CN106940191B - Navigation device and vehicle position display method thereof - Google Patents
Navigation device and vehicle position display method thereof Download PDFInfo
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- CN106940191B CN106940191B CN201610004888.5A CN201610004888A CN106940191B CN 106940191 B CN106940191 B CN 106940191B CN 201610004888 A CN201610004888 A CN 201610004888A CN 106940191 B CN106940191 B CN 106940191B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
- G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- Instructional Devices (AREA)
Abstract
The invention provides a navigation device capable of correctly positioning a vehicle position in a parking space and a vehicle position display method thereof. The disclosed device is provided with: a map information storage unit that stores map information including road data links and parking space related information; a current position detection unit that detects a current position of the vehicle; a map matching processing unit for performing map matching correction processing on the detected current position of the vehicle according to the current position of the vehicle detected by the current position detecting unit and the road data link; a display unit; and a data link creation unit that creates a parking space data link based on the parking space-related information stored in the map information storage unit, and a map matching processing unit that performs map matching processing using the parking space data link as a road data link. According to the present invention, since the vehicle position can be accurately displayed on the parking space, the vehicle position display of the navigation device can be made to coincide with the actual parking position, the confusion of the user about the display of the navigation device can be resolved, and the reliability of the navigation device can be improved.
Description
Technical Field
The present invention relates to a navigation device and a vehicle position display method thereof, and more particularly, to a navigation device and a vehicle position display method thereof capable of displaying a parking space on a map display screen.
Background
In recent years, in a Navigation device used in a vehicle, a Self-Contained Navigation SCN (Self-Contained Navigation) sensor, a gps (global Positioning system) receiver, or the like is used to detect a current position of a vehicle, and a vehicle position icon representing a position of the vehicle is displayed at a corresponding point on a map display screen, and a position of the vehicle position icon on the map display screen coincides with an actual position of the vehicle, so that a user can easily know the current position of the vehicle.
In such a navigation device, it is essential to measure the current position of the vehicle, and a measurement method (self-standing navigation method) of measuring the relative position of the vehicle by a distance sensor and an angle sensor mounted on the vehicle and a measurement method (satellite navigation method) of measuring the absolute position of the vehicle by performing n-th order meta measurement processing by receiving radio waves transmitted from a plurality of GPS satellites are generally used.
A positioning mode for positioning the current position of the vehicle based on the vehicle position measured by the self-standing navigation method and the satellite navigation method is called a parking mode. Such a positioning mode is relatively inexpensive and can position the vehicle position, but as the vehicle travels, a constant position error is accumulated, and the vehicle position is positioned off the road on which the vehicle is traveling. In this case, the measured vehicle position is checked against road data by map matching processing, and the vehicle position is corrected to the road if necessary. The road data is a road data link represented by a vector connecting a node representing a plurality of road intersections such as intersections and crossroads and an adjacent node. The process of correcting the vehicle position on the road means specifically pulling the measured vehicle position on the road data link. The above-described positioning mode using the map matching process is referred to as a map matching mode. In the navigation device in the prior art, the parking mode and the map matching mode can be mutually and automatically switched under the condition that a specified condition is satisfied.
When a vehicle travels on a road, a correction means such as a map matching process is generally used to accurately position the vehicle on the road. As shown in fig. 1, when the vehicle 11 travels along the road 14, the vehicle 11 is in the map matching mode in the positioning mode, and therefore the vehicle position is subjected to the map matching process and displayed on the road data link of the road 14. However, as shown in the drawing, when the vehicle 11 enters the parking space 13 on the side of the road 14 for parking, if the condition for shifting to the parking mode is not reached at this time and the vehicle is still in the map matching mode, that is, the vehicle position continues the map matching process, and as shown in the drawing, the vehicle position icon 12 representing the current position of the vehicle is pulled to the road 15 which is the same as the traveling direction of the vehicle 11 and is closest to the vehicle 11 by the correction matching process. In this way, although the vehicle 11 is actually parked in the parking space 13, the vehicle position icon 12 is displayed on the road 15 on the map display screen of the display screen, and the vehicle position icon 12 is not accurately positioned in the parking space 13, so that the user cannot clearly know the current position of the vehicle, and the navigation device may be questioned about display errors or the like, which may deteriorate the reliability of product positioning.
Disclosure of Invention
The present invention provides a navigation device and a vehicle position display method thereof, which can correctly position a vehicle position in a parking space, aiming at the technical problems existing in the prior art.
In order to solve the above-described problems of the prior art, a navigation device according to the present invention includes: a map information storage unit that stores map information including road data links and parking space related information; a current position detection unit that detects a current position of the vehicle; a map matching processing unit for performing map matching correction processing on the detected current position of the vehicle according to the current position of the vehicle detected by the current position detecting unit and the road data link; a display unit that displays the current position of the vehicle corrected by the map matching processing unit on a map; and a data link creation unit that creates a parking space data link based on the parking space-related information stored in the map information storage unit, and a map matching processing unit that performs map matching processing using the parking space data link as a road data link.
