JP2012208092A - Navigation device, navigation method, and navigation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device, a navigation method, and a navigation program for improving position detection accuracy after leaving a facility.SOLUTION: When it is determined that position coordinates of a vehicle 2 are corrected (S109: YES), position coordinates after correction which are the position coordinates of the vehicle 2 after the correction are acquired (S113). In addition, when it is determined that the position coordinates of the vehicle 2 are corrected (S109: YES), a travel track before the correction until the position coordinates are corrected from a point where vehicle speed is zero immediate before it is determined that the vehicle 2 leaves a facility are acquired (S112). Then, exit coordinates which are coordinates of an exit point of the facility are specified on the basis of the position coordinates after the correction, the travel track before the correction, and map information (S112). Thus, since the exit coordinates of the facility are properly specified, a current position of the vehicle is corrected on the basis of the exit coordinates in leaving the facility, and position detection accuracy after leaving the facility is improved.

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program.

Conventionally, navigation devices that detect the current position of a vehicle using an autonomous navigation sensor, a GPS receiver, or the like are known. It is also known that facility information relating to facilities such as parking lots is stored in the navigation device.
By the way, the facility information may not store information on the entrance / exit of the parking lot. In Patent Document 1, the departure position deviating from the road is stored as the entrance position of the parking lot, and the return position returning to the road is stored as the exit position of the parking lot.

International Publication No. 2007/122927

By the way, when the facility cannot receive GPS radio waves such as a self-propelled multi-story parking lot and there is no map data in the facility, the current position detection accuracy while traveling in the facility is lowered. Also, even in an open plane parking lot that can receive GPS radio waves, if the facility is vast, such as a leisure facility parking lot, and there is no map data in the facility, The current position detection accuracy during traveling is reduced. When traveling in the facility with the current position detection accuracy lowered and registering the return position returned to the road as the exit position of the parking lot as in Patent Document 1, there is a point different from the actual exit position. There is a risk of being registered as an exit position. In particular, when the current position measurement is performed stand-alone, it is difficult to guarantee the position detection accuracy because it is affected by the environment at that time and its own positioning accuracy.
The present invention has been made in view of the above-described problems, and an object thereof is to provide a navigation device, a navigation method, and a navigation program capable of improving the position detection accuracy after leaving a facility.

In the navigation device according to claim 1, an exit determination unit that determines whether or not the correction information generation vehicle has left the facility, and the position coordinates of the correction information generation vehicle are corrected after the correction information generation vehicle has left the facility. A correction determination means for determining whether or not the position coordinates of the correction information generation vehicle have been corrected, and a position after correction that acquires a corrected position coordinate that is a position coordinate of the correction information generation vehicle after correction When it is determined that the position coordinates of the coordinate acquisition means and the correction information generation vehicle have been corrected, the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it was determined that the correction information generation vehicle left the facility. Based on the travel locus acquisition means for acquiring the travel locus before correction up to and after the corrected position coordinates, the travel locus before correction, and the map information, the exit coordinate characteristic for specifying the exit coordinates which are the coordinates of the exit point of the facility. And means, the.
Thereby, since the exit coordinates of the facility are appropriately specified, the current position of the vehicle can be corrected based on the exit coordinates when leaving the facility, and the position detection accuracy after leaving the facility can be improved.

  In the invention according to claim 2, the exit point is a point where the vehicle speed is 0 immediately before it is determined that the correction information generation vehicle has left the facility. Thereby, the current position of the vehicle can be corrected at an earlier stage when leaving the facility.

  In the invention according to claim 3, the exit image acquisition means for acquiring an exit image that is a peripheral image of the correction information generation vehicle when the vehicle speed is 0 immediately before it is determined that the correction information generation vehicle has left the facility. Storage means for associating the exit image with the exit coordinates and storing them as correction information. Since the exit image and the exit coordinates are associated, if an image that matches the exit image is acquired near the exit, the current position of the vehicle is corrected using the correction information, and the position detection accuracy after leaving the facility is improved. Can be improved.

  In the invention according to claim 4, when the information use vehicle enters the facility, the information use vehicle temporarily obtains a temporary stop image that is a peripheral image of the information use vehicle when the vehicle speed is 0 in the facility. When it is determined that there is an exit image that matches with the stop image acquisition unit, the collation unit that compares the pause image with the exit image, and the exit image that matches the pause image, the image is stored in association with the exit image that is determined to match Correction means for correcting the position coordinates of the information utilizing vehicle based on the exit coordinates. Thereby, in the information utilizing vehicle, the current position can be corrected using the correction information, and the position detection accuracy after leaving the facility can be improved.

The invention described in claim 5 comprises correction information acquisition means for acquiring a plurality of correction information, and exit coordinate correction means for correcting the exit coordinates based on the plurality of correction information. Thereby, the precision of the exit coordinate specified by collective intelligence improves.
In the invention according to claim 6, based on the entrance coordinate specifying means for specifying the point where the correction information creation vehicle has left the road link as the entrance coordinate that is the coordinate of the entrance point of the facility, and the plurality of specified entrance coordinates, And an entrance determination range specifying means for specifying the entrance determination range. Thereby, the entrance determination range can be appropriately specified by collective intelligence.

The navigation method according to claim 7 is an exit determination step for determining whether or not the correction information generation vehicle has left the facility, and after the correction information generation vehicle has left the facility, the position coordinates of the correction information generation vehicle are corrected. A correction determination stage for determining whether or not the correction information generation vehicle position coordinates have been corrected, and when it is determined that the position coordinates of the correction information generation vehicle have been corrected, a corrected position position is acquired that is a position coordinate of the corrected correction information generation vehicle If it is determined that the position coordinates of the correction information generation vehicle have been corrected in the coordinate acquisition stage, the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it was determined that the correction information generation vehicle left the facility. Based on the travel trajectory acquisition stage that acquires the travel trajectory before correction and the corrected position coordinates, the travel trajectory before correction, and the map information, the exit coordinate identification that identifies the exit coordinates that are the coordinates of the exit point of the facility It includes a floor, a.
By such a method, the same effect as the navigation device according to claim 1 can be obtained.

