JP4127774B2 - Pedestrian navigation program - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for navigating a pedestrian to a destination using a portable terminal or the like.
[0002]
[Prior art]
As a conventional technology for performing navigation to a destination, there is a so-called “car navigation” for automobiles. In car navigation, a route search for obtaining an optimum route is performed by designating a departure point and a destination (From-To), and guidance of a vehicle (navigation) is performed based on the result.
[0003]
In the guidance guidance, the position where the car is traveling on the route searched for is determined using the GPS function, but GPS has an error, and in the strict sense, the car is the route. Since the vehicle is not necessarily traveling on the searched line, it is estimated which route the vehicle is currently traveling on using a vehicle constraint condition or the like. For example, the position on the route is estimated from the current position acquired by GPS using conditions unique to the car such that the car can only run on the road and the car cannot change rapidly or change direction. This method is called “map matching”. In order to further improve accuracy, map matching may be performed using information from a sensor attached to a vehicle in order to accurately measure a travel distance in addition to GPS data.
[0004]
Moreover, there is a technique disclosed in Japanese Patent Application Laid-Open No. 2000-046567 as a conventional technique related to navigation. In the navigation method disclosed in Japanese Patent Laid-Open No. 2000-046567, guidance information is set based on the relationship between a target such as a building (landmark) and a travel route.
[0005]
[Problems to be solved by the invention]
There are the following problems when trying to use a car navigation system for pedestrians as it is.
[0006]
Routes that pedestrians can pass are less restricted than cars. In other words, pedestrians can freely pass through a wide area such as a park, and can move more freely than a car, such as stopping suddenly or changing direction. Therefore, a technique such as map matching that uses a constraint condition to estimate a position on a route can be used for a vehicle with a large constraint condition but cannot be used for a pedestrian.
[0007]
Moreover, in the guidance guidance of a car, there is no problem in practical use by selecting information to be guided in a step-by-step manner based on the turning angle of an intersection. For example, 360 degrees are divided into 8 sections, and according to each, “straight forward” “turn right diagonally forward” “turn right” “turn right diagonally backward” “turn left diagonally forward” “turn left” “ Apply a guide sentence such as "turn left diagonally backward" or "U-turn".
[0008]
On the other hand, in the case of a pedestrian, there are many cases where guidance similar to that of a car does not provide effective guidance guidance due to few restrictions on walking. For example, even if it is said that "turn right" near the center of a place like a square, it is difficult for the user to understand. Also, at intersections where there are roads going up the stairs and going down the hill on the right, it is still unclear whether you can pass by just turning to the right. Furthermore, in the first place, GPS data is acquired for pedestrians who pass through a covered passage or pass near the building on the road, compared to cars that often travel in the center of the road. Often difficult.
[0009]
Further, in the technique described in Japanese Patent Application Laid-Open No. 2000-046567, guidance information is created based on the relationship between the position of a landmark such as a building and the traveling route, so that complicated calculation is required. Proper guidance in places without marks is considered difficult.
[0010]
The present invention has been made in view of the above points, and an object thereof is to provide a technique for navigating a pedestrian to a destination without using landmarks.
[0011]
[Means for Solving the Problems]
The above problems are solved by the invention having the following configuration.
[0012]
The invention according to claim 1 is a program for causing a computer to execute a process for guiding a target mobile body from a departure place to a destination, and is provided on the route from the departure place to the destination. For each monitoring zone provided in association with one or a plurality of monitoring points, one or a plurality of traveling direction angle ranges of the target moving body and guidance information corresponding to the traveling direction angle ranges are stored. Provided in the computer The table search function and the current position and traveling direction of the target moving body are acquired, and the current position is within the monitoring zone. If the guidance information corresponding to the monitoring zone and the obtained traveling direction is stored in the table, the guidance information is output. The function is realized.
[0013]
The target moving body in the above invention is a moving object such as a pedestrian, which moves toward the next monitoring point based on the guidance information. ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to output suitable guidance information with respect to the portable terminal etc. which the pedestrian who is advancing in the predetermined direction within a monitoring zone has. Even if there are multiple routes entering a certain monitoring point, set the angle range of the traveling direction appropriately for each approach route and set appropriate guidance information for the departure direction for each approach route, or By setting the monitoring zone, appropriate guidance can be provided regardless of the direction to the monitoring point. In addition, even when it is impossible to predict from which direction a pedestrian will reach the monitoring point, such as near the exit of a park without a sidewalk, it is possible to always output guidance by widening the traveling direction angle range that is a condition for outputting guidance information.
