JP2008014757A - Navigation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation apparatus which displays the current position exactly. <P>SOLUTION: The navigation apparatus has an arithmetic processing section 1 comprising: a current position computing means for computing the current position of a vehicle; a matching means for compensating the computed current position so as to position it on a road in a map; a display means for displaying an image on the map representing the current position by utilizing the current position computed by the current position computing means or the current position compensated by the matching means; and a means which determines whether or not the vehicle entered a parking lot, based on a reception state of a GPS signal, and estimates an area where the parking lot exists by utilizing a travel trace from entering the parking lot up to parking the vehicle, when such the determination is made that the vehicle entered it, and which determines that the vehicle left the parking lot in the case the current position becomes out of the area. The display means displays the image representing the current position on the map without utilizing the matching means, until the determination of leaving the parking lot is made if the determination of entering the parking lot is made. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a technology for a vehicle-mounted navigation device, and more particularly to a technology for displaying a current position of a vehicle on a map.

  In the navigation device, the current position of the vehicle is obtained using an autonomous navigation sensor, a GPS (Global Positioning System) receiver, and the like, and the current position is displayed on a map to inform the user of the current position. Also, the navigation device uses a technique called map matching to correct the current position on the map road when the current position of the vehicle obtained using a GPS receiver or the like deviates from the road on the map. And then display it.

  However, when the map matching method is used, the following problems may occur. For example, when the vehicle is running in a parking lot and map matching processing is performed, the current position of the vehicle is corrected and displayed on a road (such as a road around the parking lot) on the map. It may end up. That is, the vehicle is actually displayed as being traveling on a road around the parking lot even though the vehicle is traveling in the parking lot.

  A technique for solving the problem of the map matching process as described above is disclosed in Patent Document 1. Specifically, in Patent Document 1, when a normal reception state of a signal from a GPS satellite continues, it is determined that the vehicle is traveling in a parking lot (in an underground parking lot or an indoor parking lot). (Because it cannot receive signals from GPS satellites)

JP 2000-310542 A

  However, when it is determined whether the vehicle exists in the parking lot by the method of Patent Document 1, that is, whether the signal from the GPS satellite has been received, the following problem occurs. For example, in a parking lot having a parking space on the roof, when the vehicle is traveling on the roof, the navigation device receives a signal from a GPS satellite. According to the method of Patent Document 1, the navigation device determines that the vehicle is not in the parking lot when the signal from the GPS satellite can be received. In this state, when the navigation device executes the map matching process, the current position is drawn and displayed on a road around the parking lot even though the navigation apparatus is running on the rooftop. That is, with the technique of Patent Document 1, there is a case where an accurate current position cannot be displayed on a map.

  Further, for example, some multistory parking lots may have a large opening (window) leading to the outside in the passage. In this case, the same problem as when traveling on the rooftop arises. This is because the navigation device receives a signal from a GPS satellite through the opening when the vehicle is traveling through a passage in the parking lot. That is, the navigation device draws and displays the current position on the road around the parking lot even though the vehicle is traveling in the passage in the parking lot.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to display an accurate current position on a map in a navigation device.

  In order to solve the above problems, one embodiment of the present invention is applied to a navigation device mounted on a vehicle.

  The navigation device receives signals from various sensors or GPS satellites, and sequentially calculates the current position of the vehicle using the received signals, and the calculated current position at a predetermined timing. An image showing the current position on the map using the map matching means for correcting the position so as to be located on the road on the map and the current position calculated by the current position calculating means or the current position corrected by the map matching means It is determined whether or not the vehicle has entered the parking lot according to the current position display means for displaying and a signal reception state from the GPS satellite, and if it is determined that the vehicle has entered, at least the vehicle is parked. Estimate the area where the parking lot exists using the travel trajectory from when entering the parking lot until parking, and then calculating by the current position calculation means Determining means that determines that the vehicle has left the parking lot when the current position is outside the area, and the current position display means is determined to have entered the parking lot. Then, until it is determined that the vehicle has left the parking lot, without using the map matching means, the current position calculated by the current position calculating means is used to display an image showing the current position on the map. indicate.

  As described above, in the present invention, when it is determined that the vehicle has entered the parking lot, at least an area where the parking lot exists is estimated using a travel locus from when the vehicle enters the parking lot until it is parked. When the calculated current position goes out of the area, it is determined that the vehicle has left the parking lot. Further, when it is determined that the vehicle has entered the parking lot, the current position calculated by the current position calculating means is used without using the map matching function until it is determined that the vehicle has left the parking lot. The current position is shown on the map.

  Therefore, according to the present invention, it is possible to accurately determine that the vehicle has been left from the parking lot, and thus the current position is placed on the road around the parking lot by the map matching process even though the parking lot is running. It can be prevented from being drawn and displayed. As a result, according to the present invention, an accurate current position can be displayed on the map in the navigation device.

