JP2018105628A - Electronic device, matching candidate search method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a matching candidate search method which performs map matching more suitably.SOLUTION: A wrist terminal 1 comprises a candidate link search unit 53. The candidate link search unit 53 searches for candidate links for which link in route map information a current position is matched to. The candidate link search unit 53 also changes a search criterion for searching for the candidate links based on statistical data of the route map information around the current position. For example, the candidate link search unit can determine whether the route map information around the current position is complex. When it is complex, the candidate link search unit can determine the search criterion to reduce more the number of maximum referable candidate links.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electronic device, a matching candidate search method, and a program for searching for a matching candidate for map-matching a current position on a map.

2. Description of the Related Art Conventionally, as a method for positioning a position, a positioning technique based on GPS (Global Positioning System) or autonomous navigation using a sensor such as acceleration or geomagnetism is known.
In such a technique, map matching for specifying the nearest link on the map as the current position is performed using a positioning position obtained from GPS or autonomous navigation and surrounding map information.
In map matching, all links are searched first, and candidate links are narrowed down to a plurality of links, and a link that is estimated to be most likely to be currently located is identified as the maximum likelihood link. . In the subsequent map matching, only the links connected to the candidate links are searched, thereby reducing the number of links to be subjected to map matching and increasing the processing speed.
In addition, the technique regarding map matching is described in Patent Document 1, for example.

JP 2006-266986 A

  However, in the conventional map matching, the frequency of misjudgment of the maximum likelihood link may be increased depending on the state of the road network around the current position. In this case, when displaying the current position, the frequency is frequently changed between the links. A jump will occur. For example, in the case of a complicated road such as a mountain trail, the current position jumps to a distant link on the mountain climbing route by erroneously determining the maximum likelihood link. In addition, when map matching to an incorrect link is performed in route guidance or the like, a false report of course out will occur.

  The present invention has been made in view of such circumstances, and an object thereof is to perform map matching more appropriately.

In order to achieve the above object, an electronic device of one embodiment of the present invention includes:
Candidate link search means for searching for a candidate link for matching the current position to which link of the route map information,
The candidate link searching means changes search criteria for searching for the candidate link based on statistical data of the route map information around the current position.

  According to the present invention, map matching can be performed more appropriately.

1A and 1B are diagrams illustrating a configuration of a wrist terminal as an embodiment of an electronic apparatus according to the present invention, in which FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is a functional block diagram which shows the functional structure for performing a position specific process among the functional structures of the wrist terminal of FIG. It is a schematic diagram which shows the concept of the statistical data showing the characteristic of route map information. It is a flowchart explaining the flow of the position specific process which the wrist terminal of FIG. 1 which has the function structure of FIG. 2 performs. It is a flowchart explaining the flow of all the link search processing. It is a flowchart explaining the flow of a candidate link search process. It is a flowchart explaining the flow of a statistical data acquisition process. It is a flowchart explaining the flow of a search reference | standard determination process. It is a schematic diagram which shows the state by which the jump of a present position is suppressed when the largest referable candidate link is decreased.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Hardware configuration]
A hardware configuration of the wrist terminal 1 in the present embodiment will be described with reference to FIG.
FIG. 1 is a diagram illustrating a configuration of a wrist terminal 1 as an embodiment of an electronic device according to the present invention. FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is.
As shown in FIG. 1A, the wrist terminal 1 is an electronic device that has a wristwatch type and has a function similar to a smartphone.
As shown in FIG. 1B, the wrist terminal 1 includes a control unit 11, a sensor unit 12, an input unit 13, a display unit 14 including an LCD (Liquid Crystal Display), and a clock circuit. 15, a ROM (Read Only Memory) 16, a RAM (Read Access Memory) 17, a GPS antenna 18, a GPS module 19, a wireless communication antenna 20, a wireless communication module 21, and a drive 22. Yes.

The control unit 11 includes an arithmetic processing device such as a CPU (Central Processing Unit), and controls the operation of the entire wrist terminal 1. For example, the control unit 11 executes various processes according to a program recorded in the ROM 16 such as a program for position specifying processing (described later).
The sensor unit 12 includes various sensors such as a triaxial acceleration sensor, a magnetic sensor, an atmospheric pressure sensor, and an air temperature sensor.

