JP2004163354A

JP2004163354A - Navigation system

Info

Publication number: JP2004163354A
Application number: JP2002331909A
Authority: JP
Inventors: Masahiro Sasaki; 雅広佐々木
Original assignee: Matsushita Electric Industrial Co Ltd
Current assignee: Panasonic Holdings Corp
Priority date: 2002-11-15
Filing date: 2002-11-15
Publication date: 2004-06-10
Anticipated expiration: 2022-11-15
Also published as: JP4007164B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system capable of quickly performing a route guide in movement from a place where ground radio waves cannot be received for a long time to a receivable place. <P>SOLUTION: A road-side communication part 21 transmits the latest satellite orbit information accumulated by a server 22, a parking fee or the like toward a mobile when leaving a parking lot. A mobile-side communication part 19 calibrates a direction sensor 13 based on these received pieces of information and determines a route for avoiding traffic congestion. When moving to a ground radio-receivable area on the ground from the underground parking lot, present position information is immediately calculated based on the latest satellite orbit information received from the road-side device 2 and radio waves from a GPS satellite received by an antenna 11. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は移動体の経路案内を行なうナビゲーションシステムに関する。
【０００２】
【従来の技術】
従来のナビゲーションシステムは、移動体が人工衛星、航空機ならびに地上の送信局からの電波を受信できない地下駐車場等からそれらを受信できるエリアに移動したとき、測位衛星の一種であるＧＰＳ（ＧｌｏｂａｌＰｏｓｉｔｉｏｎｉｎｇＳｙｓｔｅｍ）受信機が、ＧＰＳ衛星からの電波の受信が中断された後、中断されていたＧＰＳ衛星からの電波の受信が再開されたとき、別のＧＰＳ衛星から受信したアルマナック情報に基づいて衛星時刻を推定することで速やかに現在位置情報を取得して経路案内を行なえるようにしている（例えば特許文献１参照）。
【０００３】
【特許文献１】
特開平１０−４８３１６号公報（第５−７頁、第６図）
【０００４】
【発明が解決しようとする課題】