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

  First, a schematic configuration of an in-vehicle navigation device to which the first embodiment is applied will be described with reference to FIG.

  FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device (hereinafter simply referred to as “navigation device”) to which an embodiment of the present invention is applied.

  As shown in the figure, the navigation device includes an arithmetic processing unit 1, a display 2, a storage device 3 in which map data and the like are stored, a voice input / output device 4, an input device 5, a vehicle speed sensor 6, and a gyro 7. And a GPS (Global Positioning System) receiver 8.

  The arithmetic processing unit 1 is a central unit for processing various types of information provided to the user by the navigation device. For example, the current position is calculated based on information output from the various sensors 6 to 7 and the GPS receiver 8. The arithmetic processing unit 1 reads map data around the calculated current position from the storage device 3, develops the read map data in graphics, and displays the car mark 200 indicating the current position on the display 2. To do.

  The display 2 is a unit that displays the image data generated by the arithmetic processing unit 1 and includes a CRT, a liquid crystal display, or the like. The signal S1 between the arithmetic processing unit 1 and the display 2 is generally connected by an RGB signal or an NTSC (National TV Standards Committee) signal.

  The storage device 3 is a unit that stores map data 310 (see FIG. 2) and the like. As the storage device 3, for example, a DVD device or a hard disk device can be used.

  Here, the structure of the map data will be described.

  FIG. 2 is a diagram schematically showing the data structure of the map data stored in the storage device 3.

  As shown in the drawing, the map data 310 is classified for each mesh region obtained by dividing the map into a plurality of parts. The map data 310 includes a mesh ID 311 for identifying a mesh area, and link data 312 of each link constituting a road included in the mesh area.

  The link data 312 includes a link ID 3121 for identifying a link, coordinate information 3122 of two nodes (start node and end node) constituting the link, and whether the road to which the link belongs is a “toll road” or “general road”. Road type 3123 indicating whether there is a link, link length information 3124 indicating the length of the link, link travel time (or travel time) information 3125, and link IDs of links connected to two nodes (start node and end node), respectively (Connection link ID) 3126 and the like. Further, the storage device 3 stores a table for specifying a mesh ID of a mesh including a point specified by the coordinate information from the coordinate information.

  Returning to FIG. 1, the description will be continued. The voice input / output device 4 converts the message to the user generated by the arithmetic processing unit 1 into a voice signal and outputs it, recognizes the voice uttered by the user, and transfers the recognized content to the arithmetic processing unit 1. To do.

  The input device 5 is a unit that receives instructions from the user for selecting various functions of the navigation device, setting a destination, and the like. Hard switches such as a scroll key and a scale change key, Joystick, a touch panel pasted on the display 2, and the like Consists of.

  The sensors 6 to 7 and the GPS receiving device 8 are used by the navigation device to calculate the current position. The vehicle speed sensor 6 measures the distance from the circumference of the wheel and the measured rotational speed of the wheel, and further measures the angle at which the moving body is bent from the rotational speed of the paired wheel. The gyro 7 is composed of an optical fiber gyro and a vibration gyro, and detects an angle at which the vehicle (moving body) is rotated. The GPS receiver 8 receives a signal (GPS signal) from a GPS satellite and measures the distance between the moving body and the GSP satellite and the rate of change of the distance with respect to three or more satellites, thereby moving the current position of the moving body, Measure the direction and direction of travel.

  Next, characteristic functions of the arithmetic processing unit 1 of the navigation device described above will be described with reference to FIG.

  FIG. 3 is a functional block diagram of the arithmetic processing unit 1 of the present embodiment.

  As illustrated, the arithmetic processing unit 1 includes a UI (User Interface) control unit 100, a current position calculation unit 110, a current position display processing unit 120, a data storage unit 130, and a map matching processing unit 140.

  The UI control unit 100 receives a request from a user input to the input device 5 or the voice input / output device 4, and controls the arithmetic processing unit 1 so that processing corresponding to the requested content is executed. In addition, the UI control unit 100 generates image data for guiding various operations and displays the image data on the display 2. In addition, the UI control unit 100 displays image data indicating the current position on the map generated by the current position display processing unit 120 on the display.

  The current position calculation unit 110 uses the distance data and the angle data obtained as a result of integrating the distance pulse data S5 measured by the vehicle speed sensor 6 and the angular velocity data S7 measured by the gyro sensor 7, respectively. , The current position (X ′, Y ′), which is the position after the host vehicle travels, is calculated periodically (every predetermined travel interval) from the initial value (X, Y). Then, the current position calculation unit 110 outputs the calculated current position to the current position display processing unit 120.

  Further, as the current position calculation unit 110 integrates the data S5 of the vehicle speed sensor 6 and the data S6 of the gyro 8, respectively, since errors accumulate, the position data S7 obtained from the GPS receiver 8 in a certain time is used. A process for canceling the originally accumulated error is performed to obtain the current position.

