JP2008202941A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent wrong display of own vehicle when traveling in toll gate area, without newly setting up map data. <P>SOLUTION: This device determines whether the own vehicle is traveling in a toll gate area (S200), and when it is determined that the own vehicle is traveling in the toll gate area, a candidate evaluated value calculated before the own vehicle approaching to the toll gate area is retained. By using the candidate evaluated value retained, it is determined whether it is traveling on a road shown by a link or departed from the road (S300, S400). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device that identifies and displays a vehicle position from position information for identifying the vehicle position.

  Conventionally, roads with a predetermined width or less are converted into line data in advance, and linear road data and areas with a width or width that is larger than a predetermined width, such as a toll booth and a service area, where a vehicle can freely travel by changing courses. Two kinds of road data of the road data converted into plane data are stored in a storage medium as map data, and the plane can be used regardless of how the vehicle travels in an area where the course can be changed freely. There is one in which matching within an actual traveling pattern can be performed by preventing matching from being caused if the data is within an area (see, for example, Patent Document 1).

Also, in areas where road links are not established, such as toll booths and parking lots, virtual road links are set in toll booths and parking lots, and map matching is performed using these virtual road links. (For example, refer to Patent Document 2).
JP 2002-107163 A JP 2006-250875 A

  In an area where the road width is locally wide, such as the toll gate described above, the car can travel freely by changing the course. For example, as shown in FIG. When traveling, where the vehicle position mark should be displayed on the running link, the vehicle position mark is displayed at a position off the traveling link, or as shown in FIG. If there is a point that branches to another highway in the foreground, the link that represents the other highway by mismatching the location mark of the vehicle on the main line link on the other highway The vehicle position mark may be displayed on the top. Under such circumstances, there is a case where the guide for paying the fee is not executed or the guide for paying the fee is erroneously executed.

  The device described in Patent Document 1 needs to newly prepare the road data of the plane as map data, which not only increases the map data maintenance cost, but also increases the data size of the map data. is there.

  Also, for the device described in Patent Document 2, it is necessary to maintain a virtual road link as map data in a toll booth or a parking lot, and as with the device described in Patent Document 1, the maintenance cost of map data There is a problem that the data size of the map data increases.

  The present invention has been made in view of the above points, and it is an object of the present invention to prevent erroneous display of the vehicle position when traveling in a toll gate area without newly preparing map data.

  The first feature of the present invention is that the position information input means for inputting position information for specifying the vehicle position, and the link representing the road included in the map data read from the position information and the map data input means. Road candidate generation means for generating one or more road candidates representing positions on a link where a car can exist, and a match between the travel locus obtained from the position information input from the position information input means for the road candidate and the link A candidate evaluation value calculating means for calculating a candidate evaluation value indicating the degree of the evaluation, and a link based on whether the candidate evaluation value calculated by the candidate evaluation value calculating means is better than a predetermined reference evaluation value. Road departure travel determination means for determining whether the vehicle is traveling or leaving the road, and the candidate evaluation value calculated by the candidate evaluation value calculation means. Road candidate selection determining means for selecting a probable road candidate, and the road candidate selected by the road candidate selection determining means is determined to be traveling on the road represented by the link by the road departure traveling determination means. In the case of the road candidate, the vehicle position is corrected and displayed at a point on the road candidate, and the road candidate selected by the road candidate selection determination means leaves the road represented by the link by the road departure travel determination means and travels. A navigation device that displays the position of the vehicle at a point outside the road candidate if it is determined that the vehicle is traveling in the toll gate area for each road candidate And a candidate evaluation value calculating means for calculating an evaluation value of a road candidate determined by the toll gate periphery traveling determination means that the vehicle is traveling in the toll gate area. If, and to retain the candidate evaluation value calculated before the tollgate area own vehicle is judged to be traveling.