[0014]
The invention described in claim 2 is the one described in claim 1, wherein the number, position, shape, and size of the monitoring zone corresponding to one monitoring point are set according to the characteristics of the monitoring point. .
[0015]
According to the present invention, for example, a plurality of monitoring zones (both sides of the road) are provided for one monitoring point (for example, an intersection), and different guidance information is prepared for each monitoring zone to appropriately guide the target moving body. It becomes possible. In addition, by providing the position of the monitoring zone closer to the departure point than the monitoring point, it is possible to provide guidance immediately before the target moving body reaches the monitoring point (for example, an intersection). In addition, it is possible to provide appropriate guidance by determining the size of the monitoring zone according to the width of the road.
[0016]
The invention according to claim 3 is the invention according to claim 1, Corresponding to the target moving body When the guidance information is output, output Until a predetermined time has passed The guidance information was output In the monitoring zone Corresponds to the same target mobile Guidance information The output of Realize function Make .
[0017]
According to the present invention, it is possible to prevent the guidance information from being continuously output even when the user is stopped in the same monitoring zone.
[0018]
The invention according to claim 4 is the function according to claim 1, wherein the route from the departure point to the destination is obtained from a predetermined route or obtained by route search, and the obtained departure point to the destination is obtained. Route And corresponding to the route For monitoring point The target moving body is Based on the angle of entry direction The guide information is generated and stored in the table. Realize the function to set.
[0019]
According to the present invention, it is possible to set appropriate guidance information according to the approach direction and the departure direction.
[0020]
According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the guidance information is obtained based on the state of the route on the side starting from the monitoring point and / or the side entering the monitoring point. To the table Implement the function to be set.
[0021]
In the present invention, for example, when the state of the route on the departure side is “pedestrian bridge”, it is possible to provide guidance for crossing the pedestrian bridge. In addition, when the approaching side is a pedestrian crossing and the departure side is a sidewalk, it is possible to give a guidance such as “I cross the pedestrian crossing and turn right”.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
In the present invention, a plurality of monitoring points are provided between the departure point and the destination. Each monitoring point is provided with one or a plurality of monitoring zones, and guidance information (guidance and guidance images) is set for each monitoring zone for pedestrians traveling in the monitoring zone in a predetermined direction. By doing so, navigation of pedestrians is performed.
[0023]
In describing embodiments of the present invention, first, terms used in this specification and an outline of the present invention will be described with reference to FIG.
(Explanation of terms and summary of invention)
FIG. 1 is a diagram for explaining the concept of “monitoring point”, “monitoring zone”, and “traveling direction angle range” used in the present invention. A point to be a target for navigation (route guidance) from the departure point to the destination is called a “monitoring point”. The most common examples of monitoring points are intersections (guidance for turning left / right / going straight) and destinations (guidance for arrival at the destination) on the route to the destination. Any point other than an intersection can be used as a monitoring point as long as it is easier for the user to guide.
[0024]
In general, in route search technology, the shortest route is based on information on points called "nodes" (for example, intersections) and information on lines connecting nodes called "links" (both are called "road networks"). Compute the sequence of nodes and links that make up the. In the present invention, a monitoring point is determined in advance (first embodiment), or a node on a route calculated and selected by route search is used as a monitoring point (second and third embodiments). ).
[0025]
In the relationship between a certain node (monitoring point) on the route and the link connected to that node, the angle of the direction of traveling along the link toward the node (monitoring point) is “entrance angle”, and from that node to the link The angle in the direction away along is called the “starting angle”.
[0026]
In the present invention, the user's position and traveling direction (these data can be acquired by the conventional GPS). In addition, electric field strengths from a plurality of antennas can be used for position acquisition, or traveling direction acquisition can be performed. For example, a user may use a gyroscope or a magnetic sensor separately) to obtain guidance by constantly checking whether each user passes a specific area within a specific angle range. It is characterized by determining whether or not or what kind of guidance is performed. An area used for this check is called a “monitoring zone”, and an effective angle range is called a “traveling direction angle range”.