The input unit 13 is composed of various buttons, a capacitance type or resistive film type position input sensor stacked on the display area of the display unit 14, and inputs various types of information according to a user's instruction operation.
The display unit 14 outputs an image according to an instruction from the control unit 11. For example, the display unit 14 displays various images and a user interface screen. In the present embodiment, the position input sensor of the input unit 13 is arranged on the display unit 14 so as to constitute a touch panel.
The clock circuit 15 generates a time signal from a signal generated by a system clock or an oscillator, and outputs the current time.

The ROM 16 stores information such as a control program executed by the control unit 11.
The RAM 17 provides a work area when the control unit 11 executes various processes.
The GPS antenna 18 receives radio waves transmitted from satellites in GPS and converts them into electrical signals, and outputs the converted electrical signals (hereinafter referred to as “GPS signals”) to the GPS module 19.
The GPS module 19 detects the position (latitude, longitude, altitude) of the wrist terminal 1 and the current time indicated by GPS based on the GPS signal input from the GPS antenna 18. Further, the GPS module 19 outputs information indicating the detected position and the current time to the control unit 11.

The radio communication antenna 20 is an antenna capable of receiving radio waves having a frequency corresponding to radio communication used by the radio communication module 21, and is configured by, for example, a loop antenna or a rod antenna. The radio communication antenna 20 transmits the radio communication electric signal input from the radio communication module 21 as an electromagnetic wave, or converts the received electromagnetic wave into an electric signal and outputs the electric signal to the radio communication module 21.
The wireless communication module 21 transmits a signal to another device via the wireless communication antenna 20 in accordance with an instruction from the control unit 11. In addition, the wireless communication module 21 receives a signal transmitted from another device and outputs information indicated by the received signal to the control unit 11.
A removable medium 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 22. The removable medium 31 can store various data such as image data.

[Functional configuration]
Next, a functional configuration for executing the position specifying process among the functional configurations of the wrist terminal 1 will be described.
FIG. 2 is a functional block diagram showing a functional configuration for executing the position specifying process among the functional configurations of the wrist terminal 1 of FIG.
The position specifying process changes the search criteria for candidate links according to the characteristics of the map information (road network information, etc.) around the current position when map matching to the link in the map information is performed and the current position is displayed. However, it is a series of processes for specifying the maximum likelihood link (the link with the highest likelihood) and displaying the current position.
Note that the likelihood of the link is the angle difference Δθ between the movement vector (vector defined by the movement amount and movement direction) based on the acquired positioning position and the link direction, and the distance d between the link and the positioning position. Using, likelihood = 1 / d + cosΔθ. That is, the closer the acquired positioning position is to the distance and the closer the direction of the movement vector to the link, the higher the likelihood of the link.

  When the position specifying process is executed, as shown in FIG. 2, in the control unit 11, the position acquisition unit 51, the statistical data acquisition unit 52, the candidate link search unit 53, the matching processing unit 54, and the display The control unit 55 functions. A map information storage unit 71 is provided in one area of the ROM 16.

  The map information storage unit 71 stores a database in which map information is stored. The map information includes route map information (for example, road network information or pedestrian network information) configured by a set of links, and each link is information on latitude, longitude, altitude, link direction, and link length. have. In the present embodiment, the route map information also includes city map information (building and structure information) in the link.

The position acquisition unit 51 acquires the positioning position of the wrist terminal 1.
Specifically, the position acquisition unit 51 acquires the positioning position of the wrist terminal 1 based on the position information acquired from the GPS module 19 and the autonomous navigation by the sensor unit 12.

  The statistical data acquisition unit 52 acquires statistical data representing the characteristics of the route map information for route map information around the current position (for example, within a few km). In the present embodiment, the statistical data acquisition unit 52 acquires, as statistical data, link orientation, link gradient and link length histograms, link number, and branch number data.