  In such a configuration, when calculating the evaluation value of the road candidate determined that the vehicle is traveling in the toll gate area, before determining that the vehicle is traveling in the toll gate area The calculated candidate evaluation value is retained, and it is determined whether the vehicle is leaving the road using this candidate evaluation value. Thus, it is not determined that the vehicle is traveling, and erroneous display of the vehicle position when traveling in the toll gate area can be prevented without newly preparing map data.

  The second feature of the present invention includes route search means for searching for a guide route to the destination, and the candidate evaluation value calculation means searches for the guide route searched when the guide route is searched by the route search means. The vehicle travels in the toll booth area only for road candidates that exist in the links that make up the route and are determined to be traveling in the toll booth area by the toll booth area judgment means. The candidate evaluation value calculated before being determined to be in the middle is held.

  As described above, when the guide route is searched, it is determined that the vehicle is present in the link constituting the searched guide route and that the vehicle is traveling in the toll gate area by the toll gate periphery determination unit. It is only necessary to hold the candidate evaluation value calculated before it is determined that the vehicle is traveling in the toll gate area only for the road candidate, and the processing load can be reduced.

  The third feature of the present invention is that the position information input means for inputting position information for specifying the vehicle position, the link representing the road included in the map data read from the position information and the map data input means, Road candidate generating means for generating one or more road candidates representing the position on the link where the vehicle can exist, and the travel locus and link obtained from the position information input from the position information input means for the road candidate Whether or not the candidate evaluation value calculating means for calculating the candidate evaluation value indicating the degree of coincidence and the candidate evaluation value calculated by the candidate evaluation value calculating means for each road candidate is better than a predetermined reference evaluation value Based on the candidate evaluation value calculated by the road departure traveling determination means for determining whether the vehicle is traveling on the road represented by the link based on Road candidate selection determining means for selecting the most likely road candidate where the vehicle is located, and the road candidate selected by the road candidate selection determining means travels on the road represented by the link by the road departure traveling determination means If it is determined that the vehicle is on the road candidate, the vehicle position is corrected and displayed at a point on the road candidate, and the road candidate selected by the road candidate selection determination unit is represented by a link by the road departure traveling determination unit. When it is determined that the vehicle is traveling away from the road, the navigation device displays the position of the vehicle at a point outside the road candidate, and the vehicle is traveling in the toll gate area for each road candidate. A toll gate surrounding travel judging means for judging whether or not there is a road candidate selection judging means when it is judged by the toll booth around running judging means that the vehicle is traveling in the toll gate area The road candidate where the toll gate is installed is preferentially selected, and the road departure traveling determination means travels on the road represented by the link by further degrading the standard evaluation value of the road candidate where the toll gate is installed. It is to determine whether the vehicle is running or leaving.

  In such a configuration, when it is determined that the vehicle is traveling in the toll gate area, the road candidate where the toll gate is installed is preferentially selected, and the road candidate where the toll gate is installed is selected. Since the standard evaluation value is further deteriorated, it is judged whether the vehicle is traveling on the road represented by the link or the vehicle is leaving the road. Therefore, it is possible to prevent erroneous display of the vehicle position when traveling in the toll gate area without newly preparing map data.

  The fourth feature of the present invention includes route search means for searching for a guide route to the destination. The road candidate selection determining means is configured to search for a guide route by the route search means when the route search means searches for the guide route. The link that constitutes the searched guidance route and the road candidate where the toll gate is installed is preferentially selected, and the road departure traveling determination means is the link that constitutes the guidance route searched by the route search means. In addition, the standard evaluation value is made worse only for the road candidate where the toll gate is installed.

  In this way, when a guide route is being searched for, a link that constitutes the guide route and a road candidate in which a toll gate is installed is preferentially selected, a link that constitutes the guide route, and a fee It is only necessary to determine whether the vehicle is traveling on or off the road represented by the link by degrading the reference evaluation value only for the road candidate where the station is installed, and reducing the processing load Is possible.

  The fifth feature of the present invention is that it comprises route search means for searching for a guide route to the destination, and the toll gate travel determining means exists on the link constituting the guide route searched by the route search means. Only candidates are to be determined.

