JP3888088B2 - Navigation device and program for passers-by - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technology for performing navigation services for passers-by, and more particularly, to a technology for performing navigation that can appropriately deal with weak traffic users such as wheelchair users according to different traffic ability attributes for each user.
[0002]
[Prior art]
With the aging of society in recent years, the number of wheelchair users and elderly pedestrians whose walking ability has declined has increased. On the other hand, the opportunities for these people to go out have increased due to the increased opportunities for vitality use by the elderly. In the present specification, navigation for passers-by whose passability differs according to personal attributes, including people with poor walking ability than those who are healthy, so-called traffic weak people, is called passer-by-passenger. These navigation systems for passers-by are known as disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-101236 (Document 1). Further, as a similar navigation technique, many on-vehicle navigation devices for automobile traffic are in public use. For example, in Japanese Patent Laid-Open No. 6-186049 (Document 2), a route whose guidance route can be appropriately changed according to actual road conditions. A guidance method is shown.
[0003]
An example of the operation of the conventional in-vehicle navigation device as seen in Document 2 will be described with reference to FIG. First, the driver inputs the starting point and destination coordinates. In step S91, the apparatus sets the node (intersection) closest to the departure point coordinates as the start point s. In step S92, the node (intersection) closest to the destination coordinates is set as the goal point g. In step S93, a global square mesh including s and g is set as the search area a. That is, the digital map data built in the device is divided and managed in a mesh shape, and an area a is set from the divided data.
[0004]
In step S94, link costs are calculated and set for all links (roads) included in a based on dynamic information such as traffic jam information and traffic restrictions. That is, in the digital map data, as is well known, all roads are divided into intersections (nodes), one of which is called a link, and a static link cost based on the distance is set for each link. Static link costs include the default speed per road type. In step S94, the static link cost is changed based on dynamic information such as traffic congestion information and traffic restrictions given from the outside.
[0005]
Next, in step S95, the route candidate from s to the first adjacent node and the corresponding link cost are stored in the buffer for the link (road) included in a. Further, in step S96, a route candidate group reaching g is obtained while narrowing down the route candidates while sequentially comparing the accumulated link costs for the route candidates reaching the g from the second adjacent node following each candidate. The technique here is based on a well-known mathematical technique such as a horizontal search method or a Dijkstra method. Next, in step S97, the route with the minimum cumulative link cost among the route candidates is displayed as a recommended route on the corresponding map.
[0006]
Such an in-vehicle navigation device is technically similar, but of course is not useful for navigation for passers-by. That is, since a passerby such as a traffic weak person walks on a walking path or by wheelchair, data on a sidewalk is necessary on the digital map data. Further, in the case of a car, an intersection is merely a point, but an intersection is also an important route element for a passerby, and depending on the situation of the intersection, sometimes a passer cannot pass.
[0007]
Furthermore, in the case of a car, the destination is just one point. However, for passers-by, such as those with weak traffic, destination facilities such as stations, parks, halls, and stores are not final. It is necessary to make sure that it is possible to go to the seat at the final point, for example, a platform, a venue, or a restaurant.
On the other hand, in the above document 1, sensors for measuring road surface conditions are mounted on an electric wheelchair equipped with GPS, and navigation data for passersby such as wheelchair position information, wheelchair direction, road step, inclination angle, road width and the like are measured. An acquisition system has been proposed. However, a large number of passersby cannot share the data acquired in this way. This is because the adaptability to traffic of passers-by such as vulnerable people is very diverse, and no measures have been taken as to which passers-by can use the data acquired by one electric wheelchair.
[0008]
For example, the following six cases of passersby have different circumstances, and the expected navigation content is different.
[Case 1] Non-walking person using a manual wheelchair without attendance:
Stairs are not available. Slight road steps are possible, but slopes and gravel roads are not accessible.
[0009]
[Case 2] When using an electric wheelchair in the above case:
Some steps and slopes are possible, and gravel roads are also possible. Stairs and escalators are still not possible. Toilets need to be used for wheelchairs.
[Case 3] When there are multiple attendants in the above case:
Stairs and escalators can be lifted by an attendant. If the toilet is Western style, it will be possible. It is possible to pass through steep slopes and steps.