The navigation program according to claim 8 is an exit determination means for determining whether or not the correction information generation vehicle has left the facility, and after the correction information generation vehicle has left the facility, the position coordinates of the correction information generation vehicle are corrected. Correction determination means for determining whether or not the position coordinates of the correction information generation vehicle are corrected, and after correction, the corrected position coordinates are acquired, which is the corrected position information of the correction information generation vehicle after correction Means, if it is determined that the position coordinates of the correction information generation vehicle have been corrected, correction until the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it was determined that the correction information generation vehicle left the facility Based on the travel locus acquisition means for acquiring the previous travel locus, and the exit coordinates that are the coordinates of the exit point of the facility based on the corrected position coordinates, the uncorrected travel locus, and the map information Specifying means, it causes the computer to function as a.
By such a navigation program, the same effect as the navigation device according to claim 1 can be obtained.

It is a block diagram which shows the structure of the navigation system of one Embodiment of this invention. It is a flowchart explaining the correction information creation process by one Embodiment of this invention. It is a flowchart explaining the exit image acquisition process by one Embodiment of this invention. It is a flowchart explaining the exit coordinate specific process by one Embodiment of this invention. It is explanatory drawing explaining the driving | running | working locus | trajectory of the vehicle in one Embodiment of this invention. It is explanatory drawing explaining the facility exit vicinity in one Embodiment of this invention. It is explanatory drawing explaining the exit coordinate specific process by one Embodiment of this invention. It is explanatory drawing explaining the exit coordinate specific process by one Embodiment of this invention. It is explanatory drawing explaining the data structure of correction information DB of one Embodiment of this invention. It is explanatory drawing explaining preparation of the statistical correction information by one Embodiment of this invention, Comprising: (a) is explanatory drawing explaining an entrance range specific process, (b) is explanatory drawing explaining an exit coordinate correction process. It is. It is a flowchart explaining the correction information provision process by one Embodiment of this invention.

Hereinafter, a navigation device according to an embodiment of the present invention will be described with reference to the drawings.
(One embodiment)
As shown in FIG. 1, the navigation system is embodied by an on-vehicle device 1 mounted on a vehicle 2, an on-vehicle device 101 mounted on a vehicle 110, and an information center 90 that can communicate with the on-vehicle device 1 and the on-vehicle device 101. Is done. Here, the vehicle 2 is a probe car related to the creation of correction information, and the vehicle 110 is an information use vehicle that receives correction information from the information center 90. That is, the vehicle 2 corresponds to the “correction information creation vehicle”, and the vehicle 110 corresponds to the “information use vehicle”. Hereinafter, the vehicle 2 related to the creation of the correction information and the vehicle-mounted device 1 mounted on the vehicle 2 are appropriately referred to as a “probe car”, and the vehicle 110 that receives the correction information and the vehicle-mounted device 101 mounted on the vehicle 110 are appropriately described as “information”. It is called “used vehicle”. Moreover, since the onboard equipment 1 and the onboard equipment 101 are the same structures, only the structure of the onboard equipment 1 is demonstrated below and the description regarding the structure of the onboard equipment 101 is abbreviate | omitted. Moreover, in FIG. 1, about the onboard equipment 101, illustration was abbreviate | omitted about structures other than the control part 102 corresponding to the control part 10 of the onboard equipment 1. In FIG.

  The vehicle-mounted device 1 is a so-called vehicle-mounted navigation device, but is not limited to a vehicle-mounted navigation device as long as it is a device that can communicate with the information center 90, such as a mobile phone or a personal computer. The vehicle-mounted device 1 is configured around the control unit 10, and includes a position detector 20, a map data storage unit 30, an operation switch group 40, a communication unit 50, a display 60, a speaker 70, and the like connected to the control unit 10. An information storage unit 80 and the like are provided.

The control unit 10 is configured as a normal computer, and includes a CPU, a ROM, a RAM, an I / O, a bus line connecting these configurations, and the like.
The position detector 20 includes a well-known geomagnetic sensor 21, a gyroscope 22, a distance sensor 23, a GPS (Global Positioning System) receiver 24 that receives radio waves from a satellite, and the like. Since these sensors 21 to 24 have errors of different properties, they are used while complementing each other.

  The map data storage unit 30 is a storage device realized as, for example, a hard disk device (HDD). Although the HDD is used in the present embodiment, other media such as a DVD-ROM or a memory card may be used. The map data storage unit 30 stores so-called map matching data for improving the accuracy of position detection and map data for searching for a route. The map data includes various data, one of which is facility information about the facility. The facility information is specifically POI (Point Of Interest) information stored in association with an ID that identifies the facility. The POI information includes facility name, facility ID, position coordinates, type (genre), address, information indicating a telephone number, and the like.

The operation switch group 40 includes a touch switch integrated with the display 60, a mechanical switch, a remote control device, or the like, and is used for various inputs.
The communication unit 50 is configured to communicate with the information center 90 and an infrastructure such as a roadside machine (not shown).

The display 60 is a color display device having a screen configured using liquid crystal or the like. A map, facility information, and the like are displayed via the display 60. The speaker 70 is for outputting sound, and is used, for example, when performing route guidance or the like by sound.
The information storage unit 80 is for storing a travel locus of the vehicle 2, an image acquired by the camera 85, correction information for correcting the position coordinates when leaving the facility, and the like, and the map data storage unit 30 and Consists of the same HDD. Of course, other media such as a memory card may be used. The traveling locus of the vehicle 2 is calculated based on the data of the geomagnetic sensor 21, the gyroscope 22, the distance sensor 23, and the GPS receiver 24 constituting the position detector 20, but indoors where information from GPS satellites cannot be received. A travel locus while traveling in a facility or the like is calculated based on data of the geomagnetic sensor 21, the gyroscope 22, and the distance sensor 23.

  A camera 85 is connected to the control unit 10. The camera 85 captures an image around the vehicle 2. In the present embodiment, the camera 85 captures an image behind the vehicle 2 and is used for a so-called back guide monitor. The control unit 10 acquires an image captured by the camera 85, performs image processing such as extracting feature points, and stores the image in the information storage unit 80. The camera 105 connected to the vehicle-mounted device 101 has the same configuration as the camera 85 connected to the vehicle-mounted device 1.