According to the navigation device, the parking space data link such as the road data link is created, when the vehicle enters the parking space, the vehicle position is map-matched and corrected to the parking space data link of the parking space, and the vehicle position can be displayed on the parking space, so that the vehicle position can be accurately displayed on the map display screen, the vehicle position displayed by the navigation device is made to coincide with the actual vehicle position, the confusion of the user that the display error occurs in the navigation device is avoided, and the reliability of the navigation device is improved.
In the above navigation apparatus, it is preferable that the navigation apparatus further includes a determination unit configured to determine whether the vehicle is in the map matching mode or the parking mode, and the data link creation unit is configured to create the parking space data link for the parking space when the determination unit determines that the vehicle is in the map matching mode. In this way, when the vehicle is moving from the road in which the vehicle is traveling to the parking space, the data link creating unit creates the parking space data link for the parking space and performs the map matching process for the vehicle position, in accordance with the relationship of the predetermined condition, when the vehicle is not shifted from the map matching mode to the parking mode.
In the navigation device, the data link creating unit may create the parking space data link for the parking space within a predetermined range around the current position of the vehicle detected by the current position detecting unit. In this way, the parking space data link is not created for all the parking spaces stored in the map information storage unit, and the parking space data link is created only for the parking spaces within a predetermined range around the current position of the vehicle, thereby reducing the amount of processing for creating the parking space data link by the data link creation unit.
In the navigation device, the data link creation unit may create a parking space data link for a parking space within a range of the map matching processing normal road. In this way, it is possible to realize the sharing of the map matching process with the map matching process performed on the normal road, and to reduce the amount of processing for the data link creation unit to create the parking space data link.
In the navigation device, the data link creating unit creates a linear parking space data link in the background for the polygonal parking space.
In addition, in order to solve the above technical problems in the prior art, the present invention also provides a vehicle position display method of a navigation device, including: a map information storage step of storing map information including road data link and parking space related information; a current position detection step of detecting a current position of the vehicle; a map matching process step of performing a map matching correction process on the detected current position of the vehicle according to the current position of the vehicle detected in the current position detection step and the road data link; a display step of displaying the current position of the vehicle corrected in the map matching processing step on a map; and a data link manufacturing step of manufacturing a parking space data link according to the parking space related information stored in the map information storage step, and a map matching processing step of performing map matching processing by using the parking space data link as a road data link.
According to the navigation device and the vehicle position display method thereof of the invention, the vehicle position can be correctly displayed on the parking space, the vehicle position displayed by the navigation device can be consistent with the actual vehicle position, the confusion of display error of the navigation device and the like of a user is avoided, and the reliability of the navigation device is improved.
Drawings
Fig. 1 is a schematic view showing a display screen of a navigation device in the related art.
Fig. 2 is a block diagram showing the structure of the navigation device of the present invention.
FIG. 3 is a flowchart showing a specific processing method of the navigation device according to the present invention.
Fig. 4 is a schematic view of a display screen in the navigation device according to the embodiment of the present invention.
Fig. 5 is a schematic view of a display screen in the navigation device according to the embodiment of the present invention.
Fig. 6a and 6b are schematic diagrams of a navigation device according to an embodiment of the present invention.
Fig. 7 is a schematic view of a display screen in another embodiment of the navigation device of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings, taking a navigation device used in a vehicle as an example.
Fig. 2 is a block diagram showing the configuration of the present invention. As shown in the drawing, the in-vehicle navigation device according to the present embodiment includes: a map information storage unit 1, a current position detection unit 2, a map matching processing unit 3, a display unit 4, a determination unit 5, a data link creation unit 6, and a control unit 7.
The map information storage unit 1 may be constituted by a nonvolatile memory such as a flash memory, a volatile memory such as a ram (random Access memory), or a combination of both, may be constituted by a DVD-ROM which is an optical storage medium, or may be constituted by a hard disk such as a memory card or a magnetic storage medium. The map information storage unit 1 of the present invention stores information relating to a map. For example, programming for processing such as map drawing, route search, route guidance information, route search, display output control required for route guidance, programming for voice output control required for voice guidance, and necessary data are stored, and display information data required for route guidance and map display is also stored. The map information storage unit 1 of the present embodiment also stores parking space-related information such as the position where a parking space is located and the shape of the area.