[0027]
In principle, the “monitoring zone” may have an arbitrary shape, but for the sake of simplicity, the “monitoring zone” is described as a circle as shown in FIG. When the “monitoring zone” is a circle, the center of the circle is referred to as a “monitoring zone center point”, and the radius of the circle is referred to as a “monitoring zone radius”.
[0028]
Various notation methods can be used for the description method of the angle. In this specification, the true north direction is 0 °, the true east is 90 °, the true south is 180 °, the true west is 270. Use 360 ° notation so that °. The angle range is expressed as a ° to b °. However, when a> b, such as 300 ° to 80 °, it is interpreted as a range over 360 ° (that is, an angular range including the true north direction).
[0029]
Although the details will be described in the following embodiment, in the method of the present invention, the current position and traveling direction of the user is acquired by GPS or the like, the position is included in the monitoring zone of the monitoring point, and Then, it is checked whether or not the traveling direction is included in the traveling direction angle range of the monitoring point, and if the check is OK, guidance regarding the monitoring point is output. That is, in FIG. 1, if the user's current position and direction of travel are marked as OK, a guidance is output, and if at least one of the conditions is not marked as NG, Do not output guidance.
[0030]
Note that the “monitoring point” and the “monitoring zone center point” of the point do not necessarily need to match. Furthermore, the “monitoring point” does not need to be included in the “monitoring zone” of the point.
[0031]
FIG. 10 described in the embodiment shows an example in which the two match, and FIG. 9 shows an example in which the two do not match. Generally speaking, an intersection guidance (such as “turn right”) is more suitable for the purpose of guiding the user to output guidance immediately before reaching the intersection. Therefore, it is practical to set a position shifted from the “monitoring node” by a certain distance in the opposite direction of the “entrance angle” as the “monitoring zone center point”. Further, as the “traveling direction angle range”, it is practical to set a certain allowable range around the “approach angle”.
[0032]
Hereinafter, the first to third embodiments divided from the viewpoint of the presence / absence of route search and the presence / absence of link attribute information will be described with reference to the drawings.
[0033]
(First embodiment)
In the first embodiment, a route registered in advance for each departure point and destination is used without searching for a route between the departure point and the destination.
[0034]
FIG. 2 shows a configuration diagram of the navigation device according to the first embodiment. The navigation device according to the first embodiment stores a monitoring zone information creation data storage unit 1, a monitoring zone information creation unit 2 that creates monitoring zone information from monitoring zone information creation data, and the created monitoring zone information. The monitoring zone information storage unit 3, the current position acquisition unit 4 realized by the GPS device, the current position acquired by the current position acquisition unit 4, and the monitoring zone information stored in the monitoring zone information storage unit 3 are used for navigation. Guide guidance unit 5 for obtaining necessary guidance information, user output unit 6 for outputting guidance information necessary for navigation obtained by the guidance guide unit 5, and user input unit for inputting data to the navigation device 7.
[0035]
The navigation device can be realized by, for example, a personal digital assistant (PDA). In this case, the storage units 1 and 3 are realized by a memory and a hard disk, and the guidance guide unit 5 and the monitoring zone information creation unit 2 are realized by processing executed by the CPU by a program. The user output unit 6 is a display, a speaker, an earphone or the like, and the user input unit 7 is a touch panel, a keyboard, a pen input device, a voice input device, or the like.
[0036]
Further, the monitoring zone information creation data storage unit 1, the monitoring zone information creation unit 2, and the monitoring zone information storage unit 3 are arranged in a remote server, and a mobile phone or the like that can be connected to the Internet is located in the current location acquisition unit 4, guidance guidance It is also possible to configure the navigation device of the present invention by using the unit 5, the user output unit 6, and the user input unit 7 and appropriately connecting the server and the mobile phone via the Internet.
[0037]
Next, an outline of the operation of the navigation device in the first embodiment will be described using the flowchart of FIG.
[0038]
First, the user inputs a departure place (From) and a destination place (To) from the user input unit 7 (step 1). The input method is a method of inputting characters, a method of selecting candidate sites from a list, a method of selecting candidate sites by voice input, a method of clicking on a screen displaying a map, and a method of specifying a destination listed in advance Etc. Further, the departure point may be input by acquiring the position by GPS.
[0039]
Next, monitoring zone information is created from the monitoring zone information creation data in the monitoring zone information creation data storage unit 1 and stored in the monitoring zone information storage unit 3 (step 2). If there is a monitoring zone that matches the current position acquired by the current position acquisition unit 4 based on the current position and the traveling method, the user output unit 6 displays the guidance information set in the monitoring zone. To guide the user (step 3). The guidance may be started immediately after the monitoring zone information is created, or may be started when the user clicks a button such as “Departure”.
