JP2008197064A - Navigation apparatus, navigation method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform a rerouting quickly, when it is separated from a setting route. <P>SOLUTION: A geolocation position which the geolocation is carried out is displayed by a map matching processing, based on a map information including information on road and road junction. The geolocation position which the geolocation is carried out is determined whether it is located within a branch area appointed as a near prescribed area of the junction including the junction concerned, when determined with being located in the branch area, the geolocation time interval and rerouting threshold distance are shortened. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device, a navigation method, and a program.

  Conventionally, GPS (Global Positioning System) is well known as a positioning system using an artificial satellite, and is used for a navigation device or the like. In the navigation apparatus, when a given starting point and destination point are input, the shortest route is set.

Further, recent navigation apparatuses are provided with a reroute function (for example, Patent Document 1). The reroute function is a function for newly searching and setting another route when the position of the navigation device deviates from the set route.
Japanese Patent Laid-Open No. 2003-232645

  More specifically, the reroute function of the conventional navigation device is such that every time the current position of the own device is measured by GPS, the distance between the positioning position and the set route becomes a predetermined threshold distance (for example, “100 m”). It is determined whether or not it has been reached, and when it is determined that it has been reached, a new route is searched and set (hereinafter, referred to as “reroute” as appropriate).

  However, for the convenience of determining whether or not it is within the threshold distance at every positioning time interval, even if the actual position of the aircraft is more than the threshold distance from the set route before the next positioning time, Then, reroute is not performed, and reroute is performed only at the next positioning time. Therefore, there is often a situation where the vehicle has traveled a considerable distance before the reroute is performed.

  This is particularly a problem with walking navigation devices. Humans have more choices of roads that can pass than cars. For this reason, the user of the navigation device for walking is likely to travel on the wrong road. In other words, due to the problem of the threshold distance that determines whether or not to reroute and the problem of the positioning time interval, the re-route will not be performed unless the distance is more than the threshold distance even if it is off the set route. There will be no reroute until the time. In addition, during this time, the display screen is displayed as if it is proceeding correctly on the set route.

  For this reason, even when the user walks off the set route, the user proceeds along the path that he thought is the correct route. Then, the reroute is not performed until the next positioning time timing when the distance from the set route is equal to or greater than the threshold distance, and the user notices that the user has deviated from the set route. At that point, the user has traveled a considerable distance, whether walking back on the original road or following a newly set route that has been rerouted, will eventually walk an extra distance. This is not practical.

  The present invention has been made in view of the above-described problems.

  A first invention for solving the above problems includes a storage unit that stores map information including information on roads and branching locations of roads, a positioning unit that measures a current position at given positioning time intervals, and Based on the map information stored in the storage unit, a map matching processing unit that performs map matching processing on the positioning position measured by the positioning unit, a position display control unit that displays and outputs a result position of the map matching processing, A determination unit that determines whether the positioning position measured by the positioning unit is located within a predetermined region near the branch location including the branch location, and the positioning time interval is variable according to the determination result of the determination unit A navigation apparatus including a positioning interval variable unit.

  Further, as a seventh aspect of the invention, based on map information stored in a storage step in which map information including a positioning step for positioning the current position at given positioning time intervals and information on roads and road branch locations is stored. A map matching processing step for performing map matching processing on the positioning position determined in the positioning step, a position display step for displaying and outputting a result position of the map matching processing, and the positioning position determined in the positioning step as the branch location. A navigation method including a determination step for determining whether or not the vehicle is located within a predetermined region near the branch location, and a positioning interval variable step for varying the positioning time interval according to a determination result in the determination step May be.

  According to the first aspect of the present invention, the positioning position determined based on the map information including the information on the road and the branch location of the road is displayed after being subjected to the map matching process. In addition, it is determined whether or not the measured positioning position is located within a predetermined region near the branch location including the branch location, and the positioning time interval is varied according to the determination result. Therefore, in the vicinity of the branch location, for example, by shortening the positioning time interval and increasing the frequency of performing reroute determination, it is possible to detect the deviation from the set route sensitively and perform reroute quickly. Become.

  According to a second aspect of the present invention, in the navigation device according to the first aspect of the invention, the positioning interval variable unit is determined not to be positioned at the positioning time interval when the determining unit determines that the positioning interval variable unit is positioned within the predetermined area. This is a navigation device that is shorter than the positioning time interval.

  Further, as an eighth invention, it is determined that the positioning time interval when the positioning interval variable step in the navigation method of the seventh invention is located in the predetermined area in the determining step is not located. You may comprise the navigation method which is a step made shorter than the positioning time interval in the case.

  According to the second aspect, the positioning time interval is shortened when it is determined that the positioning position is located within the predetermined area near the branch location, compared to when it is determined that the positioning position is not located.

  A third invention is the navigation device of the first or second invention, wherein a route setting unit for setting a route to a destination set according to a user operation, a positioning position measured by the positioning unit, and the A reset condition satisfaction detection unit that detects that a predetermined route reset condition including at least a condition of a positional relationship with the set route is satisfied, and the route setting unit detects the positioning according to the detection A positional relationship that resets the route to the destination based on the positioning position measured by the unit, and further varies the positional relationship condition included in the route resetting condition according to the determination result of the determination unit A navigation device including a condition variable unit.

