JP2006098120A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device capable of the optimum route guide in different using forms, for on-vehicle use and for pedestrian use. <P>SOLUTION: Map information and the present position of a moving body are acquired, and when a destination is inputted, matching between the moving body and the map information is performed based on the map information, and the optimum route for reaching the destination is searched for. When performing route search, it is discriminated whether the moving body is a pedestrian or a vehicle, and a matching condition between the moving body and the map information is switched according to the case for on-vehicle use or for pedestrian use. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a navigation apparatus, for example, a navigation apparatus that calculates a current position of a moving body and displays the calculated current position on a map under different matching conditions for in-vehicle use and pedestrian use.

  2. Description of the Related Art Conventionally, navigation apparatuses that display the current position of a moving body such as a vehicle on a map and perform guidance using voice or a display screen so that a driver can easily reach a destination have become widespread.

  By the way, in this type of navigation device, the position of the vehicle is calculated by a GPS receiver, a distance sensor, or a direction sensor. Therefore, a position error due to the calculation accuracy of each sensor occurs, and the road is displayed on the map. Map matching is performed to correct the position of the vehicle that has come off. As a conventional navigation apparatus for performing this kind of map matching, when the current position of the vehicle is calculated, the number of intersections in a certain range around the vehicle position correction unit is calculated, and three types of urban, suburban and mountainous areas are calculated. The road density classified into

Next, various parameter values serving as boundary values for determining whether or not to perform automatic correction are determined according to the road density around the current position of the vehicle. This parameter is set to a small value in an urban area where the road density is high, and is set to a large parameter in a mountain area where the road density is low. The vehicle position correction unit determines whether or not to correct the current position of the moving body to an adjacent road using the parameters set in this way, and when the road density is high as in an urban area. The current position and map data are carefully matched to improve accuracy, and when the road density is low, such as in a mountainous area, the current position and map data can be quickly matched (see, for example, Patent Document 1). ).
JP 9-304093 A

  However, since such a conventional navigation device is a vehicle-mounted navigation device, when the navigation device is removed from the vehicle and used for a pedestrian, the usage mode is set with the matching parameter being in-vehicle. As a result, the user may receive wrong route guidance.

  Specifically, as shown in FIG. 14, a pedestrian is indicated by a small triangular mark 1, a matching pattern between a pedestrian and map information is indicated by a large triangular mark 2, and the matching parameter remains in-vehicle. Is used when the pedestrian who got off the vehicle at the position 1a moves from the general national road 3 to the pedestrian exclusive road 4 as shown in the order of the positions 1b, 1c and 1d. The route guidance as a result of matching the current position and map information becomes on the general national road 3 as shown in the order of 2a, 2b, 2c, 2d, and the user may be confused by receiving the wrong route guidance. was there.

  The present invention has been made to solve the conventional problems, and an object of the present invention is to provide a navigation device that can perform optimum route guidance in different usage forms for vehicle use and walking.

  The navigation apparatus according to the present invention includes a map information acquisition unit that acquires map information, a current position acquisition unit that acquires a current position of the mobile body, and a destination when a destination is input. A route search means for matching information and searching for an optimum route to reach the destination; a determination means for determining whether the moving body is a pedestrian or a vehicle; and the route search means The matching condition between the moving body and the map information can be switched based on the discrimination result of the discrimination means.

  With this configuration, it is possible to determine whether the moving body is a pedestrian or a vehicle, and the matching condition between the moving body and the map information can be switched between on-vehicle use and pedestrian use. Optimal route guidance can be performed according to the usage pattern.

  In addition, the determination unit of the navigation device of the present invention includes a detection unit that detects a vibration frequency of the moving body, and can determine a pedestrian and a vehicle by analyzing the vibration frequency of the moving body. It is configured to be able to.

  With this configuration, it is possible to determine that the navigation device is mounted on the vehicle when the noise pattern of the engine during idling or traveling of the vehicle matches the noise pattern detected by the detection means. In addition, when the noise pattern during walking matches the noise pattern detected by the detection means, it can be determined that the pedestrian is carrying the navigation device. As a result, it is possible to determine whether the moving body is a pedestrian or a vehicle by a simple method, and the matching condition between the moving body and the map information can be switched between on-vehicle use and pedestrian use.

