JP3407453B2 - Navigation device and map matching method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for informing a user of the current position of a vehicle by displaying the current position of the vehicle obtained by GPS or the like on the map data, and a traveling device where the obtained current position is map data. The present invention relates to a map matching method for correcting so as to be located on a road.

[0002]

2. Description of the Related Art In recent years, GPS (Grobal Positioning Sys
A vehicle-mounted navigation device is widely used to determine the current position of the vehicle by means of a tem) or a geomagnetic sensor and display the calculated current position together with map data to inform the driver. The positioning accuracy of the current position using GPS, a geomagnetic sensor, or the like may deviate from the actual vehicle position by several hundred meters. Therefore, if the measured current position is displayed as it is on the map data, it may not be displayed on the actual traveling road. Therefore, a map matching method is used to correct the measured current position so that it exists on the traveling road. Has been. A conventional map matching method will be described below with reference to the drawings.

FIGS. 3A and 3B are diagrams showing the concept of a conventional map matching method. As shown in FIG. 3A, when the positioning point is displayed on the map data as it is, even if the actual vehicle position is the point A on the road, the point B is obtained as a result of positioning by GPS or the like. If it is, it will be displayed at point B outside the road. On the other hand, as shown in FIG. 3B, when map matching is performed, even if the positioning result is point C outside the road, it is corrected and displayed on the road when displayed. Become.

FIG. 4 is an explanatory diagram of a conventional map matching method. As shown in FIG. 4, when a point D is obtained as a result of positioning near the intersection of the X road and the Y road, the perpendicular x and the perpendicular y are obtained from the point D for the X road and the Y road, and the distance Map matching was performed on the shorter road. In FIG. 4, the vertical line x is shorter, so X
The current position was displayed on the road.

[0005]

However, in the above-described conventional configuration, as shown in FIG. 5, there are M roads and N roads that are parallel roads that are close to each other, and the result of the previous positioning and map matching is M roads. If it is at point E on the road and then the vehicle goes straight on road M, the result of this positioning is F
When the point is obtained, the actual vehicle position is displayed at the closest point G on the N road when the map matching is performed, although the actual vehicle position is the point H on the M road. As described above, there is a problem in that roads are displayed close to each other or displayed near a road intersection on a road different from the actual road.

The present invention solves the above-mentioned conventional problems. Even when roads are close to each other or traveling near an intersection of roads, the measured current position is the traveling road in the map data. An object of the present invention is to provide a navigation device and a map matching method that can be corrected so as to be positioned above.

[0007]

To achieve this object, the present invention provides a positioning means for determining the current position of the vehicle, a positioning time storage means for storing the positioning time of the vehicle by the positioning means, and Travel direction calculation means for detecting the travel direction of the vehicle, travel direction change storage means for storing the travel direction of the vehicle and its change from the output of the travel direction calculation means, and data in which data such as map data is stored. Storage means,
A matching unit that corrects the current position obtained by the positioning unit so that it is located on the road of the map data stored in the data storage unit, and a road where the current position corrected by the matching unit exists The matching road comparison means, the display means for displaying the current position and map data, and the current position obtained by the positioning means are
Than the roads stored by the matching road comparison means
When the vehicle is close to another road in the map data, the traveling direction change storage means stores the traveling direction of the vehicle between the previous positioning time and the current positioning time stored in the positioning time storage means.
Matching road ratio when no change is stored
The matching means on the road stored in the comparison means
The current position is corrected more, and the traveling direction change storage means is provided.
If the change in the traveling direction of the vehicle is stored in
A control means for correcting the current position and outputting the same to the display means is provided on another road .

Further, the control means changes the traveling direction of the vehicle stored in the traveling direction change storage means between the previous positioning time and the current positioning time stored in the positioning time storage means. It is corrected whether the current position of the vehicle obtained by the positioning means is located on the road in the map data, taking into consideration whether or not the road is the correction target previously stored in the matching road comparison means. In addition, the display is output to the display means.