  The current position display processing unit 120 reads the map data 310 in the area requested to be displayed on the display 2 from the storage device 3. In addition, the current position display processing unit 120 periodically receives information (current position information) indicating the current position from the current position calculation unit 110. Then, the current position display processing unit 120 uses the read “map data” and the received “current position information” to display the image data representing the car mark 200 (see FIG. 1) indicating the current position on the map. Is generated. The current position display processing unit 120 outputs the generated image data to the UI control unit 100. The UI control unit 100 displays the image data generated by the current position display processing unit 120 on the display 2.

  The current position display processing unit 120 controls the operation of the map matching processing unit 140. Specifically, the current position display processing unit 120 outputs “current position information” periodically received to the map matching processing unit 140 every predetermined number of times of reception, and requests correction of the current position information (for example, the current position information). When the position display processing unit 120 receives the “current position information” 10 times, the position display processing unit 120 causes the map matching processing unit 140 to correct the position of the current position once among them. The current position display processing unit 120 receives data (correction data) obtained by correcting the current position information from the map matching processing unit 140, which is returned in response to the request. Alternatively, the current position display processing unit 120 receives a notification from the map matching processing unit 140 that there is no road that can match the current position (described later).

  When receiving the correction data, the current position display processing unit 120 uses the correction data to generate image data representing the car mark 200 indicating the current position (corrected current position) on the map, and performs UI control. The image data is displayed on the display 2 via the unit 110. On the other hand, upon receiving a notification that “there is no road that can match the current position (described later)”, the current position display processing unit 120 uses the current position obtained by the current position calculation unit 110 to display the current position on the map. Image data displaying the car mark indicating the position is generated, and the image data is displayed on the display 2 via the UI control unit 110 (in this case, the car mark 200 is not displayed on the road on the map).

  Furthermore, the current position display processing unit 120 determines whether or not the vehicle has entered the parking lot. When it is determined that the vehicle has entered the parking lot, the current position display processing unit 120 determines whether or not the vehicle has exited (leaved) from the parking lot by using a travel locus of the vehicle described later. When the current position display processing unit 120 determines that the vehicle has entered the parking lot, the current position calculation unit 120 does not use the function of the map matching processing unit 140 until it is determined that the vehicle has left the parking lot. The car mark is displayed on the map using the current position calculated by 110. In addition, the process which determines the entering / exiting of the vehicle to the parking lot will be described in detail with reference to FIG.

  The data storage unit 130 receives and stores data indicating the traveling locus of the vehicle from the current position display processing unit 120. Further, the data storage unit 130 receives and stores information (described later) on the vehicle altitude change from the current position display 120.

  The map matching processing unit 140 receives a correction request for the current position from the current position display processing unit 120. The map matching processing unit 140 uses the “map data” read from the storage device 3 to process the current position indicated by the “current position information” from the current position display processing unit 120 on the road on the map. I do. That is, the map matching processing unit 140 corrects the position indicated by the “current position information” from the current position display processing unit 120 so as to get on the road on the map. Then, the map matching processing unit 140 outputs correction data obtained by correcting the current position information to the current position display processing unit 120.

  Here, in the map matching process, there may be no road that can be matched around the current position obtained by the current position calculation unit 110. In such a case, the map matching processing unit 140 notifies the current position display processing unit 120 that there is no road that can match the current position.

  Note that the method for correcting the current position performed by the map matching processing unit 140 uses an existing map matching processing method. For example, if the current position is not on a road on the map (this state is referred to as “free state”), the map matching processing unit 140 extracts a road on the map that exists within a predetermined distance range from the current position. The map matching processing unit 140 draws a perpendicular to each road extracted from the current position, obtains a road having a perpendicular distance equal to or less than a predetermined distance, and among the roads having a perpendicular distance equal to or less than the predetermined distance, Correction is made so that the current position comes to a position on a short road. Note that if there is no road on the map that is within a predetermined range from the current position, or if there is no road with the perpendicular distance equal to or less than the predetermined distance, the map matching processing unit 140 has no road that can match the current position. This is notified to the current position display processing unit 120.

  Next, the hardware configuration of the arithmetic processing unit 1 according to the present embodiment will be described.

  FIG. 4 is a hardware configuration diagram of the arithmetic processing unit 1.

  As shown in the figure, the arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21, a RAM (Random Access Memory) 22 for temporarily storing programs executed by the CPU 21 and various data, and the above-described units (UI control). Section 100, current position calculation section 110, current position display processing section 120, and ROM (Read Only Memory) 23 in which programs for executing the functions of map matching processing section 140 are stored in advance, and between memories and memory A direct memory access (DMA) 24 for transferring data between the device and each device, a drawing controller 25 for executing graphic drawing and controlling display, and a video random access memory (VRAM) 26 for storing graphics image data A color palette 27 for converting image data into RGB signals, and digital signals for analog signals. A / D converter 28 for converting the signal into a serial signal, SCI (Serial Communication Interface) 29 for converting the serial signal into a parallel signal synchronized with the bus, and PIO (Parallel Input / Output) 30, a counter 31 that integrates a pulse signal, and a nonvolatile memory 32 that retains stored contents even when the power is turned off.