  Further, as a ninth invention, the navigation method according to the seventh or eighth invention, wherein a route setting step for setting a route to a destination set according to a user operation, and a positioning position determined in the positioning step And a reset condition satisfaction detection step for detecting that a predetermined route reset condition including at least a condition of a positional relationship between the route and the set route is satisfied, and positioning determined in the positioning step in response to the detection A route resetting step for resetting a route to the destination based on the position; and a positional relationship condition variable for changing the positional relationship condition included in the route resetting condition in accordance with a determination result in the determination step A navigation method including steps may be configured.

  According to the third aspect of the invention, it is detected that a route to the destination is set in accordance with a user operation, and that a predetermined route resetting condition including at least a positional relationship condition between the positioning position and the set route is satisfied. In the case where it is done, the route to the destination is reset based on the positioning position. Further, the positional relationship condition included in the route resetting condition is varied according to the determination result of whether or not the positioning position is located within a predetermined region near the branch location.

  In a fourth invention, the positional relationship condition in the navigation device of the third invention is a condition as to whether or not a distance between a currently set route and a positioning position has reached a given threshold distance, The positional relationship condition variable unit sets the positional relationship condition by making a threshold distance when it is determined by the determination unit to be located within the predetermined region shorter than a threshold distance when it is determined that the position is not located. This is a variable navigation device.

  According to a tenth aspect of the invention, the positional relationship in the navigation method of the ninth aspect is based on whether or not the distance between the currently set route and the positioning position has reached a given threshold distance. Yes, the positional relationship condition variable step can reduce the threshold distance when it is determined in the determination step that the position relationship is determined to be located within the predetermined region by making it shorter than the threshold distance when it is determined that the position is not positioned. You may comprise the navigation method which is a step which changes conditions.

  According to the fourth invention and the like, when it is determined that the positioning position is located within a predetermined region near the branch location, the threshold distance constituting the positional relationship condition is shorter than when it is determined that the positioning position is not located. It will be lost. Therefore, in the vicinity of the branch location, the condition of the distance when performing reroute is tightened, and coupled with the above-described invention, reroute is quickly performed when the route deviates from the set route.

  5th invention is the navigation apparatus of 3rd or 4th invention, Comprising: Of each branch road of the said branch location based on the route currently set and the information of the branch location contained in the said map information An entry path determination unit that determines an approach path of the vehicle, and a predetermined area that sets the area where the approach path side determined by the approach path determination unit is short and the other branch path side is long as the predetermined area of the branch location based on the branch location An area setting unit, wherein the determination unit determines whether or not the positioning position measured by the positioning unit is located within a predetermined area set by the predetermined area setting unit.

  The eleventh invention is the navigation method according to the ninth or tenth invention, wherein each branch path of the branch location is based on the currently set route and the branch location information included in the map information. An approach path determination step for determining an approach path, and an area where the approach path side determined in the approach path determination step is short and the other branch path side is long as the reference area is set as the predetermined area of the branch location A predetermined region setting step, wherein the determining step is a step of determining whether or not the positioning position measured in the positioning step is located within the predetermined region set in the predetermined region setting step. May be configured.

  At the branch location, the user proceeds from the approach path that has entered to another branch path. Therefore, it is expected that the vehicle will surely travel along the approach path to the branch location. On the other hand, after reaching the branch location, it becomes a problem on reroute which branch route other than the approach route is selected to proceed.

  Therefore, in the fifth invention and the like, the approach path among the branch paths at the branch location is determined based on the currently set route and the information on the branch location, and the approach path side is shortened based on the branch location. The area where the other branch road side is long is set as the predetermined area of the branch location. This is because when entering a branch location, it is less necessary to change the positioning time interval and the positional relationship conditions than when entering from a branch location.

  6th invention is the navigation apparatus of 3rd or 4th invention, Comprising: Of each branch road of the said branch location based on the currently set route | root and the information of the branch location contained in the said map information A branch determination unit that determines an approach route and a branch destination route that is routed, and a region in which the approach route side and the branch destination side determined by the branch determination unit with reference to the branch location are short and the other branch road side is long A predetermined area setting unit that sets the position as the predetermined area of the branch location, and the determination unit is positioned within the predetermined area set by the predetermined area setting unit This is a navigation device for determining whether or not.

  The twelfth invention is the navigation method according to the ninth or tenth invention, wherein each branch path of the branch location is based on the currently set route and the branch location information included in the map information. Branch determination step for determining the approach route and the branch destination route that is routed, and the approach route side and the branch destination side determined in the branch determination step with reference to the branch location are short, and the other branch route side is A predetermined area setting step of setting a long area as the predetermined area of the branch location, wherein the determining step includes positioning the positioning position determined in the positioning step within the predetermined area set in the predetermined area setting step. You may comprise the navigation method which is a step which determines whether to do.

  It is expected to enter the branch location as it is along the approach path. In addition, after reaching the branch location, there is a high possibility that the vehicle will advance along the branch destination route that has been routed. In other words, it can be said that it is more important for the reroute to monitor the progress to the branch destination route that has not been routed than to monitor the progress to the approach route and the branch destination route that has been routed.