しかし、このような従来のナビゲーションシステムでは、人工衛星、航空機ならびに地上の送信局からの電波を受信できる状態で取得した経路案内に関する情報に基づいて、地上の電波を受信できない場所から受信できる場所に移動したときの経路案内を行なうので、例えば地下駐車場に４時間以上駐車した後地上に出た場合のように、地下駐車場に入る前に地上で取得したＧＰＳ衛星の詳細軌道情報（エフェメリス）がもはや有効でないほど時間が経過している場合、ＧＰＳ衛星の電波を受信して現在位置を測位し、移動体に適切な経路案内を行なえるようになるのに数十秒以上かかってしまい、駐車場から出てすぐの経路案内ができないという問題があった。
【０００５】
本発明は、このような従来の問題を解決するためになされたもので、地上の電波を長時間受信できない場所から受信できる場所に移動したときでも、移動体に対し速やかに経路案内を行なうことができるナビゲーションシステムを提供するものである。
【０００６】
【課題を解決するための手段】
本発明のナビゲーションシステムは、移動体に備えたナビゲーション装置と、ナビゲーション装置と通信する路側装置とを含むナビゲーションシステムであって、ナビゲーション装置が、移動体の経路案内を行なう経路案内手段と、人工衛星、航空機および地上の送信装置のうち少なくとも一つからの電波を受信する地上電波受信手段と、路側装置と通信する移動体側通信手段とを備え、路側装置が、地上電波受信手段で電波を受信できない地上電波受信不能領域と、電波を受信できる地上電波受信可能領域との境界近傍に設置され、移動体側通信手段と通信する路側通信手段と、ナビゲーション装置が行なう移動体の経路案内に利用する経路案内情報を蓄積する経路案内情報蓄積手段とを備え、移動体が、地上電波受信不能領域から地上電波受信可能領域に向って移動し、ナビゲーション装置と通信可能となったとき、路側通信手段は、経路案内手段が地上電波受信可能領域で利用する経路案内情報を、経路案内情報蓄積手段から取得して、移動体側通信手段に送信する構成を有している。
【０００７】
この構成により、ナビゲーション装置を備えた移動体が地上電波受信可能領域に移動したら、その前に路側装置から受信した経路案内情報によりすばやく経路案内をすることができる。
【０００８】
また、本発明のナビゲーションシステムは、経路案内手段が、人工衛星からの電波を受信して位置を算出する人工衛星測位手段を備え、経路案内情報は人工衛星測位手段が位置を算出するときに利用する人工衛星の衛星軌道情報であり、人工衛星測位手段は衛星軌道情報と電波とに基づいて位置を算出する構成を有している。
【０００９】
この構成により、路側装置からあらかじめ受信した衛星軌道情報により、人工衛星の電波を受信できる場所に移動すれば速やかに位置を算出することができる。
【００１０】
また、本発明のナビゲーションシステムは、人工衛星測位手段が、地上電波受信可能領域で人工衛星からの電波を受信して衛星軌道情報を取得し、移動体側通信手段が、人工衛星測位手段の取得した衛星軌道情報を、路側通信手段に送信し、路側通信手段が、移動体側通信手段の送信した衛星軌道情報を受信して、経路案内情報蓄積手段が、路側通信手段の受信した衛星軌道情報を蓄積する構成を有している。
【００１１】
この構成により、路側装置は、移動体の有するより新しい衛星軌道情報を入手し、利用することができる。
【００１２】
また、本発明のナビゲーションシステムは、経路案内手段が、方位センサを備え、経路案内情報が路側装置の設置されている道路の方位であり、道路の方位を用いて方位センサの方位を校正する構成を有している。この構成により、地上電波受信可能領域に移動したとき、車載ナビゲーション装置の方位を正しく校正できる。
【００１３】
さらに、本発明のナビゲーションシステムは、経路案内情報が、路側装置の設置されている周辺の地上電波受信可能領域の交通情報である構成を有している。この構成により、地上電波受信可能領域に移動したとき、ただちに渋滞を考慮した経路案内をすることができる。
【００１４】
【発明の実施の形態】
以下、本発明の実施の形態について、図面を用いて説明する。
【００１５】
図１は、本発明の一実施の形態におけるナビゲーションシステムの概略ブロック図である。本実施の形態のナビゲーションシステムは、ＧＰＳ衛星の衛星軌道情報を路側装置２から駐車料金の決済に合わせて、ナビゲーション装置１へ転送するシステムである。
【００１６】