  Further, the determination means of the navigation device of the present invention comprises connection means provided in a vehicle, and when the navigation device is connected to the connection means, it is possible to determine that the moving body is a vehicle. It is configured to be able to.

  With this configuration, when the navigation device is connected to the connection means of the vehicle, it is switched to the matching condition for the vehicle, and when the navigation device is removed from the connection means of the vehicle, it is switched to the matching condition for the pedestrian. It is possible to determine whether the moving body is a pedestrian or a vehicle by a simple method, and the matching condition between the moving body and the map information can be switched between on-vehicle use and pedestrian use.

  As described above, the present invention can provide a navigation device capable of performing optimum route guidance in different usage forms for vehicle use and walking.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 to 13 are diagrams showing an embodiment of a navigation device according to the present invention.

  As shown in FIG. 1, the configuration of the navigation apparatus includes a GPS receiver 11, an angular velocity sensor 12, a map information storage unit 13, an operation input unit 14, a control unit 15, a voice output unit 16, and a display unit 17. ing.

  The GPS receiver (current position acquisition means) 11 detects the radio waves transmitted from a plurality of satellites from the antenna 10 to determine the current position and current direction of the vehicle, and the positioning result is controlled by the control unit. 15 is output.

  The angular velocity sensor (detecting means) 12 is configured to detect the angular velocity sensor of the vehicle or the pedestrian when the navigation device is mounted on the vehicle or carried by the pedestrian. The angular velocity data is output to the control unit 15.

  The map information storage unit (map information acquisition means) 13 stores roads throughout the country, detailed roads in the region, road costs, and the like, and is composed of a storage medium in which a CD-ROM, DVD, memory card, etc. are stored in advance. Alternatively, map information may be acquired from a server on the Internet on these recording media.

  The operation input unit 14 includes an operation panel having a numeric keypad, character keys, and the like, a remote controller, and the like, and is configured to output input information to the control unit 15 when an arbitrary destination is input.

  The control unit 15 includes a CPU, a ROM, a RAM, and the like, and controls the entire navigation device. The control unit 15 includes a noise pattern storage unit 21, a noise pattern comparison unit (determination unit) 22, and a route search unit (route search unit) 23. I have.

  The noise pattern storage unit 21 stores three types of noise patterns acquired in advance by a gyro sensor. Specifically, an in-vehicle noise pattern during engine idling (see FIG. 2), an in-vehicle noise pattern during engine running (see FIG. 3), and a noise pattern during walking (see FIG. 4) are stored. Yes.

  The noise pattern comparison unit 22 analyzes the vibration frequency of the angular velocity sensor data input from the angular velocity sensor 12, compares the noise pattern of the angular velocity sensor with each noise pattern stored in the noise pattern storage unit 21, and matches the pattern. Based on the above, it is determined whether the navigation device is mounted on the vehicle or carried by a pedestrian.

  Further, the route search unit 23 calculates a search route from the current position of the vehicle detected by the GPS receiver 11 to the destination input by the operation input unit 14, and navigation to the destination based on the search route. Is supposed to do. At this time, when the matching condition between the map information and the current position of the moving object is switched to on-vehicle use or pedestrian based on the determination result of the noise pattern comparison unit 22, and the matching condition is switched to on-vehicle use, the route search unit 23 matches the current position of the moving object on the road for the vehicle, and when the matching condition is switched for the pedestrian, the route search unit 23 matches the current position of the moving object on the road for the pedestrian. .

  Moreover, the audio | voice output part 16 is comprised from the speaker, and guides the route | route to the destination with an audio | voice. The display unit 17 is composed of a liquid crystal display panel, and displays the route to the destination by synthesizing and displaying the current position of the moving object on the display screen on the map information.

  Next, a navigation method will be described based on FIGS.