  Therefore, in the sixth invention and the like, based on the currently set route and branch location information, the approach route and the branch destination route set in the route are determined among the respective branch routes at the branch location. An area where the approach road side and the branch road side determined on the basis of the branch place are short and the other branch road side is long is set as the predetermined area of the branch place. As a result, when entering the branch location, the positioning time interval and the positional relationship conditions are not changed to near the branch location, and when entering the branch destination route that is routed from the branch location, It becomes possible to immediately return the positioning time interval and the positional relationship conditions to the original state at the time of leaving.

  Further, as a thirteenth invention, a program for causing a computer to execute the navigation method according to any of the seventh to twelfth inventions may be configured.

  Hereinafter, an embodiment in which the present invention is applied to a mobile phone 1 which is a kind of navigation device will be described with reference to the drawings. However, embodiments to which the present invention can be applied are not limited to this.

1. Principle The mobile phone 1 receives a GPS satellite signal as a positioning signal transmitted (transmitted) from a GPS satellite that is a positioning satellite, and orbit information (ephemeris) of the GPS satellite superimposed on the received GPS satellite signal. Based on navigation messages such as data and almanac data), satellite information such as GPS satellite position, moving direction, and velocity is calculated.

  In addition, four GPS satellites are arranged on each of the six orbiting surfaces of the earth, and in principle, four or more satellites are always operated from anywhere on the earth in a geometrical arrangement. . Hereinafter, a GPS satellite that has transmitted a received (captured) GPS satellite signal is referred to as a “capture satellite” in order to distinguish it from other GPS satellites.

  In addition, the mobile phone 1 can detect from the captured satellite to its own device based on the reception time of the GPS satellite signal specified by the built-in quartz clock and the transmission time of the received GPS satellite signal from the GPS satellite. Calculate the radio wave propagation time. Then, the distance (pseudo distance) from the captured satellite to the own aircraft is calculated by multiplying the calculated radio wave propagation time by the speed of light.

  The mobile phone 1 obtains the values of four parameters, that is, a three-dimensional coordinate value indicating the position of the own device and a clock error, at a given positioning time interval from satellite information of a plurality of captured satellites and each captured satellite. By performing a positioning calculation that is calculated based on information such as the distance to the own device (pseudo distance), the current position of the own device is determined. The mobile phone 1 also has a navigation function in addition to the positioning function, and searches for and sets the shortest route from a given departure point to the destination and displays it on the screen. Provide route guidance.

  In the present embodiment, it is assumed that the start point and the destination are instructed by the user of the mobile phone 1, but the current position obtained by the positioning calculation (hereinafter referred to as “current positioning position”) starts. It is good also as a structure by which only the destination is instruct | indicated by the user by setting to a ground automatically. In addition, it is possible to allow the user to specify additional conditions (option) such as a road that the user wants to pass preferentially and a point that the user wants to pass along the way, and the route may be searched and set according to the specified additional conditions.

  FIG. 1 is a diagram for explaining an outline of navigation in the present embodiment. Here, a case where the user carrying the mobile phone 1 moves on foot from a certain departure point toward the destination will be described as an example.

  First, when the user designates a departure place and a destination, the mobile phone 1 searches for the shortest route from the departure place to the destination, and sets the searched route as an initial route ( Hereinafter, this is referred to as “initially set route”) and displayed on the screen.

  The user proceeds along the road according to the initially set route displayed on the screen. For example, at the first intersection C1 on the initially set route, the user should have traveled diagonally right ahead. And turn right. In this case, the mobile phone 1 resets the route (reroute) when it is detected that the positional relationship between the current positioning position and the initially set route satisfies a predetermined reroute activation condition.

  Specifically, the mobile phone 1 detects the current positioning position when the distance between the current positioning position and the set route reaches a given threshold distance (referred to as “reroute threshold distance” in the present embodiment). Re-search for the shortest route to the destination, starting from. The re-searched route is set as a new route (hereinafter referred to as “re-set route”) and displayed on the screen.

  FIG. 2 is a diagram for explaining the principle of reroute. FIG. 2A is a diagram for explaining the principle of reroute in the prior art, and FIG. 2B is a diagram for explaining the principle of reroute in the present embodiment. It is. This figure is an enlarged view of the vicinity of the intersection C1 in FIG. 1, and will be described in comparison with the prior art in order to clarify the features of this embodiment.

  In the prior art, the mobile phone 1 measures the current position of the mobile phone 1 at a given positioning time interval “Δt” (for example, “2 seconds”). Then, after positioning, a distance “d” between the current positioning position and the initially set route is calculated, and the calculated distance “d” is equal to or greater than a predetermined reroute threshold distance “θ” (eg, “30 m”). It is determined whether or not.

  When it is determined that the distance “d” is less than the reroute threshold distance “θ” (d <θ), the mobile phone 1 performs the map matching process on the current positioning position, and the result of the map matching process The position obtained as (hereinafter referred to as “map matching result position”) is displayed on the screen by an icon or the like.

