JP2006105863A - Map-matching system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map-matching system capable of accurately collating positioning coordinates with map data, without requiring high maintenance cost. <P>SOLUTION: This system is equipped with a map data storage means 2 for storing the map data containing node data for showing crossings or dead ends of roads, link data for showing road by a link connecting each piece of node data, and road width information for showing the width of the road corresponding to the link data; a road surface region derivation means 3 for deriving the road surface domain, corresponding to the link data based on the map data by adding corner cut shape information showing a corner cut shape of a corner angle of the crossing; and a positioning coordinate collation means 9 for collating the positioning coordinate relative to the road surface domain by adding error information, showing the error quantity included in the map data. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a map matching system that is used in a navigation system or the like and performs map matching for matching positioning coordinates to map data.

  2. Description of the Related Art In recent years, there has been a demand for further improvement in map matching position accuracy used in navigation systems and the like using GPS (Global Positioning System) technology and measures.

  As a conventional map matching system, as shown in FIG. 8, positioning coordinates are collated against map data composed of a link 21 representing a road with a line and a node 22 representing an intersection or a dead end of the road. There is something to do.

  In such a map matching system, when the vehicle travels on the track 24, a track 25 on the link is obtained as a verification result, but the vehicle travels on the track 27 in the parking area 26 along the roadside. In this case, since the original road boundary 23 considering the width of the road is not recorded in the map data and is unclear, whether the vehicle is traveling on the road or traveling in the parking lot along the road It is difficult to judge whether you are doing.

Therefore, as an improvement on the above map matching system, road data of lines representing roads with lines, intersections and freeway tolls that allow the vehicle to travel freely by changing the course, etc. In some cases, positioning coordinates are collated against map data composed of road data representing a surface area (see, for example, Patent Document 1).
JP 2002-107163 A

  However, in the conventional map matching system, if the road data of the intersection surface can be prepared, it is effective at the time of turning left and right at the intersection, but there is a problem that it is costly to maintain this nationwide.

  The present invention has been made to solve the conventional problems, and an object of the present invention is to provide a map matching system that can accurately match positioning coordinates to map data without requiring high maintenance costs. And

  The map matching system of the present invention includes node data representing a road intersection or dead end, link data representing a road with a link connecting the node data, and road width information representing a width of a road corresponding to the link data. Map data storage means for storing map data including: road surface area derivation means for deriving a road surface area corresponding to the link data based on the map data; collating positioning coordinates with the road surface area And positioning coordinate matching means.

  With this configuration, the road surface area used when collating the positioning coordinates of the host vehicle is derived based on map data including node data, link data, and road width information, without requiring high maintenance costs. Positioning coordinates can be accurately checked against map data.

  In the map matching system of the present invention, the road surface area deriving means generates corner cutting shape information representing a corner cutting shape of an intersection based on the map data, and the road by the road surface area deriving means The surface area is derived based on the corner cut shape information in addition to the map data.

  With this configuration, since the positioning coordinates of the own vehicle are collated with respect to the road surface area including the corner cut shape of the intersection, the positioning coordinates can be accurately collated with the map data when turning right or left at the intersection.

  In the map matching system of the present invention, the map data includes error information representing an error amount of the node data, the link data, and the road width information, and the positioning coordinate matching by the positioning coordinate matching unit is It has a configuration in which the error information is taken into account.

  With this configuration, when the positioning coordinates of the own vehicle are collated, the error information included in the map data is taken into account, so that the positioning coordinates can be accurately collated with the map data.

  In the map matching system of the present invention, the map data includes accuracy information indicating the accuracy of the map data, and the positioning coordinate matching by the positioning coordinate matching unit is performed in consideration of the accuracy information. It has such a configuration.

  With this configuration, when the positioning coordinates of the own vehicle are collated, accuracy information indicating the accuracy of the map data is taken into account, so that the positioning coordinates can be accurately collated with the map data.

  In the map matching system of the present invention, the accuracy information represents a scale of a base map of the map data.

  With this configuration, when matching the positioning coordinates of the own vehicle, the accuracy information of the map data is obtained from the scale of the base map, and the accuracy information of the obtained map data is taken into account, so the positioning coordinates are accurately verified against the map data. can do.