  The functions of the UI control unit 100, the current position calculation unit 110, the current position display processing unit 120, and the map matching processing unit 140 are programs for the CPU 21 to execute the functions of the respective units stored in the ROM 23. Is loaded into the RAM 22 and executed. The function of the data storage unit 130 is realized by the nonvolatile memory 32.

  Then, the process which determines the warehousing and delivery of the vehicle to the parking lot which the navigation apparatus of this embodiment performs is demonstrated using FIGS.

  FIG. 5 is a flowchart of a process for determining entry and exit of a vehicle into a parking lot, which is performed by the navigation device of the present embodiment. In addition, the following flow demonstrates the case where a parking lot is a three-dimensional parking lot, or the case of an underground parking lot (underground three-dimensional parking lot) as an example.

  First, the current position display processing unit 120 determines whether or not the current position obtained by the current position calculation unit 110 is in a free state (S10). Then, the current position display processing unit 120 proceeds to S11 to 12 when the current position is in a free state.

  On the other hand, if the current position is not in the free state, the current position display processing unit 120 ends the process of this flow and performs “normal current position display processing” using the existing technology. Here, the “normal current position display process” is to display the image data indicating the current position on the map on the display 2 using the current position periodically calculated by the current position calculation unit 110, A process of performing map matching processing at a predetermined timing, correcting the current position, and displaying the map on the map. The “free state” refers to a case where the current position obtained by the current position calculation unit 110 is not located on the road on the map.

  In S11, the current position display processing unit 120 starts saving the travel locus. That is, the current position display processing unit 120 obtains a travel locus of the vehicle using the current position information periodically acquired from the current position calculation unit 110, and stores the obtained travel locus in the storage unit 130. Note that, as described above, the data storage unit 130 is formed in a predetermined area of the nonvolatile memory 32 (see FIG. 4) that retains data storage contents even when the power is turned off.

  In S12, the current position display processing unit 120 periodically acquires information (altitude information) indicating altitude from an altitude sensor (not shown) provided in the vehicle, and uses the acquired altitude information to change altitude. The obtained altitude change is saved in the data storage unit 130. That is, the current position display processing unit 120 stores the altitude change of the data storage unit 130 every time the altitude change is obtained.

  Note that the order of S11 and S12 may be reversed. That is, S11 may be performed after the process of S12.

  Next, the current position display processing unit 120 determines whether or not the current position is in a matching state on a road on the map. If not, the process proceeds to S14, and if it is a matching state, the process proceeds to S30 (S13). ).

  Specifically, the current position display processing unit 120 outputs “current position information” periodically received to the map matching processing unit 140 every predetermined number of times of reception, and requests map matching processing. The current position display processing unit 120 receives data from the map matching processing unit 140 in response to the request. If the received data is “correction data (data corrected by the map matching process)”, the current position display processing unit 120 determines that the data is in the matching state, and proceeds to the process of S30. On the other hand, if the received data is “data indicating that there is no road that can be matched”, the current position display processing unit 120 determines that it is not in a matching state and proceeds to S14.

  In S30, the current position display processing unit 120 initializes the saved travel locus (deletes the travel locus on the storage unit 130), and proceeds to S31.

  In S31, the current position display processing unit 120 initializes the saved altitude change (deletes the altitude change in the storage unit 130). Thereafter, the current position display processing unit 120 ends the processing of this flow, and performs “normal current position display processing” using the existing technology. Note that the order of S30 and S31 may be reversed.

  Subsequently, the processing after S14 which is performed when it is determined in S13 that the matching state is not established will be described.

  In S14, the current position display processing unit 120 determines whether or not the vehicle has entered the parking lot. The current position display processing unit 120 proceeds to S15 when it is determined that the vehicle has entered the parking lot, and returns to S11 when it is determined that the vehicle has not entered the parking lot.

  When it is determined in this step (S14) that the vehicle has entered the parking lot, the navigation device of the present embodiment does not perform the map matching process until it is determined in S22 that the vehicle has left the parking lot. . That is, during S15 to S22, the current position display processing unit 120 does not use the function of the map matching processing unit 140, but uses the current position information calculated by the current position calculation unit 110 on the map. Displays the current position.

  In this embodiment, the means for determining whether or not the vehicle has entered the parking lot is not particularly limited. For example, the current position display processing unit 120 may determine whether or not the vehicle has entered the parking lot based on the reception state of the GPS signal of the GPS receiver 8. That is, the current position display processing unit 120 determines that the vehicle has entered the parking lot if the GPS receiver 8 is not capable of receiving a GPS signal when the process proceeds to this step (S14). On the other hand, if the GPS receiver 8 can receive the GPS signal, the current position display processing unit 120 determines that the vehicle has not entered the parking lot.

