JPH09152350A - Apparatus for guidance of route - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus by which a route is guided properly when a road whose position is to be corrected by a map matching processing operation is different from a guidance route. SOLUTION: A sensor-signal processing part 33 processes signals from a direction sensor 30, a distance sensor 31 and a GPS apparatus 32, and it detects the movement amount and the movement direction of a vehicle. A map matching processing part 34 judges the similarity degree of road data 35 to the running track, of the vehicle, stored in a running-track storage part 26, and it corrects the position of the vehicle to a road whose similarity degree is high. When the corrected position of the vehicle is different from a guidance route searched by a route search part 21, the position of the vehicle is displayed on the guidance route in a display at a route guidance part when the position of the vehicle and the guidance route satisfy a proximity condition that they are within the range of a predetermined distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention seeks a route between a plurality of set points such as a navigation device mounted on a vehicle, and guides the route by image or voice when traveling along the route. The present invention relates to a route guidance device.

[0002]

2. Description of the Related Art Conventionally, a route guidance device such as a navigation device is mounted on a vehicle to support driving of the vehicle. For example, Japanese Patent Laid-Open No. 3-26918 discloses a prior art in which the position of a moving body is corrected on the road and an image is displayed by pattern matching between the traveling locus of the moving body and the road. In addition, JP-A-6-66586
Discloses a prior art in which a vehicle guides by voice to a destination and stops the guidance when the vehicle deviates from a route.

FIG. 7 shows a conventional navigation device 1.
2 shows a schematic hardware configuration of. The CPU 2 processes the input signal from the sensor 3 and refers to the map data stored in the storage device 4 to display the current position of the vehicle and the like on the display processing unit 5 together with the map. The operation of the CPU 2 is performed according to the program stored in the ROM in the main memory 6. The RAM in the main memory 6 stores various data associated with the operation of the CPU 2. The sensor 3 is GP
It includes a GPS device that receives radio waves from the S artificial satellite 7, a distance sensor, and a direction sensor, and detects the current position of the vehicle absolutely or relatively. The storage device 4 has a CD-RO.
A removable and large-capacity storage medium such as M or IC card,
Road data such as a hard disk is stored in advance.
The display processing unit 5 uses a display device such as a CRT or LCD to display the current position of the vehicle along with a map, and when performing route guidance, displays for guidance at intersections and the like.

FIG. 8 shows an electrical configuration of the navigation device 1 of FIG. As the sensor 3, the orientation sensor 10,
The distance sensor 11 and the GPS device 12 are included.
The azimuth sensor 10 is realized by any one of a vibration gyro, a geomagnetic sensor, an optical fiber gyro, a gas rate sensor, or the like, or a combination thereof, and detects the vehicle azimuth indicating the traveling direction of the vehicle. Distance sensor 11
Is realized by a vehicle speed sensor that derives a vehicle speed pulse corresponding to the traveling speed of the vehicle, and derives a signal corresponding to the traveling distance of the vehicle. The GPS device 12 receives the radio wave from the GPS artificial satellite 7 to absolutely detect the current position of the vehicle as latitude and longitude on the earth, and to detect the traveling direction of the vehicle as an absolute azimuth using Doppler shift. You can also The sensor signal processing unit 13, which is realized by the program operation of the CPU 2, processes the signal from the sensor 3 and gives a signal indicating the moving amount and the moving direction of the vehicle to the map matching processing unit 14. The map matching processing unit 14 reads the road data 15 in the storage device 4 via the road data reading unit 16 and corrects the vehicle position on the road when the degree of similarity between the traveling locus of the vehicle and the road is high. The display processing unit 5 displays a map around the vehicle position, roads, and routes for route guidance.

[0005]

At present, the azimuth sensor 10 does not always have sufficient accuracy in detecting the vehicle position of the azimuth sensor 10, the distance sensor 11, the GPS device 12, and the like.
In a vibrating gyro that is widely used as, the offset and the sensitivity coefficient easily change with temperature or with time, which causes an error. An error occurs in the distance detected by the distance sensor 11 due to meandering of the vehicle, slipping of wheels, and the like. The absolute position and the absolute azimuth detected by the GPS device 12 do not always mean that the radio wave from the artificial satellite 7 can always be received in a good state while traveling.
The error may be larger than the detection value from the direction sensor 10 or the distance sensor 11. Map matching processing unit 1
In No. 4, the signal from the sensor 3 has a large error, and therefore the error of the traveling locus is large, and the road data stored as the road data 15 also has an error. It may end up. Although road data treats a road as a series of links, which are a plurality of direct sections, the error in distance is large for a road having a width, a curved period, or a road having undulations. The position correction error in the map matching processing unit 14 increases when there are roads running in parallel.