  FIG. 5 is a flowchart of main navigation processing, FIG. 6 is a flowchart of current position update processing, and FIG. 7 is a flowchart of route guidance processing. Each flowchart is a main processing program, a current position update processing program, and a route guidance processing program stored in the ROM of the control unit 15, and each program is executed by the CPU.

  As shown in FIG. 5, the main process acquires the current position of the moving body and the data from the angular velocity sensor 12 from the GPS receiver 11 (step S1), and then performs frequency analysis on the acquired data of the angular velocity sensor 12, A noise pattern of data of the angular velocity sensor 12 is calculated (step S2).

  Next, it is determined whether or not the in-vehicle noise pattern of the gyro sensor data stored in the noise pattern storage unit 21 matches the noise pattern of the vibration frequency from the angular velocity sensor 12 calculated this time (step S3). As shown in FIG. 3, when the vehicle-mounted noise pattern coincides with idling or traveling, the main body use state of the navigation device is substituted into the in-vehicle use (step S4). Assign to.

  Next, the current position update process is executed as shown in FIG. 6 (step S6). In FIG. 6, the current position update process first sets the link ID of the current location to −1, initializes the minimum distance to the road with the maximum value (step S <b> 12), and then transmits the GPS data ( A predetermined range of road map data is read from the map information storage unit 13 centering on the longitude and latitude of (current position data) (step S13).

  Specific GPS data is shown in FIG. 8, and road map data is shown in FIG. Next, after the direction obtained by correcting the data from the angular velocity sensor 12 is substituted for the current direction (step S14), the first road map data read from the map information storage unit 13 is acquired (step S15). The road map data record read from the map information storage unit 13 is shown in FIG.

  Next, it is determined whether or not the main body usage state is in-vehicle use (step S16). If the in-vehicle use is in use, 20 degrees is substituted for the azimuth error range (step S17). Is substituted with 70 degrees for the azimuth error range (step S18).

  Next, it is determined whether or not the absolute value of the difference between the road azimuth and the current azimuth is within the azimuth error range (step S19). If the absolute value is within the azimuth error range, the current position of the moving object and the start point longitude, latitude, and road of the road information are determined. The perpendicular distance from the current position to the road is calculated using the end point longitude and latitude of the information and substituted for the distance to the road (step S20).

  If it is larger than the heading error range in step S19, the next road record is acquired for the road map data acquired from the map information storage unit 13 (step S24).

  When the process of step S20 is completed, the value of the distance to the road is compared with the value of the minimum distance to the road (step S21). If the minimum distance to the road is larger than the distance to the road, the road The link ID of the record is substituted for the link ID of the current position (step S22).

  If the minimum distance to the road is equal to or less than the distance to the road, the process proceeds to step S24. Next, after calculating the point of contact between the GPS position and the road using the longitude and latitude of the GPS data, the start point longitude of the road record, the latitude and the end point longitude and latitude of the road record, and substituting it into the longitude and latitude on the road (Step 23), the next road record is acquired for the road map data acquired from the map information storage unit 13 (Step S24).

  Next, it is determined whether or not the road record is the last (step S25). If it is not the last, the process returns to step S19. If the road record is the last, it is determined whether or not the link ID of the current position is -1. (Step S26).

  If the link ID is -1 in step S26, the longitude and latitude values of the GPS data are substituted into the longitude and latitude of the current position, and the current azimuth value is substituted into the azimuth of the current position (step S29), and the link If the ID is not -1, it is determined whether or not the main body use state is in-vehicle use (step S27).

  Here, when the vehicle is in use, the longitude and latitude values on the road are substituted into the longitude and latitude of the current position, and the current azimuth value is substituted into the azimuth of the current position (step S28). FIG. 8 shows specific current position data.

  If the vehicle is not being used in step S27, the longitude and latitude values of the GPS data are substituted into the longitude and latitude of the current position, and the current azimuth value is substituted into the azimuth of the current position (step 29).

  When the current position update process ends, the process returns to the main process shown in FIG. In FIG. 5, when the current position update process is completed, it is determined whether or not data is sent from the operation input unit 14 (step S7). If data is sent from the operation input unit 14, the data type is the purpose. It is determined whether or not it is a ground (step S8). If no data is sent from the operation input unit 14, the process proceeds to step S11.

