JP2016020811A - Electronic equipment, road-vehicle communication system, current position correction method, and current position correction program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide electronic equipment, a road-vehicle communication system, a current position correction method, and a current position correction program for accurately correcting a current position on the road of map data by using a signal from an electric wave beacon transmitter.SOLUTION: An in-vehicle device includes: detection means for detecting an own vehicle position; correction means for correcting an own vehicle position detected by the detection means on the road of map data; and reception means for receiving beacon information issued from an electric wave beacon transmitter set on a highway 30. The correction means corrects the own vehicle position on the highway 30 when the traveling in an opposite direction to the traveling direction of an own vehicle 20 is detected on the basis of the beacon information received from electric wave beacon transmitters 32A-1 and 32A-2 set in a traffic lane 30A in an opposite direction to a traffic lane 30B in which an own vehicle 20 is traveling.SELECTED DRAWING: Figure 5

Description

  The present invention relates to map matching in an electronic device having a navigation function, and more particularly to a map matching method when a general road and a highway are running side by side.

  In general, in a navigation device mounted on a vehicle, the vehicle position is detected using a self-contained navigation sensor, GPS (Global Positioning System), etc., and the detected vehicle position is map-matched on a road of map data, This is displayed. However, in actuality, for example, at points where general roads and highways are vertically or in parallel, map matching is erroneous due to the effects of GPS signal multipaths and the difficulty of detecting small angles of branching and merging. May end up.

  Therefore, a navigation device that prevents misjudgment by performing map matching to a general road or highway according to the passage of an optical beacon transmitter installed on a general road or a radio beacon transmitter installed on a highway is proposed. (Patent Document 1 and Patent Document 2).

Japanese Patent Laid-Open No. 11-83505 Japanese Patent Laid-Open No. 04-51400

  However, map matching using information from the above-described optical beacon transmitter and radio beacon transmitter has the following problems. The optical beacon transmitter has a very local communication area and is installed only on ordinary roads. Therefore, when an optical beacon is communicated with an optical beacon, Map matching to the road can be performed accurately.

  On the other hand, the radio beacon transmitter is installed only on the highway, but its communication area is wider than the radio beacon. Therefore, as is often seen in urban areas, for example, in a road environment where a highway and a general road are running side by side, radio waves from a radio beacon leak from the highway to the general road. It is a fact. Therefore, it is possible to receive a radio beacon signal while traveling on a highway, and to receive a radio beacon signal leaking from the highway while traveling on a general road. It is not possible to perform accurate map matching to the highway only by simple passage determination that the communication is performed. That is, when traveling on a general road, there is a possibility that the vehicle position is erroneously map-matched to the expressway.

  The present invention solves such problems, and an electronic device and a road-to-vehicle communication system capable of accurately correcting the current position on a road of map data using a signal from a radio beacon transmitter. An object of the present invention is to provide a current position correction method and a current position correction program.

  An electronic device according to the present invention has a navigation function, and includes a detecting means for detecting a current position, a correcting means for correcting the current position detected by the detecting means on a road of map data, and a high speed Receiving means for receiving beacon information emitted from a radio beacon transmitter installed on the road, and the correction means travels in a direction opposite to the traveling direction of the vehicle based on the position information included in the beacon information. When detected, the current position is corrected on the highway.

  Preferably, the correction means corrects the current position on the highway when the first traveling direction based on the position information included in the beacon information differs from the traveling direction of the host vehicle by a predetermined angle or more. Preferably, the correction means corrects the current position on the expressway when receiving beacon information from a radio wave beacon transmitter installed in a lane opposite to the traveling direction of the host vehicle. Preferably, the correction means is configured such that the second traveling direction based on position information included in beacon information from a radio beacon transmitter installed in the same lane as the traveling direction of the host vehicle is the same direction as the traveling direction of the host vehicle. The current position is corrected on the highway on the condition that it is detected. Preferably, the correction means detects that the second traveling direction is the same direction when the difference from the traveling direction of the host vehicle is a predetermined angle or less. Preferably, the correction means calculates the first traveling direction or the second traveling direction based on the position information included in the plurality of beacon information. Preferably, the correction means includes storage means for storing beacon information emitted from a radio beacon transmitter, and the correction means is based on a plurality of beacon information stored in the storage means. The traveling direction of 2 is calculated. Preferably, the correction means calculates the traveling direction of the host vehicle based on the detection means. Preferably, the receiving means is further capable of receiving road traffic information emitted from an optical beacon transmitter installed on a general road, and the correcting means, when road traffic information is received from the optical beacon transmitter, The current position is corrected on the general road. Preferably, the electronic device further includes holding means for holding map data, and the correction means maps the vehicle position on the road of the map data held by the holding means.

