or not it was possible to be sure. By the way, if it can be determined that the current position of the vehicle exemplified in the above embodiment has deviated from the recommended route, generally, the map matching position cannot move during normal driving of the vehicle. Move as much as possible. For this reason, it is determined whether it can be determined that it is certain that the current position of the vehicle has deviated from the recommended route by determining whether or not such movement of the large map matching position has occurred. It can also be.

  In the above embodiment, the present invention is applied to a navigation device mounted on a vehicle. However, the present invention can also be applied to, for example, a navigation device mounted on an aircraft or a ship. For example, the present invention can be applied to any device that performs route search such as a mobile phone device having a navigation function.

  In addition, the control unit 110 in the above-described embodiment is an arithmetic unit including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like. The computer may be configured to execute a process prepared in the above embodiment on a computer prepared in advance. These programs are recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and are read from the recording medium and executed by the computer. Further, these programs may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form of delivery via a network such as the Internet. May be.

It is a block diagram which shows roughly the structure of the navigation apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows roughly the structure of the reroute search control part of FIG. It is a flowchart for demonstrating the process of the reroute search control in the apparatus of FIG. It is a figure for demonstrating the example when the present position can be reliably judged from a recommended route by the map matching using a GPS positioning result. It is a figure for demonstrating the example in case a present position can be reliably judged from a recommendation route | root by map matching using the present position input by the user. It is a figure for demonstrating the example when the present position can be reliably judged from a recommended route by the map matching using the reception result of the signal from the position information source arrange | positioned on the road.

Explanation of symbols

100 ... Navigation device (route search device)
150 ... Operation input unit (operation input means)
160 ... Traveling sensor unit (movement state detecting means)
170 ... GPS receiving unit (GPS positioning means, part of movement status detecting means)
180 ... position information receiving unit (position information receiving means, part of movement status detecting means)
220 ... Map matching part (map matching means)
230 ... route search unit (route search means)
240 ... Reroute search control unit (reroute search command means)

Claims (8)

Positioning means for positioning the position of the moving body based on information received from the outside of the moving body;
A movement state detection means mounted on the moving body for detecting the movement state of the moving body;
Map matching means for matching a current position of the moving body on a map based on a positioning result by the positioning means and a detection result by the movement status detecting means, and obtaining a map matching position;
Route search means for searching for a moving route to the destination;
When a new map matching position that does not exist on the moving route searched by the route searching means is obtained and it is determined that the moving object does not exist on the moving route, the route search is immediately performed. A route search instruction means for instructing the means to perform a route search.   The route search device according to claim 1, wherein the new map matching position includes a map matching position obtained based on a position newly measured by the positioning means.   The route search device according to claim 2, wherein the positioning unit includes a GPS positioning unit that obtains a position of the moving body based on information received from a GPS satellite.   The route search device according to claim 2 or 3, wherein the positioning means includes position information receiving means for receiving a signal from a position information source disposed on a moving path. It further comprises operation input means for inputting operation information,
5. The map matching position obtained based on the current position information input to the operation input unit is included in the new map matching position, according to claim 1. Route search device. A route search process for searching for a travel route to the destination;
A map matching step of matching a current position of the moving body on a map to obtain a map matching position;
When it is determined that a new map matching position that does not exist on the moving route searched by the route searching means is obtained and it is certain that the moving body does not exist on the moving route, the route searching means A reroute search commanding step for commanding a reroute search to
A route search step for searching for a travel route from a current position to the destination in response to the route search command.   A route search program for causing a calculation means to execute the route search method according to claim 6. 8. A recording medium in which the route search program according to claim 7 is recorded so as to be readable by an arithmetic means.

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