  Note that whether or not the vehicle has entered the parking lot may be determined based on altitude information acquired from an altitude sensor (not shown) in addition to the reception state of the GPS signal. That is, it is determined that the vehicle has entered the parking lot when it is determined that the GPS receiver 8 has not received a GPS signal and the altitude information from the altitude sensor has changed the altitude of the vehicle. You may make it do.

  Then, the process after S15 progressed when it determines with having arrived at the parking lot is demonstrated.

  In S15 to 16, the current position display processing unit 120 saves the traveling locus of the vehicle and the change in altitude according to the same procedure as that of S11 to 12 described above.

  Next, the current position display processing unit 120 determines whether or not the altitude change has been reversed, and proceeds to S18 if it is reversed, and returns to S15 if it is not reversed (S17). ). Specifically, the current position display processing unit 120 determines whether or not the vehicle altitude change is in the opposite direction, using the altitude change obtained in S16 and the altitude change stored in the data storage unit 130. To do. The case where the altitude change is reversed means the following cases, for example. That is, it is assumed that five data of i) rising, ii) rising, iii) rising, iv) no change, and v) no change are stored in the data storage unit 130 as “altitude change”. In this case, when the “altitude change” obtained in S16 is “down”, it is determined that the altitude change is reversed.

  In S18, the current position display processing unit 120 ends the saving of the travel locus. That is, the current position display processing unit 120 estimates that the vehicle is in a state of leaving the parking lot when the altitude change of the vehicle is reversed in S17, and stops saving the travel locus. Here, the principle of estimating that the vehicle is in a state of leaving the parking lot (a state where the vehicle is heading toward the exit of the parking lot) in S17 will be described.

  Here, the vehicle enters from the entrance of the multilevel parking lot on the first floor, goes to the rooftop of the multilevel parking lot, stops the vehicle, and then exits from the multilevel parking lot via the exit of the parking lot on the first floor. An example of the case will be described. In this case, first, the vehicle enters from the entrance on the first floor of the multilevel parking lot and proceeds toward the roof of the parking position. Until the vehicle arrives on the rooftop, the altitude change is increasing. When leaving the parking lot after parking the vehicle on the roof, go down to the lower floor from the roof and exit from the exit of the parking lot on the first floor. That is, on the way from the roof to the exit of the parking lot, the altitude change changes. In this embodiment, paying attention to this altitude change, when the altitude change is in the opposite direction, it is estimated that the vehicle is in a state of leaving the parking lot.

  The data storage unit 130 includes a nonvolatile memory 32 that retains stored contents even when the power is turned off. Therefore, after the user parks the vehicle, the navigation device is turned off to get out of the vehicle, and then returns to the vehicle again to move the vehicle. If it does so, the driving | running | working locus | trajectory after parking to a parking lot can be utilized.

  In the case of an underground parking lot, it can be determined that the vehicle is in a state of leaving the parking lot by paying attention to the change in altitude of the vehicle on the same principle as described above. That is, in the case of an underground parking lot, when the altitude change changes from a descending direction to an ascending direction, it can be estimated that the vehicle is in a state of leaving the parking lot.

  Next, the process of S19 performed after the process of S18 will be described.

  In S <b> 19, the current position display processing unit 120 estimates a parking lot area (area) from the traveling locus stored in the storage unit 130 and performs the processes of S <b> 20 to 21. Specifically, the current position display processing unit 120 estimates an area where the parking lot exists from the shape of the travel locus, and sets the area as a parking lot where the vehicle is located. In the present embodiment, the method for estimating the area from the travel locus is not particularly limited. What is necessary is just to estimate the magnitude | size in which the area of a parking lot contains a travel locus at least.

  For example, as shown in FIG. 6, the parking area may be estimated from the travel locus.

  FIG. 6 is a diagram for explaining an example of a process for estimating a parking lot area using a travel locus of a vehicle, which is performed by the navigation device of the present embodiment. 6A shows an example in which the parking area is estimated as a circle in FIG. 6A, and FIG. 6B shows an example in which the parking area is estimated as a rectangle. In FIG. 6, the travel locus is indicated by dotted lines (510, 520), and the parking area to be estimated is indicated by solid lines (410, 410).

  In FIG. 6, the length of the travel locus in the X direction and the length in the Y direction are obtained, and when the “difference” between the two is less than a predetermined value, the area is a circle and the length “ In the case where the “difference” is different by a predetermined value or more, an example in the case of a square shape is shown. In the example of FIG. 6A, it is assumed that the “difference” between the length in the X direction and the length in the Y direction is less than a predetermined value. In the example of FIG. 6B, it is assumed that the “difference” between the length in the X direction and the length in the Y direction is greater than or equal to a predetermined value.