  The road-to-vehicle communication system according to the present invention includes an electronic device having the above-described configuration, a radio beacon transmitter that emits road traffic information including position information, and an optical beacon transmitter.

  The present position correction method according to the present invention is performed in an electronic device having a navigation function, and includes a step of detecting a current position and beacon information emitted from a radio beacon transmitter installed on a highway. And a step of correcting the current position on the expressway when a travel in the direction opposite to the traveling direction of the host vehicle is detected based on the position information.

  A current position correction program according to the present invention is executed by an electronic device having a navigation function, and includes a step of detecting a current position and beacon information emitted from a radio beacon transmitter installed on a highway. And a step of correcting the current position on the highway when a travel in the direction opposite to the traveling direction of the host vehicle is detected based on the detected position information.

  According to the present invention, when the traveling in the direction opposite to the traveling direction of the own vehicle is detected based on the beacon information received from the radio beacon transmitter, the current position is corrected on the expressway. Accuracy can be improved. In other words, according to the present invention, it is possible to perform more accurate position correction on the highway by adding the radio wave leaking from the radio beacon installed in the opposite lane to the position correction determination element.

It is a block diagram which shows the structural example of the vehicle-mounted apparatus which concerns on the Example of this invention. It is a figure which shows the structure contained in the radio | wireless communication part of a vehicle-mounted apparatus. It is a figure which shows the functional structural example of the position correction program which concerns on the Example of this invention. It is a figure which shows an example in which a general road and a highway run up and down or parallel. It is a figure which shows an example when the own vehicle drive | works the highway parallel with a general road. 5 is a flowchart illustrating a first map matching method according to an embodiment of the present invention. It is a figure which shows the example of correction | amendment of the own vehicle position before and behind the map matching which concerns on the Example of this invention. It is a flowchart explaining the 2nd map matching method based on the Example of this invention. It is a figure explaining the example of the map matching in the other road environment which concerns on the Example of this invention.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. The electronic device of the present invention is fixedly mounted on a moving body such as an automobile, and can be brought into the moving body by a user (for example, a smartphone such as a multi-function phone or a tablet terminal), Alternatively, any one that is detachable from the moving body may be used. The electronic device of the present invention is equipped with a navigation function, but other functions such as a function for reproducing audio / video data, a function for receiving television / radio broadcasts, a function for executing application software, and the like are integrated. It may be provided. Furthermore, the electronic device of the present invention may itself store road map data for executing a navigation function in a storage device, or may be a distribution site on the Internet or via a data communication means such as wireless communication. The necessary road map data may be acquired from a distribution server or the like. In the following embodiments, an on-vehicle device mounted on a vehicle is illustrated as an example of an electronic device. In the following description, when the electronic device is mounted on the in-vehicle device, an example of detecting the own vehicle position of the electronic device is used as an example of the current position.

  FIG. 1 is a block diagram illustrating a configuration example of an in-vehicle device according to an embodiment of the present invention. The in-vehicle device 100 includes a position information acquisition unit 102 that acquires own vehicle position information, a multimedia playback unit 104, a navigation unit 106, a wireless communication unit 108, a display control unit 110, an audio output unit 112, a storage unit 114, and an input unit. 116 and a control unit 118. However, FIG. 1 is an example, and the vehicle-mounted device 100 only needs to include at least the navigation unit 106.

  The position information acquisition unit 102 is mounted on a vehicle such as a gyro sensor or an acceleration sensor that detects the absolute position of the own vehicle using a signal transmitted from a GPS satellite 136 (see FIG. 1B), for example. The relative position of the vehicle can be detected from various sensors. Further, as shown in FIG. 1B, the position information acquisition unit 102 can access the position information distribution site (or distribution server) 130 via the network 120 and acquire the vehicle position information therefrom. . In this case, connection to the network 120 is performed via the wireless communication unit 108. Further, the position information acquisition unit 102 can acquire position information from a roadside device, an optical beacon transmitter, a radio beacon transmitter, or the like via road-to-vehicle communication by the wireless communication unit 108 as described later.