  In the map matching system of the present invention, the positioning coordinate matching means estimates the scale of the base map of the maximum scale map data among the plurality of map data in the region including the positioning coordinates, and the scale of the estimated base map An error amount of the map data is derived on the basis of the position information, and the positioning coordinate collation by the positioning coordinate collating means is performed in consideration of the error amount.

  With this configuration, when the positioning coordinates of the own vehicle are collated, an error amount based on the scale of the base map of the maximum scale map data is taken into account, so that the positioning coordinates can be accurately collated with the map data.

  The present invention provides positioning coordinates for map data without requiring high maintenance costs by providing road surface area deriving means for deriving a road surface area used when collating positioning coordinates based on map data. Therefore, it is possible to provide a map matching system having an effect of accurately matching the two.

  Hereinafter, a map matching system according to an embodiment of the present invention will be described with reference to the drawings.

  A map matching system according to an embodiment of the present invention is shown in FIG. In addition, the map matching system of this Embodiment is applied to a navigation apparatus etc.

  In FIG. 1, a map matching system 1 includes a map data storage means 2 for storing map data, a road surface area deriving means 3 for deriving a road surface area based on the map data, and a GPS signal from a GPS artificial satellite. GPS receiving means 4 for receiving, received data storing means 5 for storing received data obtained from the received signal, absolute coordinate calculating means 6 for calculating the absolute coordinates of the own vehicle based on the received data, Sensing means 7 for calculating a relative coordinate of the own vehicle by measuring a travel distance and a traveling direction, a positioning coordinate deriving means 8 for deriving a positioning coordinate of the own vehicle based on the absolute coordinate and the relative coordinate of the own vehicle, a road surface Positioning coordinate matching means 9 for matching positioning coordinates with respect to the area, display means 10 for displaying the result of matching by the positioning coordinate matching means 9 together with the map data, and user Input means 11 for receiving an operation / instruction from, and distance determination means 12 for determining whether the distance between the result collated by the positioning coordinate collating means 9 and the node at the intersection is equal to or less than a certain distance. It is a configuration.

  The map data storage means 2 includes node data representing road intersections or dead ends, link data representing roads with links connecting the node data, and road width information representing road widths corresponding to the link data. Map data is memorized.

  The road surface area deriving unit 3 generates corner cutting shape information representing the corner cutting shape of the intersection, and the road surface based on the map data stored in the map data storage unit 2 and the corner cutting shape information described later. The area is derived.

  The reception data storage means 5 stores reception data every time the GPS reception means 4 receives GPS signals from GPS artificial satellites. The absolute coordinate calculation means 6 is stored in the reception data storage means 5. Triangulation is performed based on the latest received data, and absolute coordinates composed of latitude and longitude are calculated.

  The sensing means 7 has a travel distance sensor and an azimuth sensor, measures the travel distance and the traveling direction from the reference point of the own vehicle, and calculates the relative coordinates of the own vehicle. Note that the travel distance sensor includes an acceleration sensor, a vehicle speed sensor, and the like, and the azimuth sensor includes a geomagnetic sensor, an angular velocity sensor, and the like.

  The display means 10 displays a map based on the result collated by the positioning coordinate collating means 9 and the map data on a CRT, a liquid crystal display or the like. The input unit 11 gives various instructions to the navigation device by the user, and is also used for inputting a destination for causing the navigation device to search for a route.

  Next, map data stored in the map data storage means 2 will be described with reference to FIG.

  Each link 13 representing the road center line in a line shape is terminated at a node 14 representing the center of the intersection. Road width information representing the road width 15 is stored by the map data storage means 2 as an attribute of the link 13. Instead of road width information, the lane width and the number of lanes are stored in the map data storage means 2, and the road surface area deriving means 3 calculates the road width 15 by multiplying the lane width by the number of lanes. Also good.

  Next, the corner cutting shape information generated by the road surface area deriving means 3 will be described with reference to FIG.

  For example, when the vehicle travels on the travel locus 16, the corner surface shape deriving means 3 generates corner cutting shape information representing the corner cutting shape 17. Here, when the crossing angle when the link 18 and the link 19 intersect at the node 20 is θ and the minimum turning radius of the host vehicle is r, the circles having the radius r are in contact with the road boundaries T1 and T2 and each road boundary. The corner-cut shape 17 can be obtained geometrically as a triangle formed by the intersection point X where the extension lines intersect. The corner cutting shape 17 may be a region obtained by excluding a region where a circle with a radius r overlaps from the obtained triangle.

