JP2004286518A - On-vehicle navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device capable of quickly performing the usual navigation when getting off a ferry. <P>SOLUTION: This navigation device comprises a map information storing means for storing the map data, and a driver's own-car position confirming means for confirming a position of a driver's own-car, and indicates a map image with a self-car mark on a display based on a self-car position signal from the self-car position confirming means and the map data stored in the map information storing means. In this navigation device, the map data includes a ferry landing position data relating to the ferry landing of each of geographical areas, the ferry data relating to the ferry used in navigation in each of the geographical areas, and the ferry route data between the ferry landings, and comprises a position correcting means for correcting the self-car position by estimating the ferry boarding and getting-off positions based on the ferry landing position data, the ferry data and the ferry route data. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a navigation device mounted on a vehicle. In particular, the present invention relates to a navigation device capable of promptly confirming an accurate position of a vehicle at a destination (disembarkation point) after getting on a ferry and moving, and performing normal navigation.
[0002]
2. Description of the Related Art Conventionally, a navigation device confirms a current position of a vehicle by radio navigation using GPS or the like or autonomous navigation using a gyro, a vehicle speed sensor, a yaw rate sensor, or the like.
Then, the position of the own vehicle on the map is specified using the map database, and is displayed on the display.
[0003]
By the way, when the vehicle is stopped and the power is turned off, the navigation device restarts the navigation based on the immediately preceding stop position. If the vehicle is moved by ferry, the navigation device cannot quickly confirm the current position of the vehicle. Therefore, when the navigation device is turned on after the ferry gets off the boat, the own vehicle mark is displayed on the map showing the ferry landing before departure.
[0004]
Such an erroneous display state on the display is resolved after a while in a navigation device using radio navigation by GPS or the like. However, when the destination arriving at the ferry is a place where the user is unfamiliar, the traveling direction cannot be confirmed during that time, which is very inconvenient. A technique for solving this problem is disclosed in Patent Document 1, for example. This patent document 1 discloses a technique in which, when a power-off point is a ferry landing, a drop-off destination that can be reached based on a ferry route is predicted, and a power-on point is determined by a pattern matching method. In this way, it is possible to know where the ferry traveled and to perform smooth navigation.
[0005]
[Patent Document 1]
JP-A-9-236441
[Problems to be solved by the invention]
However, according to the technology disclosed in Patent Document 1, after the vehicle disembarks, the trajectory of the vehicle traveling on the road is confirmed for a while, and the travel destination is determined by matching the traveling trajectory with the road shape stored in the map database. Predict. Therefore, the navigation device cannot confirm the proper position until a predetermined time has elapsed after the vehicle has left the ferry. In addition, when the road form at the place where the passenger is disembarked is similar to that of another place, an erroneous determination that the vehicle has arrived at a completely different place is executed.
[0007]
Therefore, an object of the present invention is to solve the above-mentioned problems of the related art and to provide a navigation device capable of performing normal navigation promptly from the time of disembarkation when a vehicle is moved by ferry. .
[0008]
[Means for Solving the Problems]
An in-vehicle navigation device according to the present invention includes the following configuration. A map information storage means for storing map data; and a vehicle position confirmation means for confirming the position of the vehicle, a vehicle position signal from the vehicle position confirmation means and a map stored in the map information storage means. A navigation device that displays a map image with a vehicle mark on a display using the data, and the map data includes ferry landing position data on ferry landings located in various locations, and navigation data used in various locations. Ferry data and ferry route data between ferry landings, and based on the ferry landing position data, the ferry data and the ferry route data, estimate the boarding point and departure point for the ferry. The vehicle has position correcting means for correcting the vehicle position.
[0009]
ADVANTAGE OF THE INVENTION According to this invention, the fact that the vehicle got on the ferry and the destination of the ferry (disembarkation point) were accurately predicted by utilizing various data on the ferry in many aspects, Can be specified. Therefore, according to the navigation device of the present invention, even when the user moves the car by ferry, the user can perform normal navigation from the time of reaching the destination without feeling inconvenience as in the related art.