  The multimedia playback unit 104 plays back video data and music data stored in a recording medium such as a CD and a DVD and the storage unit 114, and plays back video data received by terrestrial digital television broadcasting.

  The navigation unit 106 has a function of calculating the vehicle position based on the position information acquired by the position information acquisition unit 102, displaying a road around the vehicle position, and guiding a route to a destination or a waypoint. .

  In one aspect, the wireless communication unit 108 performs road-to-vehicle communication by DSRC (Dedicated Short Range Communication). As shown in FIG. 2, the wireless communication unit 108 communicates with an optical beacon information receiving unit 108A that communicates with an optical beacon transmitter installed on a general road and a radio beacon transmitter installed on an expressway. And a radio beacon information receiving unit 108B to perform. Optical beacon transmitters and radio beacon transmitters are installed separately on the route, and when the vehicle passes the optical beacon transmitter or radio beacon transmitter, beacon information including road traffic information and location information is mounted on the vehicle. To the device 100. Information received by the optical beacon information receiving unit 108A and the radio beacon information receiving unit 108B is provided to the control unit 118.

  Furthermore, in another aspect, the wireless communication unit 108 enables connection to the network 120 as shown in FIG. 1B through a public wireless line, and the location information distribution site 130, the road map data distribution site 132, road traffic information Various information is acquired from the distribution site 134 or the like. In yet another aspect, the wireless communication unit 108 can perform wireless communication with an external device or the like according to various wireless standards such as Bluetooth (registered trademark) and Wi-Fi (registered trademark).

  The display control unit 110 displays the map data stored in the storage unit 114 and the guidance route calculated by the navigation unit 106 on, for example, a map screen such as a liquid crystal display with a touch panel. Furthermore, the display control unit 110 displays the map-matched vehicle position obtained by a position correction program described later on the road. The voice output unit 112 outputs music data stored in the storage unit 114, voice data when performing voice navigation guidance, and the like.

  The storage unit 114 can store video data and audio data that can be played back by the multimedia playback unit 104, and can store necessary map data and the like in the navigation unit 106. In one example, the storage unit 114 includes a large-capacity storage device, and a database such as map data and facility data can be stored therein. The map data includes link data, intersection (node) data, and the like. The link data represents a road (or a road between nodes) connecting the intersections, and includes data such as the coordinate positions, distances, widths, and road types of the start and end points of the section. The node data represents road intersections and branch points, and includes data such as coordinate positions of the intersections and lane restrictions. In another example, the storage unit 114 can access the road map data distribution site 132 via the network 120 as shown in FIG. 1B and acquire necessary road map data and the like therefrom.

  The input unit 116 has an input interface used when selecting a function executed by a user using the in-vehicle apparatus 100 such as a touch panel or a button key or changing various settings. Information input by the input unit 116 is converted into an electrical signal, and an instruction from the user can be transmitted to each functional unit.

  In a preferred embodiment, the control unit 118 includes a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the in-vehicle device. In a preferred embodiment, as a program for executing the function of the navigation unit 106, a program that displays a road map using a map database or the like, a program that searches a facility using a database or the like, or a program that searches a destination or waypoint , Etc., which search for the optimum route to the destination. Further, as a function of the navigation unit 106, a position correction program for correcting the position of the vehicle acquired by the position information acquisition unit 102 on the road of the map data (map matching) is included.

  The position correction program performs map matching of the vehicle position on the road of the map data. This map matching method includes vertical projection matching and pattern matching. The former selects the road data having the closest vehicle azimuth and distance, and matches the detected vehicle position with this. The latter calculates a traveling locus of a certain period or a certain distance of the vehicle and discriminates a road that has traveled from a road pattern having the highest correlation with the traveling locus. The position correction program 200 of this embodiment may use either vertical projection matching or pattern matching, or may use both.