  First, the example of FIG. 6A will be described. First, the left and right X coordinates are obtained from the detection point (A1) in the free state, respectively, and the midpoint and length of the traveling locus 510 in the X direction are obtained using the two X coordinates. Similarly, the Y coordinate farthest from the detection point (A1) in the free state is obtained up and down, and the midpoint and length of the traveling locus 510 in the Y direction are obtained using the two Y coordinates. Here, since the length in the X direction is substantially the same as the length in the Y direction (because the difference between the two is less than a predetermined value), the circle with the smallest area including the travel locus 510 is centered on the determined midpoint. And the estimated circle is estimated as a parking area.

  Next, an example of FIG. 6B will be described. As described above, the X coordinate farthest from the detection point (A2) in the free state is obtained on the left and right, respectively, and the midpoint and length in the X direction are obtained from the two X coordinates. Similarly, the Y coordinate farthest from the detection point (A2) in the free state is obtained up and down, and the midpoint and length of the Y coordinate are obtained from the two Y coordinates. Here, since the length in the X direction and the length in the Y direction are equal to or greater than a predetermined value, a rectangle having the minimum area including the travel locus 520 is obtained. Note that the intersection of the diagonal lines of the square to be obtained is set to the above-obtained midpoint. Then, the obtained rectangle is estimated as an area.

  Alternatively, when the travel locus (510, 520) forms a closed loop route as shown in FIG. 6, the shape of the travel locus may be estimated as it is as a parking area.

  Returning to FIG. In S20, it is determined whether or not the car mark has escaped from the area set in S19 (determines whether or not the car mark has moved outside the area). If it is determined that the car mark has escaped from the area, the process proceeds to S22. If the car mark has not escaped from the area, the process returns to S20, and the processes of S20 to 21 are repeated until it is determined that the car mark has escaped from the area.

  Specifically, the current position display processing unit 120 determines whether or not the current position is outside the area set in S19 every time the current position calculation unit 110 calculates the current position. The current position display processing unit 120 proceeds to the process of S22 if the current position is out of the area, and returns to the process of S20 if the current position is not out of the area.

  In S22, the current position display processing unit 120 determines that the vehicle has left the parking lot. Then, the current position display processing unit 120 initializes (deletes) the travel locus and the altitude change of the vehicle stored in the storage unit 120 and ends the process.

  Thereafter, the current position display processing unit 120 starts “normal current position display processing”. In other words, the current position display processing unit 120 performs map matching processing every time the current position calculation unit 110 calculates the current position a predetermined number of times, and prevents the current position from deviating from the road on the map.

  As described above, in the present embodiment, whether or not the vehicle has left the parking lot is determined by using the parking lot area estimated from the travel locus and the calculated current position. Therefore, it is possible to determine the exit from the parking lot with higher accuracy than in the case where it is determined whether or not the vehicle has exited from the parking lot using only the reception state of the GPS signal.

  That is, according to the present embodiment, even if a signal from a GPS satellite can be received, it is not determined that the vehicle has left the parking lot unless the current position is out of the area estimated from the travel locus. ing. Further, once it is determined that the vehicle has entered the parking lot, the map matching process is not performed until it is determined that the vehicle has left the parking lot. Therefore, according to the present embodiment, when the vehicle is traveling in a parking lot, map matching processing is performed to prevent a position different from the actual traveling location from being displayed as the current position. be able to. That is, according to the present embodiment, the current position can be displayed at an accurate position even when the vehicle is traveling in the multilevel parking lot.

In the above-described flow, when the altitude change is reversed, it is estimated that the vehicle is in a state of leaving the parking lot (a state where the vehicle is heading toward the exit of the parking lot). The invention is not particularly limited to this.
Judgment based on altitude changes is only an example.

  For example, instead of referring to the altitude change in S17, it is determined whether or not the vehicle has stopped for a predetermined time or more. If the vehicle has stopped for a predetermined time or more, it is determined that the vehicle has been parked, and the process of S18 is performed. You may make it progress to. In this case, for example, it is determined whether or not the vehicle has stopped for a predetermined time or more using a signal from a vehicle speed sensor and a timer. The navigation device determines that the vehicle is parked when the vehicle stops for a predetermined time or longer. After that, when the vehicle starts to move out of the parking lot, the navigation device performs the processing from S18 onward, and determines whether the vehicle has left the parking lot using the traveling locus. If configured in this manner, at least a travel locus from when the vehicle enters the vehicle until it is parked can be stored in the data storage unit 130. Then, by using the travel locus, it is possible to determine whether or not the vehicle has left the parking lot, as described above.

