KR20090005703A

KR20090005703A - Map matching method in crossroad and navigation system

Info

Publication number: KR20090005703A
Application number: KR1020070068959A
Authority: KR
Inventors: 장상훈
Original assignee: 팅크웨어(주)
Priority date: 2007-07-10
Filing date: 2007-07-10
Publication date: 2009-01-14
Also published as: WO2009008611A2; WO2009008611A3

Abstract

A map matching method at intersection and a navigation system are provided to offer more natural and realistic guide at the intersection by reflecting a predetermined curvature to mapping data for turn guide at the intersection. A map matching method at intersection includes a step of searching a path to the destination designated by the user and a step of reflecting a curvature corresponding to the type and turning direction of the intersection to map matching data for turn guide at the intersection when the intersection is detected. A navigation system comprises a path calculation unit(220), a storage(230), a user interface(240), a display unit(250), a voice output unit(260), and a controller(270), where an intersection database including curvature defined according to the type and turning direction of intersection is stored in the storage.

Description

MAP MATCHING METHOD IN CROSSROAD AND NAVIGATION SYSTEM}

The present invention relates to a navigation system, and more particularly, to a map matching method and a navigation system at an intersection for guiding a traveling direction of an intersection by map matching a moving route including a location of a moving object to map data. will be.

In general, a navigation system is a system that provides information for driving a vehicle such as a vehicle by using a satellite and is also referred to as an automatic navigation system.

The navigation system includes a global positioning system (GPS) module to receive certain data from GPS satellites floating on the earth and to calculate the position of the moving body based on the received data.

The calculated position of the moving object is map-matched to previously stored map data to be used as a base material for map and geographic guidance, and in particular, the moving path from the current position of the moving object to a user-specified destination is searched for. Provides a route guidance service to guide the user according to the movement route.

In addition, since the position of the moving object output from the GPS module may cause an error of several tens of meters, when the calculated position of the moving object is out of the road of map data, the moving object is forced to the road closest to the position of the moving object through map matching. It can also be corrected by moving to.

The route guide service searches for guidance targets (hereinafter, collectively referred to as 'intersections') such as intersections, underground roads, overpasses, and highway entrance and exit roads in the course of driving a moving route, and when intersections are detected, driving at corresponding intersections. Provide rotation guidance with direction information.

FIG. 1 illustrates an example of an intersection, and illustrates an actual driving path P of a moving object and map matching data M of an existing navigation terminal corresponding thereto at the intersection.

In general, a navigation-based system extracts and uses a road on a map having a predetermined width as a line that is the center of a road, that is, a road center line, and uses the intersection and the intersection corresponding to the point where the road center line and the road center line meet. Extract and utilize

Rotational driving (left turn, right turn, U turn) of the actual moving object at the intersection is performed by drawing a curve in the intersection having a predetermined width. Because of this, it does not provide natural driving guidance.

That is, as shown in FIG. 1, although the actual driving path P of the moving object has a curved shape at the intersection, the map matching is performed because the map matching is made based on the center line L of the navigation system in the navigation system. It is represented by a straight line according to the data M.

Existing navigation system has a problem of lowering the user's product satisfaction due to unnatural map representation of the rotation direction guidance at the intersection guidance.

Accordingly, the present invention provides a map matching method and a navigation system at an intersection to more naturally represent the rotation guidance section at the intersection.

In addition, the present invention provides a map matching method and a navigation system at an intersection that can help the user's safe driving through a more realistic rotation guidance of the intersection.

The present invention comprises the steps of: searching for a movement route to a destination designated by a user; And If the intersection is detected in the course of driving the moving path provides a map matching method at the intersection comprising the step of reflecting a predetermined curve rate in the map matching data for the guidance of the rotation of the detected intersection.

The present invention provides an intersection database for storing a predetermined curve rate for each intersection type and rotation direction; And a control unit reflecting a curve rate corresponding to the detected intersection type and rotation direction in map matching data for guiding rotation at the intersection when the intersection is detected while driving the movement route to the destination designated by the user. It provides a navigation system that includes.

The map matching method and the navigation system at the intersection according to the present invention can provide more natural and realistic intersection guidance by reflecting a predetermined curve rate in the map data for the guidance of rotation at the intersection.

Furthermore, by naturally expressing the direction of rotation at the intersection on the map, it can help the user's safe driving and improve the user's satisfaction with the product.