  Here, the intersection angle is calculated from the link data and the node data. Further, as shown in FIG. 4, the minimum turning radius is determined by the classification of automobiles (hereinafter simply referred to as “designed vehicles”) that are the basis of road design, but the classification of designed vehicles is included in the map data. Since it is rare, there is a method of assuming the classification of the designed vehicle according to the road type and road width in the map data as a simple method. For example, when a design vehicle is assumed to be classified according to road type, the minimum turning radius is 12 meters if the two intersecting roads are both prefectural roads or higher, or roads with two or more lanes on one side. If the roads are of the kind below the prefectural roads and one lane on one side, the minimum turning radius is 6 meters.

  The operation of the map matching system configured as described above will be described with reference to FIG.

  FIG. 5 is a flowchart for explaining the operation of the map matching system of the present invention.

  First, the absolute coordinates of the own vehicle are calculated by the absolute coordinate calculating means 6 based on the received data stored in the received data storage means 5, while the relative coordinates of the own vehicle are calculated and calculated by the sensing means 7. Based on the absolute coordinates and relative coordinates of the own vehicle, the positioning coordinates of the own vehicle are derived by the positioning coordinate deriving means 8 (step S1). Next, a road surface area is derived by the road surface area deriving means 3 based on the map data stored in the map data storage means 2 (step S2). With respect to the road surface area derived by the road surface area deriving means 3, the positioning coordinates of the host vehicle calculated by the positioning coordinate deriving means 8 are collated by the positioning coordinate collating means 9 (step S3). Displayed by the display means 10 (step S4). Here, the distance determination means 12 determines whether the distance between the collated result and the nearby intersection node is equal to or less than a certain distance (step S5). When it is determined that the distance between the collated result and a nearby intersection node is equal to or less than a certain distance, the road surface area including the corner cutting shape is derived by the road surface area deriving means 3 (step S6). ). On the other hand, if it is determined that the distance between the collated result and a nearby intersection node is not equal to or less than a certain distance, the process returns to step S1.

  Next, the absolute coordinates of the own vehicle are calculated by the absolute coordinate calculating means 6 based on the received data stored in the received data storage means 5, while the relative coordinates of the own vehicle are calculated and calculated by the sensing means 7. Based on the absolute coordinates and relative coordinates of the own vehicle, the positioning coordinates of the own vehicle are derived by the positioning coordinate deriving means 8 (step S7). The positioning coordinates of the own vehicle calculated by the positioning coordinate deriving means 8 are collated by the positioning coordinate collating means 9 against the road surface area derived by the road surface area deriving means 3 including the corner cut shape (step S8). The collated result is displayed by the display means 10 (step S9). Here, the distance determination means 12 determines whether the distance between the collated result and the node at the intersection is equal to or less than a certain distance (step S10). If it is determined that the distance between the collated result and the node at the intersection is equal to or less than a certain distance, the process returns to step S7. If it is determined that the distance between the collated result and the node at the intersection is not less than a certain distance, the process returns to step S1.

  Since there is generally an error in the shape of the link in the map data, the coordinates of the node, and the road width, the positioning coordinate matching means 9 determines the positioning of the road surface area to which the error information indicating the error amount is added and the own vehicle. You may make it perform the road surface area | region inside / outside comparison which compared the coordinate. For example, the positioning coordinate matching means 9 determines that the positioning coordinates of the own vehicle are roads when d ≦ D / 2 + E, where E is the error amount, D is the road width, and d is the distance from the positioning coordinates of the own vehicle to the link. It is determined that it is within the surface area.

  The error information indicating the amount of error included in the map data varies depending on the accuracy information of the map data represented by the scale of the base map used when creating the map data. Hereinafter, the accuracy of the map data based on the scale of the base diagram will be described with reference to FIG. In Japan, a 1 / 25,000 topographic map is known as the largest scale map developed nationwide, but if this reading accuracy is 1 mm, it is considered that the actual length includes an error amount of 25 m or less. . However, in some areas, there are residential maps with a scale of 1 / 1,500, etc., and when map data is prepared using such a large scale map as a base map, the same reading accuracy can be achieved in that area. The error amount is 1.5 m or less in length.

  Therefore, when the scale of the base map used when creating the map data is added to the map data and the positioning coordinates of the own vehicle are collated, based on the accuracy of the map data based on the scale of the base map as shown in FIG. An error amount of map data can be obtained.