[0010]
The position correcting means confirms that the vehicle has boarded the ferry based on the ferry landing position data at the time of boarding, and at the time of disembarkation, the ferry landing position data, the ferry data and the ferry route data. The position of the vehicle at the point of disembarkation can be estimated based on this. The ferry landing position data may include parking lot data relating to a position on a map of a parking lot provided at the ferry landing. Further, the ferry data may include parking deck data relating to the position of the parking deck within the ferry. Further, it is desirable that the ferry landing position data and the data having the ferry data area are formed by polygon data. The position correction means can make various determinations depending on whether or not a vehicle has entered the polygon data. As one form for that purpose, it is desirable to add exit polygon data for confirming that the vehicle has left the ship near the exit of the ferry parking deck.
[0011]
Further, the ferry landing position data includes landing point data set at a predetermined position through which a vehicle that has left the ferry passes, and the position correction means lowers the own vehicle position when estimating the landing point. The position of the vehicle may be forcibly set at the ship point. The ferry route data may include data on destinations, departure times, route times, used piers, etc. of ferries that depart from each ferry port, and data on departure sources, embarkation times, used piers, etc. of ferry entering ports. .
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a navigation device 1 according to an embodiment of the present invention. The navigation device 1 includes a display device 12 having a display screen such as an LCD. The display content of the display device 12 is controlled by the CPU 11. Further, the navigation device 1 has a vehicle position detection sensor 13 as vehicle position confirmation means, and a map data memory 14 as map information storage means. The CPU 11 displays a predetermined vehicle mark at a corresponding position on the map displayed on the display device 12 based on information from the position detection sensor 13 and the map data memory 14.
[0013]
In this navigation device 1, radio navigation using a GPS receiver and self-contained navigation using a gyro, a vehicle speed pulse, and a back signal are used in combination as the position detection sensor 13, and the position of the vehicle on which the device 1 is mounted is used. Can be accurately detected. The map data memory 14 includes a CD-ROM or DVD-ROM storing map information or a data memory 14 for temporarily storing map data read from the CD-ROM or DVD-ROM. The navigation device 1 has the same function as a general navigation device with respect to the technology of detecting the vehicle position and displaying the same on a map. Accordingly, the navigation device 1 also includes various programs or data memories for route search and the like, various input units, a voice output unit, and the like, similarly to the ordinary navigation device. Is omitted.
[0014]
The characteristic configuration of the navigation device 1 will be described in more detail. The map data memory 14 includes ferry landing position data 14a, ferry data 14b, and ferry route data 14c. Further, the CPU 11 functions as a position correcting means for correcting the position of the own vehicle to the destination (disembarkation place) when the vehicle equipped with the device 1 is moved by ferry.
[0015]
The CPU 11 uses the data 14a to 14c to determine whether the vehicle has boarded the ferry and to predict the ferry destination in order to estimate the position after the movement by the ferry. The ferry landing position data 14a includes at least parking lot data relating to a parking lot provided at the ferry landing. Ferry parking has a considerable area and therefore occupies a certain area on the map. Thus, in the present invention, the outline of the area is approximated by a polygon (polygon), and parking lot polygon data is formed by the coordinates of each vertex and the connection order of each vertex starting from any vertex. . Then, the fact that the vehicle has entered the parking lot polygon data is used for determination of ferry boarding. Further, it is possible to more accurately confirm where the vehicle exists in the parking lot by the parking lot polygon data.
[0016]
Further, the map data memory 14 includes ferry data 14b.
It is desirable to accurately determine that the vehicle has boarded the ferry and its destination, and to quickly resume navigation at the time of disembarkation. For this purpose, the present apparatus 1 also uses ferry data for predicting a destination. The ferry data includes parking deck data relating to the parking deck. In the present invention, the parking deck data is polygonized similarly to the parking lot, and is used as parking deck polygon data. In addition, a plurality of ferries having different sizes, positions of entrances (entrances), and the like are employed as ferries used in various places. Such data relating to the type of ferry is also an effective determination factor for determining the destination of the vehicle, and is included in the ferry data 14b.