  In such a configuration, only candidates that exist on the links that constitute the guide route are targeted for determination, and for each road candidate, it is determined whether or not the vehicle is traveling in the toll gate area, thus reducing the processing load. Is possible.

(First embodiment)
FIG. 1 shows the configuration of the navigation device according to the first embodiment of the present invention. The navigation device 1 includes a position detector 10, a map data input unit 16, an operation switch group 17, a transceiver 18, a display device 19, a storage device 20, a remote control sensor 21, and a control circuit 22.

  Each of the position detectors 10 includes a surrounding geomagnetic sensor 11, a gyroscope 12, a distance sensor 13, a GPS receiver 14, and an acceleration sensor (referred to as G sensor in the figure) 15, and each of these sensors. Position information for specifying the vehicle position is input to the control circuit 22.

  The map data input unit 16 is an apparatus for inputting map data including background data, road data indicating links and nodes, facility data representing various facilities, and the like. As the storage medium, a hard disk drive, CD-ROM, DVD-ROM, or the like is used.

  The operation switch group 17 includes a touch switch provided on the front surface of the display of the display device 19, a mechanical switch provided around the display of the display device 19, and the like, and controls signals according to user operations. Input to the circuit 22.

  The display device 22 has a display such as a liquid crystal, and displays a video corresponding to the video signal input from the control circuit 22 on the display.

  The storage device 20 is a storage medium different from the memory provided in the control circuit 22 and stores various programs and various data.

  The remote control sensor 21 outputs a signal received from the remote control 21 a that transmits a radio signal using infrared rays or the like to the control circuit 22 in accordance with a user operation.

  The control circuit 22 is configured as a computer including a CPU, a memory, an I / O, and the like, and the CPU performs various processes according to a program stored in the memory.

  As processing of the control circuit 22, a travel locus is collected based on the position information input from the position detector 10, and the collected travel locus is linked to road data included in the map data read from the map data input unit 16. The map matching process that corrects the vehicle position to the position on the road, the map display process that displays the vehicle position mark on the map around the vehicle position, and the destination specified according to the user's operation Destination identification processing, route search processing for searching for an optimum guide route from the vehicle position to the destination, and the like. A Dijkstra method or the like is known as a method for searching for an optimum guide route from the current position to the destination.

  Next, map matching processing by the control circuit 22 will be described with reference to FIG. When the ignition switch is turned on, the navigation device 1 is activated, and the control circuit 22 performs the processing shown in FIG. 2 periodically (for example, every several hundred milliseconds).

  First, on the road where the vehicle is likely to exist based on the travel locus obtained from the position information input from the position detector 10 and the link representing the road included in the map data read from the map data input unit 16. The on-road candidate generation process for generating the candidate is executed (S100). Specifically, one or more road candidates and candidate points representing positions on a link where the vehicle can exist are generated from the position information and a link representing a road included in the map data read from the map data input means. Store in memory. If there are a plurality of road candidates and candidate points, all the road candidates and candidate points are stored in the memory. In addition, when there is no road candidate that is likely to have the host vehicle, a point outside the road that is likely to have the host vehicle is stored in the memory as a candidate point.

  Next, a toll gate periphery traveling determination process is performed to determine whether or not the vehicle is traveling in the toll gate area depending on whether a toll gate node exists within a predetermined distance before and after the current position ( S200). FIG. 3 shows a flowchart of the toll gate periphery traveling determination process. In this toll gate periphery running determination process, the loop process shown in S202 to 208 is performed for all candidate points generated in the previous S100.

  First, it is determined whether a toll gate node exists within a predetermined distance (for example, 100 meters) ahead of the current position (S202).

  Here, when the toll gate node exists within a predetermined distance in front of the current position, the determination in S202 is YES, and it is considered that the candidate point on the road is moving around the toll gate (S204). Specifically, a flag indicating that the area is moving around the toll gate is turned on for the corresponding road candidate.

  If the vehicle passes through the toll gate, the determination in S202 is NO, and then it is determined whether a toll gate node exists within a predetermined distance (for example, 100 meters) behind the current position (S206). .