  Here, the map matching process refers to a process of correcting the current positioning position to an appropriate position on the map based on the map information. For example, when the current positioning position is at sea, the current positioning position is corrected on the closest coast road. In addition, since the process regarding map matching is well-known, detailed description is abbreviate | omitted here.

  On the other hand, when it is determined that the distance “d” between the current positioning position and the initially set route is equal to or greater than the reroute threshold distance “θ” (d ≧ θ), the mobile phone 1 searches for a new route, Set as the setting route. Then, the map matching process is performed in the same manner, and the map matching result position is displayed on the screen.

  For example, in FIG. 2A, at the positioning times “t1”, “t2”, “t3” and “t4”, the distances “d1”, “d2”, “d3” between the current positioning position and the initially set route and Since “d4” is less than the reroute threshold distance “θ” (d1 <θ, d2 <θ, d3 <θ, d4 <θ), reroute is not performed, and the current positioning position is obtained by map matching processing. Are map-matched on the initially set route.

  On the other hand, at the positioning time “t5”, since the distance “d5” between the current positioning position and the initially set route is larger than the reroute threshold distance “θ” (d5> θ), a new route (reset route) is obtained by the reroute function. Is set. The current positioning position is map-matched on the reset route by map matching processing.

  In this prior art, whether or not reroute is performed is determined every given positioning time interval, and for the convenience that the reroute threshold distance is constant, the actual position of the mobile phone 1 is changed from the set route to the reroute threshold distance. Even if the distance is more than the above, the reroute is not performed at that time, and the reroute is performed only at the next positioning time. For this reason, for example, in FIG. 2A, the user passes the intersection C2 between the positioning times “t4” and “t5”, the road L2 is not included in the reset route, and the user moves to the destination. There is a problem of being forced to make a detour.

Therefore, in the present embodiment, for each intersection of the road, when a predetermined neighborhood area including the intersection is a “branch area” and the current positioning position of the mobile phone 1 is located in the branch area, the positioning time interval Is reduced to “Δt _C (<Δt)” (eg, “1 second”), and the reroute threshold distance is also reduced to “θ _C (<θ)” (eg, “10 m”).

In this case, for example, in FIG. 2B, the positioning time interval is shortened to “Δt _C ” after the positioning time “t3” at which the current positioning position is located in the branch area, so that the user Until reaching C2, the reroute determination is performed twice at the positioning times “t6” and “t7”.

In addition, since the reroute threshold distance is shortened to “θ _C ” together with the positioning time interval, the reroute determination at the positioning times “t6” and “t7” has strict distance conditions for performing reroute. . As a result, at the positioning time “t6”, the distance “d7” between the current positioning position and the initially set route is less than the reroute threshold distance “θ _C ” (d6 <θ _C ), but the next positioning time “t7”. ”, When the distance“ d7 ”reaches the reroute threshold distance“ θ _C ”(d7 ≧ θ _C ), a reroute is performed, and a route including the road L2 as an option is newly set.

  FIG. 3 is a diagram illustrating an example of the shape of the branch area. For example, consider a circle centered at an intersection (for example, a radius of “20 m”), and a region inside the circle may be a branch area (FIG. 3A). Further, a rectangle centering on the intersection (for example, the length of one side is “40 m”) may be considered, and an area inside the rectangle may be used as a branch area (FIG. 3B).

2. Configuration FIG. 4 is a block diagram showing a functional configuration of the mobile phone 1.
The mobile phone 1 includes a GPS antenna 5, a GPS receiver 10, a TCXO (Temperature Compensated Crystal Oscillator) 20, a host CPU 30, an operation unit 40, a display unit 50, a mobile phone antenna 60, and a mobile phone. Wireless communication circuit unit 70, ROM (Read Only Memory) 80, and RAM (Random Access Memory) 90.

  The GPS antenna 5 is an antenna that receives an RF signal including a GPS satellite signal transmitted (transmitted) from a GPS satellite that is a positioning satellite, and outputs the received signal to the GPS receiver 10. The GPS satellite signal is a spread spectrum modulated signal called a C / A (Coarse and Acquisition) code, and is superimposed on an L1 band carrier wave having a frequency of 1.57542 [GHz].

  The GPS receiving unit 10 is a positioning unit that measures the current position of the mobile phone 1 based on a signal output from the GPS antenna 5, and is a functional block corresponding to a so-called GPS receiver. The GPS receiving unit 10 includes an RF (Radio Frequency) receiving circuit unit 11 and a baseband processing circuit unit 13. The RF receiving circuit unit 11 and the baseband processing circuit unit 13 can be manufactured as separate LSIs (Large Scale Integration) or as a single chip.

  The RF receiving circuit unit 11 is a circuit block of a high-frequency signal (RF signal), and generates an oscillation signal for RF signal multiplication by dividing or multiplying the oscillation signal generated by the TCXO 20. Then, by multiplying the generated oscillation signal by the RF signal output from the GPS antenna 5, the RF signal is down-converted to an intermediate frequency signal (hereinafter referred to as an "IF (Intermediate Frequency) signal"). After the IF signal is amplified, it is converted into a digital signal by an A / D converter and output to the baseband processing circuit unit 13.