The conventional route guidance device performs the following operation when the vehicle position is not on the guidance route. If there is an adjacent guide route, the vehicle position detection device preferentially corrects the position on the guide route. Despite the display state in which the vehicle position and the guide route are deviated, for example, when traveling on the guide route, the route guidance regarding the intersection is performed at the timing when the intersection is reached.

The above route guidance device has the following problems. Even if the vehicle is not actually traveling on the guide route, the position is preferentially corrected so that the vehicle travels on the guide route, so that the error may increase and the accuracy of the position correction may deteriorate. Apparently there is no vehicle position on the route,
There is a feeling of strangeness because the route guidance is provided.

An object of the present invention is to provide a route guidance device which can provide a route guidance without feeling uncomfortable without affecting the accuracy of vehicle position correction.

[0009]

According to the present invention, a traveling locus is stored by sequentially detecting a traveling direction and a position of a vehicle, and based on a similarity calculation between the traveling locus and road data stored in advance. In a route guidance device that includes a correction unit that corrects a vehicle position on a road with a high degree of similarity and a guide unit that displays and guides a planned route of the vehicle as the vehicle travels, the guide unit is a vehicle that is corrected by the correction unit. For position
A route guidance device, which displays a vehicle position on a route when the route to be guided is within a range of a predetermined proximity condition. According to the present invention, based on the traveling locus of the vehicle and the calculation of the degree of similarity thereof by the correcting means, even if the road whose vehicle position is corrected is not the road to be route-guided, the range of the predetermined proximity condition is set. If it is inside, route guidance is performed by displaying the vehicle position on the route. It is possible to avoid the discomfort that the route guidance is performed even if the vehicle position is displayed outside the guide route, and the vehicle position itself is not corrected on the guide route.
It is possible to prevent an increase in error.

In the guiding means of the present invention, the difference in distance between the corrected vehicle position on the road and the guided route,
And / or the proximity condition is satisfied when the azimuth difference between the vehicle traveling direction and the route to be guided is within a predetermined range. According to the present invention, the vehicle position is displayed on the road when the position on the road where the vehicle position is corrected and the route are close to each other. Therefore, when the vehicle is not actually traveling on the guide route, Even if there is, route guidance can be used effectively. By also referring to the azimuth, it is possible to prevent correction to a route having a clearly different azimuth, for example, a path that is orthogonal.

Further, the guide means of the present invention is characterized in that the proximity condition is satisfied when there is a route to be guided between the vehicle position on the traveling locus on the road to be corrected. According to the present invention, since the route to be guided exists between the vehicle position on the traveling locus and the vehicle position on the road to be corrected, the traveling direction of the vehicle is momentarily greatly changed and the road is to be corrected. Even when the distance is increased, it is possible to display the route on the correct guide route and to provide route guidance without discomfort.

[0012]

1 shows a schematic configuration of a route guidance device 20 according to an embodiment of the present invention. The route guidance device 20 includes a CPU 22 including a route search unit 21, a sensor 23, a storage device 24, a display 25, and the like. The route search unit 21 searches for a route between a destination and a departure place, which are input in advance, by a program operation of the CPU 22, and provides route guidance so that the vehicle can easily pass along the searched route. The storage device 24 is a CD-R
Road data is stored in advance in an OM, an IC card, a hard disk, or the like. The route search unit 21 refers to the road data stored in the storage device 24 and performs a route search. The traveling locus after the vehicle starts traveling is stored in the traveling locus storage unit 26.

The sensor 23 includes an azimuth sensor 30, a distance sensor 31, a GPS device 32 and the like. The azimuth sensor 30 is realized by any one of a geomagnetic sensor, a vibration gyro, an optical fiber gyro, a gas rate sensor, or a combination thereof, and detects the vehicle azimuth indicating the traveling direction of the vehicle. The distance sensor 31 is
The traveling distance of the vehicle is detected by using a signal representing the vehicle speed from a vehicle speed sensor representing the traveling speed of the vehicle. GPS device 32
Receives an electric wave from a GPS satellite to detect the absolute vehicle position and the traveling direction of the vehicle.