図１のように構成されたナビゲーションシステムにおいて、経路案内部１０は、人工衛星からの電波を受信して位置を算出する人工衛星測位手段の一つであるＧＰＳ測位システムを利用して、ＧＰＳ衛星の電波をＧＰＳアンテナ１１で受信し、ＧＰＳ測位部１２でＧＰＳ衛星軌道情報を収集するとともに位置の算出を行う。
【００１７】
また方位センサ１３は、ジャイロスコープを用いて方位の算出を行う。方位センサ１３が算出できる方位は相対的な方位であり、誤差も蓄積していくので、定期的にＧＰＳ測位部１２で算出した移動方位を用いて初期方位設定を行う。地図記憶部１４は、ＣＤやＤＶＤ、ハードディスクまたはメモリカード等の記憶媒体を用いて地図情報を記憶保存している。
【００１８】
ＧＰＳ測位部１２で求めた位置や方位センサ１３で求めた絶対方位、および地図記憶部１４で記憶されている地図を用いて、位置算出部１５は自移動体位置を計算し、地図記憶部１４の地図情報とともに表示部１６へ表示するように構成されている。インターフェース部１７は、内蔵または外部接続された移動体側通信部１９と経路案内部１０との通信を中継する。
【００１９】
路側装置２は、ナビゲーション装置１の移動体側通信部１９とＤＳＲＣ（ＤｅｄｉｃａｔｅｄＳｈｏｒｔＲａｎｇｅＣｏｍｍｕｎｉｃａｔｉｏｎ）といった近距離通信を行なう路側通信部２１と、経路案内に関する情報を蓄積するサーバ２２を備えている。
【００２０】
以上のように構成されたナビゲーションシステムについて、図１〜図３を用いてその動作を説明する。図２および図３は本発明の一実施の形態におけるナビゲーションシステムの動作を示す流れ図である。
【００２１】
ナビゲーション装置１を搭載した車両などの移動体（図示せず）は、ＧＰＳ衛星からの電波を受信できる地上電波受信可能領域に移動する（ステップ（以下Ｓと記す）１０１）とＧＰＳ測位部１２は、アンテナ１１で受信したＧＰＳ衛星の電波より衛星軌道情報を取得する（Ｓ１０２）。
【００２２】
ＧＰＳ衛星からの信号を用いて位置計算をするためには、衛星から送られてくるＧＰＳ衛星軌道情報が必要不可欠であるが、その有効期間は通常運用で２〜４時間であり、定期的に更新する必要がある。
【００２３】
ナビゲーション装置１は、路側装置２と通信可能か確認する（Ｓ１０３）。通信可能で無いと、繰り返しＧＰＳ衛星の電波を受信し、最新の衛星軌道情報を取得する。移動体が地下駐車場の入り口に到着し、路側装置２と通信可能となる（Ｓ１０３のＹ）と、ナビゲーション装置１の移動体側通信部１９は、地下駐車場の入り口に設置された路側装置２の路側通信部２１に向けて、先に取得した衛星軌道情報と移動体を識別する移動体ＩＤとを送信する（Ｓ１０４）。そして、移動体は空いている駐車場スペースに駐車する。
【００２４】
路側装置２の路側通信部２１は、移動体側通信部１９より送信された衛星軌道情報と移動体ＩＤとを受信し（Ｓ１０５）、また、サーバ２２は地上の他の装置からもネットワークを介して、あるいは直接接続して、衛星軌道情報と周辺の交通情報を取得し（Ｓ１０６）、サーバ２２は、それらのうちの最新の衛星軌道情報、周辺地域の情報並びに移動体ＩＤ、入場時刻を蓄積する（Ｓ１０７）。
【００２５】
移動体は、例えば４時間といった長時間、地下の駐車場に駐車していた後、利用者がナビゲーション装置１にこれから行く目的地をキー（図示せず）で入力、あるいはあらかじめ記憶部（図示せず）にプリセットされている目的地の中から選択し、駐車場から出るために出口に移動し（Ｓ２０１）、出口に設置された路側装置２に向けて、移動体側通信部１９は、移動体ＩＤを送信し（Ｓ２０２）、路側通信部２１は、移動体側通信部１９より送信された移動体ＩＤを受信する（Ｓ２０３）。
【００２６】
サーバ２２は、路側通信部２１が受信した移動体ＩＤに関して蓄積している入場時刻や移動体の種類や駐車契約条件などの情報を参照して、入場時刻から現在時刻までの駐車料金を算出する（Ｓ２０４）。路側通信部２１は、サーバ２２が蓄積していた最新の衛星軌道情報、周辺地域の情報、路側装置２が設置されている地下駐車場の道路の方位と駐車料金とを移動体に向けて送信する（Ｓ２０５）。
【００２７】
移動体側通信部１９は、路側通信部２１より送信された最新の衛星軌道情報、周辺地域の情報、道路の方位と駐車料金とを受信すると（Ｓ２０６）、受信した道路の方位に基づいて、方位センサ１３を校正する（Ｓ２０７）。また受信した周辺地域の情報に基づいて、地下駐車場から出てすぐに道路をどちらに進んだ方が渋滞が少ないか、工事中の道路の有無や交通規制など、周辺の道路をどのように進むのが良いかを表示部１６に表示して決定する（Ｓ２０８）。