The information center 90 capable of communicating with the vehicle-mounted device 1 and the vehicle-mounted device 101 is configured with a control unit 91 as a center, and includes a communication unit 92 and a storage unit 93 that are connected to the control unit 91.
The control unit 91 is configured as a normal computer, and includes a CPU, a ROM, a RAM, an I / O, a bus line for connecting these configurations, and the like.
The communication unit 92 is configured to communicate with the vehicle-mounted device 1 and the vehicle-mounted device 101. The information center 90 can communicate with a plurality of probe cars and a plurality of information utilization vehicles, but only one probe car 2 and one information utilization vehicle 110 are shown in FIG.

The storage unit 93 is a storage device realized as, for example, a hard disk device (HDD). In this embodiment, the HDD is used, but other media such as a memory card may be used. The storage unit 93 stores a correction information database (hereinafter, “database” is referred to as “DB”) 94 and the like. In the correction information DB 94, correction information transmitted from the probe car 2 is stored.
The storage unit 93 stores a map information DB (not shown). The map data stored in the map information DB includes various data, one of which includes facility information regarding the facility. The facility information is specifically POI (Point Of Interest) information stored in association with an ID that identifies the facility. The POI information includes facility name, facility ID, position coordinates, type (genre), address, information indicating a telephone number, and the like.

Here, the correction information creation processing executed by the control unit 10 will be described based on the flowchart shown in FIG.
In the first step S101 (hereinafter, “step” is omitted, and simply indicated by the symbol “S”), the current position of the vehicle 2 is acquired by the position detector 20.
In S <b> 102, map data around the current position of the vehicle 2 is acquired from the map data storage unit 30. In the present embodiment, link information regarding road links around the current position of the vehicle 2, facility information regarding facilities around the vehicle 2, and the like are acquired.

  In S103, it is determined whether or not the current position of the vehicle 2 acquired in S101 has left the road link. When it is determined that the current position of the vehicle 2 has not left the road link (S103: NO), the process returns to S101. When it is determined that the current position of the vehicle 2 has left the road link (S103: YES), the process proceeds to S104.

  In S104, the facility where the vehicle 2 entered is specified based on the current position coordinates of the vehicle 2 and the facility information acquired in S102. In addition, the road departure point that is a point that has left the road link is specified as the entrance point of the facility where the vehicle 2 has entered, and the information storage unit is used as entrance information in association with the coordinates of the entrance point, that is, the coordinates of the road departure point, with the facility ID. 80. In the present embodiment, the facility into which the vehicle 2 has entered is a self-propelled indoor parking lot and cannot receive GPS radio waves in the facility. Any facility may be used.

  In S105, it is determined whether or not the vehicle is parked in the facility. In this embodiment, when the accessory power supply of the vehicle 2 is turned on and then turned on, it is determined that the vehicle is parked. When it is determined that the vehicle is parked in the facility (S105: YES), the process proceeds to S108. When it is determined that the vehicle is not parked in the facility (S105: NO), the process proceeds to S106.

In S106, it is determined whether or not the vehicle 2 has returned to the road link. In this determination, when the current position of the vehicle 2 is matched with the road link, it is determined that the vehicle 2 has returned to the road link. The same applies to S110 described later. When it is determined that the vehicle 2 has not returned to the road link (S106: NO), the process returns to S105. When it is determined that the vehicle 2 has returned to the road link (S106: YES), the process proceeds to S107.
In S107, the entrance information stored in S104 is discarded, and the processing after S108 is not performed.

In S108, which is shifted to the case where it is determined that the vehicle is parked in the facility (S105: YES), an exit image acquisition process is performed.
Here, the exit image acquisition processing will be described based on the flowchart shown in FIG.
In S201, it is determined whether or not the vehicle speed of the vehicle 2 is 0 km / h. When it is determined that the vehicle speed is not 0 km / h (S201: NO), the process proceeds to S203. When it is determined that the vehicle speed is 0 km / h (S201: YES), the process proceeds to S202.
In S202, an image captured by the camera 85 at a point where the vehicle speed is 0 km / h is acquired and stored in the information storage unit 80.

In S203, it is determined whether or not the vehicle 2 has moved 90 °. When it is determined that the vehicle 2 has not moved 90 ° (S203: NO), the process returns to S201. When it is determined that the vehicle 2 has moved 90 ° (S203: YES), the process proceeds to S204.
In S204, it is determined whether or not the vehicle 2 has left the facility. In the present embodiment, the facility into which the vehicle 2 has entered is a self-propelled indoor parking lot and cannot receive GPS radio waves in the facility, so the radio wave intensity received by the GPS receiver 24 has become greater than zero. In this case, it is determined that the vehicle 2 has left the facility F. When it is determined that the vehicle 2 has not left the facility (S204: NO), that is, when the radio wave intensity received by the GPS receiver 24 is 0, the process returns to S201. If it is determined that the vehicle 2 has left the facility (S204: YES), that is, if the radio wave intensity received by the GPS receiver 24 is greater than 0, the process proceeds to S205.

In S205, among the images acquired in S202, an image acquired at the nearest vehicle speed of 0 km / h is stored in the information storage unit 80 as an exit image, and the exit image acquisition process is terminated.
Note that when the exit image is stored in the information storage unit 80, the amount of data stored in the information storage unit 80 can be reduced by performing image processing such as extracting feature points. Such image processing may be executed in S202. In addition, when the information storage unit 80 has an image acquired in the facility and an image at a vehicle speed of 0 km / h other than the image stored as the exit image, the image other than the image stored as the exit image Discard the image. Note that when storing an image in the information storage unit 80 in S202, the image may be overwritten so that only the most recent image remains.
The order of the determination process according to S203 and the determination process according to S204 may be switched.