Hereinafter, a map matching method in a navigation system and an intersection according to the present invention will be described with reference to the accompanying drawings.

First, a configuration of a navigation system for guiding an intersection according to the present invention will be described.

2 is a diagram illustrating a configuration of a navigation system according to the present invention.

The present invention is a navigation system having a global positioning system (GPS) module 210 that receives position signals from at least three GPS satellites and calculates its position.

The navigation system of the present invention is a user terminal for guiding a movement route to a destination designated by a user. In particular, the navigation system has a characteristic of expressing map matching data of a guide section with respect to a rotation direction when guiding an intersection in a movement route in a curved line.

Navigation system according to the present invention, as shown in the path calculation unit 220, storage unit 230, the user interface unit 240, the display unit 250, the audio output unit 260, the control unit 270 Include.

The storage unit 230 includes a map database for constructing map data for a national map and route guidance data associated with the map data. The storage unit 230 stores a control program for controlling the overall operation of the navigation system including a route guidance function and a rotation guidance function for the intersection of the route guidance.

The rotation guidance for the intersection reflects a predetermined curvature ratio in consideration of the intersection type and the rotation direction in the map matching data for the rotation direction. For this purpose, the curvature ratio for the map matching data is defined for each intersection type and the rotation direction. You need to build an intersection database to store it.

After classifying the intersection types according to the lane type or the intersection type for the intersection of the national map, classifying the possible rotation directions at the intersection, and defining the intersection ratio and the curve rate for the rotation direction to build the intersection database. desirable.

The lane type may be classified into intersections according to the number of lanes, for example, the number of one-way lanes. It is classified as a type intersection.

The intersection stored in the intersection database includes code information indicating an intersection type, wherein the code information includes a code indicating a lane type and a code indicating an intersection shape.

The rotation direction of the intersection is a rotation driving course capable of traveling under traffic law for each intersection, and includes a left turn, a right turn, a U-type rotation, a P-type rotation, an annular (rotary) rotation, and the like.

The intersection database inputs intersections included in a national map, intersection types defined by intersections, rotation directions possible by intersections, and curve rates predefined by rotation directions for each intersection type, and the storage unit 230. It is configured to include).

A method of defining the intersection type and the curve rate for each rotation direction is as follows.

3 and 4 are diagrams for explaining a method of acquiring coordinate values through a path expected in accordance with the rotation direction in the process of determining the curve rate for the left turn, and FIG. 5 is a process for determining the curve rate for the right turn. A diagram for describing a method of acquiring coordinate values through a path expected according to a direction.

3 and 5 show one-way, one-lane right-angle intersections, and FIG. 4 shows one-way, two-lane right-angled intersections.

To define the intersection type and the curvature rate for each rotation direction, the curve equation of Equation 1 below is used.

y = ax ^ 2 + bx + c

Where a, b, and c are unknowns

In order to obtain the three unknowns a, b, and c, at least three coordinate values (hereinafter, referred to as 'base points') ((x1, y1), (x2, y2), (x3, y3), ..., (xn) , yn)).

When defining the curve ratio for the left turn direction at the intersection of Figure 3, three or more known points are arbitrarily extracted through the rotation path expected when driving in the left turn direction at the intersection.

Since the width of a road for one lane is based on 3.5 meters (meters), for example, on a turn path that turns left from a one-lane road to another road (3.5 / 2, -3.5), (0, 0) , The known point of (-3.5, 3.5 / 2) is obtained.

Substituting the obtained three known points into the equation (1)

For known point (3.5 / 2, -3.5), -3.5 = 3.0625a + 1.75b + c

For known point (0, 0), 0 = c

For known point (-3.5, 3.5 / 2), 1.75 = 12.25a-3.5b + c

Three equations can be found. The substituted three equations are solved by simultaneous equations to find the unknown values a, b, and c.

At this time,

a ≒ 0.286,

b ≒ -2.456,

c = 0

You get the value of.

Thus, the curve equation for left turn (rotation direction) at a right-angled intersection (intersection type) consisting of one-way lane (type of lane) is equal to y = 0.286x ^ 2 -2.456x. That is, the calculated curve equation is defined as the curve rate for left turn at the one-way linear right-angle intersection.

On the other hand, in the case of defining the curve ratio for the left turn direction at the intersection of Figure 4, three or more known points are obtained through the rotation path expected at the left turn.