【００２８】
受信した駐車料金をゲート（図示せず）で支払い、地下駐車場から地上に出て、周辺の道路の渋滞を回避するように進路を取りながら、地上電波受信可能領域に移動する（Ｓ２０９）。
【００２９】
ＧＰＳ測位部１２は、ＧＰＳ測位部１２で保持している衛星軌道情報と、路側装置２より取得した衛星軌道情報の新らしさを比較し、ＧＰＳ測位部１２で衛星軌道情報を保持していない場合や、より新らしい衛星軌道情報である場合は、路側装置２より受信した最新の衛星軌道情報とアンテナ１１で受信したＧＰＳ衛星からの電波とにより現在位置情報を直ちに算出する（Ｓ２１０）。
【００３０】
経路案内部１０は、ＧＰＳ測位部１２で取得した位置情報や、方位センサ１３で取得した方位情報や、路側装置２より取得した周辺地域の情報により、直ちに目的地への最適な経路案内を行なう（Ｓ２１１）。
【００３１】
以上のように、本発明の一実施の形態のナビゲーションシステムは、ＧＰＳ衛星の電波を受信できない地下駐車場から出るときに、路側装置が有する最新の衛星軌道情報をナビゲーション装置は受信し、それを用いて、地下駐車場から地上に出てＧＰＳ衛星の電波を受信できる状態になると、直ちにＧＰＳ測位部で位置を計算し、経路案内を行なうことができる。
【００３２】
また移動体が地下駐車場に入場する際、それまでにＧＰＳ衛星の電波を受信して収集した衛星軌道情報を移動体側通信部から路側通信部へ出力し、それをサーバで記憶保存し、常に最新の衛星軌道情報を保持することにより、地下駐車場から出るナビゲーション装置へ衛星軌道情報を出力することができる。
【００３３】
さらに地下駐車場から出る時に、路側装置が設置されている道路方位をサーバから読出し、ナビゲーション装置へ出力し、ナビゲーション装置はそれを受信し、方位算出部４は、取得した方位を用いて初期方位を設定することができ、方位センサは正確な方位を基に経路を案内することができる。
【００３４】
さらに地下駐車場から出る時に、地下駐車場の地域周辺の渋滞情報をサーバから読出し、路側通信部から移動体側通信部へ出力するので、ナビゲーション装置は取得した周辺地域の渋滞情報を表示装置７で地図情報にあわせて表示して適切な経路案内をすることができる。
【００３５】
なお、上記実施の形態では、ナビゲーション装置１と路側装置２との通信方法として、ＤＳＲＣを代表例として挙げているが、例えば無線ＬＡＮや赤外線通信や磁界通信やＢｌｕｅｔｏｏｔｈのように双方向の近距離通信ができるものであればよい。
【００３６】
【発明の効果】
以上説明したように、本発明は経路案内手段が、人工衛星、航空機ならびに地上の送信局からの電波を受信できない地上電波受信不能領域から、人工衛星、航空機および地上の送信局のうち少なくとも一つからの電波を受信できる地上電波受信可能領域に移動するとき、路側通信手段は、経路案内手段が地上電波受信可能領域で利用する経路案内情報を、経路案内情報蓄積手段から取得して、移動体側通信手段に送信することにより、地上の電波を長時間受信できない場所から受信できる場所に移動したときでも、移動体に対し速やかに経路案内を行なうことができるというすぐれた効果を有するナビゲーションシステムを提供する。
【図面の簡単な説明】
【図１】本発明の一実施の形態におけるナビゲーションシステムの概略ブロック図
【図２】本発明の一実施の形態におけるナビゲーションシステムの動作を示す流れ図
【図３】本発明の一実施の形態におけるナビゲーションシステムの動作を示す流れ図
【符号の説明】
１ナビゲーション装置
２路側装置
１１ＧＰＳアンテナ
１２ＧＰＳ測位部
１３方位センサ
１４地図記憶部
１５位置算出部
１６表示部
１７インターフェース部
１９移動体側通信部
２１路側通信部
２２サーバ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a navigation system that provides route guidance for a moving object.