[0040]
An example of monitoring zone information creation data is shown in FIG. Thus, the waypoints are determined in advance corresponding to the set of the departure point and the destination. In the figure, P1, P2, ... are data consisting of a set of (x, y, n) = (latitude, longitude, point name), and D1, D2, ... are (x, y , r, a, b, s, g) = (the latitude, longitude, monitoring zone radius, traveling direction angle range, guidance sentence, guidance image of the monitoring zone center point). In the example of FIG. 4, the types of D3, D10, D12, and D15 are destinations.
[0041]
FIG. 5 shows an example of monitoring zone information. One record of the monitoring zone information in FIG. 5 corresponds to one monitoring zone. The monitoring zone radius represents a range in which navigation is performed for a user (a guidance sentence or the like is output), and indicates the maximum distance between the position of the user receiving the navigation and the central point of the monitoring zone. The traveling direction angle range represents the range of the traveling direction angle when the user passes through the monitoring zone. If the traveling direction angle is within the traveling direction angle range, the corresponding guidance sentence is output. For example, when the north direction is 0 degree, the east direction is 90 degrees, the south direction is 180 degrees, and the west direction is 270 degrees, as shown in FIG. 6, the traveling direction angle range is 225 degrees to 315 degrees. If it is, it means that there is an allowable range of 45 degrees centering on the west direction, and if the angle of the user's traveling direction is within that range, the corresponding guidance text will be It is output (OK in FIG. 6), and if it is out of the range, the guidance sentence is not output (NG in FIG. 6). By doing so, for example, it is possible to prevent the pedestrian from being confused by providing guidance information to a pedestrian who is moving toward the south and taking an action away from the monitoring point.
[0042]
The guidance text and guidance image in FIG. 5 are the guidance text and guidance that are considered to be optimal for guiding the user corresponding to the location of the monitoring zone, the radius of the monitoring zone, and the angle range of the traveling direction to the node selected for the next route. It is an image. “Type” indicates whether the route selected node to be guided in the monitoring zone is a transit point or a destination, and the “immediate guidance time” is the time immediately before guidance is performed in the monitoring zone. It's time.
[0043]
Next, the flow of processing when the user is guided will be described with reference to FIGS.
[0044]
The current position and the traveling direction are acquired periodically (for example, every second) from the current position acquisition unit 4 (step 11). The traveling direction can be acquired by the function of the GPS device, or can be acquired by using any device such as a gyroscope capable of detecting other directions.
[0045]
Next, referring to the monitoring zone information shown in FIG. 5, it is determined whether there is monitoring zone information that matches the current position and the traveling direction (step 12). Here, the processing shown in the flow of FIG. 8 is performed. That is, the distance between the current position and each monitoring zone center point is calculated (step 121), it is determined whether the distance is smaller than the monitoring zone radius (step 122), and the angle in the traveling direction is set in the monitoring zone. It is checked whether or not it is within the set traveling direction angle range (step 123).
[0046]
Next, it is determined whether or not a certain time has passed since the “previous guide time” of the matched monitoring zone information (step 13 in FIG. 7), and the “previous guide time” is not set. (That is, no guidance is provided in the monitoring zone after the start.) Or, if a certain time has passed, the current time is set to the “immediate guidance time” of the monitoring zone information (step 14). Then, a guidance sentence and a guidance image file name are acquired from the monitoring zone information (step 15), a guidance sentence and a guidance image file are output as guidance information (step 16), and the type of the monitoring zone information is a destination. If it is not the destination, the process returns to step 11 (step 17).
[0047]
In the monitoring zone information shown in FIG. 5, a record is set so that guidance information corresponding to one traveling direction angle range is output for one monitoring zone. When the vehicle does not pass through the monitoring zone (when the angle of the user's traveling direction is out of the traveling direction angle range, etc.), no match information is determined in step 12, and no guidance information is output. In such a case, it is possible to output guidance information for each angle in the traveling direction of the user by adding a record in the same monitoring zone but with the traveling direction angle range changed. For example, with respect to the center point (x1, y1) of the monitoring zone, a record is added so that guidance information “turn left” in the approach direction A and “go straight” in the approach direction B is output. By this, the guidance information according to the direction which the pedestrian has advanced can be provided. The same service can also be provided by providing monitoring zones in which the traveling direction angle range is exclusive at the same monitoring point.