In this case, since the road consists of two lanes of one-way and the width of the entire road for one-way is based on 7 m, for example, on a route turning from one lane of two-lane road to one lane of another road, for example, (3.5 / 2,- 7) Acquire known points of (0, -3.5), (-3.5, 0), (-7, 3.5 / 2).

In addition, when defining the curve ratio for the right turn direction at the intersection of FIG. 5, three or more known points are obtained through the rotation path expected when driving in the right turn direction at the intersection.

Since the width of a road for one lane is based on 3.5m, for example, (3.5 / 2, -5), ((3.5 / 2) +1 on a turn path that turns right from a road in one lane to another road , -3.5), (3.5, (-3.5 / 2) -1), (5, -3.5 / 2).

Using three or more known points acquired for each condition of Figs. 4 and 5, a curve equation corresponding to each condition, that is, a curve rate, is determined in the same manner through Equation (1). With respect to the other conditions not shown in the drawing, the unknown equations of Equation 1 may be calculated in the same process to determine the curve equation of the corresponding condition.

Accordingly, the curve equation corresponding to the intersection type and the rotation direction is determined in the above manner, and the curve equation for the intersection type and the rotation direction is stored in the intersection database.

Furthermore, since the navigation terminal may implement the road centerline as a pair as well as a single line, the navigation terminal may distinguish the single line model and the double line model to determine the intersection type and the curve rate for each rotation direction.

That is, the curvature rate of each condition is determined differently according to the direction of rotation, and whether it is a single line or a bilinear model, and the type or intersection of lanes.

According to the present invention, the map matching data for the rotation guide may be expressed in a curved line according to the type of the intersection to be guided and the curve rate corresponding to the rotation direction.

The route calculating unit 220 determines the current location of the user by using the GPS signal received through the GPS module 210 and then a destination designated by the user at the current location from the map data stored in the map database of the storage unit 230. Route information is generated by searching the movement route to.

The controller 270 performs route guidance based on the movement route based on the route information generated by the route calculator 220. And, when approaching the intersection of the moving path, based on the information stored in the intersection database of the storage unit 230, the map matching data for the guidance guided by the curve rate corresponding to the intersection type and rotation direction of the approached intersection Carry out the rotation guidance at the intersection as reflected in the

In addition, the display unit 250 is a means for displaying various display contents and map information for guiding the route according to the overall system operation, and includes a liquid crystal display (LCD) or an organic EL (Electro Luminescence). Etc. can be used.

The user interface unit 240 is an input unit for inputting a user command for a navigation system, such as inputting a destination for a route guidance function. The user interface unit 240 includes a touch pad integrated with the display unit 250. To provide. All menu environments related to the route guidance function of the navigation system are provided to the graphic screen through the display unit 250 so as to touch a specific position of the graphic screen with a stylus pen or a finger. Enter it.

The voice output unit 260 is a means for performing voice guidance when the route guidance function for the movement route, and provides a voice guidance in consideration of the rotation direction during the rotation guidance of the intersection.

The map matching method at the intersection according to the present invention will be described in detail with reference to FIG.

As shown, first, when a user designates a destination for the route guidance function, the user searches for a movement route to the designated destination based on the current location of the user.

Subsequently, a map corresponding to the searched moving path is provided, and map matching data of the moving path and the current location of the user is generated and displayed on the map (S610). To provide a route guide by implementing a map screen and voice guidance for the movement route so that the user can travel along the movement route.

In the process of performing the route guidance to the destination, an intersection located in the front of the driving direction at a predetermined period is searched (S620). The intersection search may be performed by referring to map data stored in the map database to determine whether a coordinate value of the intersection exists, that is, whether an intersection exists.

When the intersection is detected during the movement path, the direction of rotation at the intersection determined by the movement path is determined (S630).

When the direction of rotation at the intersection is included in any one of a left turn, a right turn, a U-type turn, a P-type turn, and an annular turn instead of a straight driving, the direction of rotation at the detected intersection is determined and the direction of the detected intersection is determined. Determine the type of intersection.

Subsequently, the curve equation corresponding to the determined intersection type and rotation direction is read from the intersection database of the storage unit 230, and the predetermined curve equation is applied to the map matching data for the rotation direction at the intersection. Reflects the curve rate of (S640).

In the rotation guide section of the intersection, the map matching data reflecting the curve rate is output on the map to guide the rotation direction (S650).