The azimuth detected by the azimuth sensor 30 is a relative azimuth representing the amount of angular change from the reference azimuth such as the traveling direction at the time of departure. Sensor signal processing unit 33 realized by program operation of CPU 22
Then, the moving amount and the moving direction of the vehicle are calculated based on the relative azimuth detected by the azimuth sensor 30 and the distance detected by the distance sensor 31. The traveling locus storage unit 26 sequentially stores the moving amount and the moving direction of the vehicle. The map matching processing unit 34 detects a road similar to the traveling locus stored in the traveling locus storage unit 26 by pattern matching, and corrects the vehicle position on the road having a high degree of similarity. The road data 35 stored in the storage medium of the storage device 24 stores the road as a series of links which are straight sections. The road data 35 is read by the map matching processing unit 34 via the road data reading unit 16, and the similarity calculation for pattern matching with the road locus is performed.

FIG. 2 shows the structure of data used in the route search section 21 of FIG. The route data 40 includes coordinate data of a point where guidance should be provided on the searched route and a guidance data number indicating the type of guidance. In the guidance data 41, for example, guidance data number "0" provides guidance at the start time, guidance data number "k-1" provides guidance such as intersection names and enlarged views of intersections, and guidance data number "k". Is set to give guidance that it is the goal point. The coordinate data that constitutes the route is "x1 y
The guidance data number "-1" when it is "1" indicates that there is no particular guidance information. The route is selected according to the result of the route search, and generally, each of the plurality of roads is partially included. The connection point between the roads is an intersection. In some cases, it may not be necessary to provide guidance for intersections that go straight ahead. Since one road is divided into links that are a plurality of straight sections, the direction may change depending on the connection point between the links. At such a simple direction change point, "-1" may be set as the guide number.

FIG. 3 shows the operation of the CPU 22 of FIG.
The operation is started from step a1, and in step a2, the signal of the sensor 23 is processed by the sensor signal processing section 33 to detect the vehicle position. At step a3, the vehicle direction is detected. At step a4, the map matching processing unit 34
The vehicle position correction process is performed by. Step a5
Then, it is determined whether the corrected vehicle position is close to the guide route. When it is determined that the vehicle position is not close to the guide route, it is determined in step a6 whether the guide route exists between the vehicle position and the traveling locus. When it is determined in step a5 that the vehicle position is close to the guide route, or when it is determined in step a6 that the guide route exists between the vehicle position and the traveling locus, the guide route is determined in step a7. To correct the vehicle position. When it is determined in step a6 that there is no guidance route between the vehicle position and the traveling locus, or when step a7 ends, route guidance is performed in step a8. Step a
When the vehicle position detected in 2 exists on the guide route from the beginning, when the position is corrected on the guide route by the position correction process in step a4, or the position correction process for the guide route in step a7 is performed. In this case, route guidance is provided such that the vehicle is traveling on the guide route. The proximity determination as in step a6 may not be performed, but only the determination based on the distance in step a5 may be performed.

FIG. 4 shows the map matching processing unit 3 of FIG.
The basic concept of similarity determination in 4 is shown below. FIG.
Whether or not the vehicle position 44 shown in (a) can be corrected to the position h on the road indicated by the road data 45 depends on the distance L between the vehicle position and the road and the azimuth d indicated by the traveling direction 46 of the vehicle. It is determined according to the heading difference from the heading D of the road.
FIG. 4B shows a change in the orientation similarity f with respect to the absolute value of the orientation difference, and FIG. 4C shows the distance similarity g with respect to the distance L.
Shows the change in If F and G are weighting factors for the azimuth similarity f and the distance similarity g, respectively, the similarity E
Is calculated as in the following first equation.

E = F × f + G × g (1) FIG. 5 shows an example in which the position correction to the guide route is performed by the present embodiment. FIG. 5A shows the guide route 50 and the road 5.
It is assumed that 1 and 1 are close and parallel to each other, and the vehicle position 52 is corrected toward the road 51 in the position correction by the map matching processing unit 34. Vehicle position 52 on road 51
If the distance to the guide route 50 is within a predetermined range, for example, a range of several hundred m, and the azimuth difference between the guide route and the vehicle traveling direction is within a predetermined range, for example, within 60 °,
At the time of route guidance, vehicles are displayed on the guide route 50 as indicated by circles. FIG. 5B shows a guide route 50 and a road 51.
Shows a state where and meander in parallel. Guide route 5
When the vehicle is traveling on 0 or on the road 51, the degree of similarity changes each time the traveling direction of the vehicle changes, and the objects whose vehicle positions are corrected may be alternately switched and displayed as shown by the arrow. There is. In such a case, natural route guidance can be provided by displaying that the vehicle is traveling only on the guidance route.