FIG. 3 is a schematic diagram showing the concept of statistical data representing the characteristics of route map information.
As shown in FIG. 3, in a route that has been developed like an urban area, the histogram of the link direction and the link gradient becomes small, and the link length tends to be relatively long. In addition, the number of links around the current position becomes relatively large, and the number of branches from the maximum likelihood link and the maximum likelihood link candidate link (link having a likelihood equal to or greater than a predetermined value) at the current position (that is, connected) The number of links) tends to be relatively large.
On the other hand, in a route having a complicated shape such as a mountain trail, there is a large variation in the histogram of the link direction and the link gradient, and the link length tends to be relatively short. Further, the number of links around the current position tends to be relatively small, and the number of branches from the maximum likelihood link at the current position and the candidate link of the maximum likelihood link tends to be relatively small.

  In this embodiment, as will be described later, the number of candidate links to be subjected to map matching is set. And after determining the maximum likelihood link from these candidate links (maximum referable candidate links described later), considering the resetting of the current position to a candidate link other than the maximum likelihood link, the current link Map matching is also performed in the background for candidate links other than the maximum likelihood link.

Candidate link search unit 53 is based on the statistical data acquired by statistical data acquisition unit 52, and is a search criterion for a candidate link to be selected as a map matching target (hereinafter referred to as “maximum referable candidate link” as appropriate). To decide. In the present embodiment, the number of maximum referable candidate links is determined as the maximum referenceable link search criterion.
Specifically, the candidate link search unit 53 determines the characteristics of the route map information around the current position based on the statistical data acquired by the statistical data acquisition unit 52, and determines the maximum referable candidate according to the determination result. Determine link search criteria. For example, the candidate link search unit 53 determines whether or not the route map information around the current position is complicated. If the route map information is complex, the candidate link search unit 53 determines a search criterion so as to further reduce the number of maximum referable candidate links. can do. Then, the candidate link search unit 53 searches for the maximum referable candidate link in the route map information around the current position according to the determined search criteria. As a result, a predetermined number of candidate links to be subjected to map matching are selected.
In FIG. 3, among the links representing the route, the link indicated by the solid line represents the candidate link selected as the maximum referable candidate link. As shown in FIG. 3, the number of the maximum referenceable candidate links is set to “6” with a larger number of the maximum referenceable candidate links in the sectioned route, and the number of the maximum referenceable candidate links is set to “3” with a smaller number of the complicated shape routes. Yes.

  In the present embodiment, the candidate link search unit 53 determines the variation in route map information around the current position as a specific feature of the route map information around the current position. The candidate link search unit 53 further reduces the number of maximum referable candidate links when the variation in route map information around the current position is large, and increases the number of maximum referable candidate links when the variation is small. . At this time, the candidate link search part 53 can calculate the dispersion | distribution regarding the histogram of statistical data as an example which shows a dispersion | variation as an example. Then, the candidate link search unit 53 changes the search reference for the maximum referable candidate link so that the number of candidate links is further decreased when the calculated variance exceeds a preset threshold for statistical data variance, If the number of candidate links is not exceeded, the search criterion for the maximum referable candidate link is changed so as to maintain or increase the number of candidate links.

  Further, the candidate link search unit 53 determines the link length of the link included in the route map information around the current position as a specific feature of the route map information around the current position. Then, when the link length of the link included in the route map information around the current position is short (the ratio of the short link length is high), the candidate link search unit 53 further reduces the number of maximum referable candidate links, When the link length of the link included in the surrounding route map information is long (the ratio of the long link length is high), the number of maximum referable candidate links is further increased.

  Note that the route map information around the current position includes complex routes such as the number of links included in the route map information around the current position, the number of branches from the maximum likelihood link and the candidate links, in addition to variations and link lengths. It is also possible to determine other elements of features that tend to have. In these cases, if the number of links included in the route map information around the current position is small, the number of maximum referable candidate links is further reduced, or the maximum likelihood link and candidate links in the route map information around the current position are reduced. If the number of branches is small, it is possible to perform control such as further reducing the maximum referable candidate links.

  In this way, when the route of complex shape is moved by changing the number of maximum referable candidate links according to the statistical data of the route map information around the current position, the limitation close to the current position is limited. Only the route that has been made can be the target of map matching, and frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.