[0010]
[Case 4] If you are a manual wheelchair user, but you can walk a little (for example, in the case of an elderly person or a person with hemiplegia) and your child is walking with a folding wheelchair:
Stairs are possible if they are short, but handrails are essential. Escalator is possible. The intersection needs a long green light. Loose slopes and gravel roads are possible.
[Case 5] Using the wheelchair in the above case (manual):
Stairs, escalators and slopes are not allowed. Similar to Case 1, but with weak power and no steps.
[0011]
[Case 6] Case of adult female attending in Case 4:
The staircase can be a little longer and does not require a handrail. It can also handle slopes and steps.
As described above, various route elements can be used or disabled depending on the situation of the passerby. The extent to which such various route elements are available or unavailable is referred to herein as the passer's traffic tolerance. Fig. 3 (b) shows a more quantitative setting of the passer-by traffic limit for each case. In the navigation system for passers-by shown in Document 1, it is impossible to perform appropriate navigation according to each case.
[0012]
[Problems to be solved by the invention]
Thus, conventionally, navigation systems for passers-by including passers-by, such as wheelchair users, cannot be made so that road information tailored to the conditions of the passers can be made individually and shared by many passers-by. However, because there are few users, it is difficult to accumulate and enhance shared data, which makes it difficult to use again. In order to solve such problems, it is an object of the present invention to provide a navigation method, apparatus, and program for a passer-by that can perform navigation corresponding to each individual traffic allowance appropriately. And
[0013]
[Means for Solving the Problems]
As shown in FIG. 1, the above-described problem is a navigation method for providing a recommended route from a departure point to a destination for a passerby having map data related to a route element traveled by the passerby. A step of obtaining a traffic allowance representing the degree to which the route element can be used or not according to the attribute of the route (step S13), and a step of calculating the cost of each route element based on the passer traffic allowance (step S15). And a step of creating a recommended route that minimizes the accumulated cost by accumulating the route element cost (step S19).
[0014]
That is, as shown in the configuration example of the passer-by navigation device in FIG. 2, the route search unit 3 of the passer-by navigation device acquires the departure point and destination coordinates input from the user through the input unit 1, and the GPS unit The current location coordinates are acquired from 2, and the traffic allowable value KK of the passerby is acquired from the input unit 1. On the other hand, there are road information 41 and intersection information 42 as route elements pe stored in the digital map data 4, and these correspond to passers-by indicating the degree to which each route element pe can correspond to attributes of passers-by. The route element cost determination rule base 31 of the route search unit 3 compares these passer-corresponding values 411 and 421 with the passer traffic allowance value KK given for each route element pe. By doing so, the cost c (pe) of the route element is determined. The route search unit 3 determines the recommended route p by executing steps S17 and S18 in FIG. 1 based on the route element cost c (pe) of each route element pe. The display control unit 6 displays the recommended route p on the display unit 7 superimposed on the map background data and the character data.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the navigation device for passers-by of the present invention will be described with reference to FIGS.
The computer processing in the present invention is executed on the main storage device of the computer by a computer program. The computer program is provided in an auxiliary storage device connected to the computer, a floppy disk, a CD- Provided by being stored in a recording medium such as a portable storage device such as a ROM or a main storage device or an auxiliary storage device of another computer connected to a network. It is loaded and executed on a storage device.
[0016]
FIG. 2 shows an example of the structure of the navigation device for passers-by of the present invention. In this embodiment, this device is created as a portable terminal carried by a passerby. FIG. 1 shows an example of the operation of this apparatus. The operation of this apparatus will be described with reference to both figures.
The input unit 1 displays a menu and a map on the display unit 7 to allow the user to input points for the departure point and destination. The input unit 1 converts this into a starting point and destination coordinates and sends them to the route search unit 3. From these coordinate values, the route search unit 3 sets the node (intersection) closest to the departure point coordinates as the start point s. (Step S11). A node (intersection) closest to the destination coordinates is set as the goal point g. (Step S12). The GPS unit 2 sends the current position coordinates of the apparatus to the route search unit 3. The user inputs the passer traffic allowable value KK described above to the route search unit 3 through the input unit 1. (Step S13). In step S13, a passer equipment allowable value SK is also input. This will be described later in the description of step S16.