  FIG. 3 shows a functional configuration of the position correction program 200 of this embodiment. The position correction program 200 includes a vehicle position calculation unit 210 that calculates the vehicle position based on the position information acquired by the position information acquisition unit 102, and map matching based on the vehicle position calculated by the vehicle position calculation unit 210. A candidate road selection unit 220 that selects a candidate road from the map data, and a road type determination unit 230 that determines whether the road selected by the candidate road selection unit 220 includes a general road and an expressway. An optical beacon information storage unit 240 that stores the optical beacon information received by the optical beacon information reception unit 108A, a radio beacon information storage unit 250 that stores the radio beacon information received by the radio beacon information reception unit 108B, A traveling direction calculation unit 260 that calculates the traveling direction of the host vehicle, and travel in a direction opposite to the traveling direction of the host vehicle (hereinafter referred to as reverse traveling). Has a reverse-way traveling detection unit 270 for knowledge, the MM road determination unit 280 for determining a road map matching from the candidate road selected by the candidate road selecting unit 220.

  In a preferred embodiment, the position correction program 200 performs map matching using optical beacon information from an optical beacon transmitter installed on a general road and radio beacon information from a radio beacon transmitter installed on an expressway. More specifically, when the highway and the general road are in a vertical or parallel relationship, the candidate road selection unit 220 simultaneously selects the highway and the general road as map matching candidates. The determination unit 230 determines that ordinary roads and highways are included in roads that are candidates for map matching. For example, FIGS. 4A and 4B show an example in which a highway 30 and a general road 40 run in parallel. 30A and 30B are an up line and a down line of the expressway, respectively, and 40A and 40B are an up line and a down line of the general road 40, respectively.

  Upward radio wave beacon transmitters 32A-1 and 32A-2 are installed at a predetermined interval on the upstream line 30A of the expressway 30, and downward radio wave beacon transmitters 32B-1 are installed on the downstream line 30B. , 32B-2 is installed. Further, an upstream optical beacon transmitter 42A is installed on the upstream line 40A of the general road 40, and an optical downstream beacon transmitter 42B is installed on the downstream line 40B. The communication area of the optical beacon is narrower than the communication area of the radio beacon. Therefore, the optical beacon information can be received only on the general road. On the other hand, the radio beacon information can be received on the opposite lane as well as on the adjacent general road. For example, the radio beacon information of the radio beacon transmitter 32A for the up line on the highway 30 can be received by a vehicle traveling on the down line 30B of the highway 30 and travels on the up line of the adjacent general road 40. Can be received by the vehicle. Further, the radio wave beacon emitted from the radio wave beacon transmitter 32A for the up line and the radio wave beacon information emitted from the radio beacon transmitter 32B for the down line respectively have identifications for identifying the distinction between the up line and the down line. Information can be added.

  Optical beacon transmitters and radio beacon transmitters emit beacon information including information useful for the user's driving, such as road traffic information related to forward traffic jams and lane changes, and position coordinates serving as a base point. When the beacon information is received by the wireless communication unit 108, the beacon information is stored in the optical beacon information storage unit 240 or the radio beacon information storage unit 250.

  The traveling direction calculation unit 260 mainly includes two functions. One is to calculate the traveling direction of the own vehicle using the position information from the GPS signal, the self-contained navigation sensor, or the position information acquisition unit 102. For example, the traveling direction of the host vehicle can be calculated based on absolute position coordinates transmitted from GPS satellites at regular time intervals, or the traveling direction of the host vehicle can be calculated based on a relative position change obtained from a self-contained navigation sensor.

  Another function is that the traveling direction calculation unit 260 calculates the traveling direction of the host vehicle based on beacon information received from the radio beacon transmitter or the optical beacon transmitter received via the wireless communication unit 108. As described above, the beacon information includes the position coordinates where the beacon is installed, and the traveling direction calculation unit 260 is included in the beacon information stored in the radio beacon information storage unit 240 or the optical beacon information storage unit 250. The traveling direction of the vehicle is calculated using the position coordinates. For example, when the beacon information received at time T1 includes position coordinates (X1, Y1) and the beacon information received at the next time T2 includes position coordinates (X2, Y2), The traveling direction is calculated by calculating a vector or difference of coordinates.