FIG. 6 shows another example in which route guidance can be appropriately performed according to this embodiment. FIG. 6A shows a case where the vehicle traveling on the guide route changes its traveling direction largely. When changing the traveling direction at an intersection or a corner, the traveling direction takes an intermediate value, and when there is a road 51 around the vehicle having a link bearing close to the bearing of the traveling direction 53, the distance is similar even if the distance is large. There is a possibility that it will be corrected and it will be corrected on the road. According to the present embodiment, even if the road 51 has a higher degree of similarity, since the guide route 50 exists between the vehicle position on the travel path 54 of the vehicle and the road 51, the vehicle position on the guide route 50 is different. Can be displayed for route guidance.

In FIG. 6B, there is a section where the guide route 50 and the road 51 are close to each other and a section where the guide route 50 and the road 51 are separated from each other.
The vehicle position 52 is displayed on the top and the road 51
An example of displaying the vehicle position 52 is shown above. Although there is a high possibility that the vehicle is traveling on the road 51 even in the approaching section, since the distance and direction are close, the guide route 50
Even if you follow the guide, you will not feel a big discomfort. Rather, the guidance at the intersection is different from that of the road 51 on which the vehicle is actually traveling, so that the effect of promoting the return to the guide route 50 can be considered.

[0021]

According to the present invention described above, even if the vehicle position cannot be corrected on the route to be guided, the vehicle position is displayed on the route within the range of the predetermined proximity condition. Since the route guidance is performed, it is possible to perform the route guidance without a feeling of strangeness, and it is possible to avoid an increase in the error of the vehicle position.

According to the present invention, the vehicle position is displayed on the guide route when the distance between the road on which the vehicle position is corrected and the route to be guided is within a predetermined range. If the guidance on the route is provided within the range where there is a possibility that the vehicle is traveling above, and the vehicle position is far from the guide route, it will not be possible to correct the guide route and it will be impossible. You can avoid unnecessary guidance.

Further, according to the present invention, when the guide route exists between the vehicle position on the traveling path of the vehicle and the vehicle position on the road to be corrected, the route is displayed by displaying the vehicle position on the route guide. Since guidance is provided, it is possible to perform route guidance without a feeling of discomfort in a state where there is a high possibility that the vehicle is traveling on the guidance route.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic electrical configuration of a route guidance device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a data structure of a guide route formed by a route search unit 21 of FIG.

3 is a flowchart showing an operation of a CPU 22 of FIG.

FIG. 4 is a diagram showing a concept of similarity calculation by a map matching processing unit 34 in FIG.

FIG. 5 is a diagram showing an effect of the present embodiment.

FIG. 6 is a diagram showing an effect of the present embodiment.

FIG. 7 is a block diagram showing a hardware configuration of a conventional navigation device.

FIG. 8 is a block diagram showing a schematic electrical configuration of a conventional navigation device.

[Explanation of symbols]

 20 route guidance device 21 route search unit 22 CPU 23 sensor 24 storage device 25 display processing unit 26 traveling locus storage unit 30 direction sensor 31 distance sensor 32 GPS device 33 sensor signal processing unit 34 map matching processing unit 35, 45 road data 40 route Data 41 Guidance data 44,52 Vehicle position 46,53 Travel direction 50 Guidance route 51 Road 54 Traveling locus

Claims (3)

[Claims] 1. A vehicle position on a road having a high degree of similarity based on a similarity calculation between the traveling locus and road data stored in advance by sequentially detecting a traveling direction and a position of the vehicle and storing a traveling locus. In a route guidance device including a correction unit that corrects the route and a guide unit that displays and guides a planned route of the vehicle as the route travels, the guide unit guides the route to the vehicle position corrected by the correction unit. The route guidance device displays the vehicle position on the route when the vehicle is within the range of a predetermined proximity condition. 2. The guiding means, wherein the distance difference between the vehicle position on the road to be corrected and the guided route and / or the azimuth difference between the vehicle traveling direction and the guide azimuth is within a predetermined range. The route guidance device according to claim 1, wherein the proximity condition is satisfied. 3. The proximity means is satisfied by the guide means when there is a route to be guided to a vehicle position on a traveling locus on a road to be corrected. Or the route guidance device described in 2.