  The baseband processing circuit unit 13 performs correlation processing on the IF signal output from the RF receiving circuit unit 11 to capture and extract GPS satellite signals, decodes the data, and extracts navigation messages, time information, and the like. This is a circuit unit that performs pseudorange calculation, positioning calculation, and the like. The baseband processing circuit unit 13 includes a circuit that performs correlation processing, a circuit that generates a spreading code for correlation processing, a circuit that decodes data, and the like.

  The TCXO 20 is a temperature-compensated crystal oscillator that generates an oscillation signal having a predetermined oscillation frequency, and outputs the generated oscillation signal to the RF reception circuit unit 11 and the baseband processing circuit unit 13.

  The host CPU 30 is a processor that comprehensively controls each unit of the mobile phone 1 according to various programs such as a system program stored in the ROM 80. In particular, the host CPU 30 performs navigation processing according to the navigation program 81 stored in the ROM 80.

  The operation unit 40 is an input device configured by, for example, a touch panel, a button switch, or the like, and outputs a pressed key or button signal to the host CPU 30. By operating the operation unit 40, various instructions such as designation of a departure point and a destination point are input.

  The display unit 50 is configured by an LCD (Liquid Crystal Display) or the like, and is a display device that performs various displays based on display signals input from the host CPU 30. A navigation screen or the like is displayed on the display unit 50.

  The cellular phone antenna 60 is an antenna that transmits and receives cellular phone radio signals to and from a radio base station installed by a communication service provider of the cellular phone 1.

  The cellular phone wireless communication circuit unit 70 is a cellular phone communication circuit unit configured by an RF conversion circuit, a baseband processing circuit, and the like, and performs modulation and demodulation of the cellular phone radio signal, thereby enabling communication and mailing. Realize transmission / reception and so on.

  The ROM 80 is a read-only storage device, and stores a system program for controlling the mobile phone 1 and various programs and data for realizing a navigation function.

  The RAM 90 is a readable / writable storage device, and forms a work area for temporarily storing a system program executed by the host CPU 30, various processing programs, data being processed in various processing, processing results, and the like.

  FIGS. 5A and 5B are diagrams illustrating examples of data stored in the ROM 80 and the RAM 90. The ROM 80 stores a navigation program 81 and map data 83 that are read by the host CPU 30 and executed as navigation processing (see FIG. 6).

  In the navigation process, the host CPU 30 variably sets the positioning time interval and the reroute threshold distance at which the baseband processing circuit unit 13 performs positioning based on the distance between the current positioning position of the mobile phone 1 and the set route. This is a process of performing route guidance to the instructed destination. The navigation process will be described later in detail using a flowchart.

  The map data 83 is data in which map information including road information and building information is stored, and particularly includes intersection data 831 which is information on intersections. In the navigation process, the host CPU 30 determines whether or not the current positioning position is located in the branch area based on the intersection data 831.

  The RAM 90 stores setting route data 91, positioning data 93, and map matching data 95.

  The set route data 91 stores information on the departure point and destination, and information on roads and intersections from the departure point to the destination as information on the currently set route. In the navigation process, the host CPU 30 stores the obtained route information in the set route data 91 after performing the route search process.

  The positioning data 93 stores a current positioning position represented by a three-dimensional coordinate value. In the navigation processing, the host CPU 30 takes in the positioning position obtained by the positioning calculation from the baseband processing circuit unit 13 and stores the positioning position in the positioning data 93 as the current positioning position.

  The map matching data 95 stores a map matching result position represented by a three-dimensional coordinate value. In the navigation processing, the host CPU 30 performs map matching processing on the current positioning position stored in the positioning data 93 and stores the obtained map matching result position in the map matching data 95.

3. Process Flow FIG. 6 is a flowchart showing the flow of the navigation process executed in the mobile phone 1 when the host CPU 30 reads and executes the navigation program 81 stored in the ROM 80. Note that, prior to the navigation processing, it is assumed that the reception of the RF signal by the GPS antenna 5, the positioning calculation by the GPS receiving unit 10, and the like are performed at any time.

  First, as an initial setting, the host CPU 30 sets the positioning time interval of the baseband processing circuit unit 13 to “2 seconds” and sets the reroute threshold distance to “30 m” (step A1).

  Next, the host CPU 30 sets a starting point and a destination that are instructed via the operation unit 40 (step A3), and performs route search processing (step A5). Specifically, referring to the map data 83 stored in the ROM 80, the shortest route from the departure point to the destination set in step A3 is searched. Since the route search algorithm is known, detailed description thereof is omitted.

  After performing the route search process (step A5), the host CPU 30 sets the route by updating the set route data 91 in the RAM 90 with the obtained route information, and causes the display unit 50 to display the set route. (Step A7).

  Then, the host CPU 30 takes in the positioning position obtained by the positioning calculation from the baseband processing circuit unit 13 and stores it in the positioning data 93 of the RAM 90 as the current positioning position (step A9).