  In addition, not all radio beacon transmitters and optical beacon transmitters emit beacon information including the location information where they are installed. The position coordinates including the beacon transmitter and the optical beacon transmitter (referred to here as the base point position coordinates for convenience) are included as position information. For example, the beacon information received at time T1 includes the base point position coordinates (X1, Y1) where the beacon transmitter that issued the beacon information is installed, and the beacon information received at the next time T2 is received at time T1. The beacon information received at the next time T3 includes the base position coordinates (X1, Y1) received at time T1. Further, the beacon information may include a plurality of base point position information that has passed before. For example, the beacon information received at the time Tx can include the base point position coordinates (X1, Y1) received at the previous time T1 and the base point position coordinates (X2, Y2) received at the time T2. is there. When the travel direction calculation unit 260 receives the base point position coordinates included in the beacon information, the travel direction calculation unit 260 determines that the travel is correct when the base point position coordinates are included in the next received beacon information, for example, The traveling direction is calculated based on the uplink or downlink identification information added to the beacon information. At that time, if necessary, the traveling direction may be calculated from the link data by referring to the map data. On the other hand, when the base point position coordinates are not included, it is determined that the traveling is incorrect, and the determination result can be used by the reverse traveling detection unit 270. Up and down direction of travel

  A characteristic point in the present embodiment is that when the road type determination unit 230 determines that the general road and the highway are included, the radio beacon information installed in the opposite lane of the highway is used. Map matching the vehicle position to either a general road or an expressway.

  Based on the traveling direction calculated by the traveling direction calculation unit 260, the reverse traveling detection unit 270 detects whether the host vehicle is traveling backward as seen from the opposite lane, and provides the detection result to the MM road determination unit 280. To do. For example, in FIG. 4A, when the vehicle is traveling on the down line 30B of the highway 30 and receives the radio beacon information of the radio beacon transmitter 32A installed on the up line 30A, the reverse running detection unit 270 Will detect the reverse running of the vehicle as viewed from the up line 30A.

  Next, the operation for correcting the vehicle position according to the embodiment of the present invention will be described. FIG. 5 shows an example in which the host vehicle 20 equipped with the in-vehicle device 100 is traveling on the down line 30 </ b> B of the highway 30. While traveling on the down line 30B of the highway 30, the in-vehicle device 100 mounted on the host vehicle 20 passes through the radio beacon transmitters 32B-1 and 32B-2 installed on the down lane 30B. Information is received, and radio wave beacon information emitted from radio wave beacon transmitters 32A-1 and 32A-2 installed in the upstream lane is also received. However, the optical beacon emitted from the optical beacon transmitter 42B on the general road 40 is not received.

  A first map matching method when the host vehicle travels on a road as shown in FIG. 5 is shown in the flowchart of FIG. As a premise, link data to be subjected to map matching is selected by the candidate road selection unit 220 from the map data based on the vehicle position calculated by the vehicle position calculation unit 210 (in this example, the link and general link of the expressway 30 Assume that the road type determination unit 230 determines that the highway and the general road are included in the candidate road (S100).

  When the vehicle 20 travels and passes the radio beacon transmitter 32A-1 on the opposite upstream line 30A, the first beacon information transmitted from the radio beacon transmitter 32A-1 is received and stored in the radio beacon information storage unit 250. (S102). Thereafter, when the radio wave beacon transmitter 32A-2 of the next uplink 30A is passed, the second beacon information transmitted therefrom is received and stored in the radio beacon information storage unit 250 (S104). When identification information for identifying an uplink radio beacon transmitter and a downlink radio beacon transmitter is added to the radio beacon information, the first beacon information and the second beacon information are identified by them. Includes information.

  When the beacon information includes identification information for uplink and downlink, the traveling direction calculation unit 260 reads a plurality of beacon information having the same identification information in time from the radio beacon information storage unit 250, The traveling direction of the vehicle is calculated based on at least the first beacon information and the second beacon information (S106). If the first beacon information and the second beacon information include the respective base point position coordinates, the traveling direction (vector) α of the own vehicle is calculated from the two base point position coordinates. If only the second beacon information includes the base point position coordinates, it is determined whether or not the first beacon information includes the base point position coordinates of the second beacon information. Further, as described above, the traveling direction calculation unit 260 can also calculate the traveling direction β of the own vehicle using position information (for example, a GPS signal, a self-contained navigation sensor) different from the radio wave beacon information.