  Based on the positioning position acquired by the position acquisition unit 51, the matching processing unit 54 performs map matching on a predetermined link (all links or maximum referenceable candidate links) included in the route map information, and the maximum likelihood link. The matching position in is specified.

  Specifically, the matching processing unit 54 first calculates the distance to the positioning position for all the links in the route map information, and specifies the nearest link as the maximum likelihood link. Further, the matching processing unit 54 specifies the nearest neighbor point in the maximum likelihood link as a map matching position with respect to the positioning position acquired by the position acquisition unit 51. On the other hand, after the maximum likelihood link is specified, the matching processing unit 54 sets the maximum referable candidate link searched by the candidate link search unit 53 as a target of map matching. Then, the matching processing unit 54 sequentially calculates the likelihood of each of the maximum referable candidate links to be subjected to map matching. That is, in the present embodiment, in consideration of resetting the current position to a candidate link other than the maximum likelihood link, etc., candidate links other than the current maximum likelihood link (maximum referable candidate links other than the maximum likelihood link) In addition, map matching is performed in the background. And the matching process part 54 specifies the nearest neighbor point with respect to the positioning position which the position acquisition part 51 acquired in the maximum likelihood link with the highest likelihood as a map matching position.

  The display control unit 55 causes the display unit 14 to display the current position specified by the matching processing unit 54 on the map.

[Operation]
Next, the operation of the wrist terminal 1 will be described.
FIG. 4 is a flowchart for explaining the flow of the position specifying process executed by the wrist terminal 1 of FIG. 1 having the functional configuration of FIG.
The position specifying process is started by receiving an operation for starting the position specifying process of the user at the input unit 13 of the wrist terminal 1, and is repeatedly executed until an end operation of the user is received.
In step S <b> 1, the position acquisition unit 51 acquires the positioning position of the wrist terminal 1. Further, the matching processing unit 54 calculates a movement vector from the acquired positioning position.

In step S2, the matching processing unit 54 determines whether or not the maximum likelihood link has already been specified.
When the maximum likelihood link is not specified, it is determined as NO in Step S2, and the process proceeds to Step S3.
On the other hand, if the maximum likelihood link has already been specified, YES is determined in step S2, and the process proceeds to step S4.

In step S3, an all link search process (described later) is executed.
In step S4, candidate link search processing (described later) is executed.
After step S3 and step S4, the process proceeds to step S5.
In step S5, the display control unit 55 causes the display unit 14 to display the current position determined in steps S3 and S4 on the map.
After step S5, the position specifying process is repeated.

Next, the all link search process executed in step S3 of the position specifying process will be described.
FIG. 5 is a flowchart for explaining the flow of all link search processing.
In step S11, the matching processing unit 54 calculates the distance to the positioning position for all links in the route map information.
In step S12, the matching processing unit 54 identifies the link closest to the positioning position as the maximum likelihood link, and identifies the nearest neighbor point of the positioning position in the maximum likelihood link as the map matching position. The matching processing unit 54 determines the map matching position on the identified link as the current position.
After step S12, the process returns to the position specifying process.

Next, the candidate link search process executed in step S4 of the position specifying process will be described.
FIG. 6 is a flowchart for explaining the flow of the candidate link search process.
In step S21, the statistical data acquisition unit 52 executes a statistical data acquisition process (described later).
In step S22, the candidate link search unit 53 executes a search criterion determination process (described later).
In step S23, the matching processing unit 54 calculates the likelihood for one of the maximum referable candidate links.

In step S24, the matching processing unit 54 determines whether or not the likelihood has been calculated for all the maximum referable candidate links.
When the likelihood has not been calculated for all the maximum referable candidate links, it is determined as NO in Step S24, and the process proceeds to Step S23.
On the other hand, if the likelihood has been calculated for all of the maximum referable candidate links, YES is determined in step S24, and the process proceeds to step S25.
In step S <b> 25, the matching processing unit 54 specifies the nearest neighbor point with respect to the positioning position as the map matching position in the maximum likelihood link having the highest likelihood among the maximum referable candidate links. The matching processing unit 54 determines the map matching position on the identified link as the current position.
After step S25, the process returns to the position specifying process.