Further, the control means, on the map data which is the correction target of the current position obtained from the positioning means by the matching means, between the previous positioning time and the current positioning time stored in the positioning time storage means. The road is different from the road to be corrected last time stored in the matching road comparison means, and the traveling direction of the own vehicle is determined based on the output result of the traveling direction calculation means stored in the traveling direction change storage means. When it is determined that the current position has not changed, the matching unit forcibly corrects the current position to the same road as the previous time and outputs the result to the display unit.

The traveling direction calculation means detects the traveling direction of the own vehicle, and the traveling direction of the own vehicle and its change are stored in the traveling direction change storage means. Further, the current position is obtained by the positioning means and the positioning time is determined. Is measured and stored by the positioning time storage means, and between the previous positioning time and the current positioning time, the change in the traveling direction of the vehicle stored in the traveling direction change storage means and the matching road comparison means are stored. In consideration of the previously corrected road, the present position obtained by the positioning means is corrected by the matching means on the road of the map data stored in the data storage means.

The traveling direction calculating means detects the traveling direction of the own vehicle, and the traveling direction of the own vehicle and its change are stored in the traveling direction change storage means, and the current position is obtained by the positioning means and the positioning time is obtained. Is measured and stored by the positioning time storage means, and whether or not there is a change in the traveling direction of the vehicle stored in the traveling direction change storage means between the previous positioning time and the current positioning time, and the matching road. Considering the previously corrected road stored in the comparison means, the present position obtained by the positioning means is corrected by the matching means onto the road of the map data stored in the data storage means.

The traveling direction of the vehicle is detected by the traveling direction calculating means, the traveling direction of the vehicle and its change are stored in the traveling direction change storage means, the current position is obtained by the positioning means, and the positioning time is determined. Is measured and stored by the positioning time storage means, and the road on the map data which is the correction target of the current position obtained from the positioning means by the matching means is compared with the matching road comparison between the previous positioning time and the current positioning time. The road is different from the road that was previously corrected and is not stored in the means, and the traveling direction of the host vehicle has not changed based on the output result of the traveling direction calculation means stored in the traveling direction change storage means. When it is determined that the current position is forcibly corrected to the same road as the previous time by the matching means.

[0013]

With this configuration, the current position of the own vehicle is corrected so as to be located on the road in the map data in consideration of the change in the traveling direction of the own vehicle and the road that has been previously corrected.

Further, it is corrected so that the current position of the own vehicle is located on the road of the map data in consideration of whether or not the traveling direction of the own vehicle has changed and the road which has been previously corrected.

Furthermore, when the current position is about to be corrected to a road different from the road that was the correction target last time and there is no change in the traveling direction of the vehicle, the current position is forcibly corrected to the same road as the previous time.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a navigation device according to an embodiment of the present invention, and shows a vehicle-mounted navigation device as an example.

In FIG. 1, reference numeral 11 denotes a positioning means for positioning the current position, which uses a GPS, a geomagnetic sensor or the like. A data storage means 12 stores data such as map data, and is a CD-ROM (Compact Disk).
sck-Read Only Memory). 13 is a positioning time storage means for measuring and storing the positioning time when the positioning data is obtained by the positioning means 11, 14 is a traveling direction calculating means for measuring a change in the traveling direction of the vehicle, and 15 is a traveling direction calculating means 14 Based on the output result of, the traveling direction change storage means for storing the traveling direction of the own vehicle and the information about the change in the traveling direction, 16 is the positioning data obtained from the positioning means 11 by the method shown in the conventional example. Data storage means 1
The matching means for correcting the map data read from 2 on the road, 17 stores the road corrected by the matching means 16 last time, and the positioning data corrected this time by the matching means 16 is corrected to the same road as the previous time. Matching road comparison means for comparing whether or not to be performed, and 18 is a display means for displaying position data and map data to the driver. Further, 19 is a control means for controlling each of the blocks.

The present embodiment is different from the conventional example in that the current position measured as in the conventional example is not corrected to the shortest road, but the change in the traveling direction of the vehicle and the road to be corrected last time are corrected. In consideration of this, by correcting the measured current position so that it is located on the road of the map data, the current position can be corrected more accurately on the traveling road.

In the navigation device configured as described above, a map matching method in the navigation device of this embodiment will be described below.