  If a toll gate node exists within a predetermined distance behind the current position, the determination in S206 is YES and the process proceeds to S204. At this time, the flag indicating that the vehicle is moving around the toll gate remains on.

  If the vehicle passes through the toll gate area, the determination in S206 is NO, and it is considered that the corresponding candidate point is not moving around the toll gate (S204). Specifically, a flag indicating that the road candidate is moving around the toll gate is turned off for the corresponding road candidate.

  If the vehicle is traveling in a toll gate area including a toll gate node as shown in FIG. 4 (denoted to be a toll gate periphery travel determination section) as shown in FIG. When the flag indicating that the vehicle is moving around the toll gate is set on, and the vehicle is traveling outside the toll gate area, the flag indicating that the vehicle is moving around the toll gate is set off.

  The above-described processing shown in S202 to S208 is repeated for the number of corresponding road candidates, and it is determined whether or not the road candidates are moving around the toll gate.

  Next, the road candidate evaluation value determination process of the map matching process shown in FIG. 2 is performed (S300). A flowchart of this road candidate evaluation value determination process is shown in FIG. In this road candidate evaluation value determination process, first, it is determined whether or not the target candidate (candidate point) is moving around the toll gate based on ON / OFF of the flag indicating that it is moving around the toll gate ( S302). Specifically, it is determined whether or not the candidate point is determined to be moving around the toll gate based on the on / off state of the flag indicating that the toll gate is moving.

  If the flag indicating that the vehicle is moving around the toll gate is off, the determination in S302 is NO, and then the candidate evaluation value is calculated as usual (S306).

  Here, with reference to FIG. 6, the calculation of the candidate evaluation value representing the degree of coincidence between the travel locus and the road data link will be described. The upper side of FIG. 6 shows a travel locus when the vehicle travels far away from the main line in the toll gate area. Further, on the lower side of FIG. 6, the azimuth difference i and the candidate evaluation value when calculated by the conventional calculation of the candidate evaluation value are shown corresponding to the upper traveling locus. As shown in the figure, an accumulated value obtained by accumulating the azimuth difference i between the road i and the trajectory i collected for each fixed section and the absolute value of the directional difference i for each fixed section is shown.

  In the present embodiment, the cumulative value of the heading difference i between the road i and the trajectory i for each predetermined section is calculated as a candidate evaluation value. That is, the candidate evaluation value = Σazimuth difference i (i = 1 to n) is calculated. Note that if the vehicle goes straight through the toll gate area and passes the toll gate node, the candidate evaluation value becomes smaller, and if the vehicle greatly deviates to the end of the toll gate area and passes the toll gate node, the candidate evaluation The value gets bigger.

  If the flag indicating that the vehicle is moving around the toll gate is on, the determination in S302 is YES, and the previous evaluation value is set (S304). The previous evaluation value is an evaluation value calculated immediately before it is determined that the vehicle is located in the toll gate area. That is, an evaluation value calculated before the vehicle enters the toll gate area is set as a candidate evaluation value. In this way, when the host vehicle is traveling in the toll gate area, deterioration of the evaluation value is suppressed.

  The processes shown in S302 to S306 described above are repeated for the number of corresponding road candidates.

  Next, the road departure running determination process of the map matching process shown in FIG. 2 is performed (S400). FIG. 7 shows a flowchart of the road departure traveling determination process. In this road departure traveling determination process, first, it is determined whether or not the corresponding candidate point is moving on the road (S402). Specifically, when the shortest distance between the corresponding candidate point and the road candidate is less than a predetermined distance, it is determined that the corresponding candidate point is moving on the road, and the corresponding candidate point and the road candidate are If the shortest distance is greater than or equal to a predetermined distance, it is determined that the corresponding candidate point is moving off the road.

  If the shortest distance between the corresponding candidate point and the road candidate is less than a predetermined distance, the determination in S402 is YES, and then it is determined whether the candidate evaluation value is larger than a determination threshold (reference evaluation value). (S404).

