JP2009002826A - Apparatus and method for navigation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus and method for navigation capable of easily and speedily performing updates to the accurate position of a self-vehicle and the accurate bearing of the self-vehicle when the self-vehicle has embarked in a ferry or the like, moved, and disembarked while route guidance is being performed by hybrid navigation principally involving self-contained navigation. <P>SOLUTION: A control means 12 updates and stores positions and bearings detected by a first positioning means 4 while route guidance is being performed by hybrid navigation principally involving self-contained navigation. When the self-vehicle has embarked in a moving body, the hybrid navigation is changed over to satellite navigation to halt the update of stored bearings and acquire positions and bearings detected by a second positioning means 3. When the self-vehicle has disembarked from the moving body, the satellite navigation is changed over to the hybrid navigation principally involving self-contained navigation, and a position and a bearing based on the satellite navigation and acquired at the last are used to update stored positions and stored bearings. Route guidance is subsequently performed on the basis of the updated positions and the updated bearings. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a navigation device and a navigation method, and more particularly, to a navigation device and a navigation method for performing navigation by a hybrid navigation mainly including a self-contained navigation for a guidance route including a route moving on a ferry (moving object). .

  Conventionally, in-vehicle navigation devices include satellite navigation using GPS (Global Positioning System) and the like, and self-contained navigation using a gyro (angle sensor), a vehicle speed sensor (vehicle speed pulse generation / detection means), an acceleration sensor, and the like. High-accuracy navigation is performed by combined hybrid navigation.

  In this case, there is a hybrid navigation mainly using satellite navigation by GPS or the like and using autonomous navigation as an auxiliary, and conversely, hybrid navigation using mainly autonomous navigation and using satellite navigation by GPS or the like as an auxiliary. In particular, hybrid navigation, mainly self-sustained navigation, is effective when used for applications that reduce product costs or when used in areas with many buildings and tunnels.

  In either case, correction processing such as map matching is required to achieve highly accurate navigation.

  In the case of navigation mainly using satellite navigation by GPS or the like, navigation is performed by self-contained navigation because the satellite navigation cannot be used when the vehicle passes through the tunnel. When switching to navigation, for example, as in Patent Document 1, map matching is performed using GPS position information (GPS position) and direction information (GPS direction) with respect to the position and direction obtained by self-contained navigation. Is called.

  On the other hand, in the case of navigation mainly based on self-contained navigation, when the position of the vehicle on the display deviates from the traveling road, the position of the vehicle and the position of the vehicle using GPS position information (GPS position) and direction information (GPS direction) The driving direction is corrected.

  Also, in the case of navigation mainly in self-contained navigation, when moving the vehicle on a ferry etc., leave the engine running or turn on the accessory switch (Acc ON) to operate the navigation device. In this case, since the vehicle itself does not move, no vehicle speed pulse is generated, and the GPS position moves. This state is determined as a situation similar to multipath, and the vehicle position is not updated. Moreover, the position and direction are not corrected by GPS for a while after leaving the ship. For this reason, the position and direction are updated based on the position of the boarding area that has been held without being updated until the position and direction are detected by the GPS and corrected, until they are corrected. Correct route guidance is not performed.

In order to solve this, for example, as disclosed in Patent Document 2, the ferry landing position data, ferry data, and ferry route data are stored in advance as map data, and when the ship is disembarked, these data are compared and disembarked. The location is estimated.
Japanese Patent Laid-Open No. 10-332399 JP 2004-286518 A

  However, according to the method according to Patent Document 2, it is necessary to sequentially update information on the ferry, and it takes time to acquire information and update map data. Even if the map data is properly updated, the position information and direction information obtained are only estimates, and absolutely correct position information and direction information are not always obtained.

  The present invention was created in view of the problems in the prior art, and when the own vehicle gets on a ferry or the like, moves, and gets off the ship, it is simpler and quicker to the correct own vehicle position and direction. An object of the present invention is to provide a navigation device and a navigation method that can be updated.

  In order to solve the above-described problems of the prior art, according to one aspect of the present invention, a first positioning means used for self-contained navigation, a second positioning means used for satellite navigation, and the first and second positionings. Control means for controlling processing related to route guidance in cooperation with the means, and the control means is detected by the first positioning means during route guidance by hybrid navigation mainly including the self-contained navigation. Update and store the position and azimuth of the vehicle, and when the own vehicle gets on a moving object, it switches to the satellite navigation and stops updating the stored azimuth and is detected by the second positioning means. The position and direction are acquired, and when the own vehicle gets off the moving object, the self-contained navigation is switched to the hybrid navigation mainly, and the position and the direction based on the last acquired satellite navigation are used for the storage. position Update the fine orientation, navigation apparatus and performs route guidance on the basis of the position and orientation and the update is provided.