[0002]
[Prior art]
2. Description of the Related Art Conventional navigation systems include a GPS (Global Positioning System), which is a type of positioning satellite, when a mobile object moves from an underground parking lot or the like that cannot receive radio waves from an artificial satellite, an aircraft, or a terrestrial transmitting station to an area that can receive them. When the reception of the radio wave from the GPS satellite is resumed after the interruption of the reception of the radio wave from the GPS satellite, the receiver sets the satellite time based on the almanac information received from another GPS satellite. By estimating the current position information, the current position information can be promptly acquired and route guidance can be performed (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-10-48316 (pages 5-7, FIG. 6)
[0004]
[Problems to be solved by the invention]
However, in such a conventional navigation system, based on information on route guidance acquired in a state in which radio waves from satellites, aircraft, and terrestrial transmitting stations can be received, a location from a place where terrestrial radio waves cannot be received to a place where radio waves can be received cannot be used. Since the route guidance when moving is performed, detailed orbit information (ephemeris) of GPS satellites acquired on the ground before entering the underground parking lot, for example, when the user goes on the ground after parking in an underground parking lot for 4 hours or more If the time has passed so long that it is no longer valid, it will take more than tens of seconds to be able to receive GPS satellite radio waves, determine the current position, and provide appropriate route guidance to the mobile. There was a problem that route guidance was not possible immediately after getting out of the parking lot.
[0005]
SUMMARY OF THE INVENTION The present invention has been made to solve such a conventional problem. Therefore, even when moving from a place where ground radio waves cannot be received for a long time to a place where radio waves can be received, it is possible to promptly provide route guidance to a moving body. The purpose of the present invention is to provide a navigation system capable of performing the following.
[0006]
[Means for Solving the Problems]
A navigation system according to the present invention is a navigation system including a navigation device provided on a moving object, and a roadside device communicating with the navigation device, wherein the navigation device performs route guidance for guiding the route of the moving object, A terrestrial radio wave receiving means for receiving radio waves from at least one of an aircraft and a ground transmitting apparatus, and a mobile communication means for communicating with a roadside apparatus, wherein the roadside apparatus cannot receive radio waves with the terrestrial radio wave receiving means. Roadside communication means, which is installed near the boundary between the terrestrial radio wave unreceivable area and the terrestrial radio wave receivable area where radio waves can be received, and communicates with the mobile side communication means, and route guidance used by the navigation device for route guidance of the mobile body A route guidance information storage means for storing information; When moving toward the receivable area and becoming communicable with the navigation device, the roadside communication means obtains the route guidance information used by the route guidance means in the terrestrial radio wave receivable area from the route guidance information storage means. , To the mobile communication means.
[0007]
According to this configuration, when the moving object provided with the navigation device moves to the terrestrial radio wave receivable area, the route can be quickly guided by the route guidance information received from the roadside device before that.
[0008]
In the navigation system according to the present invention, the route guidance means includes satellite positioning means for receiving a radio wave from an artificial satellite to calculate a position, and the route guidance information is used when the satellite positioning means calculates the position. The satellite positioning information has a configuration for calculating a position based on satellite orbit information and radio waves.
[0009]
With this configuration, it is possible to quickly calculate the position by moving to a place where the radio wave of the artificial satellite can be received based on the satellite orbit information received in advance from the roadside device.
[0010]
Further, in the navigation system of the present invention, the satellite positioning means receives the radio wave from the artificial satellite in the terrestrial radio wave receivable area to obtain the satellite orbit information, and the mobile body side communication means obtains the satellite positioning means. The satellite orbit information is transmitted to the roadside communication means, the roadside communication means receives the satellite orbit information transmitted by the mobile body communication means, and the route guidance information storage means accumulates the satellite orbit information received by the roadside communication means. Configuration.
[0011]
With this configuration, the roadside device can obtain and use newer satellite orbit information of the mobile object.
[0012]
Further, in the navigation system of the present invention, the route guidance means includes a direction sensor, the route guidance information is the direction of the road where the roadside device is installed, and the direction of the direction sensor is calibrated using the direction of the road. have. With this configuration, when moving to the terrestrial radio wave receivable area, the azimuth of the vehicle-mounted navigation device can be correctly calibrated.