  Next, the host CPU 30 refers to the intersection data 831 included in the map data 83 to determine whether or not the current positioning position stored in the positioning data 93 of the RAM 90 is located in the branch area (step A11). . Specifically, the nearest intersection of the current positioning position (hereinafter referred to as “nearest intersection”) is identified, and the current positioning is determined in the predetermined range of the neighborhood centered on the nearest intersection described with reference to FIG. It is determined whether or not a position is included.

  If it is determined that the position is within the branch area (step A11; Yes), the host CPU 30 sets the positioning time interval of the baseband processing circuit unit 13 to “1 second” and sets the reroute threshold distance to “10 m”. (Step A13). If it is determined that the current positioning position is not within the branch area (step A11; No), the positioning time interval of the baseband processing circuit unit 13 is set to “2 seconds” and the reroute threshold distance is set to “30 m”. "(Step A15).

  After setting the positioning time interval and the reroute threshold distance (step A13 or A15), the host CPU 30 determines whether or not the user has reached the destination (step A17). Specifically, the arrival at the destination is determined by determining whether or not the current positioning position stored in the positioning data 93 of the RAM 90 is within a predetermined distance from the position coordinates of the destination.

  If it is determined that the destination has not been reached yet (step A17; No), the host CPU 30 stores the current positioning position stored in the positioning data 93 of the RAM 90 and the set route data 91. It is determined whether the distance between the set routes is equal to or greater than the currently set reroute threshold distance (step A19).

  If it is determined that the distance is less than the reroute threshold distance (step A19; No), the host CPU 30 proceeds to step A25, and if it is determined that the distance is greater than or equal to the reroute threshold distance (step A19; Yes). Then, route search processing is performed, and the shortest route to the destination is searched from the current positioning position as the departure point (step A21).

  After performing the route search process (step A21), the host CPU 30 sets the route by updating the set route data 91 in the RAM 90 with the obtained route information, and causes the display unit 50 to display the set route. (Step A23).

  Next, the host CPU 30 performs map matching processing for correcting the current positioning position on the road (step A25), and updates the map matching data 95 in the RAM 90 with the obtained map matching result position. Then, the host CPU 30 displays the map matching result position on the display unit 50 (step A27).

  Thereafter, the host CPU 30 determines whether or not to end the navigation (step A29). Specifically, navigation is terminated when an instruction operation for turning off the navigation function is performed via the operation unit 40 or when an instruction operation for turning off the power of the mobile phone 1 is performed. It is determined to be.

  If it is determined that the navigation is not yet finished (step A29; No), the host CPU 30 returns to step A9. If it is determined that the navigation is finished (step A29; Yes), the navigation process is finished.

  On the other hand, if it is determined in step A17 that the user has reached the destination (step A17; Yes), the host CPU 30 determines the end of navigation in the same manner as in step A29 (step A31). If it is determined that the navigation is not yet finished (step A31; No), the host CPU 30 returns to step A3. If it is determined that the navigation is finished (step A31; Yes), the navigation process is finished.

4). Effects According to the present embodiment, the measured positioning position is displayed after being subjected to map matching processing based on map information including information on roads and road intersections. In addition, it is determined whether or not the measured positioning position is located in a branch area defined as a predetermined area in the vicinity of the intersection including the intersection. If it is determined that the positioning position is located in the branch area, a positioning time interval is determined. And the reroute threshold distance is shortened. Accordingly, in the vicinity of the intersection, the frequency of the reroute determination is increased, and at the same time, the condition of the distance to be satisfied for performing the reroute is made stricter. For this reason, it is possible to detect the deviation from the set route sensitively and perform reroute promptly.

5. Modified example 5-1. The present invention can be applied to electronic devices such as a portable navigation device, a vehicle-mounted navigation device, and a wristwatch in addition to a portable phone.

5-2. Setting the branch area The branch area may be set based on the currently set route, rather than being fixed at all intersections. Hereinafter, among the branch roads at the intersection, a branch road that enters the intersection along the currently set route is referred to as an “entrance road”, and a branch road other than the entrance road is referred to as a “branch destination road”. Of the branch destination paths, a branch destination path for which a route is set is referred to as a “route setting branch destination path”, and a branch destination path for which no route is set is referred to as a “non-route setting branch destination path”.

  Usually, it is rare that the user once enters the intersection and then returns to the approach road again. Therefore, on the approach road side, it is less necessary to shorten the positioning time interval and the reroute threshold distance. Therefore, it is conceivable to set an area where the approach road side is short and the other branch road side is long as a branch area.

  FIG. 7 is a diagram showing an example of the shape of the branch area in this case. FIG. 7A shows a branch area obtained by partially modifying the circular branch area of FIG. 3A, and FIG. 7B shows the rectangular branch area of FIG. 3B. A branch area obtained by partially deforming is shown. In any branch area, it can be seen that the approach road side is shorter than the branch destination road side.

  In addition, the reroute is performed when the current positioning position of the mobile phone 1 is more than the reroute threshold distance from the set route, which is usually when the user proceeds to the non-route set branch destination at the intersection. It is believed that there is. In other words, when the user proceeds to the route setting branch destination at the intersection, it is unlikely that reroute will be performed, so it is also necessary to shorten the positioning time interval and the reroute threshold distance on the route setting branch destination side. poor. Therefore, an area where the approach road side and the route setting branch destination road side are short and the non-route setting branch destination road side is long may be set as a branch area.