  Next, the reverse running detection unit 270 compares the traveling direction α calculated from the first and second beacon information with the traveling direction β of the own vehicle, and reverse running in the direction opposite to the direction of the own vehicle is detected. It is determined whether or not (S108). Preferably, reverse running is detected when the difference between the traveling direction α and the traveling direction β of the host vehicle is a predetermined angle or more. Alternatively, when only the second beacon information includes the base position coordinates, the reverse running is detected when the first beacon information includes the base position coordinates of the second beacon information. Good. In FIG. 5, when the vehicle 20 is traveling on the down line 30B of the highway 30, the in-vehicle device 100 of the vehicle 20 leaks radio waves leaked from the radio beacon transmitters 32A-1 and 32A-2 for the up line. Reverse running can be detected using the beacon information, but the vehicle traveling on the down line 40B of the general road 40 uses the radio beacon information from the radio beacon transmitters 32A-1 and 32A-2 for the up line. Cannot receive. Thus, when the radio beacon information is received from the radio beacon transmitters 32A-1 and 32A-2 installed in the opposite lane, the reverse running of the host vehicle is detected.

  The detection result by the reverse running detection unit 270 is provided to the MM road determination unit 280, and when reverse running is detected, the MM road determination unit 280 determines that the highway 30 is a map matching road (S110). The vehicle position is corrected on the highway link (S112). On the other hand, when reverse running is not detected, the MM road determination unit 280 determines the general road 40 as a road for map matching (S114), and the vehicle position is corrected on the link of the general road 40 (S116). ).

  FIG. 7 is a diagram illustrating an example in which the position of the vehicle position M is corrected on the map data on the display 300 of the in-vehicle device 100. FIG. 7A shows a state before the position correction (map matching) of the vehicle position M is performed. The own vehicle position M includes a certain amount of error, and the highway 30 and the general road 40 are selected as map matching candidates. Thereafter, by performing the first map matching method described above, position correction is performed so that the vehicle position M is attracted onto the highway 30 as shown in FIG.

  As described above, according to this embodiment, when a highway and a general road are selected as map matching candidates, the vehicle position is set to a high speed when a reverse running of the vehicle is detected based on the radio beacon information. By attracting to the road, the accuracy of map matching can be improved.

  Next, the second map matching method of this embodiment will be described. In the first map matching method, an example in which radio wave beacon information from a radio beacon transmitter installed in a lane on the opposite side of the highway is used. In order to further improve the map matching accuracy, the second map is used. The matching method uses a combination of radio wave beacon information from radio wave beacon transmitters installed in the traveling direction of the vehicle on the highway.

  As shown in FIG. 5, when the host vehicle 20 is traveling on the down line 30 </ b> B of the highway 30, the in-vehicle device 100 receives radio beacon information from the radio beacon transmitters 32 </ b> A- 1 and 32 </ b> A- 2 for the upstream lanes. In addition, radio beacon information emitted from the downlink radio beacon transmitters 32B-1 and 32B-2 is received. In the first map matching method, radio waves leaking from the radio beacon transmitters 32A-1 and 32A-2 in the upstream lane 30A are received, and reverse running is detected using the position information included therein. In this map matching method, the same direction of travel is determined for the beacon information of the lane in the direction of travel, and the road for map matching is determined.

  FIG. 8 is a flowchart for explaining the operation of the second map matching method. The MM road determination unit 280 determines whether the reverse running is detected by the reverse running detection unit 270 (S200). The reverse running detection sequence is performed in the same manner as the flow shown in FIG. When reverse running is detected, the MM road determination unit 280 further determines whether or not the traveling in the same direction as the traveling direction of the vehicle is detected by the radio beacon information (S202). Specifically, during traveling on the down line 30B shown in FIG. 5, the in-vehicle device 100 sequentially outputs beacon information emitted by the down-line radio beacon transmitters 32B-1 and 32B-2, which is the traveling direction of the vehicle. Can be received. For this reason, the beacon information emitted from the radio beacon transmitters 32B-1 and 32B-2 is sequentially stored in the radio beacon information storage unit 250. In this case, it is desirable that the upstream base point beacon and the downstream base point beacon are distinguished by the identification information.