[0017]
FIG. 3 (a) shows an example of the types of permitted traffic values KK and their attribute values set in this embodiment. As shown in the figure, the values allowed by the passer-by are permitted, impossible, or numerical values are input for conditions such as road surface conditions, slopes, road widths, stairs, and steps. FIG. 3 (b) shows an example in which how to give these passer traffic allowances KK varies depending on the situation of the passer.
[0018]
Returning to FIG. 2, the digital map data 4 stores all background data, character data, and the like displayed on the display unit 7 by the apparatus in association with coordinates, as well as road information 41, intersection information 42, station information as a route element pe. Facility information 43 and facility detailed information 431 as facility information such as stores and stores. The background data is divided into a plurality of meshes, and one mesh is hierarchically held in a form that is further divided into a plurality of meshes according to the scale ratio. In step S14, the route search unit 3 sets a global square mesh including s and g in the search region a.
[0019]
The road information 41 shown in FIG. 2 is used to divide a sidewalk through which a passerby passes for each intersection and hold it as individual link data. FIG. 4 shows an example of the data structure. One road information 41 has a unique link id and has pointers pointing to nodes (intersections) at both ends thereof. It also has a passer-corresponding value block pointer, and its value is a passer-corresponding value block (passer-corresponding value in the example of FIG. 4) that is specific to the road information 41 instance (41b in the example of FIG. 4) Point to the passer-corresponding value block of the approach to the Nunnery Temple in Kamakura as shown in 411b. This will be described later. Furthermore, it has a road type (exclusive for pedestrians, presence / absence of open grooves), default cost value cdl, representative belonging mesh id, related mesh list, and the like. The default cost value cdl is based on the road distance according to the road, stairs and wheelchair slope.
[0020]
Passer correspondence values are blocks held by route elements pe such as individual road information 41 and intersection information 42, and an example of the data structure is shown in FIG. FIG. 6A shows a passer-corresponding value 411 of the road information 41, in which a road surface state value, an inclination value, a stair step value, and the like of the sidewalk are set. In general, there are multiple road structures such as stairs and wheelchair slopes installed in parallel on the same road, or there are pedestrian crossings and multi-level crossing stairs sidewalks at the same intersection. These are defined in the digital map data 4 as different road information 41 and intersection information 42. These distinctions are specified by the road structure value (attribute code d01) in the passer-corresponding value 411 and by the intersection type (attribute code k02) in the passer-by value 421. Thus, the route element information of the present invention is much more complex than the route element information in automobile navigation.
[0021]
Next, an example of the data structure of the intersection information 42 is shown in FIG. The node id identifies the intersection, but as noted above, there can be multiple node ids at the same intersection. Furthermore, it has an intersection coordinate value, a passer-corresponding value block pointer, a default cost value cdn, a link list, a belonging mesh id, and the like. The default cost value cdn is the distance required to cross the intersection. The link list is a list of link ids of all links having the node as an end point. The passer-corresponding value block pointer is a passer-corresponding value block specific to the 42 instances of the intersection information (42b in the example of FIG. 5 and the Kawasaki city 某 intersection). And point to the passer-by-passer value block on the sidewalk.
[0022]
Based on the passer-corresponding values 411 and 421 of the route element pe described above, the route element cost determination rule base 31 of the route search unit 3 determines each route element pe corresponding to the passer traffic allowance value KK previously obtained in step S13. The path element cost c (pe) of is determined. (Step S15). The embodiment will be described with reference to FIG.