  FIG. 8 is a diagram showing an example of the shape of the branch area in this case. FIG. 8A shows a branch area obtained by partially modifying the circular branch area of FIG. 3A, and FIG. 8B shows the rectangular branch area of FIG. 3B. A branch area obtained by partially deforming is shown. In any branch area, it can be seen that the approach road side and the route setting branch destination side are narrower than the non-route setting branch destination side.

  As a specific configuration in this case, a branch area setting program is stored in the ROM 80 as a subroutine of the navigation program 81. Then, the host CPU 30 performs the branch area setting process by reading and executing the branch area setting program between steps A25 or A27 and A29 of the navigation process of FIG.

FIG. 9 is a flowchart showing the flow of the branch area setting process. The branch area setting process shown in FIG. 9 is a process for setting the branch area exemplified in FIG.
First, the host CPU 30 follows the set route based on the set route stored in the set route data 91 of the RAM 90 and the intersection information stored in the intersection data 81 included in the map data 83 of the ROM 80. The nearest intersection from the map matching result position is specified (step B1).

  Next, the host CPU 30 determines an approach route and a route setting branch destination route of the nearest intersection based on the set route and the information of the nearest intersection (step B3). Then, for example, the host CPU 30 calculates and generates a branch area with “20 m” for the approach road side, “20 m” for the route setting branch destination road side, and “40 m” for the non-route setting branch destination road side (Step B5). After setting the branch area as the branch area of the nearest branch point (step B7), the branch area setting process is terminated.

  In this way, by setting the branch area based on the currently set route, when entering the intersection, positioning is performed at the normal positioning time interval without shortening the positioning time interval to near the intersection. When advancing along the set route from the intersection, it is possible to perform the positioning by returning the shortened positioning time interval to the normal positioning time interval at an early stage, thereby reducing the processing load. .

5-3. Dividing the branch area Further, the branch area may be divided into two or more areas, and the positioning time interval and the reroute threshold distance may be individually set for each of the divided areas.

  FIG. 10 is a diagram illustrating an example of a branch area in this case. FIG. 10A shows a branch area obtained by dividing the circular branch area in FIG. 3A, and FIG. 10B shows the rectangular branch area in FIG. 3B. The branch area obtained by doing is shown. Here, the branch area is divided into two areas “R1” and “R2”. The region R1 is a region having the same shape as the branch area shown in FIG.

  In this case, as described above, it is highly necessary to shorten the positioning time interval and the reroute threshold distance in the region R1, and the necessity to shorten the region R2 is low. Therefore, when the current positioning position is located within the region R1, for example, the positioning time interval is set to “1 second”, the reroute threshold distance is set to “10 m”, and when the current positioning location is located within the region R2, For example, the positioning time interval is set to “2 seconds”, and the reroute threshold distance is set to “30 m”. When the current positioning position is located outside the branch area, for example, the positioning time interval is set to “3 seconds” and the reroute threshold distance is set to “50 m”.

5-4. Variable Item In the above-described embodiment, it has been described that the positioning time interval and the reroute threshold distance are variable depending on whether or not the current positioning position of the mobile phone 1 is located in the branch area. However, only the positioning time interval is described. May be varied, or only the reroute threshold distance may be varied.

5-5. Positioning Processing The host CPU 30 may perform positioning calculation performed by the baseband processing circuit unit 13. Specifically, the baseband processing circuit unit 13 captures and tracks a GPS satellite signal, and the host CPU 30 acquires a navigation message and time information from the GPS satellite signal captured and tracked by the baseband processing circuit unit 13. Etc. are extracted, and pseudo distance calculation, positioning calculation, etc. are performed.

5-6. Storage medium The navigation program 81 stored in the ROM 80 may be stored in a storage medium such as a CD-ROM, DVD-ROM, or flash memory, and the host CPU 30 may read and execute the program from the storage medium. . In this case, it goes without saying that the map data 83 may be further stored in a storage medium.

The figure for demonstrating the outline | summary of navigation. (A) Explanatory drawing of the conventional reroute. (B) Explanatory drawing of the reroute in embodiment. (A) The figure which shows an example of a branch area. (B) The figure which shows an example of a branch area. The block diagram which shows the structure of a portable telephone. (A) The figure which shows the structural example of ROM. (B) A diagram showing a configuration example of a RAM. The flowchart which shows the flow of a navigation process. (A) The figure which shows the modification of a branch area. (B) The figure which shows the modification of a branch area. (A) The figure which shows the modification of a branch area. (B) The figure which shows the modification of a branch area. The flowchart which shows the flow of a branch area setting process. (A) The figure which shows the modification of a branch area. (B) The figure which shows the modification of a branch area.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile phone, 5 GPS antenna, 10 GPS receiving part, 11 RF receiving circuit part, 13 Baseband processing circuit part, 20 TCXO, 30 Host CPU, 40 Operation part, 50 Display part, 60 Mobile phone antenna, 70 Mobile phone Wireless communication circuit for telephone, 80 ROM, 90 RAM