Returning to FIG. 2, in S109, which is shifted to after the exit image acquisition process (S108), it is determined whether or not the position coordinates of the vehicle 2 are corrected based on information from the infrastructure such as a roadside machine. When it is determined that the position coordinates of the vehicle 2 have been corrected (S109: YES), the process proceeds to S112. When it is determined that the position coordinates of the vehicle 2 are not corrected (S109: NO), the process proceeds to S110.
In S110, it is determined whether or not the vehicle 2 has returned to the road link. When it is determined that the vehicle 2 has not returned to the road link (S110: NO), the process returns to S109. When it is determined that the vehicle 2 has returned to the road link (S110: YES), the process proceeds to S111.
In S111, the entrance information stored in S104 and the exit image stored in S108 are discarded, and the processes after S112 are not performed.

In S112, when it is determined that the position coordinates of the vehicle 2 have been corrected (S109: YES), exit coordinate specifying processing is performed.
Here, the exit coordinate specifying process will be described based on the flowchart shown in FIG.
In S301, the position coordinates of the point (hereinafter referred to as “corrected point”) that is identified as the current position by correcting the position coordinates based on the information on the roadside machine or the like are acquired. In addition, the ID of an infrastructure such as a roadside machine that is a transmission source of the information related to the position correction is also acquired. The position coordinates of the corrected point correspond to “corrected position coordinates”.
In S <b> 302, map information around the facility where the vehicle 2 entered and exited is acquired from the map data storage unit 30.

  In S303, the travel trajectory in the vehicle-mounted device 1 from the point where the exit image was acquired, that is, the point where the vehicle speed was 0 km / h immediately before leaving the facility until the position coordinates were corrected by the information on the infrastructure such as the roadside machine ( Hereinafter, it is referred to as “travel path before correction”). The facility where the vehicle 2 has entered is a self-propelled indoor parking lot and cannot receive GPS radio waves in the facility. Therefore, the facility 2 is currently based on the geomagnetic sensor 21, the gyroscope 22, and the distance sensor 23. Although position detection is performed, the accuracy of position detection is reduced due to the accumulation of each error. Therefore, the travel locus before correction is different from the travel locus actually traveled.

In S304, the actual travel trajectory is calculated by performing map conversion on the map so that the end point of the travel trajectory before correction matches the corrected point.
In S305, the starting point of the actual travel locus is set as the facility exit point, the exit coordinates that are the coordinates of the exit point are specified based on the map information, and the exit coordinate specifying process is terminated. In the present embodiment, since the pre-correction travel locus is a travel locus from a point where the vehicle speed immediately before leaving the facility was 0 km / h, the start point of the actual travel locus is immediately before leaving the facility. This is the point where the vehicle speed was 0 km / h. Therefore, in this embodiment, a point where the vehicle speed was 0 km / h immediately before leaving the facility is regarded as an “exit point”.

  Returning to FIG. 2, in S113, which is shifted to after the exit coordinate specifying process (S112), the coordinates of the entrance point of the facility, the coordinates of the exit point, the exit image, the coordinates of the corrected point, and the source of the information related to the position correction are provided. A certain infrastructure ID is stored in the information storage unit 80 as correction information in association with the facility ID of the facility. Further, the created correction information is transmitted to the information center 90 and the correction information is stored in the correction information DB 94 of the information center 90.

Here, a specific example of the correction information creation process will be described with reference to FIGS.
When the vehicle 2 leaves the road link (S103: YES), it is assumed that the vehicle 2 has entered the facility F as shown in FIG. 5, and the point where the vehicle 2 leaves the road link is set as the entrance point of the facility F (S104). . The vehicle 2 travels in the facility F and is parked at the point W (S105: YES). Further, it is assumed that the vehicle 2 leaves the facility F from the exit A1 via the point W, the point X, the point Y, the point Z, and the like. As shown in FIG. 6, a toll gate and a bar are provided at the point Z, and the vehicle 2 is temporarily stopped near the toll gate and in front of the bar. That is, the vehicle 2 has a vehicle speed of 0 km / h at the point Z (S201: YES). At this time, an image captured by the camera 85 at the point Z is acquired (S202). Thereafter, when the facility F exits and joins the road adjacent to the facility F, the vehicle 2 moves 90 ° and the radio wave intensity received by the GPS receiver 24 becomes greater than 0 (S203: YES, S204: YES). ). Therefore, in this embodiment, the point Z where the vehicle 2 has moved 90 ° and paused immediately before the GPS radio wave intensity becomes greater than 0 is regarded as the exit point PO, and the image acquired at the point Z is The information is stored in the information storage unit 80 as an exit image of the exit A1 (S205).

  In addition, since the vehicle 2 is temporarily stopped at the point X and the point Y and the vehicle speed becomes 0 km / h (S201: YES), an image captured by the camera 85 is acquired also at the point X and the point Y, It is stored in the information storage unit 80. However, since the point X and the point Y are not points at a vehicle speed of 0 km / h immediately before the vehicle 2 moves 90 ° and the GPS radio wave intensity becomes larger than 0, the point X and the point Y are simply points where the vehicle F is temporarily stopped. It is not the exit of facility F. Therefore, in this embodiment, images acquired at the point X and the point Y are discarded.

  As shown in FIG. 7A, when the vehicle 2 leaves the facility F, the vehicle 2 travels as indicated by a solid line, but the vehicle-mounted device 1 shows a travel locus C before correction indicated by a broken line. Suppose that it was recognized that it was running. The starting point CS of the pre-correction travel locus C is the current position of the vehicle 2 that has been erroneously recognized by the vehicle-mounted device 1 when it is temporarily stopped at the point Z. Further, when the vehicle-mounted device 1 recognizes that the current position of the vehicle 2 is the end point CE, the current position of the vehicle 2 is corrected to the corrected point PA in response to information from an infrastructure such as a roadside machine. It shall be assumed (S109: YES). At this time, the position coordinates of the corrected point PA, the map information around the facility F, and the pre-correction travel locus C are acquired (S301 to S303). As the map information around the facility F, for example, the map information of the area indicated by the symbol M in FIG. Further, as shown in FIG. 7B, the uncorrected travel locus C is mapped on the map so that the end point CE of the uncorrected travel locus C becomes the corrected point PA, and the actual travel locus R is calculated. (S304). Then, as shown in FIG. 7C, the starting point of the actual travel locus R is set as the exit point PO, and the coordinates of the point are specified based on the map data (S305). In the present embodiment, a point where the vehicle speed immediately before leaving the facility F is 0 km / h, that is, a point Z in FIG. 5 is specified as the exit point PO.