[0013]
Further, the navigation system of the present invention has a configuration in which the route guidance information is traffic information of a terrestrial radio wave receivable area around the roadside device. With this configuration, when the vehicle moves to the terrestrial radio wave receivable area, route guidance can be immediately performed in consideration of traffic congestion.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0015]
FIG. 1 is a schematic block diagram of a navigation system according to an embodiment of the present invention. The navigation system according to the present embodiment is a system in which satellite orbit information of a GPS satellite is transferred from the roadside device 2 to the navigation device 1 in accordance with the settlement of a parking fee.
[0016]
In the navigation system configured as shown in FIG. 1, the route guidance unit 10 uses a GPS positioning system, which is one of satellite positioning means for calculating a position by receiving radio waves from a satellite, and using a GPS satellite. Is received by the GPS antenna 11 and the GPS positioning unit 12 collects GPS satellite orbit information and calculates the position.
[0017]
The direction sensor 13 calculates the direction using a gyroscope. Since the azimuth that can be calculated by the azimuth sensor 13 is a relative azimuth and an error is accumulated, the initial azimuth is set periodically using the moving azimuth calculated by the GPS positioning unit 12. The map storage unit 14 stores and stores map information using a storage medium such as a CD, a DVD, a hard disk, or a memory card.
[0018]
Using the position obtained by the GPS positioning unit 12, the absolute azimuth obtained by the azimuth sensor 13, and the map stored in the map storage unit 14, the position calculation unit 15 calculates the position of the own mobile unit, Is configured to be displayed on the display unit 16 together with the map information. The interface unit 17 relays communication between the built-in or externally connected mobile-side communication unit 19 and the route guidance unit 10.
[0019]
The roadside device 2 includes a mobile communication unit 19 of the navigation device 1, a roadside communication unit 21 that performs short-range communication such as DSRC (Dedicated Short Range Communication), and a server 22 that stores information related to route guidance.
[0020]
The operation of the navigation system configured as described above will be described with reference to FIGS. 2 and 3 are flowcharts showing the operation of the navigation system according to one embodiment of the present invention.
[0021]
A mobile object (not shown) such as a vehicle equipped with the navigation device 1 moves to a terrestrial radio wave receivable area where radio waves from GPS satellites can be received (step (hereinafter referred to as S) 101), and the GPS positioning unit 12 Then, the satellite orbit information is acquired from the radio wave of the GPS satellite received by the antenna 11 (S102).
[0022]
In order to calculate the position using the signal from the GPS satellite, the GPS satellite orbit information sent from the satellite is indispensable, but its validity period is 2 to 4 hours in normal operation, and Need to be updated.
[0023]
The navigation device 1 checks whether communication with the roadside device 2 is possible (S103). If communication is not possible, radio waves from GPS satellites are repeatedly received to obtain the latest satellite orbit information. When the moving body arrives at the entrance of the underground parking lot and becomes communicable with the roadside device 2 (Y in S103), the moving body side communication unit 19 of the navigation device 1 sets the roadside device 2 installed at the entrance of the underground parking lot. Then, the satellite orbit information and the moving object ID for identifying the moving object acquired beforehand are transmitted to the roadside communication unit 21 (S104). Then, the moving object is parked in an empty parking space.
[0024]
The roadside communication section 21 of the roadside apparatus 2 receives the satellite orbit information and the mobile body ID transmitted from the mobile body side communication section 19 (S105), and the server 22 is also connected to other devices on the ground via the network. Or by directly connecting to obtain satellite orbit information and surrounding traffic information (S106), and the server 22 accumulates the latest satellite orbit information, peripheral area information, mobile unit ID, and entry time. (S107).
[0025]
After the mobile unit has been parked in an underground parking lot for a long time, for example, 4 hours, the user inputs a destination to be visited in the navigation device 1 with a key (not shown) or a storage unit (not shown). ), The user moves to the exit to get out of the parking lot (S201), and toward the roadside device 2 installed at the exit, the mobile communication unit 19 sets The roadside communication unit 21 transmits the ID (S202), and receives the mobile unit ID transmitted from the mobile unit communication unit 19 (S203).