  According to the navigation device according to this aspect, the control means is performing the position guidance and the direction detected by the first positioning means during the route guidance by the hybrid navigation mainly including the independent navigation, that is, when the own vehicle is moving on the road (independent (Location and direction based on navigation) are updated and stored, and when the vehicle is on a moving object, it is switched to satellite navigation, and the vehicle is moving on the moving object, based on the stored autonomous navigation. Do not update the bearing. Meanwhile, instead, the position and direction (position and direction based on satellite navigation) detected by the second positioning means are sequentially acquired. Note that the direction based on self-contained navigation is not updated while the vehicle is moving on a moving object because the vehicle stops while the vehicle is moving on a moving object and no vehicle speed pulse is generated. This is because the position based on the navigation does not change, but the direction based on the self-contained navigation changes because the moving object moves. By not updating the direction based on the self-contained navigation, the vehicle position and direction are correctly fixed to the boarding place.

  Then, the control means uses the position and direction based on the satellite navigation acquired last after the own vehicle got off the moving object, and acquired and stored the own vehicle before the own vehicle got on the moving object. Based on the position and direction, the route guidance is performed based on the position and direction based on hybrid navigation mainly including self-contained navigation.

  Therefore, according to the navigation device of the present invention, when the own vehicle gets off the moving object, the vehicle is quickly updated to the correct own vehicle position and direction, and the route guidance is performed by the hybrid navigation mainly including the independent navigation. It can be carried out.

  In addition, the control means stores the moving object and data related thereto in advance as map data in a memory in order to update the correct vehicle position and vehicle direction when the vehicle includes a route on the moving object. There is no need to let them go, and there is no need to estimate those points by comparing these data when getting off a moving object. Therefore, according to the navigation device of the present invention, a large amount of memory is not required, and errors in position and orientation are reduced.

  According to another aspect of the present invention, in the navigation method for performing route guidance by hybrid navigation using self-contained navigation and satellite navigation, the self-contained navigation during route guidance by hybrid navigation mainly using the self-contained navigation. Update and store the position and orientation based on, then move to the satellite navigation, stop updating the orientation based on the stored self-contained navigation, obtain the position and orientation based on the satellite navigation, and Shifting to hybrid navigation mainly using the self-contained navigation, updating the position and orientation based on the stored self-contained navigation using the position and orientation based on the last acquired satellite navigation, and the position and direction based on the updated self-contained navigation There is provided a navigation method characterized in that route guidance is performed based on a direction.

  According to the navigation method according to this aspect, during route guidance by hybrid navigation mainly including self-contained navigation, for example, when the own vehicle is moving on the road, the position and direction based on self-contained navigation are updated and stored, and satellite navigation is performed. For example, the direction based on the self-contained navigation is not updated while the vehicle is moving on a moving object after the shift to. Meanwhile, instead, the position and orientation based on satellite navigation are acquired sequentially.

  Then, after the vehicle got off the moving object, the position and direction based on the last acquired satellite navigation are used to update the position and direction based on the self-contained navigation acquired and stored before riding the moving object. However, based on the position and direction, route guidance is performed by hybrid navigation mainly including self-contained navigation.

  Therefore, when the own vehicle gets off the moving object, it can be quickly updated to the correct own vehicle position and own vehicle direction, and the route guidance can be performed by the hybrid navigation mainly including the independent navigation.

  In addition, according to the navigation method of the present invention, in order to update the correct vehicle position and vehicle direction when the vehicle includes a route on the moving object, the moving object and related data are mapped in advance. There is no need to memorize it as data, and there is no need to estimate the point by comparing those data when getting off a moving object. Therefore, it is more convenient.

  As described above, according to the present invention, when route guidance is performed by hybrid navigation mainly including self-contained navigation, even when the guidance route includes a route on which the own vehicle moves on a moving object, The correct route guidance is always performed by updating the correct position and orientation easily and quickly.

  The present invention is particularly effective when the host vehicle is on a moving object that does not have obstacles or the like that obstruct satellite navigation in the vicinity and the navigation device is not switched off for a short time.

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

(Description of configuration of in-vehicle navigation system)
FIG. 1 schematically shows the configuration of an in-vehicle navigation device according to an embodiment of the present invention.