[0048]
As described above, in the first embodiment, each of the plurality of monitoring zone information registered for each set of the departure point and the destination is set for each of the monitoring zone radius and the traveling direction angle range set correspondingly. The user is navigated based on the guidance information.
[0049]
Next, the monitoring zone radius, the traveling direction angle range, and the immediately preceding guidance time set as the monitoring zone information will be further described.
[0050]
FIG. 9 is a diagram for explaining the monitoring zone radius. The monitoring zone radius is a radius indicating a range in which guidance is performed from the central point of the monitoring zone. However, as shown in FIG. In the case of a road with a wide road, by increasing the radius of the monitoring zone, guidance can be provided regardless of which sidewalk is passed when there are sidewalks on both sides.
[0051]
FIG. 10 is a diagram for explaining the traveling direction angle range. When the solid line is the original route in the vicinity of the intersection before entering the park in FIG. 10 and the user walks on a dotted line route different from the original route set when the traveling direction angle range is set wide In addition, there is a possibility that an erroneous guidance of “turn left” may be given in spite of having to go straight. Therefore, in order to avoid such erroneous guidance, a moderately narrow traveling direction angle range is set in such a case as shown in FIG. Even when passing through the dotted line, another traveling direction angle range is provided on the lower side, and appropriate guidance can be performed by outputting a guidance sentence “Please go straight” corresponding to the traveling direction angle range.
[0052]
In addition, when the direction to be advanced can be limited due to the presence of a gate or the like, such as a place on the side leaving the park in FIG. 10, it is possible to walk differently from the set route by setting a wide traveling direction angle range. Even if it is, you can give appropriate guidance.
[0053]
The previous guidance time is set in order to avoid frequent guidance texts when stopping in the monitoring zone, etc., and before the set time (for example, 5 minutes) has elapsed since the last guidance time. The guidance information is not output again in the monitoring zone that has once output the guidance information. If you leave the monitoring zone and return to the monitoring zone after the set time has elapsed, for example, if you return to the vicinity of the same monitoring point after leaving a predetermined route, such as by taking a detour, you will be given another guidance sentence. be able to.
[0054]
Also, instead of using the “previous guidance time”, a guidance output flag intended to control so that guidance information is not output twice at the same position can be used. That is, a guidance output flag such as not output or output is set, and when the guidance information is output once in a certain monitoring zone, the flag is changed from not output to output already, thereby outputting the guide information again. Can be prevented.
[0055]
(Second Embodiment)
Next, a second embodiment will be described. In the second embodiment, a route search is performed based on a departure point and a destination, and monitoring zone information is created from route information obtained as a result of the route search and monitoring zone information creation data.
[0056]
FIG. 11 is a configuration diagram of the navigation device according to the second embodiment. The navigation device in the second embodiment is obtained by adding a route search data storage unit 8 and a route search unit 9 to the navigation device in the first embodiment.
[0057]
For example, node and link table data as shown in FIGS. 12 (a) and 12 (b) is stored in the route search data storage unit 8. Based on this data, the route search unit 9 performs route search, and the optimum route is obtained. To extract. Further, as shown in (c), not only a link can be defined by two nodes, but a connection of a plurality of nodes can be defined as a link. This makes it possible to appropriately set the approach angle and the start angle in the relationship between the link and the node.
[0058]
FIG. 13 shows an outline of the operation of the navigation device according to the second embodiment.
[0059]
First, the user inputs a departure place (From) and a destination place (To) from the user input unit 7 (step 21). Next, a route search is performed by the route search unit 9 (step 22). Note that the route search method itself is a conventional technique (such as the Dijkstra method). An example of the result obtained by the route search is shown in FIG. The approach angle is an angle that enters the monitoring point, and the departure angle is an angle that starts from the monitoring point, both taking into account the direction. The angle is an angle in which the clockwise direction with the north direction being 0 ° is positive. The approach angle and the departure angle are easily obtained from the connection relationship of the monitoring points (also referred to as nodes).
[0060]
Next, the monitoring zone information is created and stored in the monitoring zone information storage unit 3 (step 23 in FIG. 13), and the user guidance is provided (step 24). The processing of the guidance guidance itself is the same as that in the first embodiment. In the second embodiment, the method of creating monitoring zone information is different from the first embodiment.