[0026]
The server 22 calculates the parking fee from the entrance time to the current time by referring to the information such as the entrance time, the type of the moving object, and the parking contract conditions accumulated for the moving object ID received by the roadside communication unit 21. (S204). The roadside communication unit 21 transmits the latest satellite orbit information, the surrounding area information, the direction of the road in the underground parking lot where the roadside device 2 is installed, and the parking fee stored in the server 22 to the mobile object. (S205).
[0027]
Upon receiving the latest satellite orbit information, information on the surrounding area, the direction of the road, and the parking fee transmitted from the roadside communication unit 21 (S206), the mobile-side communication unit 19 determines the direction based on the received direction of the road. The sensor 13 is calibrated (S207). Also, based on the received information on the surrounding area, how to get to the nearby road immediately after exiting the underground parking lot, how much less traffic congestion, whether there is a road under construction, traffic regulations, etc. Whether to proceed is displayed on the display unit 16 and determined (S208).
[0028]
The received parking fee is paid by a gate (not shown), the vehicle goes out of the underground parking lot to the ground, and moves to an area where terrestrial radio waves can be received while taking a course so as to avoid traffic congestion on surrounding roads (S209).
[0029]
The GPS positioning unit 12 compares the satellite orbit information held by the GPS positioning unit 12 with the newness of the satellite orbit information acquired from the roadside device 2, and when the GPS positioning unit 12 does not hold the satellite orbit information If it is newer satellite orbit information, the current position information is immediately calculated from the latest satellite orbit information received from the roadside device 2 and the radio wave from the GPS satellite received by the antenna 11 (S210).
[0030]
The route guidance unit 10 immediately provides an optimal route guidance to the destination based on the position information acquired by the GPS positioning unit 12, the azimuth information acquired by the azimuth sensor 13, and the information on the surrounding area acquired by the roadside device 2. (S211).
[0031]
As described above, the navigation system according to the embodiment of the present invention receives the latest satellite orbit information of the roadside device when the vehicle exits the underground parking lot where the radio wave of the GPS satellite cannot be received, and receives it. As soon as the vehicle goes out of the underground parking lot to the ground and is ready to receive GPS satellite radio waves, the GPS positioning unit can immediately calculate the position and provide route guidance.
[0032]
Also, when the mobile enters the underground parking lot, it receives the GPS satellite radio waves and outputs the collected satellite orbit information from the mobile-side communication unit to the road-side communication unit. By keeping the latest satellite orbit information, it is possible to output the satellite orbit information to the navigation device that exits the underground parking lot.
[0033]
Further, when exiting from the underground parking lot, the road direction where the roadside device is installed is read from the server and output to the navigation device, the navigation device receives it, and the direction calculation unit 4 uses the obtained direction to initialize the direction. Can be set, and the direction sensor can guide the route based on the accurate direction.
[0034]
Further, when the vehicle exits the underground parking lot, the congestion information around the area of the underground parking lot is read from the server and output from the roadside communication section to the mobile body side communication section. It can be displayed according to the map information to provide appropriate route guidance.
[0035]
In the above-described embodiment, DSRC is used as a representative example of the communication method between the navigation device 1 and the roadside device 2. However, for example, a two-way short-distance communication such as wireless LAN, infrared communication, magnetic field communication, and Bluetooth is used. Any device that can communicate can be used.
[0036]
【The invention's effect】
As described above, according to the present invention, the route guidance means includes at least one of an artificial satellite, an aircraft, and a terrestrial transmitting station from a terrestrial radio wave unreceivable area where radio waves from an artificial satellite, an aircraft, and a terrestrial transmitting station cannot be received. When moving to the terrestrial radio wave receivable area where radio waves can be received from the roadside, the roadside communication means obtains the route guidance information used by the route guidance means in the terrestrial radio wave receivable area from the route guidance information storage means, and Provided is a navigation system having an excellent effect that, even when moving from a place where ground radio waves cannot be received for a long time to a place where radio waves can be received by transmitting to a communication means, a route can be promptly provided to a moving body. I do.