7 and 8 show an example of map matching data M reflecting a curve rate, FIG. 7 is a model in which the road center line L is formed as a single line, and FIG. 8 is a road line in which the road center line L is a double line. Implemented model

When guiding the rotation direction in the left turn or the right turn when guiding the rotation at the intersection, the map matching data M reflects the curve rate corresponding to the type and the rotation direction of the intersection. As shown, the map matching data M for the rotation direction at the intersection is represented by the curve linearity by the curve equation corresponding to the intersection type and the rotation direction.

Therefore, the intersection rotation guide according to the present invention is different depending on the rotation direction, and whether or not the solid state or the two-wire model and the expected rotation path is different and the position of the known point obtained through the lane type or intersection shape is different for each condition Represents map matching data in melody.

The method of map matching at an intersection according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the media may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

As described above, the present invention has been described by way of limited embodiments and drawings, but the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

1 is a diagram illustrating an actual movement path of a moving object at an intersection and map matching data of an existing navigation terminal corresponding thereto.

2 is a diagram showing the entire configuration of a navigation system according to the present invention.

3 and 4 are diagrams for explaining a method of acquiring coordinate values on a path expected according to a rotation direction in a process of determining a curve rate for left rotation.

FIG. 5 is a diagram for describing a method of acquiring coordinate values on a path expected according to a rotation direction in a process of determining a curve rate for right rotation.

6 is a diagram illustrating the entire process of a map matching method at an intersection according to the present invention.

FIG. 7 is a diagram illustrating map matching data according to the present invention for guiding rotation at an intersection as an example of a model in which a road centerline for an intersection is a single line.

FIG. 8 is a diagram illustrating map matching data according to an embodiment of the present invention for guiding rotation at an intersection, using an example of a model in which a road centerline of a intersection is formed as a double line.

210: GPS module

220: route calculation unit

230: storage unit

240: user interface unit

250: display unit

260: audio output unit

270: control unit

Claims

Searching for a movement route to a destination designated by the user; And,

If an intersection is detected in the course of driving the moving path, reflecting a predetermined curve rate to map matching data for guiding rotation of the detected intersection

Map matching method at the intersection comprising a.

The method of claim 1,

Maintaining an intersection database that stores predefined curve rates for each intersection type and direction of rotation

Map matching method at the intersection further comprising.

The method of claim 2,

Reflecting a predetermined curve rate in map matching data for guiding rotation of the intersection,

Determining a type and a rotation direction of the detected intersection when an intersection is detected while driving the movement path;

Reflecting the curve rate corresponding to the determined intersection type and rotation direction in the map matching data for the rotation guidance

Map matching method at the intersection comprising a.

The method of claim 2,

Maintaining the intersection database,

Classifying intersections on national maps according to lane type and intersection type to define the type of intersection;

Defining the direction of rotation that can be driven at each intersection;

Defining a curvature rate for each rotation direction for each of the intersection types defined above;

Map matching method at the intersection comprising a.

The method of claim 4, wherein

The lane type is,

And classifying the intersection into the number of lanes.

The method of claim 4, wherein

The cross form is,

And classifying the intersection into a three-dimensional intersection, an annular intersection, a rectangular intersection, and an X-type intersection.

The method of claim 4, wherein

The rotation direction is

A map matching method at an intersection comprising a right turn, a left turn, a U turn, a P turn, and a rotary turn.

The method of claim 4, wherein

Defining the curvature rate for each direction of rotation for each type of intersection,

Acquiring at least three coordinate values through an expected path according to each direction of rotation of the intersection;

Determining the curve equation for the intersection type and the rotation direction by applying the obtained at least three coordinate values to Equation 1.

Map matching method at the intersection comprising a.

Equation 1:

y = ax ^ 2 + bx + c

(a, b, c: unknown)

The method of claim 8,

Reflecting the curve rate corresponding to the intersection type and the rotation direction in the map matching data for the rotation guidance,

Reading a curve equation corresponding to the determined intersection type and rotation direction from the intersection database;

Generating map matching data according to the curve alignment based on the read curve equation;

Outputting the generated map matching data on a map to perform rotation guidance at the intersection

Map matching method at the intersection comprising a.

A computer-readable recording medium in which a program for executing the method of any one of claims 1 to 9 is recorded.

An intersection database for storing a predetermined curve rate for each intersection type and rotation direction; And,

Control unit reflecting the curve rate corresponding to the type and the direction of rotation of the detected intersection in the map matching data for the guidance of rotation at the intersection when the intersection is detected in the course of driving the movement route to the destination designated by the user

Navigation system comprising a.