FIG. 7A shows an example of determining the route element cost c (pe) related to the road information 41. In the figure, the route element cost c (pe) of the route element pe = link xxxx is indicated as c (xxxx), and the passer-corresponding value 411 is attribute codes d01 to d07 shown in FIG. The value KK is indicated by attribute codes KK0101 to KK0501 shown in FIG. Thus, for example, rule (1) in FIG. 7 (a) is: “If the road surface is uneven and the tolerable traffic KK is not gravel, the route element cost c (pe) is set to max. Set. Is the rule. Here, max means that the cost of the route element pe is infinite, that is, the route element pe cannot be adopted (the accumulated cost cannot be minimized). In the present embodiment, for the sake of simplicity, only the rule that sets the path element cost c (pe) to max is illustrated, but in general, the default link cost cdl is multiplied by a factor according to the condition to give the cost. For example, the condition factor is set to cdl indicating the road surface distance, such as factor 1 if the road surface is paved and 2.5 if the road surface is gravel.
[0023]
Similarly, rule (2) in Fig. 7 (a) states that if the road surface is 0-5 degrees, 5-10 degrees, 10 degrees or more, the traffic allowance value KK for the passerway cannot be inclined, but not moderately Set c (pe) to max according to the impossibility of steep inclination. It becomes. The above rules (1) and (2) are rules when d01 = A, that is, the road structure is a normal road. Hereinafter, rule (3) is set for roads including stairs, and rule (4) is set for roads including wheelchair slopes.
[0024]
In the case of navigation for passers-by, intersections also contribute to cost calculation. FIG. 7B shows an example of determining the route element cost c (pe) regarding the intersection information 42. Route element pe = Rule element cost c (pe) of node nnnn is set as (5) (6) (7) as c (nnnn). For example, rule (6) is: `` If the crossing width of a ground intersection with a traffic light (crosswalk) is not long enough for the passer to pass within the pedestrian green light time, the route element of the intersection The cost c (pe) is set to be max.
[0025]
FIG. 7 (c) shows the route element instance shown in FIG. 4 and the route element shown in FIG. 5 in the cases [Case 1] to [Case 6] in which the above-mentioned allowable traffic value KK is different. It shows how each path element cost c (pe) changes for an instance.
Returning to FIG. 1, in step S15, as described above, the route element cost determination rule base 31 determines all links (roads) and nodes (intersections) included in a based on the passer traffic allowance KK. Calculate and set the path element cost c (pe).
[0026]
Next, the equipment selection unit 5 in FIG. 2 will be described. In the navigation for passers-by, the route navigation to the destination is not enough.For example, if the destination is Tamagawa Gakuen Station in Odakyu, the relevant traffic will reach the platform and reach the position on the train. Must make sure that the person is going. Therefore, in the navigation system for passers-by of this embodiment, the facility information 43 in the digital map data 4 further has facility detailed information 431 indicating the detailed status of the premises. Then, the state of the passer-use facility on the premises is held as a passer-corresponding value 4311. FIG. 8 (b) shows a data structure rule indicating the presence of a toilet and lifting means as an example.
[0027]
On the other hand, the passerby inputs in advance the equipment conditions that the user can use or cannot use as the passer equipment allowable value SK for the equipment on the premises. The passer equipment allowable value SK previously input by the user in step S13 has, for example, the type and value as shown in FIG. For example, a wheelchair user generally needs a wheelchair toilet and an elevator, but when accompanied, a Western-style toilet can be used, and an escalator or stairs can be used. The passer equipment allowable value SK is set in the situation for each passer.
[0028]
In step S16, the facility selection unit 5 shown in FIG. 2 specifies a passerby who matches the destination or specific facility specified by the passerby from the specified facility detailed information 431 based on the given passer facility allowance SK. The compatible equipment s is determined and transmitted to the display control unit 6. The display control unit 6 displays this on the display unit 7 together with the background data (on-site enlarged map). Here, unlike the logic of the route element cost determination rule base 31, the logic for the facility selection unit 5 to select the passer-by-passenger facility s is a simple one that simply selects the facility that satisfies the allowable value.
[0029]
In general, the user of the navigation for the passerby first confirms the existence of the passer-adapted equipment s at the destination before the route search to the destination. Therefore, in this embodiment, the passer-adapted prior to the route presentation. The equipment s is displayed. However, after confirming the route, the details of the destination may be confirmed, or the passer-adapted equipment s may be obtained for facilities on the route or for a plurality of destinations, so that the equipment selection unit 5 can operate as required at any time. It is also possible to change. In that case, needless to say, it is possible to input the passer equipment allowable value SK and input the change at any time other than step S13.