[0061]
The creation of monitoring zone information in the second embodiment will be described with reference to the flowcharts of FIGS.
[0062]
As shown in FIG. 15, first, from the route search result shown in FIG. 14, the coordinates, approach angle, and departure angle of each node (monitoring point) in the node train passing between the departure place and the destination are acquired (steps). 31). Next, the monitoring zone information storage unit 3 is cleared (step 32), and the process shown in FIG. 16 is performed for each monitoring point (step 33). Then, the destination information is added to the monitoring zone information storage unit 3 (step 34).
[0063]
Next, the process shown in FIG. 16 will be described. The process shown in FIG. 16 is a process for creating monitoring zone information for each monitoring point. First, the pre-registered monitoring zone information creation data shown in FIG. 17 (a) is searched for each monitoring point obtained by the route search, and the same coordinates as the coordinates, approach angle, and departure angle of the target monitoring point are entered. A record having a corner and a departure corner is searched (step 41). If there is such data (Y in step 42), the retrieved data is added to the table of the monitoring zone information storage unit 3 in the form as shown in FIG. 17C (step 43). If there is no data (N in step 42), add a fixed tolerance to the monitoring zone center point coordinates calculated from the latitude, longitude and approach angle of the target monitoring point, the fixed monitoring zone radius, and the approach angle. The guidance text and image selected from the calculated range of the traveling direction angle and the difference between the approach angle and the departure angle are set in the table of the monitoring zone information storage unit 3 (step 44). Then, “route” is set as the type (step 45).
[0064]
As shown in FIG. 17 (a), as the monitoring zone information creation data, an entry angle, a departure angle, and data (monitoring zone radius, traveling direction angle range, guidance text, guidance image) are registered for each point. The first record in FIG. 17 (a) shows the case of entering from A to X and exiting in the B direction in FIG. 17 (b), and the second record enters from A to X and exits in the C direction. The third record shows a case where X enters from B and goes out in the A direction. FIG. 17C is a diagram illustrating the monitoring zone information obtained when the route search result corresponds to the third record in FIG.
[0065]
FIGS. 18A and 18B show guidance information setting methods in the monitoring zone information creation method for the monitoring points for which there is no information registered in the monitoring zone information creation data (step 44 in FIG. 16). I will explain. The case where there is no information registered in the monitoring zone information creation data is when there is a monitoring point but there is no matching approach angle information or when there is no monitoring point itself. In this case, monitoring zone information creation data is created and set in the monitoring zone information.
[0066]
First, as shown in FIG. 18A, the difference (direction information) between the approach angle and the departure angle of each point obtained from the route search result (FIG. 14) is obtained. Then, a guide sentence and a guide image are selected according to the difference value (FIG. 18B). The data shown in FIG. 18 (b) is only an example, but by taking into consideration the approach direction and the departure direction, an appropriate guidance sentence so as to indicate an appropriate departure direction for the pedestrian who has entered the point. And a guide image are set.
[0067]
The monitoring zone center point is calculated as follows, for example. This calculation method is a calculation method in the case where the position shifted from the monitoring point by a certain distance in the opposite direction of the approach angle is set as the monitoring zone center point.
Step1: Change the latitude and longitude of the monitoring point to Cartesian coordinates, and set the result as (Px, Py).
Step2: Calculate the Cartesian coordinates (Zx, Zy) of the monitoring zone center point with Zx = Px-Zr * sinθ and Zy = Py-Zr * cosθ. Here, θ represents an approach angle, and Zr represents a distance shifted from the monitoring point to the monitoring zone center point with a fixed value (for example, 20 m).
Step3: Transform Cartesian coordinates (Zx, Zy) into latitude and longitude, and use it as the latitude and longitude of the monitoring zone center point.
[0068]
(Third embodiment)
Next, a third embodiment will be described. In the third embodiment, the route search is performed based on the departure point and the destination as in the second embodiment, but the link attribute information is used when creating a guide sentence. Different from form.
[0069]
FIG. 19 shows a configuration diagram of a navigation device according to the third embodiment. In the navigation device according to the third embodiment, node attribute information and link attribute information are added to the monitoring zone information creation data storage unit 1 of the navigation device according to the second embodiment.