[0017]
The use of the ferry data 14b will be described. The vehicle on the ferry is stopped at a predetermined position in the parking deck, and the power of the navigation device is turned off. In such a state, if the vehicle is moved for a long time and the power is turned on again at the destination, the position cannot be confirmed. Therefore, in the present apparatus, when the vehicle enters the parking deck polygon data of the ferry, normal navigation is stopped and the position of the vehicle in the parking deck is confirmed by autonomous navigation. In addition, exit polygon data is set near the exit of the entrance (entrance / exit), and it is estimated that the vehicle gets off when the vehicle enters the exit polygon data.
[0018]
That is, the ferry has a plurality of hull forms and the positions of the entrances and exits are different. Here, the type of ferry can be specified based on which entrance the vehicle boarded and from which exit. If exit polygon data is set near the exit, it is possible to confirm that the vehicle has left. If the data includes which type of ferry is used in which route, the position of the entrance becomes one clue for estimating the destination.
[0019]
Further, at the ferry landing, a drop-off point is set at a predetermined position where a vehicle that has left the ferry passes. This drop-off point is set at a predetermined position where the vehicle exiting from the exit polygon data passes. The CPU 11 functioning as the position correcting means estimates that the vehicle has exited when the vehicle enters the exit polygon data. Then, at this time, the own vehicle position is set as the disembarkation point (position correction). By such an operation of the CPU 11, the navigation device 1 can be used in the same manner as usual from the time when the vehicle disembarks. Data relating to the landing point is also stored in the ferry data 14b as ferry landing position data.
[0020]
The map data memory 14 contains ferry route data 14c. The ferry route data 14c can include data on the destination, departure time, route time, and used pier of the ferry departing from each ferry port, and data on the departure source, entry time, and used pier of the ferry entering the port. As described above, the navigation device 1 utilizes the ferry landing position data and the ferry data to infer that the vehicle has boarded the ferry or has got off the ferry, and has also estimated the arrival place (object Can be predicted. However, the ferry route data as described above is also taken into consideration from the viewpoint of more accurately determining the destination of the ferry.
[0021]
In the following, a more detailed operation by the CPU 11 of the navigation device 1 for a series of changes from the time when the vehicle gets on the ferry to the time when the vehicle gets off will be described to clarify the present invention. First, FIG. 2 is a view shown for explaining a situation at the time of boarding. In FIG. 2, a ferry landing 20 has a parking lot 21, and a ferry 25 is anchored on a pier 23. The navigation device 1 is mounted on a vehicle indicated by reference numeral CR in FIG. The parking deck 21 and the parking deck 26 of the ferry 25 are formed by polygon data. The hatched area indicates the surface of the sea, river, or lake.
[0022]
When the navigation device 1 enters the parking lot 21 while executing the normal navigation, the CPU 11 confirms that the vehicle CR has entered the parking lot polygon rigon indicating the parking lot 21 by the detection signal from the position detection sensor 14. Then enter the ferry entrance mode. This entrance mode urges the driver to prepare for boarding the ferry, and starts, for example, guidance for ferry landing. In the ferry entrance mode, the navigation device 1 performs normal navigation and displays the own vehicle mark on a map on the display. When the vehicle CR exits the parking lot 21 as shown by the arrow A1, the vehicle returns to the normal navigation state.
[0023]
When the vehicle CR exits the parking lot polygon exit 22 and enters the parking deck polygon of the parking deck 26 of the ferry 25, the CPU 11 switches to the ferry mode. Although the CPU 11 does not recognize whether the ferry 25 is stopped at the pier 23 or not, it is determined that the vehicle CR has boarded the predetermined ferry 25 when it exited the parking lot polygon and came out on the water surface. You can check. Further, the CPU 11 obtains information on the ferry 25 from the data 14a to 14c on the ferry described above.
[0024]
In the ferry mode, the CPU 11 stops the normal display on the display device 12 and displays, for example, "the ferry is on board" or the like, and switches to the autonomous navigation using the position detection sensor 14. At this time, the CPU 11 specifies the destination and the type of ferry used from the pier used for boarding, the boarding time, etc., based on the ferry route data 14c, together with the ferry landing position data 14a. Further, it is recognized from the parking deck polygon data of the ferry data 14b where the vehicle has stopped. In this state, when the power of the vehicle is turned off, the CPU 11 stores such information in a memory (not shown).