[0030]
Returning to FIG. 1, in step S17, the route search unit 3 accumulates the route element cost c (pe) of each route element pe previously determined by the route element cost determination rule base 31 for the candidate route to the first adjacent node. Store in the buffer along with route candidates. Next, in step S18, the route search unit 3 narrows down route candidates while sequentially comparing the accumulated link and node costs for the route candidates from the second adjacent node following each candidate to g, and selects the route candidate group reaching g. obtain. The method used here is the same as the conventional method described in step S96 in FIG.
[0031]
Next, in step S19, the route search unit 3 sets the route that minimizes the cumulative link and node cost among the above route candidates to the display control unit 6 as the recommended route p, and the display control unit 6 displays the map together with other background data. Display above. Further, in the navigation device for passersby of this embodiment, other possible routes other than the recommended route p among the route candidates are also displayed on the map upon request as shown in step S20, and the user's The number of route choices shall be increased.
[0032]
In the above description, the navigation device for passersby of the embodiment has the GPS unit 2, but other means for inputting the current position may be used, and such a means is used for navigation that does not require display of the current position. Needless to say, you don't have to. As described above, the navigation device for passers-by of the present invention may be a normal portable personal computer or PDA.
[0033]
Further, all or part of the digital map data 4 can be placed on a removable portable storage medium, and is suitable for data maintenance. In addition, the road information 41, intersection information 42, facility information 43, etc. of each place personally investigated and privately owned by each passerby will be standardized in the data structure as shown in the present invention in the future. It is strongly expected to exchange information. From such a perspective, a map data distribution server that accumulates the digital map data and distributes it in response to a request from a client is disposed on the Internet, and the navigation device for passersby uses the digital map from the distribution server. In the future, it would be desirable to have a means for downloading data, and the present invention encompasses the design changes described above.
[0034]
(Supplementary note 1) A navigation method for providing a recommended route from a departure point to a destination for a passerby having map data relating to a route element that the passerby travels,
Obtaining a traffic tolerance value representing the degree to which the route element is usable or impossible according to the attribute of each passer;
Calculating the cost of each route element based on the passer traffic allowance;
Accumulating the route element costs to generate a recommended route with a minimum accumulated cost;
A method of navigation for passers-by, comprising:
[0035]
(Supplementary note 2) A navigation device for a passerby having map data relating to a route element along which the passerby travels, and presenting a recommended route from the departure point to the destination to the passerby,
Digital map data having passer-by correspondence values indicating the degree to which the route element can correspond to attributes of passers-by;
A route element cost determination rule base for determining a cost of the route element by obtaining a passer traffic allowance value from outside and comparing it with a passer corresponding value of the route element;
A navigation device for a passerby characterized by comprising:
[0036]
(Supplementary note 3) A program for causing a computer to execute navigation that has map data relating to a route element traveled by a passerby and presents a recommended route from a departure point to a destination.
Obtaining a traffic tolerance value representing the degree to which the route element is usable or impossible according to the attribute of each passer;
Calculating the cost of each route element based on the passer traffic allowance;
Accumulating the route element costs to generate a recommended route with a minimum accumulated cost;
A navigation program for a passerby characterized by causing a computer to execute.
[0037]
(Additional remark 4) The computer-readable recording medium which recorded the program of Additional remark 3.
(Supplementary Note 5) Regarding a facility that a passer-by passes through when traveling or on the premises of a destination, a step of obtaining a passer-equipment allowance that is an equipment condition that is usable or impossible according to the attribute of each passer;
Determining passer-fit equipment suitable for the passer from the facility detailed information in the digital map data based on the passer equipment tolerance, and displaying on the navigation map; and
A method of navigation for passers-by, comprising:
[0038]
(Additional remark 6) The map data distribution server which accumulate | stores the digital map data which has a passer corresponding value which shows the degree which the route element can respond | correspond to the attribute for every passer, and distributes this according to the request | requirement from a client.
(Supplementary note 7) The passer-by-passenger navigation device according to supplementary note 2, comprising means for downloading digital map data having a passer-corresponding value from the distribution server according to supplementary note 6.