Here, the travel locus of the vehicle 2 will be supplemented based on FIG.
While the vehicle 2 traveled in the facility F, which is a self-propelled indoor parking lot, the position detection accuracy decreased, and the vehicle-mounted device 1 erroneously recognized that the vehicle 2 traveled as indicated by the broken line in FIG. Shall. In other words, the current position when the current position of the vehicle 2 is the point Z (see FIG. 5) is the start point CS, and the vehicle 2 moves 90 ° at the point T1, and before the correction shown by the broken line until the end point CE to be corrected. It is assumed that the vehicle-mounted device 1 is erroneously recognized as traveling along the traveling locus C.
When the vehicle-mounted device 1 erroneously recognizes that the current position of the vehicle is at the end point CE, if the current position is corrected to the corrected point PA based on information from the infrastructure such as the roadside machine, the end point CE is The pre-correction travel locus C is map-transformed so that it becomes the post-correction point PA, and an actual travel locus R is calculated as shown by a solid line in FIG. Based on this actual travel locus R, the coordinates of the exit point PO are specified. In the present embodiment, the exit point PO is a point where the vehicle 2 has been turned 90 ° and stopped immediately before the GPS radio wave intensity becomes greater than 0, and the point Z where the exit image was acquired (see FIG. 5). It is. Note that the coordinates of the point T2 where the vehicle 2 has moved 90 ° can also be specified based on the actual travel locus R.

  Then, the correction information is obtained by associating the coordinates of the entrance point of the facility F, the coordinates of the exit point PO, the exit image, the coordinates of the corrected point PA, and the infrastructure ID that is the source of information related to position correction with the facility ID of the facility F. Are stored in the information storage unit 80, transmitted to the information center 90, and stored in the correction information DB 94 of the information center 90 (S113).

In the information center 90, correction information is acquired from a plurality of probe cars, and the acquired correction information is stored in the correction information DB 94. The correction information stored in the correction information DB 94 is statistical correction information obtained by performing statistical processing or the like based on a plurality of acquired correction information. Note that statistical correction information obtained by performing statistical processing based on a plurality of correction information is also included in the concept of “correction information”. In this embodiment, statistical correction information obtained by performing statistical processing based on a plurality of correction information is stored in the correction information DB 94. However, correction information itself acquired from the probe car is stored in the correction information DB 94. You may comprise as follows.
Hereinafter, the statistical correction information is also simply referred to as “correction information” as appropriate.

The data structure of the correction information DB 94 is shown in FIG. In the correction information DB 94, as correction information, for each facility, the entrance coordinates that are the coordinates of the entrance point, the exit image link, the exit coordinates that are the coordinates of the exit point, the position correction infrastructure ID, and the corrected coordinates that are the coordinates of the corrected point. The position coordinates are stored in association with the facility ID.
For example, since the facility F (see FIG. 5) whose facility ID is P0001 has three exits, the correction information related to the exit A1 whose exit coordinates are (Xo1, Yo1) and the exit coordinates are (Xo2, Yo2). The correction information related to a certain exit A2 and the correction information related to the exit A3 whose exit coordinates are (Xo3, Yo3) are stored in association with the facility ID P0001. That is, it can be said that “the correction information is stored for each exit when the facility has a plurality of exits”.

  Moreover, since the facility F has one entrance, the same entrance coordinates (Xin1, Yin1) are associated with the correction information related to the facility F regardless of the exit coordinates. In FIG. 9, the entrance coordinates are one coordinate. By the way, in this embodiment, the point which left | separated from the road link is made into the entrance point of a plant | facility, and as shown to Fig.10 (a), the probability that the road leaving point varies for every correction information is high. Therefore, an entrance determination range related to the determination of entering the facility F may be specified based on a plurality of entrance coordinates, and the entrance determination range may be included in the correction information. Further, the entrance coordinates are not limited to one coordinate, and may be a coordinate group that specifies the entrance determination range.

In this embodiment, exit coordinates corrected based on a plurality of correction information are stored as exit coordinates. As shown in FIG. 10B, for example, the exit coordinates included in the plurality of correction information transmitted from the probe car that has exited from the exit A1 are highly likely to vary. Therefore, in the present embodiment, statistical processing is performed based on the exit coordinates included in the acquired plurality of correction information, and the likely exit coordinates (Xo1, Yo1) are calculated. The “process for calculating the reliable exit coordinates” performed here corresponds to “correcting the exit coordinates based on a plurality of correction information”.
Further, the exit image link included in the correction information is created for each exit coordinate. The exit image link is an image recognition template for exit determination created based on exit images of a plurality of correction information. Note that the template exit image link for image recognition related to the exit determination created based on the exit image is included in the concept of “exit image”.

In the present embodiment, the correction information related to the exit A3 whose exit coordinates are (Xo3, Yo3) includes the corrected position coordinates (XI2, 2) whose position is corrected by infrastructure such as a roadside machine whose position correction infrastructure ID is I0002. And exit coordinates calculated based on corrected position coordinates (XI3, YI3) corrected by an infrastructure such as a roadside machine whose position correction infrastructure ID is I0003. It is. That is, in the present embodiment, the exit coordinates of the exit A3 are calculated based on different post-correction position coordinates corrected by different infrastructures (two in the present embodiment), and the correction information related to the exit A3 is: It is stored for each infrastructure and position after correction. In other words, “correction information is stored for each corrected position coordinate”.
Also, for example, if one infrastructure is on a road that turns left after exiting facility F from exit A3, and the other infrastructure is on a road that turns right after exiting facility F from exit A3, exit A3 can turn right or left after exiting It turns out that it is a safe exit. In other words, it can be said that “the direction in which the vehicle can proceed after leaving the facility can be specified based on the corrected position coordinates”.

  The correction information stored in the correction information DB 94 of the information center 90 is provided to the information use vehicle 110 and is used for correcting the position coordinates of the information use vehicle 110. Therefore, the correction information providing process will be described based on the flowchart shown in FIG. In FIG. 11, the processing of S401 to S410 shown on the left side of the page is executed by the control unit 102 of the vehicle-mounted device 101 of the information utilization vehicle 110, and the processing of S451 to S453 shown on the right side of the page is executed by the control unit of the information center 90. This is executed at 91.