  In the illustrated in-vehicle navigation device 20, reference numeral 1 denotes a DVD-ROM drive. The DVD-ROM 1 a driven by the DVD-ROM drive 1 has scale levels (1/12500, 1/25000, 1/50000). Etc.), map data divided into an appropriate size of longitude width and latitude width is stored in advance. This map data is represented by a coordinate set of points (nodes) expressed in longitude and latitude. A node indicates a branch point of a road, and a road portion connecting two nodes is called a link. A road is represented by a set of nodes and links, of which a specific set of nodes and links is defined as a specific street.

  Map data includes road layers for map matching and route search, background layers for displaying various properties such as roads, parks, rivers, landmark buildings and facilities on map drawings, and administrative division names such as municipalities , And a character / symbol layer for displaying characters such as road names (street names) and building names, map symbols, and the like. Regarding the present invention, the background layer includes a sea polygon (sea figure) on which a ferry (moving object) travels, and the character / symbol layer also includes characters such as a ferry landing and a ferry boarding, a map symbol, and the like. .

  The road layer includes a road list and a node table. Of these, the road list is made up of data such as road type, the total number of nodes constituting the road, the position of the nodes constituting the road on the node table and the width to the next node, etc. ing. The node table is a list of all nodes on the map, and is constituted by position information (longitude, latitude), a pointer indicating the position of the road to which the node belongs on the road list, and the like. Regarding the present invention, the ferry landings are also displayed in correspondence with one node.

  Reference numeral 2 denotes an operation unit for operating a navigation apparatus body 10 to be described later. For example, it has the form of a remote control transmitter. Although not specifically illustrated, the remote control transmitter has various operation buttons and joysticks for selecting various menus and various items on the screen of the display device (described later) and executing the selected menus. Is provided.

  Reference numeral 3 denotes a GPS receiver (second positioning means) that receives a GPS signal transmitted from a GPS (Global Positioning System) satellite and detects the longitude and latitude of the current position of the vehicle.

  Reference numeral 4 denotes a self-contained navigation sensor (first positioning means). The self-contained navigation sensor 4 includes an angle sensor (azimuth detecting means) such as a gyro for detecting the traveling direction of the own vehicle, and a distance sensor (vehicle speed pulse) that generates a pulse (referred to as a vehicle speed pulse) at every constant travel distance. Generating means), an acceleration sensor (acceleration detecting means) for detecting whether the vehicle is accelerating or decelerating, etc., detecting the traveling speed and moving distance of the own vehicle, and further determining the position from these information Used to detect.

  Reference numeral 5 denotes a VICS receiver that receives VICS (road traffic information communication system) information transmitted from a radio wave beacon or an optical beacon. Reference numeral 6 denotes a communication device such as an in-vehicle telephone for communicating with various service centers.

  Reference numeral 7 denotes a display device such as an LCD. The display device 7 is basically based on control from the navigation device body 10 described later, and provides guidance information related to navigation (current position of the vehicle (vehicle position mark) and The surrounding map, the guidance route from the departure point to the destination, and other guidance information such as ferry landings) are provided to the user (especially the driver) on the screen. Further, the display device 7 displays information on the calculation and display processing performed by the in-vehicle navigation device 20 on the screen as will be described later.

  Reference numeral 8 denotes a speaker. The speaker 8 provides guidance information related to the navigation to the user by voice based on control from the navigation apparatus body 10 described later.

  In the navigation apparatus body 10, reference numeral 11 denotes a buffer memory that temporarily stores map data read from the DVD-ROM 1a via the DVD-ROM drive 1.

  Reference numeral 12 denotes a control unit composed of a microcomputer or the like, and the control unit 12 is a navigation program (a program for performing display output control necessary for route search processing and route guidance based thereon). Accordingly, the traveling speed (vehicle speed), the moving distance, the current position, and the direction of the own vehicle are calculated based on the signal output from the self-contained navigation sensor 4, or the own vehicle is detected based on the signal output from the GPS receiver 3. The current position and orientation are detected, and map data to be displayed is set from the DVD-ROM 1a to the buffer memory 11 via the DVD-ROM drive 1 or set using the map data read to the buffer memory 11. Search navigation routes from the starting point (current position of the vehicle) to the destination under various search conditions. To run the management.

  Furthermore, the control part 12 has the function demonstrated below which the vehicle-mounted navigation apparatus 20 performs.

  As one of them, the control unit 12 determines the transition from the normal navigation mode to the ferry movement mode, and turns on the ferry movement mode flag added to the control signal. In the normal navigation mode, the ferry movement mode flag is set to off.