The current position detection unit 2 detects the current position of the vehicle. For example, the current position detecting unit 2 detects the current position of the vehicle from the travel distance measured by a vehicle speed sensor and the orientation measured by an angular velocity sensor, an orientation sensor, or the like. The running distance is calculated by multiplying the pulse output by the tire rotation by a certain coefficient, and the orientation is calculated by accumulating the output data of the gyro constant angular velocity sensor.
The map matching processing unit 3 performs map matching processing for each distance the vehicle travels based on the road data stored in the map information storage unit 1 and the current position of the vehicle detected by the current position detection unit 2, and corrects the position of the vehicle on the road of the map data. For example, the current position detected by the current position detecting unit 2 is adjusted to the road data link and corrected by a conventional projection method. The parking space data link to be described later is also subjected to map matching processing as a road data link.
The display unit 4 may have both a display screen and a touch panel, and may have an operation unit (not shown). The display screen may be formed of a display device such as an lcd (liquid Crystal display), an Organic EL (Organic Electro-Lum incence Panel), or a plasma screen.
The touch panel of the display unit 4 may be any one of a capacitive type, a resistive type, an infrared type, and a load detection type. By touching an operation option on the display panel with a finger, a stylus pen, or the like, the option can be manipulated.
The display unit 4 of the present invention may not be provided with a touch panel, and may have only a display panel. The display section 4 is used for displaying map roads in the parking lot and in the urban area, and the own vehicle position.
The determination unit 5 is formed of an application specific integrated circuit or a CPU function block. Since the map matching processing unit 3 determines whether the current positioning mode is the parking mode or the map matching mode by performing calculation measurement on the traveling state of the vehicle using a plurality of sensors and map data and performs the map matching process or does not perform the map matching process for the current position of the vehicle, the determination unit 5 determines whether the vehicle is in the parking mode or the map matching mode by acquiring the current positioning mode of the vehicle measured by the map matching processing unit 3.
Here, as a condition for switching between the parking mode and the map matching mode by the map matching processing unit 3, there are various setting methods. For example, in the parking mode, when the travel distance of the vehicle along the road exceeds a predetermined value, the vehicle switches to the map matching mode. The current position of the vehicle is acquired by a gyroscope or the like, the distance to the road closest to the current position of the vehicle is acquired by map data, and when the distance is out of a predetermined range, the vehicle is switched to the parking mode. Alternatively, the current vehicle speed of the vehicle detected by the speed sensor may be combined with other conditions, and the parking mode and the map matching mode may be switched.
The determination unit 5 also determines whether the vehicle is in the parking mode or the map matching mode when the map matching processing unit 3 performs the processing.
The data link creating unit 6 is composed of a road drawing function module and a calculation function module. On the basis of the parking space area shape map data stored in the map information storage unit 1, polygonal parking spaces displayed on the display unit 4 are made into linear parking space data links such as road data links.
The control unit 7 is formed of a general computer, and includes therein, for example, a CPU, a ROM, an EEPROM, a RAM, an I/O, and a bus (not shown) connecting these components.
The map matching processing unit 3, the determination unit 5, the data link creation unit 6, and the control unit 7 may be configured as a single processor.
Next, operations and specific examples of the embodiment of the present invention will be described with reference to fig. 3 to 7.
Fig. 3 is a flowchart showing a processing method of the navigation device of the present invention, and fig. 4 to 7 are schematic diagrams showing an embodiment of the navigation device of the present invention.
First, as shown in fig. 4, a vehicle position icon 12 representing the current position of the vehicle, a plurality of parking spaces 13, a road 14, a road 15, a road 16, and a road 17 are displayed on the map display screen of the navigation device used in the vehicle, and the vehicle position icon 12 is displayed on the road 17. Returning now to fig. 3, it is determined whether or not there is a parking space within the map display screen of the display unit 4 (step S101), that is, whether or not there is parking space data stored in the map information storage unit 1 among the map data within the map display screen. As shown in fig. 4, when there is a parking space (yes in step S101), the process proceeds to step S102, otherwise (no in step S101), the process returns to step S101 to repeat the process.
Next, in step S102, when there is a parking space in the map display screen, the determination unit 5 determines whether the current positioning mode of the vehicle 11 is the map matching mode or the parking mode. When the vehicle is in the map matching mode (yes in step S102), the process proceeds to step S103, and when the vehicle is in the parking mode (no in step S102), the process proceeds to step S104.
As shown in fig. 4, the vehicle position icon 12 is subjected to map matching processing, is displayed by being pulled up to the road 17, and is in the map matching mode. In step S103, the data link creation unit 6 creates a parking space data link for a parking space within a predetermined range (for example, within 20 m in radius around the current position) around the current position including the current position of the vehicle detected by the current position detection unit 2. In the present embodiment, a polygonal parking space is created as a linear parking space data link shown by a broken line in fig. 4. Specifically, a parking space data link such as a road data link is created by connecting two opposite short sides (the width of a rectangle) of a rectangular parking space with the center of a borderline as a node based on the parking space-related information stored in the map information storage unit 1. As shown in fig. 4, the parking space is assumed to be the parking space data link within the map display screen of the display unit 4.