  Even if the scale of the base map is not added to the map data, as shown in FIG. 7, if the scale of the base map used when creating the map data is estimated from the scale of the maximum scale map existing for a certain area, An error amount of the map data can be obtained based on the accuracy of the map data based on the scale of the base diagram as shown in FIG.

  According to such a map matching system of the embodiment of the present invention, a road surface area that is derived based on map data including link data, node data, and road width information is used when collating positioning coordinates. By providing the derivation means 3, it is possible to accurately collate positioning coordinates against map data without requiring high maintenance costs.

  Further, since the positioning coordinates of the own vehicle are collated with respect to the road surface area including the corner cut shape of the intersection, the positioning coordinates can be accurately collated with the map data when turning right or left at the intersection.

  Furthermore, since the positioning coordinates of the own vehicle are collated in consideration of error information indicating errors included in the map data, the positioning coordinates can be accurately collated with the map data.

  Further, since the positioning coordinates of the own vehicle are collated in consideration of accuracy information indicating the accuracy of the map data, the positioning coordinates can be accurately collated with the map data.

  Furthermore, when collating the positioning coordinates of the host vehicle, the accuracy information of the map data is obtained from the scale of the base map, and the accuracy information of the obtained map data is taken into account, so the positioning coordinates are accurately collated with the map data. Can do.

  Further, since the positioning coordinates of the own vehicle are collated in consideration of the error amount based on the scale of the base map of the maximum scale map data, the positioning coordinates can be accurately collated with the map data.

  As described above, the map matching system according to the present invention requires a high maintenance cost by providing a road surface area deriving means for deriving a road surface area used when collating positioning coordinates based on map data. It has the effect of being able to accurately match positioning coordinates to map data without being used, and is useful as a map matching system that is used in navigation systems, etc., and performs map matching that matches positioning coordinates to map data It is.

Block diagram of a map matching system in an embodiment of the present invention Explanatory drawing of the map data of the map matching system in embodiment of this invention Explanatory drawing of the corner cutting shape information of the map matching system in the embodiment of the present invention Figure showing the design vehicle and minimum turning radius according to Article 4 of the Road Structure Ordinance Flow chart for explaining the operation of the map matching system in the embodiment of the present invention The figure which shows the accuracy of the map data with the scale of the base figure A figure showing an example of the maintenance status of the base map of map data Illustration of a conventional map matching system

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Map matching system 2 Map data memory | storage means 3 Road surface area | region derivation means 4 GPS receiving means 5 Reception data storage means 6 Absolute coordinate calculation means 7 Sensing means 8 Positioning coordinate derivation means 9 Positioning coordinate collation means 10 Display means 11 Input means 12 Distance Determining means 13, 18, 19, 21 Link 14, 20, 22 Node 15 Road width 16 Traveling track 17 Corner cut shape 23 Road boundary 24, 27 Track 25 Track on link 26 Area

Claims (6)

Stores map data including node data representing road intersections or dead ends, link data representing roads by means of links connecting the node data, and road width information representing road widths corresponding to the link data. Map data storage means;
Road surface area deriving means for deriving a road surface area corresponding to the link data based on the map data;
A map matching system comprising positioning coordinate matching means for matching positioning coordinates with the road surface area. The road surface area deriving means generates corner cutting shape information representing a corner cutting shape of an intersection based on the map data,
2. The map matching system according to claim 1, wherein the road surface area deriving means by the road surface area deriving means is performed based on the corner cutting shape information in addition to the map data. The map data includes error information indicating an error amount of the node data, the link data, and the road width information,
3. The map matching system according to claim 1, wherein collation of positioning coordinates by the positioning coordinate collating means is performed in consideration of the error information. The map data includes accuracy information representing the accuracy of the map data,
The map matching system according to claim 1 or 2, wherein collation of positioning coordinates by the positioning coordinate collating means is performed in consideration of the accuracy information. The map matching system according to claim 4, wherein the accuracy information represents a scale of a base map of the map data. The positioning coordinate collating means estimates the scale of the base map of the maximum scale map data among the plurality of map data of the region including the positioning coordinates, and calculates the error amount of the map data based on the estimated scale of the base map. Derived,
3. The map matching system according to claim 1, wherein collation of positioning coordinates by the positioning coordinate collating means is performed in consideration of the error amount.

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