In S401, which is processing on the information use vehicle 110 side, it is determined whether or not the information use vehicle 110 has left the road link. When it is determined that the information using vehicle 110 has not left the road link (S401: NO), the processing after S402 is not performed. When it is determined that the information using vehicle 110 has left the road link (S401: YES), the process proceeds to S402.
In S <b> 402, information related to the position coordinates of the road departure point, which is the point where the information use vehicle 110 has left the road link, is transmitted to the information center 90.

In S451, which is processing on the information center 90 side, information regarding the position coordinates of the road departure point transmitted from the information using vehicle 110 in S402 is received.
In S452, the correction information DB 94 is referred to, and based on the entrance coordinates stored in the correction information DB 94, it is determined whether or not the position coordinates of the road departure point transmitted from the information using vehicle 110 is the entrance point of the facility. . When it is determined that the position coordinates of the road departure point transmitted from the information using vehicle 110 is the entrance point of the facility (S452: YES), the entrance facility information regarding the facility is acquired. The approach facility information includes correction information associated with the facility. As shown in FIG. 9, the correction information includes a facility ID, an entrance coordinate, an exit image link, an exit coordinate, a position correction infrastructure ID, and a corrected position coordinate. If it is determined that the position coordinates of the road departure point transmitted from the information using vehicle 110 are not the entrance point of the facility (S452: NO), it indicates that there is no correction information for correcting the current position of the information using vehicle 110. Set no correction information flag. This no correction information flag is included in the approach facility information.
In S453, the approach facility information is transmitted to the information using vehicle 110.

In S403, which is processing on the information using vehicle 110 side, the approach facility information transmitted from the information center 90 in S453 is received.
In S404, it is determined whether or not the approach facility information received in S403 includes correction information for correcting the position coordinates when leaving the facility. This determination is made based on the presence or absence of the no correction information flag. When it is determined that the entry facility information does not include correction information for correcting the position coordinates when leaving the facility (S404: NO), that is, when the no correction information flag is set, the processing after S405 Do not do. If it is determined that the entry facility information includes correction information for correcting the position coordinates when leaving the facility (S404: YES), that is, if the no correction information flag is set, the process proceeds to S405. .

  In S405, it is determined whether the vehicle speed of the information using vehicle 110 is 0 km / h. When it is determined that the vehicle speed of the information using vehicle 110 is not 0 km / h (S405: NO), this determination process is repeated. When it is determined that the vehicle speed of the information using vehicle 110 is 0 km / h (S405: YES), the process proceeds to S406.

In S <b> 406, a temporary stop image that is an image captured by the camera 105 is acquired.
In S407, the temporary stop image acquired in S406 is collated with the exit image link of the correction information included in the approach facility information received in S403.
In S408, it is determined whether or not the temporary stop image acquired in S406 matches the exit image link of the correction information included in the approach facility information received in S403. If it is determined that the temporary stop image acquired in S406 matches the exit image link (S408: YES), the process proceeds to S410. If it is determined that the image at the time of suspension acquired in S406 does not match the exit image link (S408: NO), the process proceeds to S409.

  In S409, it is determined whether or not the vehicle 110 has returned to the road link. In this determination, when the current position of the vehicle 110 is matched with the road link, it is determined that the vehicle 110 has returned to the road link. When it is determined that the vehicle 110 has not returned to the road link (S409: NO), the process returns to S405. When it is determined that the vehicle 110 has returned to the road link (S409: YES), the process of S410 is not performed.

  If it is determined that the temporary stop image matches the exit image link (S408: YES), in S410, the exit coordinates associated with the exit image link determined to match the temporary stop image in S407. Based on the above, the position coordinates of the information using vehicle 110 are corrected. In this embodiment, since the point where the exit image is acquired is set as the exit point, the current position is set so that the coordinates of the point where the image at the time of pause that is determined to match the exit image link is the exit coordinate. to correct.

  As described above in detail, it is determined whether or not the vehicle 2 has left the facility (S204 in FIG. 3), and after the vehicle 2 leaves the facility (S204: YES), the position coordinates of the vehicle 2 are corrected. It is determined whether or not (S109 in FIG. 2). When it is determined that the position coordinates of the vehicle 2 have been corrected (S109: YES), the corrected position coordinates that are the position coordinates of the vehicle 2 after correction are acquired (S113). If it is determined that the position coordinates of the vehicle 2 have been corrected (S109: YES), the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it was determined that the vehicle 2 left the facility. A travel locus before correction is acquired (S112). Then, based on the corrected position coordinates, the pre-correction travel locus, and the map information, the exit coordinates that are the coordinates of the facility exit point are specified (S305 in FIG. 4). Thereby, since the exit coordinates of the facility are appropriately specified, the current position of the vehicle can be corrected based on the exit coordinates when leaving the facility, and the position detection accuracy after leaving the facility can be improved. Moreover, route guidance etc. can be performed appropriately from the time of leaving the facility.

  In the present embodiment, the exit point is a point where the vehicle speed is 0 immediately before it is determined that the vehicle 2 has left the facility. That is, a point where the vehicle speed was 0 immediately before it is determined that the vehicle 2 has left the facility is regarded as an exit point. As a result, for example, as shown in FIG. 6, a point in the facility that is temporarily stopped immediately before the exit of the toll booth or the like is specified as the exit point, and the position coordinates are corrected. The position coordinates can be corrected at an early stage.

  In this embodiment, immediately before it is determined that the vehicle 2 has left the facility, an exit image that is a peripheral image of the vehicle 2 when the vehicle speed is 0 is acquired (S202), and the exit image and the exit coordinates are associated with each other. And stored as correction information (S305). Since the exit image and the exit coordinates are associated, if an image that matches the exit image is acquired near the exit, the current position of the vehicle is corrected using the correction information, and the position detection accuracy after leaving the facility is improved. Can be improved.