  The normal navigation mode refers to a mode in which information based on self-contained navigation is mainly used and information based on GPS satellite navigation is supplementarily used in detection of the vehicle position and direction. The ferry movement mode means that when the vehicle is on board the ferry and the vehicle itself is stopped, but the position and direction of the vehicle changes as the ferry moves, only the GPS is used to operate the vehicle. This is a navigation mode for acquiring position information and direction information.

  As a transition condition from the normal navigation mode to the ferry movement mode, (i) characters such as “ferry” are displayed on the display screen, and (ii) the vehicle speed pulse is, for example, 2 seconds or more (referred to as a threshold time). .) Not detected (in this case, the control unit 12 corresponds to the vehicle speed pulse detection means), (iii) the GPS position, direction and vehicle speed change smoothly, (iv) the acceleration sensor The change in output and the output change of GPS are similar, and (v) the change in output of the gyro and the change in output of GPS are similar to each other. The condition (ii) above is a condition that requires the host vehicle to be stopped. In this case, it includes both the case where the own vehicle is stopped on the road and the case where the own vehicle is moving on a ferry or the like, but the own vehicle itself is in a stopped state. The condition (iii) is a condition for excluding the case where the vehicle is stopped on the road. That is, while the ferry is on board, the GPS position, direction, and vehicle speed change as the ferry moves even when the host vehicle is stopped. The condition (iv) is also a condition for excluding the case where the vehicle is stopped on the road. That is, while the ferry is on board, the GPS output and the output of the acceleration sensor change in the same manner as the ferry moves even when the host vehicle is stopped. The condition (v) is also a condition for excluding the case where the vehicle is stopped on the road. That is, while the ferry is on board, the GPS output and the gyro output change in the same manner as the ferry moves even when the vehicle is stopped.

  Furthermore, in the normal navigation mode until immediately before the transition to the ferry travel mode, when the vehicle is in a stopped state and the gyro output value is not changed so much and is stable, the vehicle position and the vehicle direction ( The gyro zero point) is acquired, and the information in the register built in the control unit 12 is updated and stored. As a condition in which the gyro output value does not change so much and is stable, for example, the difference between the maximum value and the minimum value of the angular velocity in the past 2 seconds is less than 0.2 deg / sec. As the gyro zero point, for example, an average value of the gyro output for 2 seconds is used. The determination as to whether or not the detection condition for the gyro zero point is satisfied is performed at regular intervals, for example, every second.

  On the other hand, after switching to the ferry travel mode and turning on the ferry travel mode flag, the direction (gyro zero point) based on self-contained navigation is not updated, and the vehicle position and direction based on GPS navigation are acquired. To do. Furthermore, the own vehicle position and direction are sequentially updated using the own vehicle position and direction acquired by GPS, and the own vehicle position and own direction are displayed on the display screen. It should be noted that only the gyro zero point (azimuth) based on self-contained navigation is not updated while the vehicle is moving on the ferry because the vehicle does not generate a speed pulse while the vehicle is moving on the ferry. This is because the position (based on the gyro zero point) based on the self-contained navigation changes because the ferry moves because the position based on does not change.

  Further, the control unit 12 turns off the ferry movement mode flag when the vehicle speed pulse is detected, and shifts from the ferry movement mode to the normal navigation mode. And the position and direction (gyro zero point) based on self-contained navigation are updated using the own vehicle position and direction updated last based on the ferry boarding GPS information. Thereafter, the vehicle position and direction are sequentially updated in the normal navigation mode based on the updated position and direction based on the independent navigation.

  Reference numeral 13 denotes a memory for storing a navigation program (a program for performing display output control necessary for route search processing and route guidance based thereon).

  Reference numeral 14 denotes a map drawing unit that performs a map image drawing process using the map data read to the buffer memory 11, and reference numeral 15 denotes various menu screens (operation screens), vehicle position marks, An operation screen / mark generator for generating various marks such as a cursor is shown. Reference numeral 16 denotes a guide route storage unit for storing data related to the guide route. The guidance route storage unit 16 stores data relating to all nodes (coordinates of points expressed in longitude and latitude) constituting the road from the departure point to the destination of the guidance route searched by the control unit 12. . Reference numeral 17 denotes a guidance route drawing unit, which reads out the guidance route data from the guidance route storage unit 16 and displays the guidance route in a display mode different from other roads (changing the color, increasing the line width, etc.). It has a function to draw with.