Next, the statistical data acquisition process executed in step S21 of the candidate link search process will be described.
FIG. 7 is a flowchart illustrating the flow of statistical data acquisition processing.
In step S31, the statistical data acquisition unit 52 acquires information about links and nodes included in route map information around the current position.
In step S <b> 32, the statistical data acquisition unit 52 acquires, as statistical data, data on the link orientation, the link gradient, the link length, the number of links, and the number of branches.
After step S32, the process returns to the candidate link search process.

Next, the search criterion determination process executed in step S22 of the candidate link search process will be described.
FIG. 8 is a flowchart for explaining the flow of the search criterion determination process.
In step S41, the candidate link search unit 53 determines the characteristics of the route map information around the current position based on the statistical data. Specifically, the candidate link search unit 53 determines whether route map information around the current position is complicated. For example, the candidate link search unit 53 determines whether or not the variation in link orientation is large or whether the link length is short.

When the route map information around the current position is complicated (for example, when the variation in the link direction is large or the link length is short), it is determined as YES in Step S41, and the process proceeds to Step S42.
On the other hand, when the route map information around the current position is not complicated (for example, when the variation in the link direction is small or the link length is long), it is determined as NO in Step S41, and the process returns to the candidate link search process.

In step S42, the candidate link search unit 53 changes the search criteria so as to further reduce the number of maximum referable candidate links.
After step S42, the process returns to the candidate link search process.

By such processing, the number of maximum referable candidate links can be changed according to the statistical data of route map information around the current position.
Therefore, when a route having a high possibility that the accuracy of map matching is reduced, such as a route having a complicated shape, is moved, only a limited route close to the current position can be a target of map matching.
Therefore, frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.
FIG. 9 is a schematic diagram illustrating a state in which a jump at the current position is suppressed when the maximum referable candidate link is decreased.
As shown in FIG. 9, since the maximum referenceable candidate link is reduced to a smaller number, a link with a high likelihood at a position relatively far from the current position is not identified as the maximum likelihood link. Jumping of the current position is suppressed.
Thus, according to the wrist terminal 1 according to the present embodiment, map matching can be performed more appropriately.

[Modification 1]
In the above-described embodiment, the number of candidate links is changed as the search reference for the maximum referable candidate link. However, the present invention is not limited to this.
That is, as a search criterion for the maximum referable candidate link, the range around the current position for searching for the maximum referable candidate link is changed (enlarged or reduced), and a link around the current position is selected as the maximum referable candidate link. Changing the likelihood threshold (changing (increasing or decreasing)), changing the likelihood calculation formula when selecting a link in the vicinity of the current position as the maximum referable candidate link (with only distance or only direction as an element) Is possible. Moreover, it is also possible to implement combining these methods.
Thereby, the candidate link used as the object of map matching can be appropriately selected in consideration of various viewpoints related to selection of the candidate link.

[Modification 2]
In the above-described embodiment, the search reference for the maximum referable candidate link can be changed so as to decrease the number of maximum referable candidate links as the surrounding GPS positioning environment is poor.
For example, in a route covered with a valley or a roof of a building, the positioning accuracy of GPS is lowered. Therefore, erroneous determination of the maximum likelihood link is likely to occur, and jumps of the current position frequently occur.
Thus, frequent jumps at the current position can be suppressed by further reducing the number of maximum referable candidate links.

The wrist terminal 1 configured as described above includes the candidate link search unit 53.
The candidate link search unit 53 searches for a candidate link for matching the current position with any link in the route map information.
Further, the candidate link search unit 53 changes a search criterion for searching for a candidate link based on statistical data of route map information around the current position.
Thereby, the search criteria for searching for candidate links can be changed according to the statistical data of route map information around the current position.
Therefore, depending on the situation, only a limited route close to the current position can be targeted for matching, and frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed. .
Therefore, map matching can be performed more appropriately.

The candidate link search unit 53 changes the search criteria for searching for the candidate link according to the complexity of the route map information around the current position represented by the statistical data.
As a result, when a route that has a high possibility of a decrease in matching accuracy is being moved, only a limited route can be targeted for matching.
Therefore, frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.