FIG. 2 is a flow chart showing the map matching process in one embodiment of the present invention. As shown in FIG. 2, as the initial data, the positioning time storage unit 13 stores the previous positioning time by the positioning unit 11, and the traveling direction change storage unit 15 stores the traveling direction of the vehicle at the previous positioning, the matching road comparison unit 17 Each of the roads on which the vehicle is located when it is displayed on the display means 18 last time is stored in the table (S200).

First, the control means 19 obtains the traveling direction of the vehicle by the traveling direction calculation means 14 (S201), and the traveling direction of the own vehicle obtained by the traveling direction calculation means 14 is stored in the traveling direction change storage means 15. It is determined whether the traveling direction is the same as the traveling direction at the time of the previous detection (S202), and if there is no change in the traveling direction of the host vehicle, the traveling direction obtained this time is stored in the traveling direction change storage means 15 as it is ( S2
04), if the traveling direction of the host vehicle has changed, the traveling direction obtained this time is stored with the traveling direction change storage means 15 together with change information such as the direction in which the traveling direction has changed from the previous traveling direction.
To store (S203, S204).

Next, the control means 19 measures the current position by the positioning means 11 (S205) and measures the time when the current position is obtained from the positioning time storage means 13 (S206). The control means 19 stores the map data corresponding to the current position obtained by the positioning means 11 in the data storage means 1.
At the same time as pulling out from No. 2, the matching means 16 corrects so that the current position is located on the road of the pulled out map data (S207). However, the correction of the current position in S207 is performed on the nearest road as shown in the conventional example.

As described above, the matching road comparison means 1
In FIG. 7, the road whose previous vehicle position has been corrected is stored, and whether the road whose current position is to be corrected in S207 is the same road as the road stored in the matching road comparison unit 17 or not. Is determined (S20
8).

If it is determined in S208 that the road is the same as the road stored in the matching road comparison means 17, the control means 19 causes the positioning time storage means 13 to store the time at which the current position measured in S205 was obtained. (S
211), after storing the road whose current position is corrected in S207 in the matching road comparison means 17 (S2)
12), the current position and the map data corrected by the matching means 16 are output to the display means 18 (S21).
3).

If it is determined in S208 that the road is different from the road stored in the matching road comparison means 17, the control means 19 has a change in the traveling direction of the vehicle from the previous positioning to the current positioning. S or not
Based on the change information stored in 203, it is judged from the traveling direction change storage means 15 (S209), and if there is a change in the traveling direction, the shortest road to be corrected by the matching means 16 in S207 is selected. The current position is corrected as it is, the positioning time is stored in the positioning time storage unit 13 in S211, and the road whose current position is corrected is stored in the matching road comparison unit 17 in S212.
It is output to the display means 18 in S213.

In S209, the road is being corrected to a road whose current position is different from the previous one in S207.
When the control unit 19 determines that there is no change in the traveling direction of the own vehicle from the change information regarding the traveling direction of the own vehicle stored in the traveling direction storage unit 15 in 203, the current position exists on the road different from the previous time. This is impossible, so the road on which the vehicle position was displayed last time is forcibly corrected (S21
0), S211 and S212 are processed and output to the display means in S213.

The map matching process of this embodiment as described above will be specifically described with reference to FIG. As shown in FIG. 5, in a situation where the M road and the N road that are parallel and close to each other are connected by the L road, it is assumed that the E point on the M road is the previously measured point. However, the point K is the locus of the point that was positioned before the previous time.

If the F point is now obtained by the positioning means 11, if the closest road is to be corrected, the current position is to be corrected to the G point on the N road. The control means 19 determines by the matching road comparison means 17 whether or not the point E, which is the previous display point, is the same road as the indicated M road. Since the point G is on a road different from the point E, the control unit 19 determines from the traveling direction change storage unit 15 whether the traveling direction has changed between the previous positioning and the current positioning. As long as there is no change in the direction of travel of the vehicle, it cannot exist on another road, so the same M
Forcibly correct the H point on the road.

As described above, in this embodiment, the positioning means 11
Between the previous positioning and the current positioning, the change in the traveling direction of the vehicle is determined, and the matching unit 16 tries to correct the current position on a road different from the previous time. At this time, the traveling direction of the vehicle is determined. If there is no change, by forcibly correcting the current position to the same road as the previous time, the current position will be map-matched to another road even though the vehicle is actually traveling on the same road as the previous position. Therefore, it is possible to perform map matching with high accuracy on the traveling road.