  Reference numeral 18 denotes an image composition unit. Based on the control from the control unit 12, basically, the guide route drawn by the guide route drawing unit 17 and the operation on the map image drawn by the map drawing unit 14 The operation screen generated by the screen / mark generator 15 and various marks are overlaid and displayed on the screen of the display device 7. Furthermore, the image composition unit 18 also has a function of displaying information related to calculation and display processing performed by the in-vehicle navigation device 20 on the screen of the display device 7 as described later. Reference numeral 19 denotes an audio output unit, which outputs an audio signal (guidance information related to navigation) to the speaker 8 based on control from the control unit 12.

  As described above, according to the in-vehicle navigation device used in the navigation method of the embodiment of the present invention, the control unit 12 has a stable direction in the normal navigation mode before moving on a ferry (moving object). When the vehicle is stopped (stopped), the direction based on the self-sustained navigation is sequentially acquired and updated, stored, and when the vehicle is moving on the ferry in the stopped state, the ferry movement mode flag is turned on. Do not update. In the meantime, instead, the position and direction based only on GPS navigation are sequentially acquired and updated.

  Further, the control unit 12 turns off the ferry movement mode flag when the vehicle speed pulse is detected, and shifts from the ferry movement mode to the normal navigation mode. Then, using the position and direction based only on the GPS navigation acquired last, the position and direction based on the independent navigation acquired and stored before moving on the ferry are updated. Thereby, the route guidance can be performed without any trouble in the normal navigation mode on the basis of the position and direction thereafter.

  As described above, even if the guidance route that performs route guidance by hybrid navigation mainly including self-contained navigation includes a route on which the vehicle moves on a ferry, the correct vehicle position and vehicle can be more easily and quickly. It is possible to perform route guidance by hybrid navigation, mainly self-contained navigation, updated to the direction.

(Description of navigation method)
Next, referring to FIGS. 1 to 5, a navigation method in the case where the vehicle travels on a ferry (moving object) during route guidance by the above-described vehicle-mounted navigation device according to the embodiment of the present invention will be described. explain. This navigation method is a relatively small ferry that is free of obstructions such as roofs that can interfere with satellite navigation, with the car engine or accessory switch on for a short period of time, ie, with the navigation device switched on. This is especially effective when the vehicle is in a state.

  FIG. 2 is a flowchart showing a process of storing the own vehicle position and the own vehicle direction (gyro zero point) immediately after boarding the ferry in a register built in the control unit 12. FIG. 3 is a flowchart showing the determination process of the ferry movement mode. FIG. 4 is a flowchart showing the update process during the ferry movement mode and the release process of the ferry movement mode. FIG. 5 is a schematic diagram showing a state in which a ferry carrying its own vehicle moves from the ferry landing to the unloading landing.

  In the updating method, as shown in FIG. 5, the guidance route searched by setting the departure point and the destination in the in-vehicle navigation device includes the ferry landings 23a and 23b. It is assumed that 21 moves on board the ferry 22.

  First, it is assumed that the own vehicle 21 is route-guided in the normal navigation mode and arrives at the ferry landing 23a. At this time, the characters “Ferry landing” and the surrounding scene are displayed on the display device.

  Furthermore, as shown in FIG. 5, the own vehicle 21 is moved into the ferry 22 and stopped at the storage area. At this time, the characters “on board ferry” and the surrounding scene are displayed on the display device. It is assumed that the ferry 22 is stopped and the vehicle position is not displayed on the sea polygon 24 of the display device.

  By the way, until the own vehicle 21 is moved into the ferry 22 and stopped at the vehicle storage, the control unit 12 is based on the flowchart shown in FIG. Processing to acquire the direction (gyro zero point), update the information in the register built in the control unit 12 and store it is performed. This process is repeated, for example, at 1 second intervals.

  According to the processing, as shown in FIG. 2, the control unit 12 first confirms whether the ferry movement mode flag is on or off (S1). In this case, immediately after the own vehicle 21 gets on the ferry 22 and before the ferry 22 moves, the flag is off. Therefore, it is next determined whether or not the own vehicle 21 is stopped (S2). In this case, it is determined that the vehicle is stopped when the vehicle speed pulse is not output for the threshold time (2 seconds) or longer. Note that when the ferry movement mode flag is on, it means that the own vehicle 21 has boarded the ferry 22 and the ferry 22 is moving, and the gyro zero point or the like is not updated, and the gyro For the zero point or the like, the last updated value is held before the ferry 22 moves. By not updating the gyro zero point or the like, the vehicle position and direction are correctly held on the boarding area 23a.