The candidate link search unit 53 changes the position range around the current position as a search reference for searching for candidate links.
As a result, when a route that has a high possibility of a decrease in matching accuracy is being moved, only a limited route that is close to the current position can be targeted.
Therefore, frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.

The candidate link search unit 53 changes a threshold value of likelihood to be selected as a candidate link as a search criterion for searching for a candidate link.
As a result, when a route that has a high possibility of a decrease in matching accuracy is being moved, only a route with a higher likelihood can be set as a matching target.
Therefore, frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.

Candidate link search unit 53 changes the likelihood calculation formula as a search criterion for searching for candidate links.
As a result, when moving along a route that is highly likely to reduce the accuracy of matching, the likelihood of the candidate link can be calculated with a definition different from normal.
Therefore, the likelihood suitable for selection of a candidate link can be calculated according to the situation.

The candidate link search unit 53 searches for a plurality of candidate links.
Thereby, the current position can be quickly reset to a candidate link other than the maximum likelihood link.

The candidate link search unit 53 changes the search criteria so that the more complicated the feature of the route map information represented by the statistical data, the smaller the number of candidate links.
Therefore, the more complicated the route is, the more likely it is that the accuracy of matching will be reduced, so that only a limited route can be targeted for matching.
Therefore, frequent jumps at the current position due to erroneous determination of the maximum likelihood link can be suppressed.

The candidate link search unit 53 changes the search criteria so that the number of candidate links decreases as the positioning conditions around the current position are poorer.
Thereby, in a situation where erroneous determination of the maximum likelihood link is likely to occur, only a limited route close to the current position can be targeted for matching, and frequent jumps at the current position can be suppressed.

The wrist terminal 1 further includes a matching processing unit 54.
The matching processing unit 54 matches the current position with one of the candidate links.
Thereby, matching can be performed on an appropriate link.

The wrist terminal 1 further includes a position acquisition unit 51 and a statistical data acquisition unit 52.
The position acquisition unit 51 acquires the current position.
The statistical data acquisition unit 52 acquires statistical data of route map information around the current position acquired by the position acquisition unit 51.
The candidate link search unit 53 searches for a candidate link for matching the current position acquired by the position acquisition unit 51 with which link of the route map information.
Further, the candidate link search unit 53 changes the search criteria for searching for candidate links based on the statistical data acquired by the statistical data acquisition unit 52.
Thereby, map matching can be performed more appropriately.

The statistical data is at least one of a histogram related to the direction of the link in the route map information around the current position, a histogram related to the gradient of the link, a histogram related to the length of the link, the number of links, and the number of branches.
This makes it possible to perform map matching more appropriately using statistical data that can be easily obtained from route map information.

  In addition, this invention is not limited to the above-mentioned embodiment, The deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention.

  For example, in the statistical data acquisition process described above, as the statistical data, the histogram of the link orientation, the link gradient and the link length, the number of links and the number of branches are acquired, but not all of these data are acquired. May be acquired and the search criterion determination process may be performed.

  In the above-described search criterion determination process, a default value for the maximum referenceable candidate link number is determined, and if the route map information around the current position is complicated, the default value for the maximum referenceable candidate link number is decreased. If the route map information around the current position is not complicated, the search criteria may be changed so as to increase the default value of the maximum referenceable candidate link number.

In the above-described embodiment, the road map information includes road surface characteristics (paved road, rocky place, rubble road, etc.), and the number of maximum referable candidate links is further reduced when the road surface is difficult to walk. It is good also as determining a search reference | standard so that it may carry out.
This makes it impossible to walk in a stable posture toward the front as during normal walking, and even when walking while walking sideways while searching for a foothold, or walking sideways Thus, frequent jumps at the current position can be suppressed.

  In the above-described embodiment, the likelihood of the candidate link is calculated based on the distance from the positioning position and the angle difference between the movement vector and the link direction, but is not limited thereto. For example, when moving along a route having a change in height, the likelihood of a candidate link may be calculated using atmospheric pressure and other physical quantities, or using only atmospheric pressure.