[Brief description of the drawings]
FIG. 1 is a schematic block diagram of a navigation system according to an embodiment of the present invention; FIG. 2 is a flowchart showing an operation of the navigation system according to an embodiment of the present invention; FIG. Flow chart showing the operation of the system
Reference Signs List 1 navigation device 2 roadside device 11 GPS antenna 12 GPS positioning unit 13 azimuth sensor 14 map storage unit 15 position calculation unit 16 display unit 17 interface unit 19 mobile unit communication unit 21 roadside communication unit 22 server

Claims

A navigation system including a navigation device provided on a moving body and a roadside device that communicates with the navigation device,
The navigation device communicates with the roadside device, a route guidance device that provides route guidance for the moving object, a terrestrial radio wave reception device that receives radio waves from at least one of an artificial satellite, an aircraft, and a ground transmission device. Mobile-side communication means, the road-side device, the terrestrial radio wave receiving means is installed near the boundary between a terrestrial radio wave receivable area where the radio waves cannot be received and a terrestrial radio wave receivable area where the radio waves can be received, Roadside communication means for communicating with the mobile body communication means, and route guidance information storage means for storing route guidance information used for route guidance of the mobile body performed by the navigation device,
When the moving body moves from the terrestrial radio wave receivable area to the terrestrial radio wave receivable area and becomes communicable with the navigation device, the roadside communication means determines that the route guidance means is not capable of receiving the terrestrial radio wave. A navigation system, wherein the route guidance information used in a possible area is acquired from the route guidance information storage means and transmitted to the mobile body side communication means.

The route guidance unit includes an artificial satellite positioning unit that receives a radio wave from an artificial satellite and calculates a position, and the route guidance information uses the satellite of the artificial satellite that the artificial satellite positioning unit uses when calculating the position. 2. The navigation system according to claim 1, wherein the information is orbit information, and the artificial satellite positioning means calculates a position based on the satellite orbit information and the radio wave.

The satellite positioning means receives radio waves from the satellite in the terrestrial radio wave receivable area to acquire satellite orbit information, and the mobile-side communication means transmits the satellite orbit information obtained by the satellite positioning means. Transmitting to the roadside communication means, the roadside communication means receiving the satellite orbit information transmitted by the mobile body communication means, and the route guidance information accumulating means, storing the satellite orbit information received by the roadside communication means. 3. The navigation system according to claim 2, wherein the information is stored.

The route guidance unit includes a direction sensor, the route guidance information is a direction of a road on which the roadside device is installed, and the direction of the direction sensor is calibrated using the direction of the road. The navigation system according to claim 1.

The navigation system according to any one of claims 1 to 4, wherein the route guidance information is traffic information in a terrestrial radio wave receivable area around the roadside device.

Route guidance means for guiding a route of a moving object, terrestrial radio wave reception means for receiving a radio wave from at least one of an artificial satellite, an aircraft, and a terrestrial transmission device; Mobile-side communication means for communicating with a roadside device installed near a boundary between a radio-wave unreceivable area and a terrestrial radio-receivable area capable of receiving the radio waves, wherein When moving toward the radio wave receivable area and becoming communicable with the roadside device, the route guidance information used by the route guide means in the ground radio wave receivable area, the roadside communication means of the roadside device, Obtained from the route guidance information storage means of the roadside device, and transmitted to the mobile side communication means, wherein the mobile body side communication means transmits the route guidance information transmitted by the roadside communication means. Navigation apparatus characterized by signal.

A navigation device is installed near a boundary between a terrestrial radio wave reception impossible area where radio waves cannot be received from at least one of an artificial satellite, an aircraft and a ground transmitting device and a terrestrial radio wave reception area where the radio waves can be received, and the navigation device Roadside communication means for communicating with the vehicle, and route guidance information storage means for accumulating route guidance information used for route guidance of the mobile body performed by the navigation device, wherein the mobile body is provided from the terrestrial radio wave reception disabled area. When moving toward the terrestrial radio wave receivable area and becoming communicable with the navigation device, the roadside communication means transmits the route guidance information used by the route guidance means in the terrestrial radio receivable area to the route. A roadside device which is obtained from guidance information storage means and transmitted to the mobile side communication means.