[0031]

As described above, according to the present invention, the current position of the own vehicle obtained by the positioning means is corrected by the matching means so as to be located on the road of the map data based on the change in the traveling direction of the own vehicle. By doing so, the current position can be accurately map-matched on the traveling road.

Further, the road whose current position obtained by the matching means is corrected by the matching means is different from the road at the time of the previous correction, and the output of the traveling direction calculation means stored in the traveling direction change storage means is used. If it is determined that the traveling direction of the own vehicle has not changed, the matching means forcibly corrects the current position to the same road as the previous time, so that the vehicle is actually traveling on the same road as the previous position. Nevertheless, the current position will not be map-matched to another road.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a navigation device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a map matching process according to an embodiment of the present invention.

FIG. 3 is a diagram showing a concept of a conventional map matching method.

FIG. 4 is an explanatory diagram of a conventional map matching method.

FIG. 5 is a diagram illustrating a problem of conventional map matching processing.

[Explanation of symbols]

11 Positioning means 12 Data storage means 13 Positioning time storage means 14 Moving direction calculation means 15 Moving direction change storage means 16 Matching means 17 Matching road comparison means 18 display means 19 Control means

Claims (5)

(57) [Claims] 1. A positioning means for determining the current position of the own vehicle, a positioning time storage means for storing the positioning time of the own vehicle by the positioning means, a traveling direction calculation means for detecting the traveling direction of the own vehicle, and the traveling. Traveling direction change storage means for storing the traveling direction of the vehicle and its change from the output of the direction calculation means, and data storage means for storing data such as map data,
A matching unit that corrects the current position obtained by the positioning unit so as to be located on the road of the map data stored in the data storage unit, and a road where the current position corrected by the matching unit exists The matching road comparison means, the display means for displaying the current position and map data, and the current position obtained by the positioning means are
Than the roads stored by the matching road comparison means
When the vehicle is close to another road in the map data, the traveling direction change storage means stores the traveling direction of the vehicle between the previous positioning time and the current positioning time stored in the positioning time storage means.
Matching road ratio when no change is stored
The matching means on the road stored in the comparison means
The current position is corrected more, and the traveling direction change storage means
If the change in the traveling direction of the vehicle is stored in
A navigation device comprising: a control unit that corrects the current position on another road and outputs the corrected current position to the display unit. 2. The control means changes to the traveling direction of the vehicle stored in the traveling direction change storage means between the previous positioning time and the current positioning time stored in the positioning time storage means. In consideration of whether or not there is a road and the road that was previously corrected and stored in the matching road comparison means, the current position of the vehicle obtained by the positioning means is determined by the matching means on the road of the map data. The navigation device according to claim 1, wherein the navigation device is corrected so as to be positioned at, and is output to the display means. 3. The control means is a correction target of the current position obtained from the positioning means by the matching means between the previous positioning time and the current positioning time stored in the positioning time storage means. The road on the map data is different from the road to be corrected last time stored in the matching road comparison means, and based on the output result of the traveling direction calculation means stored in the traveling direction change storage means. When it is determined that the traveling direction of the own vehicle has not changed, the current position is forcibly corrected to the same road as the previous time by the matching means and is output to the display means. Item 2. A navigation device according to item 2. 4. The navigation device according to claim 1, wherein the positioning means is GPS and the traveling direction calculation means is a gyro sensor. 5. The traveling direction calculation means detects the traveling direction of the own vehicle, and the traveling direction of the own vehicle and its change are stored in the traveling direction change storage means, and the current position is obtained by the positioning means. Positioning time is measured and stored by the positioning time storage means, and the present position obtained by the positioning means
Is the corrected current stored in the matching road comparison means.
It is closer to other roads in the map data than the road where the position is
If the time is between the previous positioning time and the current positioning time,
The moving direction change storage means stores the change
If not stored, the matching road comparison means
The current position on the road stored in
Position is corrected and the vehicle's progress is stored in the traveling direction change storage means.
If the change in the row direction is stored, the other road
A map matching method characterized in that the current position is corrected above .