  Further, for example, in S17, instead of referring to the altitude change, it is determined whether or not the engine is stopped. When the engine is stopped, it is determined that the vehicle is parked. Processing may be performed. Alternatively, after the engine is stopped, when the engine is started again, the processing after S18 may be performed. Alternatively, in S17, instead of referring to the altitude change, if it is detected that the side brake is applied, it may be determined that the vehicle is parked, and the processing from S18 onward may be performed. Also in this case, at least the travel locus from when the vehicle enters the vehicle until it is parked can be stored in the data storage unit 130.

  In S17, as described above, when a method that does not refer to the change in altitude (for example, determination based on whether or not the vehicle has stopped for a predetermined time or more) is used, in S14, the parking lot If it is determined whether or not the vehicle has been received only by the reception state of the GPS signal, the processing for saving the altitude change is not necessary. As a result, the process shown in FIG. 5 can be simplified. That is, the process of S12, 16, 31 shown in the figure can be omitted. In this case, it is not necessary to mount an altitude sensor on the vehicle.

  In the flow of FIG. 5, when the current position is outside the area estimated from the travel locus, it is determined that the vehicle has escaped from the parking lot. However, the present invention is not particularly limited to this.

  For example, as shown in FIG. 5, when the current position escapes from the area estimated as a parking lot, it is not determined that the vehicle has left the parking lot immediately. You may make it judge whether it came out of. Specifically, a process of referring to the reception state of the GPS signal is inserted between S21 and S22, and the process of S22 may be performed when the GPS receiver 8 can receive the GPS signal. .

  By doing in this way, as shown in FIG. 7, even if it is a case where the travel locus that has passed from the entrance 701 of the parking lot 700 to the stop position X and the vehicle exits from the parking lot 700 through another route, By the map matching process, it is possible to prevent a position different from the actual traveling position from being displayed as the current position. Hereinafter, an example in which a process for referring to the reception state of the GPS signal is inserted between S21 and S22 will be described with reference to FIGS. In addition, the parking lot 700 shown in FIG. 7 is a three-dimensional parking lot, and shall park a vehicle on the rooftop.

  First, as shown in FIG. 7, a vehicle traveling on a road 601 enters a parking lot 700 via an entrance 701, passes a traveling locus 510 indicated by a broken line, proceeds to a parking position 702 on the roof, and is parked. And In such a case, when the navigation device enters a free state where the current position does not ride on the road 601 on the map, the navigation device starts registration of the travel locus and the altitude change (S10 to 12 in FIG. 2). After that, even if the map matching process performed at a predetermined timing is performed, if the current position is not in a matching state (S13), a parking lot entry determination is performed (S14). Here, it is assumed that the vehicle is stored in the parking lot. When it is determined in S14 that the parking lot 700 is entered, the travel locus and altitude change are stored until the altitude change is reversed (S15 to 17).

  Next, it is assumed that the vehicle departs from the stop position 702, escapes from the parking lot 700 via the exit 703, and exits on the road 602. In this case, the navigation device stores the travel locus and the altitude change until the altitude change is reversed (S15 to 17). Here, it is assumed that the altitude change is reversed on the route from the stop position 702 to the exit 703. As a result, it is determined in S17 that the altitude change has been reversed, the storage of the travel locus is stopped, and the parking area 410 is estimated using the stored travel locus 510 (S18-19). .

  Thereafter, the navigation device does not determine that the vehicle has left the parking lot until the current position calculated by the current position calculation unit 110 is outside the area 410 (S20, 21) and the GPS signal can be received. That is, it is not determined that the vehicle has left the parking lot until the current position is outside the area 410 (S20, 21) and the GPS signal can be received.

  As described above, the process of referring to the reception state of the GPS signal is inserted between S21 and S22, so that the exit from the area 410 estimated from the travel locus 510 (from the point 411) is reached to the exit 703. The map matching process is not performed even while traveling on the route up to. Therefore, when traveling from the point 420 to the exit 703, the map matching process can prevent the current position from being drawn on the road 603 and displayed.

  That is, by putting a process of referring to the reception state of the GPS signal between S21 and S22, the travel locus 510 passing from the entrance 701 of the parking lot 700 to the stop position 702 and another route are passed. Even when leaving the parking lot 700, the current position can be accurately displayed.

  The present invention is not limited to the embodiment described above, and various modifications can be made within the scope of the gist of the present invention.

  For example, in S18 shown in FIG. 5, the parking area is estimated from the travel locus of the vehicle. However, the present invention is not limited to this. You may make it estimate the area of a parking lot from the shape of the road (link) around the present position in map data.

  Alternatively, in S18, if the travel trajectory is sufficiently recorded, the area of the parking lot is estimated based on the travel trajectory, and the recorded travel trajectory is short (a case where parking is performed immediately after entering the warehouse). Etc.), the parking area may be estimated from the shape of the link around the current position of the vehicle.

  In addition, information relating to the parking lot (location and range on the map) is included in the map data in advance, and in the process of S19, instead of the travel locus, information relating to the parking lot in the map data is used. You may make it estimate the area of a parking lot.