  Here, if the candidate evaluation value is larger than the determination threshold, the determination in S404 is YES, and it is considered that the corresponding candidate point is moving outside the road (S406). Specifically, a flag indicating that the vehicle is traveling off the road is turned on.

  If the candidate evaluation value is less than or equal to the determination threshold value, the determination in S404 is NO, and it is considered that the corresponding candidate point is moving on the road. Turn off the flag indicating.

  If the shortest distance between the corresponding candidate point and the road candidate is equal to or greater than the predetermined distance, the determination in S402 is NO, and the process ends without performing the determination in S404. As described above, the processes shown in S402 to S406 are repeated for the number of road candidates.

  Next, the travel road candidate selection determination process of the map matching process shown in FIG. 2 is performed (S500). In this traveling road candidate selection determination process, the most probable road candidate where the vehicle is located is selected based on the candidate evaluation value. In this embodiment, the road with the smallest candidate evaluation value is selected as a road candidate.

  Furthermore, although not shown, if it is determined that the selected road candidate is traveling based on a flag indicating that the vehicle is traveling away from the road, a point on the road candidate is displayed. If the vehicle position is corrected and it is determined that the vehicle is traveling away from the selected road candidate, a point outside the road candidate is specified as the vehicle position. In other words, if the flag indicating that the selected road candidate is leaving the road is on, the vehicle position is corrected to a point on the road candidate and the selected road candidate is selected. If the flag indicating that the vehicle is leaving the road is turned off, a point outside this road candidate is identified as the vehicle position. In this way, the vehicle position is specified, and the map matching process ends.

  Note that an image in which the vehicle position mark is superimposed on a position on the map corresponding to the vehicle position specified by the map matching process is displayed on the display device 19 by the map display process.

  According to the configuration described above, when calculating the evaluation value of the road candidate determined to be traveling in the toll gate area, before determining that the own vehicle is traveling in the toll gate area. The candidate evaluation value calculated is stored and the candidate evaluation value is used to determine whether or not the vehicle is running off the road. It is not determined that the vehicle is moving away from the vehicle, and erroneous display of the vehicle position when traveling in the toll gate area can be prevented without newly preparing map data.

(Second Embodiment)
The configuration of the navigation device according to the second embodiment of the present invention is the same as the configuration of the first embodiment shown in FIG. In the first embodiment, when it is determined that the own vehicle is traveling in the toll gate area, the candidate evaluation value calculated before the own vehicle enters the toll gate area is retained, and this retained candidate evaluation is retained. In the present embodiment, when it is determined that the vehicle is traveling in the toll gate area, the reference evaluation value is set. It is further determined whether the vehicle is traveling away from the road.

  Compared with the process of the first embodiment shown in FIG. 2, the map matching process in the present embodiment is a road candidate evaluation value calculation process in S300, a road departure travel determination process in S400, and a travel road candidate selection determination process in S500. Is different. The same parts as those in the above embodiment are denoted by the same reference numerals, and the description thereof is omitted. Hereinafter, different points will be mainly described.

  FIG. 8 shows a flowchart of the road candidate evaluation value calculation process (S300) in this embodiment. In the road candidate evaluation value calculation process in the present embodiment, a process of “calculating candidate evaluation values as usual” is performed on all road candidates in the same manner as S306 in FIG. Go to S400).

  FIG. 9 shows a flowchart of the road departure traveling determination process 400 in the present embodiment. In this road departure traveling determination process, first, it is determined whether or not the candidate point is on the road based on the shortest distance between the corresponding candidate point and the road candidate being less than a predetermined distance (S402). Is on the road, the determination in S402 is YES, and then it is determined whether or not the corresponding candidate point is moving around the toll gate (S410).

  When the corresponding candidate point is moving outside the vicinity of the toll gate, the determination in S402 is NO, and then whether or not the candidate evaluation value is larger than the first determination threshold value (first reference evaluation value). Determination is made (S412).