In the present embodiment, for the purpose of explaining fig. 4, the parking space data link is displayed by a broken line, and the parking space data link is actually not displayed on the display unit 4 because it is created in the background of the navigation device.
Here, in the navigation device of the present invention, the data link creation unit 6 is not limited to creating a linear parking space data link, and may create a parking space data link of another form based on the parking space-related information.
In step S105, the map matching process is performed using the parking space data link created by the data link creation unit 6 as a processing object that is the same as the road data link. As shown in fig. 5, when the vehicle 11 enters the parking space 13, the vehicle position icon 12 is pulled to the parking space data link of the parking space 13 through the map matching process and displayed.
Here, as shown in fig. 6a and 6b, the positional relationship between the parking space and the road is basically divided into two types, one type in which the parking space is perpendicular to the road at right angles, and one type in which the parking space is parallel to the road. The vehicle 11 is deviated from the road and is generally driven to a certain distance from the parking space, so that the parking space data link can be extended from the parking space to the vicinity of the place where the vehicle is deviated from the road when entering the parking space. When the vehicle 11 approaches the extended parking space data link, the vehicle position icon 12 is pulled to the extended parking space data link for display.
On the other hand, in step S104, when the determination unit 5 determines that the vehicle is in the parking mode, the vehicle position icon 12 is displayed on the display unit 4 at a point on the map corresponding to the detected current position, based on the current position of the vehicle detected by the current position detection unit 2.
The current position detection unit 2 of the navigation device of the above embodiment is configured to perform detection by a self-standing navigation method, and may perform detection in combination with a satellite navigation method.
If the navigation device of the present invention can acquire the road guide route of the vehicle 11, for example, as shown in fig. 7, if the guide route of the vehicle 11 includes the road 17 and the road 14 on the map display screen, as shown in the figure, the parking space data link is created only for the parking spaces along the road 17 and the road 14.
As the vehicle 11 travels, the parking space data link may be created for a parking space within a range in which the map matching process is performed on a normal road.
The present invention is not limited to the navigation device used in the vehicle of the present embodiment, and is also applicable to all navigation devices that can display a parking space map, such as those used in a mobile phone or a tablet computer.
Claims (5)
1. A navigation device, comprising:
a map information storage unit that stores map information including road data links and parking space related information;
a current position detection unit that detects a current position of the vehicle;
a map matching process unit for performing a map matching correction process on the detected current position of the vehicle based on the current position of the vehicle detected by the current position detection unit and the road data link;
a display unit that displays the current position of the vehicle corrected by the map matching processing unit on a map, the display unit comprising:
a data link creating unit for creating a parking space data link based on the parking space-related information stored in the map information storage unit, an
A judging section for judging whether the vehicle is in the map matching mode or the parking mode when the current position detecting section detects that the current position of the vehicle is within a predetermined range of the parking space,
when the determination unit determines that the vehicle is in the map matching mode, the data link creation unit creates a parking space data link for the parking space, and the map matching processing unit performs map matching processing using the parking space data link as the road data link.
2. The navigation device of claim 1,
the data link creating unit creates a parking space data link for a parking space within a predetermined range around the current position of the vehicle detected by the current position detecting unit.
3. The navigation device of claim 1,
the data link creation unit creates a parking space data link for a parking space within a range of a map matching processing normal road.
4. The navigation device of claim 1,
the data link creating unit creates a linear parking space data link in the background from a polygonal parking space.
5. A vehicle position display method of a navigation device, comprising:
a map information storage step of storing map information including road data link and parking space related information;
a current position detection step of detecting a current position of the vehicle;
a map matching process step of performing a map matching correction process on the detected current position of the vehicle according to the current position of the vehicle detected in the current position detection step and the road data link;
a display step of displaying the current position of the vehicle corrected in the map matching processing step on a map, the display step being characterized by comprising:
a data link creating step of creating a parking space data link based on the parking space-related information stored in the map information storing step, an
A judging step of judging whether the vehicle is in a map matching mode or a parking mode when the current position of the vehicle is detected to be within a prescribed range of a parking space in the current position detecting step,
when the judging step judges that the vehicle is in the map matching mode, the data link creating step creates a parking space data link for the parking space, and the map matching processing step performs map matching processing using the parking space data link as the road data link.
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| US10921133B2 (en) * | 2017-12-07 | 2021-02-16 | International Business Machines Corporation | Location calibration based on movement path and map objects |
| CN109141445B (en) * | 2018-04-02 | 2021-10-01 | 中山大学 | Distributed online map matching method |
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