  In the above-described embodiment, when a travel route is set in advance, the position specifying process may be executed only for the travel route in the route map information around the current position.

  In the above-described embodiment, a series of processes including the position specifying process, the statistical data acquisition process, the candidate link search process, and the matching process (map matching) are performed on the wrist terminal 1. May be configured to perform. For example, position identification processing, statistical data acquisition processing, and candidate link search processing are performed by a device such as a GPS logger, candidate links searched by the GPS logger are output to the list terminal 1, and matching processing is performed in the list terminal 1. It may be configured.

In the above-described embodiment, the wrist terminal is described as an example of the electronic device to which the present invention is applied. However, the present invention is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a function of estimating a position. Specifically, for example, the present invention can be applied to a notebook personal computer, a tablet terminal, a video camera, a portable navigation device, a mobile phone, a smartphone, a portable game machine, and the like.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIG. 2 is merely an example and is not particularly limited. That is, it is sufficient that the wrist terminal 1 has a function capable of executing the above-described series of processing as a whole, and what functional blocks are used to realize this function is not particularly limited to the example of FIG.
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.
The functional configuration in the present embodiment is realized by a processor that executes arithmetic processing, and the processor that can be used in the present embodiment is configured by various processing devices such as a single processor, a multiprocessor, and a multicore processor. In addition to the above, these various processing apparatuses and a combination of processing circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array) are included.

When a series of processing is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

  The recording medium including such a program is not only constituted by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body in order to provide the program to the user, but also in a state of being incorporated in the apparatus main body in advance. It is comprised with the recording medium etc. which are provided in this. The removable medium 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disc is composed of, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) Disc (Blu-ray Disc), and the like. The magneto-optical disk is configured by MD (Mini-Disc) or the like. Further, the recording medium provided to the user in a state of being preinstalled in the apparatus main body is configured by the ROM 16 of FIG. 1 in which a program is recorded, for example.

  In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in chronological order according to the order, but is not necessarily performed in chronological order, either in parallel or individually. The process to be executed is also included.

  As mentioned above, although several embodiment of this invention was described, these embodiment is only an illustration and does not limit the technical scope of this invention. The present invention can take various other embodiments, and various modifications such as omission and replacement can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in this specification and the like, and are included in the invention described in the claims and the equivalents thereof.

The invention described in the scope of claims at the beginning of the filing of the present application will be appended.
[Appendix 1]
Candidate link search means for searching for a candidate link for matching the current position to which link of the route map information,
The electronic device characterized in that the candidate link search means changes a search criterion for searching for the candidate link based on statistical data of the route map information around the current position.
[Appendix 2]
The electronic device according to appendix 1, wherein the candidate link search means changes search criteria for searching for the candidate link in accordance with the complexity of route map information around the current position represented by the statistical data. machine.
[Appendix 3]
The electronic device according to appendix 1 or 2, wherein the candidate link search means changes a position range around the current position as a search reference for searching for the candidate link.
[Appendix 4]
The electronic device according to any one of appendices 1 to 3, wherein the candidate link search unit changes a threshold of likelihood to be selected as the candidate link as a search criterion for searching for the candidate link.
[Appendix 5]
The electronic device according to any one of appendices 1 to 4, wherein the candidate link search means changes a likelihood calculation formula as a search criterion for searching for the candidate link.
[Appendix 6]
The electronic device according to any one of appendices 1 to 5, wherein the candidate link search means searches for a plurality of candidate links.
[Appendix 7]
The candidate link search means changes the search criteria so that the number of the candidate links decreases as the feature of the route map information represented by the statistical data becomes more complex. Electronic equipment.
[Appendix 8]
The electronic device according to appendix 6 or 7, wherein the candidate link search means changes the search criteria so that the number of the candidate links decreases as the positioning condition around the current position is poorer.
[Appendix 9]
The electronic device according to any one of appendices 6 to 8, further comprising a matching unit that matches a current position to one of the candidate links.
[Appendix 10]
Current position acquisition means for acquiring the current position;
Statistical data acquisition means for acquiring statistical data of route map information around the current position acquired by the current position acquisition means,
The candidate link search means searches for a candidate link for matching the current position acquired by the current position acquisition means with any link of the route map information,
The candidate link search means changes search criteria for searching for the candidate link based on the statistical data acquired by the statistical data acquisition means, according to any one of appendices 1 to 9, Electronics.
[Appendix 11]
The statistical data is at least one of a histogram relating to a direction of a link in a route map information around the current position, a histogram relating to a link gradient, a histogram relating to a link length, the number of links, and the number of branches. The electronic device according to any one of 1 to 10.
[Appendix 12]
A matching candidate search method executed by an electronic device,
A candidate link search step of searching for a candidate link as to which of the route map information matches the current position,
In the candidate link search step, a search criterion for searching for the candidate link is changed based on statistical data of the route map information around the current position.
[Appendix 13]
On the computer,
Realize a candidate link search function to search for candidate links to match the current position to which link of the route map information,
The candidate link search function is a program that changes search criteria for searching for a candidate link based on statistical data of the route map information around a current position.