  Here, when the candidate evaluation value is smaller than the first determination threshold value, the determination in S412 is NO, and it is considered that the corresponding candidate point is moving on the road. Turn off the flag indicating that you are driving.

  If the candidate evaluation value is larger than the first determination threshold, the determination in S412 is YES, and the candidate point is regarded as moving outside the road (S416), and the vehicle travels away from the road. Turn on the flag indicating that

  If the corresponding candidate point is moving around the toll booth, the determination in S410 is YES, and then the second determination threshold (second reference evaluation) in which the candidate evaluation value is larger than the first determination threshold. It is determined whether it is larger than (value) (S414).

  If the candidate evaluation value is larger than the second determination threshold value, the determination in S414 is YES, and the candidate point is regarded as moving outside the road (S406), and the vehicle is traveling off the road. Turn on the flag shown.

  If the candidate evaluation value is equal to or smaller than the second determination threshold value, the determination in S414 is NO, and although not shown, a flag indicating that the vehicle is traveling away from the road is turned off. The above process is repeated for the number of corresponding candidates, and the process proceeds to the traveling road candidate selection determination process of S500.

  A flowchart of the traveling road candidate selection determination process (S500) in the present embodiment is shown in FIG. In this travel road candidate selection determination process, first, it is determined whether or not there are road candidates around the toll gate (S502). Specifically, it is determined whether there is a road candidate in which a toll gate is installed.

  If there is a road candidate where a toll gate is installed, the determination in S502 is YES, and road candidates around the toll gate are preferentially selected (S504). That is, the road where the toll gate is installed is preferentially selected as a road candidate.

  If there is no road candidate in which a toll gate is installed, the determination in S502 is NO, and the most likely road candidate is finally specified from the candidate evaluation value (S506). That is, the road candidate having the smallest candidate evaluation value is selected.

  Furthermore, although not shown, if it is determined that the selected road candidate is traveling based on a flag indicating that the vehicle is traveling away from the road, a point on the road candidate is displayed. If the vehicle position is corrected and it is determined that the vehicle is traveling away from the selected road candidate, a point outside the road candidate is specified as the vehicle position. In other words, if the flag indicating that the selected road candidate is leaving the road is on, the vehicle position is corrected to a point on the road candidate and the selected road candidate is selected. If the flag indicating that the vehicle is leaving the road is turned off, a point outside this road candidate is identified as the vehicle position. In this way, the vehicle position is specified, and the map matching process ends.

  Note that an image in which the vehicle position mark is superimposed on a position on the map corresponding to the vehicle position specified by the map matching process is displayed on the display device 19 by the map display process.

  According to the above configuration, when it is determined that the vehicle is traveling in the toll gate area, the road candidate where the toll gate is installed is selected preferentially, and the road candidate in which the toll gate is installed It is judged whether you are driving on the road represented by the link or leaving the road by making the standard evaluation value of the road worse, so you can leave the road even if you change the course in the tollgate area Thus, it is not determined that the vehicle is traveling, and erroneous display of the vehicle position when traveling in the toll gate area can be prevented without newly preparing map data.

(Other embodiments)
In the above embodiment, the evaluation value indicating the degree of coincidence between the travel locus obtained from the position information input from the position detector 10 and the link representing the road included in the map data read from the map data input unit 16 is illustrated in FIG. As shown in FIG. 6, the example in which the cumulative value of the azimuth difference i between the road i and the trajectory i for each fixed section is shown. However, the present invention is not limited to such an example. The shortest distance between the point and the point on the link corresponding to this point may be obtained as the evaluation value, and the degree of coincidence between the travel locus and the shape of the road link may be obtained as the evaluation value.