  If the data type is data indicating the destination as shown in FIG. 11 in step S8, road map data from the current position to the destination is read from the map information storage unit 13 and a route search is executed ( Step S9). Next, after route guidance is substituted for the system state (step S10), the route guidance process shown in FIG. 7 is executed (step S11).

  In the route guidance process shown in FIG. 7, it is first determined whether or not the system state is route guidance (step S30). If the system state is route guidance, the route guidance is based on the link ID of the current position. Information is acquired (step S31). Specific route guidance information data is shown in FIG.

  If the system state is not route guidance, the route guidance process is terminated. When the route guidance information is acquired based on the link ID of the current position in step S31, it is determined whether or not the route guidance information is found (step S32). If the guidance information is found, the longitude, latitude, The end point longitude and latitude distance of the route guidance information is calculated and substituted into the distance to the guidance point (step S33). If the guidance information is not found, the route guidance process is terminated.

  Next, it is determined whether or not the main body is being used in a vehicle (step S34). If the vehicle is being used, 100m is substituted for the first guidance distance and 30m is substituted for the second guidance distance (step S34). S35) If the vehicle is not being used, 50m is substituted for the first guidance distance and 15m is substituted for the second guidance distance (step S36).

  Next, it is determined whether or not the guidance condition of the route guidance information is a road and in the middle of the route guidance information (step S37). If the route is in the middle of the route guidance information, the distance to the guidance point is set. After adding the link distance of the route guidance information (step S38), the next route guidance information is acquired (step S39).

  On the other hand, if it is determined in step S37 that there is no road or that the route guidance information is complete, it is determined whether the distance to the guidance point is equal to or less than the first guidance distance and the guidance execution state is not implemented. (Step S40) If the distance to the guidance point is equal to or less than the first guidance distance and the guidance execution state is not implemented, it is determined whether or not the guidance condition of the route guidance information is the destination (Step S41). ).

  In step S40, if the distance to the guidance point is greater than the first guidance distance or if the guidance execution state is not yet implemented, the process proceeds to step S47. If the guide condition is the destination in step S41, the guide direction is calculated from the longitude, latitude and longitude of the current position and the latitude in the input data (step S42), and then the destination is determined from the guide direction and the distance to the guide point. A ground guide is output (step S43).

  If the guide condition is not the target value in step S41, the guide direction is calculated from the end point longitude of the route guide information, the latitude and the longitude of the current position, and the latitude (step S44), and then the distance to the guide direction and the guide point is calculated. The intersection guidance is then output (step S45).

  When the process of step S43 or step S45 is completed, after the first guidance end is substituted for the guidance execution state (step S46), the distance to the guidance point is equal to or less than the second guidance distance, and the guidance execution state is the first guidance end. It is determined whether or not there is (step S47).

  Here, when the distance to the guidance point is equal to or less than the second guidance distance and the guidance execution state is the first guidance end, it is determined whether or not the guidance condition of the route guidance information is the destination (step S48). ) If the guidance condition is the destination, after calculating the guidance direction from the longitude, latitude and longitude of the current position, latitude in the input data (step S49), from the guidance direction and the distance to the guidance point The destination guidance is output (step S50), then the route guidance end is substituted for the system state, and the unexecuted state is substituted for the guidance execution state (step S51).

  On the other hand, when the guide condition is not the destination in step S48, the guide direction is calculated from the end point longitude, the latitude and the longitude of the current position, and the latitude of the route guide information (step S52), and then the guide direction and the distance to the guide point are calculated. Further, the intersection guidance is output (step S53), and then the second guidance end is substituted for the guidance execution state (step S54).

  Next, it is determined whether or not the guidance execution state is the second guidance end and the link ID of the route guidance information is different from the link ID of the current position (step S55), the guidance execution state is the second guidance end and the route guidance information. If the link ID of the current position is different from the link ID of the current position, the route guidance end is substituted for the system state, the unexecuted state is substituted for the guidance execution state, the route guidance processing is terminated, and the process returns to the main process (step S56). ).