  When the information use vehicle 110 enters the facility (S401 in FIG. 11: YES), the information use vehicle 110 is a temporary image that is a peripheral image of the information use vehicle 110 when the vehicle speed is 0 in the facility. An image is acquired (S406), and the acquired pause image and the exit image link are collated (S407). If it is determined that there is an exit image link that matches the temporary stop image (S408: YES), the position coordinates of the information using vehicle 110 are calculated based on the exit coordinates stored in association with the exit image link determined to match. to correct. Accordingly, the correction information created by the probe car 2 and accumulated in the information center 90 is distributed to the information use vehicle 110, and the current position is determined based on the correction information distributed from the information center 90 in the information use vehicle 110. It is possible to correct the position detection accuracy after leaving the facility.

The information center 90 acquires a plurality of correction information, and corrects the exit coordinates based on the acquired plurality of correction information (see FIG. 10B). Thereby, the precision of the exit coordinate specified by collective intelligence improves.
Further, the point where the vehicle 2 leaves the road link is specified as the entrance coordinates which are the coordinates of the entrance point of the facility (S104). In the information center 90, an entrance determination range is specified based on a plurality of specified entrance coordinates (see FIG. 10A). Thereby, the entrance determination range can be appropriately determined by collective intelligence.

  In the present embodiment, the control unit 10 of the vehicle-mounted device 1 performs “exit determination means”, “correction determination means”, “corrected position coordinate acquisition means”, “travel locus acquisition means”, “exit coordinate specification means”, “exit The control unit 102 of the vehicle-mounted device 101 constitutes “image acquisition means”, “storage means”, and “entrance coordinate specifying means”. The control unit 91 of the information center 90 constitutes “correction information acquisition means”, “exit coordinate correction means”, and “entrance determination range specifying means”. Further, S204 in FIG. 3 corresponds to processing as the function of “exit determination means”, S109 in FIG. 2 corresponds to processing as the function of “correction determination means”, and S301 in FIG. S303 corresponds to the processing as the function of the “traveling coordinate acquisition means”, S305 corresponds to the processing as the function of the “exit coordinate specifying means”, S205. Corresponds to processing as a function of “exit image acquisition means”, S113 corresponds to processing as a function of “storage means”, and S104 corresponds to processing as a function of “entrance coordinate specifying means”. Further, S406 in FIG. 11 corresponds to the processing as the function of “temporary stop image acquisition means”, and S410 corresponds to the processing as the function of “correction means”.

As mentioned above, this invention is not limited to the said embodiment at all, In the range which does not deviate from the meaning of invention, it can implement with a various form.
(A) Peripheral image In the said embodiment, the image of the vehicle back was acquired with the camera 85, and it was set as the exit image. In another embodiment, not only the rear of the vehicle but also an image of any part around the vehicle such as the front or side of the vehicle may be acquired and used as the exit image.

(A) Exit point In the above embodiment, the vehicle speed 0 km / h point immediately before leaving the facility is regarded as the exit point. In another embodiment, after exiting the facility, a point that is first turned 90 ° (for example, point T2 in FIG. 8) may be regarded as an exit point. As shown in FIG. 6, the point where the vehicle travels 90 ° closest to the start point of the actual travel locus is a point on the road adjacent to the facility, and there is a probability that the vehicle has joined the road adjacent to the facility. Since it is expensive, after exiting the facility, the first turning point may be regarded as the exit point. After leaving the facility, the coordinates of the point where the vehicle first moved 90 ° are used as exit coordinates, and the current position of the vehicle is corrected based on the exit coordinates, so that matching to the link can be performed more reliably. In addition, it can be said that the point which first turned 90 degrees after leaving the facility is “the first right turn or left turn after leaving the facility”. For example, in the example shown in FIG. 6, after leaving the facility, the point where the vehicle first moved 90 ° is “the junction where the vehicle joined the road adjacent to the facility after leaving the facility”. I can say that.

(C) Exit from the facility In the above embodiment, the facility F into which the vehicle 2 has entered is a self-propelled indoor parking lot and is a facility that cannot receive GPS radio waves in the facility F. When I became greater than 0, I decided to leave the facility. In another embodiment, the exit from the facility may be determined based on other than the GPS radio wave intensity. For example, the following method is exemplified.
(I) When the correction information creation process is performed in the daytime and the facility is an indoor facility, when leaving the facility, there is a high probability that the surrounding brightness will be brighter than in the facility. In addition, when the correction information creation process is performed at night and the facility is an indoor facility, when the user leaves the facility, there is a high probability that the surrounding brightness will be darker than in the facility. Therefore, it may be determined whether or not the user has left the facility based on a change in brightness around the vehicle. The change in the brightness around the vehicle may be detected using, for example, an illuminance sensor, or the image around the vehicle may be acquired by a camera and detected by image recognition.

  (Ii) When leaving a facility such as a parking lot, there is a high probability that the complexity of the scenery around the vehicle will change. Therefore, it may be determined that the user has left the facility when a surrounding image of the vehicle is acquired and the numerical value related to the complexity of the landscape changes by a predetermined value or more. The determination method can determine whether the vehicle has left the facility even if the facility is an outdoor facility.

  (Iii) When leaving a facility such as a parking lot, there is a high probability that the amount of movement of surrounding objects will change. For example, when there are pedestrians on the road around the facility, the movement vector around 4 km / h increases. Further, when there is a traveling vehicle on a road around the facility that has left the facility, a movement vector of 30 km / h or more is detected. Accordingly, a surrounding image of the vehicle may be acquired, the amount of movement of the object may be calculated by analyzing the surrounding image, and it may be determined whether the vehicle has left the facility based on the change in the amount of movement. The determination method can determine whether the vehicle has left the facility even if the facility is an outdoor facility.

(D) Turning off map matching In another embodiment, map matching may be turned off for a predetermined period after, for example, an affirmative determination is made in S105 in FIG.