  DESCRIPTION OF SYMBOLS 1 ... Wrist terminal, 11 ... Control part, 12 ... Sensor unit, 13 ... Input part, 14 ... Display part, 15 ... Clock circuit, 16 ... ROM, 17 * ..RAM, 18 ... GPS antenna, 19 ... GPS module, 20 ... radio communication antenna, 21 ... wireless communication module, 22 ... drive, 31 ... removable media, 51. ..Position acquisition unit, 52 ... Statistical data acquisition unit, 53 ... Candidate link search unit, 54 ... Matching processing unit, 55 ... Display control unit, 71 ... Map information storage unit

Claims (13)

Candidate link search means for searching for a candidate link for matching the current position to which link of the route map information,
The electronic device characterized in that the candidate link search means changes a search criterion for searching for the candidate link based on statistical data of the route map information around the current position.   The said candidate link search means changes the search reference | standard which searches the said candidate link according to the complexity of the route map information around the present position represented by the said statistical data. Electronics.   The electronic device according to claim 1, wherein the candidate link search unit changes a position range around the current position as a search reference for searching for the candidate link.   4. The electronic device according to claim 1, wherein the candidate link search unit changes a threshold of likelihood to be selected as the candidate link as a search criterion for searching for the candidate link. 5. .   5. The electronic device according to claim 1, wherein the candidate link search unit changes a likelihood calculation formula as a search criterion for searching for the candidate link. 6.   The electronic device according to claim 1, wherein the candidate link search unit searches for a plurality of candidate links.   The said candidate link search means changes the said search reference | standard so that the number of the said candidate links may decrease, so that the characteristic of the said route map information represented by the said statistical data is complicated. The electronic device described.   The electronic device according to claim 6, wherein the candidate link search unit changes the search criteria so that the number of the candidate links decreases as the positioning condition around the current position is poorer. .   The electronic apparatus according to claim 6, further comprising a matching unit that matches a current position with one of the candidate links. Current position acquisition means for acquiring the current position;
Statistical data acquisition means for acquiring statistical data of route map information around the current position acquired by the current position acquisition means,
The candidate link search means searches for a candidate link for matching the current position acquired by the current position acquisition means with any link of the route map information,
The said candidate link search means changes the search reference | standard which searches the said candidate link based on the said statistical data which the said statistical data acquisition means acquired, The any one of Claim 1 to 9 characterized by the above-mentioned. Electronic equipment.   The statistical data is at least one of a histogram related to a link direction, a histogram related to a link gradient, a histogram related to a link length, a link number, and a branch number in route map information around the current position. Item 11. The electronic device according to any one of Items 1 to 10. A matching candidate search method executed by an electronic device,
A candidate link search step of searching for a candidate link as to which of the route map information matches the current position,
In the candidate link search step, a search criterion for searching for the candidate link is changed based on statistical data of the route map information around the current position. On the computer,
Realize a candidate link search function to search for candidate links to match the current position to which link of the route map information,
The candidate link search function is a program that changes search criteria for searching for a candidate link based on statistical data of the route map information around a current position.

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