  If the guidance execution state is not the end of the second guidance in step S55, or if the link ID of the route guidance information is the same as the link ID of the current position, the route guidance process is terminated and the process returns to the main process (step S56). When returning to the main process, step 1 is executed and the above-described process is repeated.

  As described above, in the present embodiment, it is possible to determine whether the moving body is a pedestrian or a vehicle and to switch the matching condition between the moving body and the map information between the on-vehicle use and the pedestrian use. As shown, optimal route guidance can be performed in different usage modes for vehicle use and walking.

  In FIG. 13, a pedestrian is indicated by a small triangular mark 31, and a matching pattern between the pedestrian and map information is indicated by a large triangular mark 32. In this embodiment, it is possible to determine whether the moving body is a pedestrian or a vehicle, and to switch the matching condition between the moving body and the map information between on-vehicle use and pedestrian use. When the pedestrian moves from the general national road 33 to the pedestrian exclusive road 34 as shown in the order of positions 31b, 31c, 31d, the route guidance as a result of matching the pedestrian's current position with the map information is expressed as 32a, As shown in the order of 32b, 32c, and 32d, it is possible to switch to the pedestrian road 4. For this reason, optimal route guidance can be performed in different usage patterns for vehicle use and walking.

  In the present embodiment, the vibration frequency of the moving body is detected by the angular velocity sensor 12, and the vibration frequency of the moving body is analyzed by the noise pattern comparison unit 22, so that the pedestrian and the vehicle are discriminated. When the noise pattern of the engine during idling or running of the vehicle matches the noise pattern detected by the detection means, the navigation device determines that the navigation device is mounted on the vehicle, and the noise pattern and detection means during walking When the detected noise pattern matches, it can be determined that the navigation device is carried by a pedestrian.

  Instead of using the angular velocity sensor 12, an interface (connecting means) for connecting a navigation device to the vehicle is provided, and when the navigation device is connected to the interface, it is determined that the moving body is a vehicle. When the navigation apparatus is removed from the interface, the same effect can be obtained even if the matching condition is switched by determining that the moving body is a pedestrian.

  As described above, the navigation device according to the present invention has an effect of being able to perform optimum route guidance in different usage forms for in-vehicle use and walking use, and calculates the current position of the moving object. This is useful as a navigation device for displaying the current position on a map under different matching conditions for in-vehicle use and for pedestrian use.

The block diagram of the navigation apparatus which concerns on one embodiment of this invention The figure which shows the vehicle-mounted noise pattern in the engine idling of one embodiment The figure which shows the vehicle-mounted noise pattern in driving | running | working of one Embodiment The figure which shows the noise pattern in the walk of one Embodiment Flow chart of main processing of one embodiment Flowchart of current position update processing according to one embodiment Flowchart of route guidance processing according to one embodiment The figure which shows the GPS data of one Embodiment The figure which shows the road map data of one Embodiment The figure which shows the data of the present position of one Embodiment The figure which shows the input data of one embodiment The figure which shows the data of the route guidance information of one embodiment The figure which shows the route guidance by the map matching of one Embodiment The figure which shows the route guidance by the conventional map matching

Explanation of symbols

11 GPS receiver (current position acquisition means)
12 Angular velocity sensor (detection means)
13 Map information storage unit (map information acquisition means)
22 Noise pattern comparison unit
23 Route search unit (route search means)

Claims (3)

When the map information acquisition means for acquiring map information, the current position acquisition means for acquiring the current position of the mobile object, and the destination are input, the mobile object and the map information are matched based on the map information, A route search means for searching for an optimum route to reach a destination; a determination means for determining whether the moving body is a pedestrian or a vehicle;
The navigation device characterized in that the route search means switches matching conditions between the moving object and map information based on a determination result of the determination means. The said discrimination means has a detection means which detects the vibration frequency of the said mobile body, The pedestrian and a vehicle are discriminate | determined by analyzing the vibration frequency of the said mobile body. Navigation device. The said determination means consists of connection means provided in the vehicle, and when the said navigation apparatus is connected to the said connection means, it determines that the said mobile body is a vehicle. Navigation device.

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