(E) Means constituting the navigation device In the above embodiment, the control unit 10 of the vehicle-mounted device 1 performs the “exit judgment means”, “correction judgment means”, “corrected position coordinate acquisition means”, “travel locus acquisition means”, The “exit coordinate specifying means”, “exit image acquiring means”, “storage means”, and “entrance coordinate specifying means” are configured, and the control unit 102 of the vehicle-mounted device 101 performs “pause image acquisition means”, “verification” Means "and" correction means ", and the control unit 91 of the information center 90 constitutes" correction information acquisition means "," exit coordinate correction means ", and" entrance determination range specifying means ". In another embodiment, all the above means may be configured by the control unit 91 of the information center 90. In the above embodiment, the correction information from the probe car is accumulated in the information center, and the correction information is provided from the information center to the information using vehicle. However, the probe is not connected to the information center by inter-vehicle communication or the like, for example. You may comprise so that correction | amendment information may be provided to an information utilization vehicle from a car.
Moreover, all the above-mentioned means may be comprised by the control part of the vehicle equipment of a probe car. In this case, the probe car and the information use vehicle may be the same vehicle.

  Further, it may be a program that causes a computer to function as the above means, or a storage medium that stores the program. In addition, “exit determination stage”, “correction determination stage”, “corrected position coordinate acquisition stage”, “travel locus acquisition stage”, “exit coordinate specification stage”, “exit image acquisition stage”, “storage stage”, “ Processed as “entrance coordinate identification stage”, “temporary stop image acquisition stage”, “collation stage”, “correction stage”, “correction information acquisition stage”, “exit coordinate correction stage”, and “entrance determination range identification stage” It may be a navigation method for performing.

DESCRIPTION OF SYMBOLS 1 ... Onboard equipment 2 ... Vehicle (correction information creation vehicle)
10. Control unit (exit determination means, correction determination means, corrected position coordinate acquisition means, travel locus acquisition means, exit coordinate specification means, exit image acquisition means, storage means, entrance coordinate specification means)
DESCRIPTION OF SYMBOLS 20 ... Position detector 30 ... Map data storage part 40 ... Operation switch group 50 ... Communication part 60 ... Display 70 ... Speaker 80 ... Information storage part 90 ... Information Center 91... Control unit (correction information acquisition means, exit coordinate correction means, entrance determination range specifying means)
92 ... Communication unit 93 ... Storage unit 94 ... Correction information DB
101... On-vehicle device 102... Control unit (temporary stop image acquisition means, verification means, correction means)
102 ... Vehicle (information utilization vehicle)

Claims (8)

Exit determination means for determining whether the correction information creation vehicle has exited the facility,
Correction judgment means for judging whether or not the position coordinates of the correction information creation vehicle have been corrected after the correction information creation vehicle has left the facility;
When it is determined that the position coordinates of the correction information creation vehicle have been corrected, a corrected position coordinate acquisition unit that acquires a corrected position coordinate that is a position coordinate of the corrected correction information generation vehicle;
When it is determined that the position coordinates of the correction information generation vehicle have been corrected, the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it is determined that the correction information generation vehicle has left the facility. Traveling locus acquisition means for acquiring a traveling locus before correction;
Exit coordinate specifying means for specifying exit coordinates that are coordinates of the exit point of the facility based on the corrected position coordinates, the pre-correction travel locus, and map information;
A navigation device comprising:   The navigation apparatus according to claim 1, wherein the exit point is a point where the vehicle speed is 0 immediately before it is determined that the correction information generation vehicle has left the facility. Exit image acquisition means for acquiring an exit image that is a peripheral image of the correction information creation vehicle when the vehicle speed was 0 immediately before it was determined that the correction information creation vehicle left the facility;
Storage means for storing the exit image and the exit coordinates in association with each other as correction information;
The navigation device according to claim 1, further comprising: When the information utilization vehicle enters the facility, the temporary image acquisition means for acquiring an image during suspension that is a peripheral image of the information utilization vehicle when the vehicle speed of the information utilization vehicle is 0 in the facility. When,
Collating means for collating the temporary stop image and the exit image;
When it is determined that there is an exit image that matches the image at the time of the temporary stop, the position coordinates of the information utilizing vehicle are corrected based on the exit coordinates stored in association with the exit image determined to match. Correction means;
The navigation apparatus according to claim 3, further comprising: Correction information acquisition means for acquiring a plurality of correction information;
Exit coordinate correcting means for correcting the exit coordinates based on the plurality of correction information;
The navigation apparatus according to claim 3, further comprising: An entrance coordinate specifying means for specifying the point where the correction information creation vehicle leaves the road link as an entrance coordinate which is a coordinate of the entrance point of the facility;
An entrance determination range specifying means for specifying an entrance determination range based on the plurality of specified entrance coordinates;
The navigation device according to any one of claims 1 to 5, further comprising: An exit determination stage for determining whether the correction information creation vehicle has exited the facility,
A correction determination step of determining whether or not the position coordinates of the correction information generation vehicle have been corrected after the correction information generation vehicle leaves the facility;
When it is determined that the position coordinates of the correction information creation vehicle have been corrected, a corrected position coordinate acquisition step of acquiring a corrected position coordinate that is a position coordinate of the corrected correction information generation vehicle;
When it is determined that the position coordinates of the correction information generation vehicle have been corrected, the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it is determined that the correction information generation vehicle has left the facility. A travel locus acquisition stage for obtaining a travel locus before correction;
Based on the corrected position coordinates, the pre-correction travel locus, and map information, an exit coordinate specifying stage that specifies exit coordinates that are coordinates of the exit point of the facility;
A navigation method comprising: Exit determination means for determining whether the correction information creation vehicle has left the facility,
Correction determination means for determining whether or not the position coordinates of the correction information generation vehicle have been corrected after the correction information generation vehicle has left the facility;
When it is determined that the position coordinates of the correction information creation vehicle have been corrected, a corrected position coordinate acquisition unit that acquires a corrected position coordinate that is a position coordinate of the correction information generation vehicle after correction;
When it is determined that the position coordinates of the correction information generation vehicle have been corrected, the position coordinates are corrected from the point where the vehicle speed was 0 immediately before it is determined that the correction information generation vehicle has left the facility. Traveling locus acquisition means for acquiring a traveling locus before correction;
And exit coordinate specifying means for specifying exit coordinates that are coordinates of the exit point of the facility based on the corrected position coordinates, the pre-correction travel locus, and map information,
As a navigation program that makes a computer function as a computer.

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