[0039]
(Supplementary note 8) Accumulate digital map data with passer-corresponding values indicating the degree to which passers pass when moving or facilities on the premises of the destination are compatible with the attributes of each passer-by, and requests from clients Map data distribution server that distributes this according to
(Supplementary note 9) The method of navigation for passersby according to supplementary note 5, comprising downloading digital map data having passer-corresponding values from the distribution server according to supplementary note 8.
[0040]
【The invention's effect】
As is apparent from the above description, according to the present invention, digital map data having passer-by-passenger values indicating the degree to which route elements such as roads and intersections can correspond to attributes of passers-by are stored and used. By comparing the passer traffic allowance value entered by the user with the passer-corresponding value of the route element, the passer traffic allowance value for each user is determined based on the route element cost determination rule base that determines the cost of the route element. There is an effect that appropriate navigation can be performed.
[Brief description of the drawings]
FIG. 1 is an example of operation of navigation for passers-by of the present invention. FIG. 2 is a functional block diagram of a navigation device for passers-by of the present invention. 41 (link data) data structure example [Fig. 5] Intersection information 42 (node data) data structure example [Fig. 6] Passer corresponding value data structure example [Fig. 7] Route element cost determination rule base 31 setting example [Fig. 8] Example of setting of passer-corresponding value 4311 in facility detailed information 431 [Fig. 9] Example of operation of conventional in-vehicle navigation system [Explanation of symbols]
1 Input Unit 2 GPS Unit 3 Route Search Unit 4 Digital Map Data 5 Equipment Selection Unit 6 Display Control Unit 7 Display Unit
31 Route element cost decision rule base
41 Road information
42 Intersection information
43 Facility information
411 Passer corresponding value of road information 41
421 Passer correspondence value of intersection information 42
431 Facility Details
4311 Passenger correspondence value of detailed facility information 431
pe pathway element
KK Passenger Traffic Allowance
SK Passenger equipment tolerance
p Recommended route
s Passer-fit facilities
c (pe) Route element cost

Claims (2)

A navigation device for a passerby that displays a route according to a passerby's state,
Road information stored in association with coordinates and stored as background data and character data, road surface conditions for each road are quantified and stored as passer-corresponding values, and intersection information expressed as passer-corresponding values for restrictions at each intersection Digital map data stored as route elements and stored as passer-by values for facilities and facilities within the facilities,
Passengers who can use the facilities according to the type of departure place, roads or intersections, or tolerable traffic values that pass by the passersby according to the type, passers who can use the facilities Input means for entering the equipment tolerance and equipment to be used,
Determining means for determining, as a destination, a facility in which a passer-corresponding value that satisfies the passer facility allowable value is set by the digital map data;
The starting point coordinates and the destination coordinates are obtained by coordinate transformation of the starting point and the destination with the digital map data, and each route element is determined based on the passer traffic allowance and the passer corresponding value of the digital map data. Route search means for determining the cost of
Display means for displaying a route with the lowest cost;
A navigation device for passers-by. A navigation program for a passerby that displays a route according to a passer's condition,
On the computer,
Road information stored in association with coordinates and stored as background data and character data, road surface conditions for each road are quantified and stored as passer-corresponding values, and intersection information expressed as passer-corresponding values for restrictions at each intersection Digital map data stored as route elements and stored as passer-by values for facilities and facilities within the facilities,
Passengers who can use the facilities according to the type of departure place, roads or intersections, or tolerable traffic values that pass by the passersby according to the type, passers who can use the facilities Input means for entering the equipment tolerance and equipment to be used,
A determination unit that determines, as a destination, a facility in which a passer-corresponding value that satisfies a passer-by facility allowable value input by the input unit by the digital map data;
The starting point input by the input means and the destination determined by the determining means are coordinate-converted from the digital map data to obtain the starting point coordinates and the destination coordinates, and the passer traffic allowance value input by the input means And route search means for determining the cost of each route element based on the passer-corresponding value of the digital map data,
Display means for displaying the route with the lowest cost determined by the route search means;
A navigation program for passersby, characterized by functioning as

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