[0025]
FIG. 3 is a diagram shown to explain the situation when boarding. When the ferry 25 arrives at the destination ferry landing, the power of the navigation device 1 is turned on. At this time, the navigation device 1 is in the ferry mode, and the CPU 11 recognizes where the vehicle CR is parked on the parking deck 26 in the ferry 25. From this, even if the vehicle CR moves inside the parking deck 26 by the autonomous navigation, the own vehicle position can be almost specified. As described above, the CPU 11 assumes a destination and a specific ferry being used, using the data 14a to 14c relating to the ferry. Further, exit polygon data is added to the exit portion 27 of the parking deck. Therefore, when the vehicle CR of the autonomous navigation enters the exit polygon, the CPU 11 can determine that the vehicle has arrived at the destination. At this time, the CPU 11 determines that the vehicle CR has been moved to the disembarkation point 125 set on the landing side of each ferry landing, and corrects the position of the vehicle to the disembarkation point 125. Then, normal navigation is immediately resumed. Therefore, the user can resume normal navigation immediately after the vehicle CR gets off the boat.
[0026]
When the vehicle CR detected by the autonomous navigation does not pass through the exit polygon, the assumed ferry may be different. The expected destination may have been incorrect. In this case, for example, the CPU 11 rereads the ferry landing position data 14a, the ferry data 14b, and the ferry route data 14c, presents a plurality of potential sites on the display device 12, and prompts the user to select. Alternatively, a message such as "Get off from ferry. Please wait until GPS signal is received" may be displayed on display device 12 to prompt the user to wait until the correct position is determined.
[0027]
FIG. 4 is a diagram shown to explain a case where a ship leaves from a ferry having a plurality of exits. As shown in FIG. 4, the ferry may have a plurality of outlets 28, 29. However, the pier where the ferry berths at the destination is constant, and either exit 28 or 29 is used. Also, in the case of FIG. 4, as described with reference to FIG. 3, the CPU 11 confirms the vehicle CR position in the parking deck 26 and can specify which of the exits 28 and 29 has been used. In the case of FIG. 4 as well, when the exit polygon set at the exit 28 is entered, the CPU 11 determines that the vehicle has been moved to the disembarkation point 125 of the ferry landing 121 and corrects its own vehicle position.
[0028]
FIGS. 5 and 6 are views for explaining a countermeasure when a plurality of types of ferries are in service on the same route. Although the ferry entrance 24 shown in FIG. 5 is common at the rear, the ferry 25A is small and the ferry 25B is large, so the side exit positions 29A, 29B are shifted back and forth as shown. However, the place of getting on and off the ferry landing (pier) side has not changed. In this case, as shown on the right side of the arrow, one piece of polygon data of a ferry including all of a plurality of types is created. In this data, the outlets 29A and 29B are formed by superimposition. By forming an exit polygon at each exit in the same manner as described above, it is possible to specify which exit uses the ferry. Further, it is possible to assist in determining a destination based on which of the exit polygons the exit polygons 29A and 29B have entered.
[0029]
In the case shown in FIG. 6, the ferry entrance 24 is common at the rear and both exits are at the front. However, since the ferry 25C is small and the ferry 25D is large, if the polygon data is simply overlapped as described with reference to FIG. 5, the position of the exit polygon of the ferry 25C and the disembarkation point 125c will be included in the ferry 25D. In this case, as shown in the figure, the exit polygon position of the small ferry 25C and the disembarkation point 125c may be set slightly earlier than the actual ferry disembarkation position so that the small ferry 25C does not enter the large ferry 25D.
[0030]
In addition, when completely different types of ferries are used on the same route, if the arrival place (disembarkation place) is the same, the method shown in FIG. 5 or FIG. 6 can be used. However, when the destination changes, it is desirable to determine the destination in consideration of the boarding time. If it is difficult to make a decision even at the time of boarding, all possible destinations are estimated and assigned as vehicle position correction candidates. To be displayed. Further, when a plurality of ferries depart from the same port (pier), the waiting parking lot before departure is different, so that it is possible to determine using the ferry landing position data. It is difficult if the standby parking lot and the pier are the same, but the destination can be determined by taking into account the boarding time and the like included in the ferry route data.