  Moreover, in the said 1st Embodiment, although the candidate on the road with high possibility that the own vehicle exists in S100 was extracted and the candidate evaluation value was calculated with respect to the extracted road candidate, for example, Provided with a route search function for searching for a guide route to the destination, and when the guide route is searched for by the route search function, it exists in the link constituting the searched guide route and is determined by the toll booth traveling determination means. The candidate evaluation value calculated before it is determined that the vehicle is traveling in the toll gate area is retained only for the road candidate determined that the vehicle is traveling in the toll gate area. It may be. In this case, the vehicle travels in the toll gate area only for road candidates that are present in the links constituting the searched guide route and are determined to be traveling in the toll gate area. It is only necessary to hold the candidate evaluation value calculated before being determined as being in the middle, and the processing load can be reduced.

  In the second embodiment, candidates on a road where the vehicle is likely to exist are extracted in S100, candidate evaluation values are calculated for the extracted road candidates, and the candidate evaluation values and the reference evaluation are calculated. An example of comparing the locations and determining that the candidate evaluation value is worse than the reference evaluation value and leaving the road is shown. For example, a route for searching for a guidance route to the destination With a search function, when a guidance route is being searched, a road candidate on which a toll gate is installed is preferentially selected as a link that constitutes the searched guidance route, The reference evaluation value may be further deteriorated only for a road candidate that is a link that constitutes a guide route searched by the route search means and that has a toll gate. In this case, a road candidate that has a guide route and a toll booth is preferentially selected, and a link that constitutes a guide route and has a toll booth installed. Thus, it is only necessary to determine whether the vehicle is traveling on the road represented by the link by deteriorating the reference evaluation value, and the processing load can be reduced.

  Further, in the first and second embodiments, a road search function for searching for a guide route to the destination is provided, and only candidates that exist on the links constituting the guide route searched by the route search means are determined as roads. You may make it determine whether the own vehicle is drive | working the toll gate area for every candidate. In this case, it is determined whether or not the vehicle is traveling in the toll gate area for each road candidate, with only candidates existing on the links constituting the guide route being determined, so that the processing load can be reduced. Is possible.

  Further, in the above embodiment, the map matching process shown in FIG. 2 is performed periodically, and the previous evaluation value calculated immediately before it is determined in S304 that the vehicle is located in the toll gate area is maintained. An example of determining whether or not the vehicle is traveling away from the vehicle has been shown, but is not limited to the method of setting the previous evaluation value, for example, a predetermined distance before the vehicle enters the toll gate area An evaluation value may be calculated at this point, and it may be determined using this evaluation value whether or not the vehicle is traveling away from the road.

  The correspondence relationship between the configuration of the above embodiment and the configuration of the claims will be described. The position detector 10 corresponds to the position information input unit, and the toll gate periphery travel determination process 200 is the toll gate periphery travel determination unit. S300 corresponds to the candidate evaluation value calculation means, S400 corresponds to the road departure traveling determination means, and the route search processing by the control circuit 22 corresponds to the route search means.

It is a figure which shows the structure of the navigation apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the map matching process which concerns on 1st Embodiment of this invention. It is a flowchart which shows the toll gate driving | running | working determination process of the map matching process which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the toll gate periphery running determination area. It is a flowchart which shows the road candidate evaluation value determination process of the map matching process which concerns on 1st Embodiment of this invention. It is a figure for demonstrating calculation of a candidate evaluation value. It is a flowchart which shows the road leaving travel determination process which concerns on 1st Embodiment of this invention. It is a flowchart which shows the road candidate evaluation value calculation process of the map matching process which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the road leaving travel determination process of the map matching process which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the traveling road candidate selection determination process of the map matching process which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating a subject. It is a figure for demonstrating a subject.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 10 ... Position detector, 11 ... Geomagnetic sensor,
12 ... Gyroscope, 13 ... Distance sensor, 14 ... GPS receiver,
15 ... Acceleration sensor, 16 ... Map data input unit, 17 ... Operation switch group,
18 ... Transceiver, 19 ... Display device, 20 ... Storage device, 21 ... Remote control sensor,
22: Control circuit.