  The traveling direction calculation unit 260 calculates the traveling direction of the vehicle based on the beacon information of the down line 30 </ b> B accumulated in the radio beacon information storage unit 250, and provides this to the MM road determination unit 280. For example, when each of the first beacon information emitted from the radio beacon transmitter 32B-1 and the second beacon information emitted from the radio beacon transmitter 32B-2 includes the base point position coordinates, the two base point position coordinates are automatically used. The traveling direction α1 of the car is calculated. The MM road determination unit 280 compares the traveling direction α1 of the own vehicle with the traveling direction β of the own vehicle, and when the difference between the traveling direction α1 and the traveling direction β is equal to or less than a certain angle, the same as the traveling direction of the own vehicle. It is determined that the direction is progressing. Further, when only the first beacon information includes the base point position coordinates, it is determined whether the second beacon information includes the base point position coordinates of the first beacon information, and the base point position coordinates are included. If so, the MM road determination unit 280 determines that the vehicle is traveling in the same direction because the vehicle is traveling correctly on the down line 30B.

  When the traveling in the same direction as the traveling direction of the host vehicle is detected, the MM road determining unit 280 determines the highway as a road for map matching (S204), thereby correcting the position of the host vehicle on the highway. (S206). On the other hand, when the traveling in the same direction as the traveling direction of the own vehicle is not detected, the MM road determining unit 280 determines the general road as a map matching road (S208), and thus the position of the own vehicle is general. It is corrected on the road (S210).

  As described above, according to the second map matching method, it is determined with high accuracy whether or not the vehicle is traveling on the highway using the radio beacon information on the lane. And erroneous map matching is prevented.

  Next, another example of the present embodiment will be described. FIG. 9 is a diagram for explaining position correction in a road environment where the highway 30 and the general road 40 run side by side as shown in FIG. As shown in FIG. 9, when the own vehicle 22 is traveling on the down line 40B of the general road 40, it receives radio waves leaking from the radio beacon transmitters 32A-1 and 32A-2 installed on the highway 30A. End up. When the position correction is performed only with the radio wave beacon information transmitted from the radio wave beacon transmitter on the opposite lane of the highway as in the first map matching method, in the road environment shown in FIG. Despite traveling on the general road 40 </ b> B, the in-vehicle device 100 may correct the position of the vehicle on the highway 30. However, if the radio wave beacon information from radio wave beacon transmitters installed on both the up line 30A and the down line 30B of the highway is used as in the second map matching method, the in-vehicle device 100 of the host vehicle 22 is Since the radio wave beacon information of both the up line 30A and the down line 30B of the highway is not received, the position of the own vehicle is not corrected to the highway 30 by mistake.

  In the above-described embodiment, an example of correcting the position on the highway has been described. For example, when information is received from an optical beacon installed on a general road, the position on the highway described in the above-described embodiment is used. The vehicle position may be corrected to a general road uniformly without performing correction determination. This is because the communication area of the optical beacon is extremely narrow and there is no possibility that the signal of the optical beacon leaks from the general road. In a normal road environment, ordinary roads are often located at a lower position than highways, and optical beacon radio waves do not leak to highways at high positions. Therefore, when receiving the radio wave of the optical beacon, it is considered that the vehicle is traveling on a general road and there is no problem even if the position is automatically corrected to the general road.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the specific embodiment, and various modifications can be made within the scope of the present invention described in the claims. Deformation / change is possible.

30: Expressway 30A: Expressway up line 30B: Expressway down line 32A: Upline radio beacon transmitter 32B: Downline radio beacon transmitter 40: General road 40A: General road upline 40B : Downline 42A of general road: Optical beacon transmitter for upstream line 42B: Optical beacon transmitter for downstream line 100: In-vehicle device 102: Position information acquisition unit 104: Multimedia playback unit 106: Navigation unit 108: Wireless communication Unit 110: display control unit 112: audio output unit 114: storage unit 116: input unit 118: control unit 200: position correction program 210: own vehicle position calculation unit 220: candidate road selection unit 230: road type determination unit 240: light Beacon information storage unit 250: Radio beacon information storage unit 260: Traveling direction determination unit 270: Reverse running detection unit 280: MM road Tough

Claims (22)