[0031]
The sailing situation of the ferry is easily influenced by the weather. Also, the berth location may be changed depending on the port used. By using the latest ferry information, the CPU 11 can more accurately estimate the destination. Therefore, as shown in FIG. 1, it is desirable that the navigation device 1 be configured so that the mobile phone 55 can be set via the input I / F 15. By accessing the information station 50 with the mobile phone 55, the latest information on ferries can be obtained. The means for connecting to the information station 50 is not limited to a mobile phone.
[0032]
As described above, the preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the specific embodiments, and various modifications may be made within the scope of the present invention described in the appended claims.・ Change is possible.
[0033]
【The invention's effect】
As is apparent from the details described above, according to the navigation device of the present invention, even when the car is moved by ferry, the user does not feel the inconvenience as in the past, and the user can perform normal navigation from the time of reaching the destination. Can be performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a navigation device according to an embodiment of the present invention.
FIG. 2 is a view shown for explaining a situation at the time of boarding.
FIG. 3 is a diagram shown to explain a situation when boarding;
FIG. 4 is a diagram shown to explain a case where a ship leaves from a ferry having a plurality of exits.
FIG. 5 is a diagram for explaining a countermeasure when a plurality of types of ferries are in service on the same route.
FIG. 6 is a diagram for explaining another method for coping with a case where a plurality of types of ferries are in service on the same route.
[Explanation of symbols]
1 navigation device 11 CPU (position correction means)
12 display device 13 position detection sensor (own vehicle position confirmation means)
14. Map data memory (map information storage means)
14a Ferry landing location data 14b Ferry data 14c Ferry route data 20 Ferry landing 21 Parking lot 25 Ferry 26 Parking deck 27 Ferry exit 125 Disembarkation point CR vehicle

Claims (10)

A map information storage means for storing map data; and a vehicle position confirmation means for confirming the position of the vehicle, a vehicle position signal from the vehicle position confirmation means and a map stored in the map information storage means. A navigation device that displays a map image with a vehicle mark on a display using the data and
The map data includes ferry landing position data on ferry landings located in various places, ferry data on ferries used for sailing in various places and ferry route data between ferry landings,
An on-vehicle navigation device comprising a position correcting means for estimating a boarding and disembarking point on a ferry based on the ferry landing position data, the ferry data and the ferry route data, and correcting the own vehicle position. The position correction means confirms that the vehicle has boarded the ferry based on the ferry landing position data at the time of boarding, and at the time of disembarkation, the ferry landing position data, the ferry data and the ferry route data An in-vehicle navigation device that estimates the position of a vehicle at an alighting point based on the information and corrects the position of the vehicle. The in-vehicle navigation device according to claim 1, wherein the ferry landing location data includes parking lot data relating to a position on a map of a parking lot provided at the ferry landing. The in-vehicle navigation device according to claim 1, wherein the ferry data includes parking deck data regarding a position of the parking deck in the ferry. The in-vehicle navigation device according to any one of claims 1 to 4, wherein the data having the ferry landing position data and the ferry data area is formed of polygon data. The in-vehicle navigation device according to claim 5, wherein exit polygon data for confirming that the vehicle has exited is added near the exit of the ferry parking deck. The ferry landing position data includes landing point data set at a predetermined position through which a vehicle that has left the ferry passes, and the position correction unit estimates the position of the vehicle when the landing point is estimated. The in-vehicle navigation device according to claim 1 or 2, wherein the position of the vehicle is set in the vehicle. 3. The method according to claim 1, wherein the destination includes information on a destination of a ferry departing from each ferry port, a departure time, a route time, a pier to be used, and data on a departure source of the ferry entering the port, an embarkation time, a used pier, and the like. 2. The in-vehicle navigation device according to claim 1. The self-vehicle position confirming means includes a GPS position detecting means and an autonomous position detecting means, and is set so as to move by autonomous navigation using the autonomous position detecting means in the parking deck of the ferry, and the position correcting means includes 9. The on-vehicle navigation device according to claim 1, wherein the on-vehicle navigation device is used for confirming a position of a vehicle in a deck. The position correcting means executes a ferry mode in which a vehicle mark is not displayed on the display when a vehicle enters a parking deck of a ferry, and stores at least a position of the vehicle in the parking deck when power is turned off. 10. The in-vehicle navigation device according to 9.

Images