  Next, as a result of determining whether or not the own vehicle 21 is in a stopped state, if it is determined that the vehicle 21 is in a stopped state, it is next determined whether or not the gyro output value is stable (S3). For example, when the difference between the maximum value and the minimum value of the angular velocity in the past 2 seconds is less than 0.2 deg / sec, it is determined that the gyro output value is stable. If it is not determined that the vehicle is in a stopped state, it indicates that the vehicle 21 is moving in the normal navigation mode, and this process is not performed, and the gyro zero point and the like are not updated.

  Next, as a result of determining whether or not the gyro output value is stable, if it is determined that the gyro output value is stable, then the vehicle position and vehicle direction (gyro zero point) are acquired, Information of the register built in the control unit 12 is updated and stored (S4). As the gyro zero point, for example, an average value of the gyro output for 2 seconds is used. If it is determined that the gyro output value is not stable, it indicates that the host vehicle 21 is moving in the normal navigation mode, or that the ferry 22 is on board and is moving. Not performed and the gyro zero point etc. are not updated.

  As described above, the gyro zero point and the like are updated and stored. Next, the control part 12 performs the determination process of the ferry movement mode shown in FIG.

  According to the processing, as shown in FIG. 3, the control unit 12 first checks whether the ferry movement mode flag is on or off (S11).

  As a result, if the ferry movement mode flag is off, it is next checked based on the display device whether there is a character string related to “ferry” in the vicinity of the vehicle position, for example, within 300 m (S12).

  On the other hand, when the flag is on, it indicates that the own vehicle 21 has boarded the ferry 22 and is moving, and since the ferry movement mode flag is already on, the subsequent processing is not performed. The flag is kept on.

  Next, if there is a character string related to “Ferry” in the vicinity of the own vehicle position, for example, within 300 m, if there is a character string related to “Ferry”, the next vehicle position is the sea (display It is determined whether it is on the sea polygon 24) on the screen of the apparatus (S13). On the other hand, if there is no character string related to “ferry”, it is next determined whether or not the host vehicle 21 is in a stopped state.

  Next, as a result of determining whether or not the own vehicle position is on the sea of the display device, if the own vehicle 21 is not on the sea, it is next determined whether or not the own vehicle 21 is stopped (S14). In this case, the stop criteria described above are used. In this embodiment, this is the case before the ferry is moved and the own vehicle 21 is not on the sea polygon 24 of the display device. In addition, when the own vehicle position is on the sea polygon 24 of the display device, this means that the own vehicle 21 has already boarded the ferry 22 and is moving, and the ferry movement mode flag is turned from off to on. (S18).

  Next, as a result of determining whether or not the host vehicle 21 is in a stopped state, if the host vehicle 21 is in a stopped state, it is next determined whether or not the GPS position, direction, and speed are smoothly changing (S15). . In this embodiment, this is the case because the ferry 22 is on board and the own vehicle 21 is stopped. When it is determined that the host vehicle 21 is not in a stopped state, the ferry movement mode flag is off, indicating that the host vehicle is moving in the normal navigation mode, and the subsequent processing is not performed and the ferry movement is performed. The mode flag is kept off.

  Next, as a result of determining whether the GPS position, azimuth, and speed are changing smoothly, if it is determined that the GPS position, azimuth, and speed are changing smoothly, then the output change of the acceleration sensor and the GPS It is determined whether there is similarity in the output change (S16). In this embodiment, the case where the ferry 22 is moving corresponds to this case. If it is determined that the GPS position, direction, and speed have not changed smoothly, this indicates that the ferry 22 has not yet moved, the subsequent processing is not performed, and the ferry movement mode flag is off. Is retained.

  Next, if it is determined that there is a similarity between the output change of the acceleration sensor and the GPS output change, and if it is determined that there is a similarity, then, is there a similarity between the gyro output change and the GPS output change? It is determined whether or not (S17). In this embodiment, the case where the ferry 22 is moving corresponds to this case. If it is determined that there is no similarity between the change in output of the acceleration sensor and the change in GPS output, this indicates that the ferry 22 has not moved yet, the subsequent processing is not performed, and the ferry movement mode flag is off. Is retained.

  Next, as a result of determining whether there is a similarity between the gyro output change and the GPS output change, if it is determined that there is a similarity, the ferry movement mode flag is turned on (S18). In this embodiment, the case where the ferry 22 is moving corresponds to this case. If it is determined that there is no similarity between the gyro output change and the GPS output change, this indicates that the ferry 22 has not moved yet, the subsequent processing is not performed, and the ferry movement mode flag remains off. Retained.