An electronic device with a navigation function,
Detection means for detecting the current position;
Correction means for correcting the current position detected by the detection means on the road of the map data;
Receiving means for receiving beacon information emitted from a radio beacon transmitter installed on an expressway,
The electronic device corrects the current position on the highway when the correction means detects traveling in the direction opposite to the traveling direction of the host vehicle based on the position information included in the beacon information. 2. The electronic device according to claim 1, wherein the correction unit corrects the current position on the highway when the first traveling direction based on the position information included in the beacon information differs from the traveling direction of the vehicle by a predetermined angle or more. apparatus. The electronic device according to claim 1, wherein the correction unit corrects the current position on the highway when receiving beacon information from a radio wave beacon transmitter installed in a lane opposite to the traveling direction of the host vehicle. In the correction means, the second traveling direction based on the position information included in the beacon information from the radio beacon transmitter installed in the same lane as the traveling direction of the host vehicle is the same direction as the traveling direction of the host vehicle. The electronic device according to claim 3, wherein the current position is corrected on the highway on the condition that the above is detected. The electronic device according to claim 4, wherein the correcting unit detects that the second traveling direction is the same direction when a difference from the traveling direction of the host vehicle is a predetermined angle or less. The electronic device according to claim 2, wherein the correction unit calculates the first traveling direction or the second traveling direction based on position information included in a plurality of beacon information. The correction means includes storage means for storing beacon information emitted from a radio beacon transmitter, and the correction means is based on a plurality of beacon information stored in the storage means, and the first traveling direction or second The electronic device according to claim 2, wherein the traveling direction is calculated. The electronic device according to claim 1, wherein the correction unit calculates a traveling direction of the host vehicle based on the detection unit. The receiving means is further capable of receiving road traffic information emitted from an optical beacon transmitter installed on a general road, and the correcting means is a current position when road traffic information is received from the optical beacon transmitter. The electronic device according to claim 1, wherein the electronic device is corrected on a general road. The electronic device further includes holding means for holding map data,
The electronic device according to claim 1, wherein the correction unit performs map matching of a vehicle position on a road of map data held by the holding unit. An electronic device according to any one of claims 1 to 10,
A road-to-vehicle communication system including an electric wave beacon transmitter that emits road traffic information including position information and an optical beacon transmitter. A current position correction method in an electronic device having a navigation function,
Detecting the current position;
A step of correcting the current position on the highway when detecting travel in the direction opposite to the traveling direction of the vehicle based on position information included in beacon information emitted from a radio beacon transmitter installed on the highway;
A current position correction method. 13. The correcting step according to claim 12, wherein when the first traveling direction based on the position information included in the beacon information differs from the traveling direction of the vehicle by a predetermined angle or more, the correcting step corrects the current position on the expressway. Current position correction method. In the correcting step, the second traveling direction based on the position information included in the beacon information from the radio beacon transmitter installed in the same lane as the traveling direction of the host vehicle is the same direction as the traveling direction of the host vehicle. The current position correction method according to claim 12 or 13, wherein the current position is corrected on the expressway on the condition that this is detected. The current position correcting method according to claim 12, wherein the correcting step calculates a first traveling direction or a second traveling direction based on position information included in the beacon information. The current position correction method further includes storing beacon information emitted from the radio beacon transmitter,
The current position correcting method according to claim 12, wherein the correcting step calculates a first traveling direction or a second traveling direction based on the plurality of stored beacon information. The current position correction method further includes a step of receiving road traffic information emitted from an optical beacon transmitter installed on a general road,
The current position correcting method according to any one of claims 12 to 16, wherein the correcting step corrects the current position on a general road when road traffic information is received from an optical beacon transmitter. A current position correction program executed by an electronic device having a navigation function,
Detecting the current position;
A step of correcting the current position on the highway when detecting travel in the direction opposite to the traveling direction of the vehicle based on position information included in beacon information emitted from a radio beacon transmitter installed on the highway;
A current position correction program. 19. The correction according to claim 18, wherein the correcting step corrects the current position on the expressway when the first traveling direction based on the position information included in the beacon information differs from the traveling direction of the host vehicle by a predetermined angle or more. Current position correction program. The correcting step corrects the current position on the highway on the condition that the second traveling direction based on the position information included in the beacon information is detected to be the same direction as the traveling direction of the host vehicle. A current position correction program according to claim 18 or 19. The current position correction program further includes a step of storing beacon information emitted from the radio beacon transmitter,
21. The current position correction program according to claim 18, wherein the correcting step calculates a first traveling direction or a second traveling direction based on the stored plurality of beacon information. The current position correction program further includes a step of receiving road traffic information emitted from an optical beacon transmitter installed on a general road,
The current position correction program according to any one of claims 18 to 21, wherein the correcting step corrects the current position on a general road when road traffic information is received from an optical beacon transmitter.

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