Claims (13)

A storage unit storing map information including information on roads and road branching points;
A positioning unit that measures the current position at a given positioning time interval;
Based on the map information stored in the storage unit, a map matching processing unit that performs map matching processing on the positioning position measured by the positioning unit;
A position display control unit for displaying and outputting the result position of the map matching process;
A determination unit that determines whether or not the positioning position measured by the positioning unit is located in a predetermined region near the branch location including the branch location;
A positioning interval variable unit that varies the positioning time interval according to the determination result of the determination unit;
A navigation device comprising:   The navigation device according to claim 1, wherein the positioning interval variable unit shortens a positioning time interval when it is determined by the determination unit that it is located within the predetermined area, than a positioning time interval when it is determined that it is not located. . A route setting unit for setting a route to a destination set according to a user operation;
A reset condition satisfaction detection unit that detects that a predetermined route reset condition including at least a condition of a positional relationship between the positioning position measured by the positioning unit and the set route is satisfied;
With
In response to the detection, the route setting unit resets the route to the destination based on the positioning position measured by the positioning unit,
Furthermore,
A positional relationship condition variable unit that varies the positional relationship condition included in the route resetting condition according to a determination result of the determination unit;
The navigation device according to claim 1, further comprising: The condition of the positional relationship is a condition whether or not the distance between the currently set route and the positioning position has reached a given threshold distance,
The positional relationship condition variable unit sets the positional relationship condition by making a threshold distance when it is determined by the determination unit to be located within the predetermined region shorter than a threshold distance when it is determined that the position is not located. Variable,
The navigation device according to claim 3. Based on the currently set route and the information of the branch location included in the map information, an approach route determination unit that determines an approach route of each branch route of the branch location;
A predetermined area setting unit for setting an area where the approach road side determined by the approach path determination unit is short and the other branch road side is long as the predetermined area of the branch place, with respect to the branch location;
With
The determination unit determines whether the positioning position measured by the positioning unit is located within a predetermined area set by the predetermined area setting unit;
The navigation apparatus according to claim 3 or 4. A branch determination unit that determines an approach path of each branch path at the branch location and a branch destination path that is route-set based on the currently set route and the branch location information included in the map information; ,
A predetermined area setting unit that sets an area where the approach road side and the branch destination road side, which are determined by the branch determination unit with reference to the branch place, are short and the other branch road side is long as the predetermined area of the branch place;
With
The determination unit determines whether the positioning position measured by the positioning unit is located within a predetermined area set by the predetermined area setting unit;
The navigation apparatus according to claim 3 or 4. A positioning step for positioning the current position at a given positioning time interval;
A map matching processing step for map-matching the positioning position determined in the positioning step based on the map information stored in the storage unit storing the map information including information on roads and road branch locations;
A position display step for displaying and outputting the result position of the map matching process;
A determination step of determining whether or not the positioning position measured in the positioning step is located within a predetermined region near the branch location including the branch location;
A positioning interval variable step of varying the positioning time interval according to a determination result in the determination step;
Navigation method including.   8. The positioning interval variable step is a step of shortening a positioning time interval when it is determined in the determining step that it is located within the predetermined area, to be shorter than a positioning time interval when it is determined that it is not positioned. Navigation method. A route setting step for setting a route to a destination set in accordance with a user operation;
A reset condition satisfaction detection step for detecting that a predetermined route reset condition including at least a condition of a positional relationship between the positioning position measured in the positioning step and the set route is satisfied;
In response to the detection, a route resetting step for resetting a route to the destination based on the positioning position determined in the positioning step;
A positional relationship condition variable step of varying the positional relationship condition included in the route resetting condition according to the determination result in the determination step;
The navigation method according to claim 7 or 8, comprising: The condition of the positional relationship is a condition whether or not the distance between the currently set route and the positioning position has reached a given threshold distance,
In the positional relationship condition variable step, the positional relationship condition is set by making a threshold distance when it is determined in the determination step to be located within the predetermined area shorter than a threshold distance when it is determined not to be positioned. The navigation method according to claim 9, which is a variable step. Based on the currently set route and branch location information included in the map information, an approach route determination step for determining an approach route of each branch route of the branch location;
A predetermined area setting step for setting the area where the approach road side determined in the approach path determination step is short and the other branch road side is long as the predetermined area of the branch place, with respect to the branch location;
Including
The determination step is a step of determining whether or not the positioning position determined in the positioning step is located within a predetermined region set in the predetermined region setting step.
The navigation method according to claim 9 or 10. Based on the currently set route and the branch location information included in the map information, a branch determination step for determining an approach route of each branch route of the branch location and a branch destination route set for the route; ,
A predetermined area setting step for setting, as the predetermined area of the branch place, an area where the approach road side and the branch destination road side determined in the branch determination step with reference to the branch place are short and the other branch road side is long;
Including
The determination step is a step of determining whether or not the positioning position determined in the positioning step is located within a predetermined region set in the predetermined region setting step.
The navigation method according to claim 9 or 10.   The program for making a computer perform the navigation method of Claims 7-12.

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