  In the above navigation method, if the vehicle 21 does not include an acceleration sensor, it is immediately similar to the gyro output change and the GPS output change if it is determined that the GPS position, direction, and speed are not changing smoothly. It is determined whether or not there is a sex.

  After the ferry movement mode is turned on and the ferry movement mode is shifted as described above, the ferry 22 carrying the host vehicle 21 moves toward the unloading place 23b as shown in FIG.

  During this time, the control unit 12 performs the control shown in FIG. In other words, when the ferry movement mode is turned on, only GPS navigation is performed (S21). While the ferry 22 is moving, it is detected whether or not a vehicle speed pulse is generated (S22). When the vehicle speed pulse is not detected, the own vehicle 21 continuously uses only GPS to acquire its own vehicle position and own vehicle direction. Then, the vehicle position and the vehicle direction of the register are sequentially updated (S23). Then, the updated vehicle position and vehicle direction are sequentially displayed on the display screen.

  Next, as shown in FIG. 5, the ferry 22 arrives at the destination, and the own vehicle 21 is moved to move from the ferry 22 to the ferry unloading place 23b. At this time, since a vehicle speed pulse is generated, as shown in FIG. 4, when the vehicle speed pulse is detected (S22), the control unit 12 uses the GPS position and direction updated last to determine the position by self-contained navigation. And the direction (gyro zero point) is updated (S24). Further, the ferry movement mode flag is turned off to shift from the ferry movement mode to the normal navigation mode (S25). Then, that effect is displayed on the display device.

  In this way, thereafter, the vehicle position and direction are acquired and updated in the normal navigation mode based on the hybrid navigation mainly using the self-contained navigation and assisting the navigation by GPS. At this time, since the position and direction of the own vehicle are sequentially updated during the ferry boarding, the in-vehicle navigation device can guide the own vehicle immediately in the normal navigation mode after the own vehicle gets off.

  Thereafter, the in-vehicle navigation device guides the vehicle 21 to the destination according to the guidance route in the normal navigation mode while displaying the vehicle position on the road of the display device.

  As described above, according to the navigation method according to the embodiment of the present invention, in the normal navigation mode before moving on the ferry (moving object) 22, the direction based on the self-contained navigation when the direction is stable. Are sequentially acquired, updated and stored, and the ferry movement mode flag is turned on and not updated while the vehicle is moving on the ferry 22 while the vehicle is stopped. Meanwhile, instead, the position and direction based only on satellite navigation are acquired sequentially.

  Further, when the vehicle speed pulse is detected, the ferry movement mode flag is turned off to shift from the ferry movement mode to the normal navigation mode. Then, the position and direction based on the self-contained navigation acquired and stored before moving on the ferry 22 are updated using the position and direction based only on the GPS navigation acquired last. Thereby, the route guidance can be performed without any trouble in the normal navigation mode on the basis of the position and direction thereafter.

  As described above, according to the navigation method of this embodiment, even when the own vehicle 21 includes a route on which the vehicle 21 moves on the ferry 22, the guidance route that performs route guidance by hybrid navigation mainly including self-contained navigation is included. The route guidance can be performed by the hybrid navigation mainly including the self-contained navigation by quickly updating to the correct own vehicle position and direction.

  Further, it is not necessary to store the ferry 22 and data related thereto as map data in advance, and it is not necessary to estimate the point by comparing these data when getting off the moving object. Therefore, even when the own vehicle 21 moves on the ferry 22, it can be more easily updated to the correct own vehicle position and own vehicle direction.

  Although the present invention has been described in detail with the embodiments, the scope of the present invention is not limited to the examples specifically shown in the above embodiments, and the above embodiments within the scope of the present invention are not deviated. Variations in form are within the scope of this invention.

  For example, in the said Example, although the navigation method of this invention is applied when the own vehicle 21 gets on the ferry 22, it is not restricted to this. The present invention can also be applied to a case where the vehicle is in a stopped state and gets on a vehicle (moving object) other than the ferry.

  In addition, the timing shown in FIG. 3 is satisfied as the timing for switching from the main navigation to the satellite navigation, but in addition to that, when the direction update based on the satellite navigation is detected. Is also possible. Moreover, it is good also when the character string regarding a moving object is displayed on a display apparatus, and the time when a vehicle speed pulse does not appear for a predetermined period continues for a predetermined period, and in addition to these, the direction update based on satellite navigation is also possible. It can also be when it is detected.

  Further, as one of the transition conditions from the normal navigation mode to the ferry travel mode, the threshold time during which no vehicle speed pulse is detected is set to 2 seconds or more, but can be changed as appropriate.