Claims (5)

Position information input means for inputting position information for specifying the vehicle position;
Road candidate generation means for generating one or more road candidates representing positions on a link where the vehicle can exist from the position information and a link representing a road included in the map data read from the map data input means;
Candidate evaluation value calculation means for calculating a candidate evaluation value indicating a degree of coincidence between the travel locus obtained from the position information input from the position information input means and the link for the road candidate;
Based on whether or not the candidate evaluation value calculated by the candidate evaluation value calculating means is better than a predetermined reference evaluation value, the vehicle is traveling on or off the road represented by the link. Road departure traveling determination means for determining whether or not
Road candidate selection determining means for selecting the most likely road candidate on which the vehicle is located based on the candidate evaluation value calculated by the candidate evaluation value calculating means,
When the road candidate selected by the road candidate selection determining means determines that the road candidate traveling determination means is traveling on the road represented by the link, the road candidate is automatically located at a point on the road candidate. When a vehicle position is corrected and displayed, and the road candidate selected by the road candidate selection determination unit is determined to be traveling away from the road represented by the link by the road departure traveling determination unit Is a navigation device that displays the position of the vehicle at a point outside the road candidate,
A toll gate travel determination means for determining whether the vehicle is traveling in the toll gate area for each road candidate;
The candidate evaluation value calculating means calculates the evaluation value of the road candidate determined by the toll gate periphery traveling determination means as that the vehicle is traveling in the toll gate area. A navigation device that holds the candidate evaluation value calculated before it is determined that the vehicle is traveling. A route search means for searching for a guide route to the destination is provided.
The candidate evaluation value calculating means exists in the link constituting the searched guide route when the guide route is searched by the route searching means, and the toll gate peripheral travel determining means has the toll gate The candidate evaluation value calculated before it is determined that the vehicle is traveling in the toll gate area is held only for road candidates determined that the vehicle is traveling in the area. The navigation device according to claim 1. Position information input means for inputting position information for specifying the vehicle position;
Road candidate generation means for generating one or more road candidates representing positions on a link where the vehicle can exist from the position information and a link representing a road included in the map data read from the map data input means;
Candidate evaluation value calculation means for calculating a candidate evaluation value indicating a degree of coincidence between the travel locus obtained from the position information input from the position information input means and the link for the road candidate;
Driving or leaving the road represented by the link based on whether or not the candidate evaluation value calculated by the candidate evaluation value calculating means for each road candidate is better than a predetermined reference evaluation value Road departure traveling determination means for determining whether or not the vehicle is traveling,
Road candidate selection determining means for selecting the most likely road candidate on which the vehicle is located based on the candidate evaluation value calculated by the candidate evaluation value calculating means,
When the road candidate selected by the road candidate selection determining means determines that the road candidate traveling determination means is traveling on the road represented by the link, the road candidate is automatically located at a point on the road candidate. When a vehicle position is corrected and displayed, and the road candidate selected by the road candidate selection determination unit is determined to be traveling away from the road represented by the link by the road departure traveling determination unit Is a navigation device that displays the position of the vehicle at a point outside the road candidate,
A toll gate travel determination means for determining whether the vehicle is traveling in the toll gate area for each road candidate;
When it is determined by the toll gate periphery traveling determination means that the vehicle is traveling in the toll gate area, the road candidate selection determining means preferentially selects a road candidate in which the toll gate is installed. The road departure traveling determination means further deteriorates the reference evaluation value of the road candidate where the toll booth is installed to determine whether the road is represented by the link or is traveling away from the road. The navigation apparatus characterized by determining. A route search means for searching for a guide route to the destination is provided.
When the guide route is searched by the route search means, the road candidate selection determination means is a link that constitutes the guide route searched by the route search means, and the toll gate is installed. The road candidate is preferentially selected, and the road departure traveling determination means is a link constituting the guide route searched for by the route search means and only for a road candidate where the toll gate is installed. The navigation device according to claim 3, wherein the reference evaluation value is further deteriorated. A route search means for searching for a guide route to the destination is provided.
The navigation apparatus according to claim 1, wherein the toll gate travel determination unit sets only candidates that exist on the links constituting the guide route searched by the route search unit as determination targets.

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