  Moreover, in S21 of FIG. 5 described above, when the current position has escaped from the area, it is determined that the vehicle has left the parking lot. However, the present invention is not particularly limited thereto. For example, in S21, when the current position deviates from the area by a predetermined distance (for example, about 10 m) or more, it may be determined that the vehicle has left the parking lot. By doing in this way, even when the vehicle stops outside the travel locus (closed loop), it is possible to more accurately determine the departure from the parking lot.

1 is a schematic configuration diagram of an in-vehicle navigation device to which an embodiment of the present invention is applied. It is the figure which showed the data structure of the map data memorize | stored in the memory | storage device 3 of this invention in simulation. It is a functional block diagram of the arithmetic processing part 1 of embodiment of this invention. It is a hardware block diagram of the arithmetic processing part 1 of embodiment of this invention. It is a flowchart of the process which determines the warehousing and delivery of the vehicle to the parking lot which the navigation apparatus of embodiment of this invention performs. It is a figure for demonstrating an example of the process which estimates the area | region of a parking lot using the traveling locus of a vehicle which the navigation apparatus of embodiment of this invention performs. It is a figure for demonstrating the entry to the parking lot of the embodiment of this invention, and a leaving determination process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice input / output device, 5 ... Input device, 6 ... Vehicle speed sensor, 7 ... Gyro, 8 ... GPS receiver, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... DMA, 25 ... Drawing controller, 26 ... VRAM, 27 ... Color palette, 28 ... A / D converter, 29 ... SCI, 30 ... PIO, 31 ... Counter, 32 ... Non-volatile memory, 100 ... UI control unit, 110 ... current position calculation unit, 120 ... current position display processing unit, 130 ... data processing unit, 140 ... map matching processing unit

Claims (6)

A navigation device mounted on a vehicle,
Current position calculating means for receiving signals from various sensors or GPS satellites and sequentially calculating the current position of the vehicle using the received signals;
Map matching means for correcting the calculated current position at a predetermined timing so as to be positioned on a road on the map;
Current position display means for displaying an image showing the current position on a map using the current position calculated by the current position calculation means or the current position corrected by the map matching means;
It is determined whether or not the vehicle has entered the parking lot according to the reception state of the signal from the GPS satellite, and when it is determined that the vehicle has entered, at least until the vehicle has entered the parking lot and parked When an area where the parking lot exists is estimated using a travel locus between the vehicle and the current position calculated by the current position calculation means goes out of the area, the vehicle has left the parking lot. Determination means for determining,
When it is determined that the vehicle has entered the parking lot, the current position display unit does not use the map matching unit until the current position calculation unit determines that the vehicle has left the parking lot. A navigation apparatus, wherein an image showing a current position is displayed on a map using the calculated current position. The navigation device according to claim 1,
The determination means determines that the vehicle has left the parking lot when the calculated current position is out of the area and a signal from a GPS satellite is received. Navigation device. The navigation device according to claim 1,
The navigation device according to claim 1, wherein the determination unit determines that the vehicle has left the parking lot when the calculated current position is a predetermined distance or more away from the area. The navigation device according to any one of claims 1 to 3,
The navigation apparatus according to claim 1, wherein when the parking area is estimated, in addition to the travel locus, a shape of a road on a map around the current position is also used. The navigation device according to any one of claims 1 to 4,
The determination means includes
A navigation device characterized in that when it is detected that the vehicle is stopped for a predetermined time or more, or when it is detected that the engine is stopped, it is determined that the vehicle is stopped at a parking lot. . A navigation device mounted on a vehicle,
Current position calculating means for receiving signals from various sensors or GPS satellites and sequentially calculating the current position of the vehicle using the received signals;
Map matching means for correcting the calculated current position at a predetermined timing so as to be positioned on a road on the map;
Current position display means for displaying an image showing the current position on a map using the current position calculated by the current position calculation means or the current position corrected by the map matching means;
An altitude sensor for detecting the altitude of the vehicle,
The current position display means includes
When the current position calculated by the current position calculation means is not on the road on the map, a process for obtaining the vehicle travel locus from the current position and storing the travel locus is started, and the signal from the GPS satellite is Determine whether the vehicle has entered the parking lot according to the reception status,
When it is determined that the vehicle has entered the parking lot, the travel locus is obtained from the sequentially calculated current position and stored until the direction of change in altitude detected by the altitude sensor is reversed. Update the running trajectory,
When the direction of the altitude change is reversed, the area where the parking lot is present is estimated using the stored travel locus, and the current position calculated by the current position calculating means is outside the area. It is determined that the vehicle has left the parking lot,
When it is determined that the vehicle has entered the parking lot, the current position calculated by the current position calculating unit is used without using the map matching unit until it is determined that the vehicle has left the parking lot. A navigation device displaying an image showing a current position on a map.

Images