  In addition, as a condition that the gyro output value does not change so much and is stable, the difference between the maximum value and the minimum value of the angular velocity in the past 2 seconds is less than 0.2 deg / sec. can do. Furthermore, although the average value of the gyro output for 2 seconds is used as the gyro zero point, it is not limited to this, and can be changed as appropriate.

  Further, information such as the position and direction during route guidance may be stored in the buffer 11 or the memory 13 instead of the register in the control unit 12.

It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus which is embodiment of this invention. In the navigation method which is embodiment of this invention, it is a flowchart which shows the process which memorize | stores the own vehicle position and own vehicle azimuth | direction (gyro zero point) immediately after boarding in a ferry. 5 is a flowchart showing determination processing of a ferry movement mode in the navigation method according to the embodiment of the present invention. 5 is a flowchart showing an update process during a ferry movement mode and a release process of a ferry movement mode in the navigation method according to the embodiment of the present invention. It is a schematic diagram which shows a mode that the ferry which carried the own vehicle from the ferry boarding place to the unloading place for demonstrating the update method of the position and direction of the own vehicle which is embodiment of this invention.

Explanation of symbols

1 DVD drive 1a DVD-ROM
2 Operation unit 3 GPS receiver (second positioning means)
4 Self-contained navigation sensors (first positioning means)
5 VICS receiver 6 Communication device 7 Display device 8 Speaker 10 Car navigation device body 11 Buffer memory 12 Control unit 13 Memory (for program storage)
14 Map Drawing Unit 15 Operation Screen / Mark Generation Unit 16 Guidance Route Storage Unit 17 Guidance Route Drawing Unit 18 Image Synthesis Unit 19 Audio Output Unit 20 Car Navigation Device 21 Own Car 22 Ferry
23a Depot 23b Disembark 24 Sea polygon

Claims (8)

First positioning means used for self-contained navigation;
A second positioning means used for satellite navigation;
Control means for controlling processing related to route guidance in cooperation with the first and second positioning means;
The control means updates and stores the position and direction detected by the first positioning means during route guidance by the hybrid navigation mainly including the self-contained navigation, and when the own vehicle gets on a moving object , Switching to the satellite navigation, stopping the update of the stored azimuth, obtaining the position and azimuth detected by the second positioning means, when the vehicle gets off the moving object, Switch to hybrid navigation, mainly self-contained navigation, update the stored position and orientation using the position and orientation based on the last acquired satellite navigation, and perform route guidance based on the updated position and orientation A navigation device characterized by the above.   The navigation apparatus according to claim 1, wherein the first positioning means includes at least a gyro sensor and a vehicle speed sensor, and the second positioning means includes a GPS receiver.   The navigation apparatus according to claim 2, wherein the first positioning means further includes an acceleration sensor. In a navigation method that performs route guidance by hybrid navigation using autonomous navigation and satellite navigation,
During route guidance by hybrid navigation mainly using the self-contained navigation, update and store the position and direction based on the self-contained navigation,
Next, transition to the satellite navigation, stop the update of the direction based on the stored self-contained navigation, and obtain the position and direction based on the satellite navigation,
Next, the system shifts to hybrid navigation mainly using the self-contained navigation, updates the position and orientation based on the stored self-contained navigation using the position and orientation based on the last acquired satellite navigation, and based on the updated self-contained navigation A navigation method characterized by performing route guidance based on a position and an orientation.   The navigation method is applied to route guidance of a vehicle, and the vehicle moves on a moving object in a stationary state from the shift to the satellite navigation to the shift to the hybrid navigation mainly including the self-contained navigation. The navigation method according to claim 4, wherein the navigation method corresponds to the   The timing for shifting to the satellite navigation is when the time that the vehicle is stopped continues for a predetermined time, and when the position, direction and speed detected by the satellite navigation are smoothly changing, and the satellite 6. The navigation method according to claim 5, wherein the direction detected by the navigation and the corresponding direction detected by the self-contained navigation change in a similar manner.   The timing for shifting to the satellite navigation is when the time that the vehicle is stopped continues for a predetermined time, and when the position, direction and speed detected by the satellite navigation are smoothly changing, and the satellite In addition to the case where the direction detected by the navigation and the direction detected by the self-contained navigation change in a similar manner, the display device further includes a character string related to the moving object. The navigation method according to claim 6.   8. The timing according to claim 6 or 7, wherein the timing of shifting to the hybrid navigation mainly including the self-contained navigation after the shift to the satellite navigation is when the vehicle starts to move. Navigation method.

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