[0070]
The operation of the navigation device in the third embodiment is almost the same as the operation of the navigation device in the second embodiment. However, if there is no registration data in step 42 in FIG. The difference is that monitoring zone information is created from information and link attribute information.
[0071]
FIG. 20A shows an example of node attribute information. As shown in the figure, (node number, connection link, approach angle, departure angle) is stored as node attribute information. For example, (node number, connection link, approach angle, departure angle) = (node 1, link 1, 180 degrees, 0 degree) is related to node 1 and link 1 connected to the north side in FIG. The angle starting from the node 1 in the direction of the link 1 is 0 degree, and the angle of entering the node 1 from the link 1 is 180 degrees.
[0072]
FIG. 20B shows an example of link attribute information. For example, the link type (attribute information) of link 3 corresponding to the pedestrian crossing in FIG. 20C is registered as “pedestrian crossing”. In acquiring the link type from the link information, link information (outgoing link, incoming link) may be added to the route search result of FIG. 14 using the node attribute information. Link information may be obtained from the route search result and the node attribute information.
[0073]
The monitoring zone information creation process (the process of step 44 in FIG. 16) in the third embodiment will be described with reference to FIG.
[0074]
First, an angle is obtained by the process of FIG. 18A (step 51). Then, from the link attribute information table, the type of the incoming link that is the incoming link to the monitoring point given as the node information and the outgoing link that is the outgoing link are obtained (step 52). When the type of the incoming link and the outgoing link are the same, or when the incoming link is a pedestrian crossing and the outgoing link is a sidewalk, guidance information is obtained by the process shown in FIG. 18B, and monitoring zone information is stored as monitoring point information. Stored in section 3 (step 54).
[0075]
When the outgoing link is a pedestrian crossing and the incoming link is a sidewalk, a guidance sentence is set from the corner obtained in step 51 based on the data of FIG. 22 (step 55). Then, “route point” is set as the type, the monitoring zone radius and the traveling direction angle range are set, and monitoring zone information is created (step 56). Note that the data in FIG. 22 can be set as finely as shown in FIG. In addition to sidewalks and pedestrian crossings, various link attributes such as pedestrian bridges, stairs, and roadways can be set. In that case, the guidance sentence is changed according to each property.
[0076]
Next, a specific example of creating monitoring zone information using link attribute information will be described with reference to FIG.
[0077]
First, creation of guidance information in the node 1 will be described. From the information based on the route search result, it can be seen that the link 4 enters “90 degrees” and the link 6 exits “180 degrees”. From the link attribute information, the link 4 has the type “walk” and the link 6 It can be seen that the type is “pedestrian crossing”. Therefore, from 180 degrees-90 degrees = 90 degrees, a guidance sentence and a guidance image of “turn right and cross the pedestrian crossing” in FIG. 22 are set.
[0078]
In the case of node 3, it is as follows. Entering from link 6 at “180 degrees” and exiting to link 11 at “180 degrees”, the type of link 6 is “pedestrian crossing” and the type of link 11 is “walking”. From 180 ° −180 ° = 0 °, “Please go straight” is output as a guidance sentence from FIG. 18B, and a guidance image corresponding to this is set.
[0079]
(Other embodiments)
In the above embodiment, for example, when it is necessary to pass through a path where GPS data acquisition is difficult, a map display type guidance method that performs guidance without using GPS data only during the path is used. May be. That is, an attribute indicating that GPS data cannot be acquired is assigned as a link attribute, and guidance for the map display method is performed only during the link.
[0080]
In the above embodiment, the route from the departure point to the destination is determined in advance by registration data or route search, and thus the monitoring zone information is set. However, the route from the departure point to the destination is first set. The route may be determined and guided for each point through which the pedestrian passes without being determined. This is because the monitoring point is set in a mesh shape, and every time a pedestrian reaches the monitoring point, the monitoring point is regarded as the departure point in the above embodiment, and a route search to the destination is performed. This can be realized by setting monitoring zone information from the search result and giving guidance to the next monitoring point. Also, in case the pedestrian does not know whether the place where the pedestrian is located is a monitoring point, the monitoring point nearest to the current position is displayed or displayed by an operation such as clicking a predetermined button. You may make it guide.
[0081]
Moreover, although the case where a user (pedestrian) moves in a wide area such as an urban area has been described as an embodiment, the present invention can acquire the position and traveling direction of a moving body within a specific event venue, factory, etc. It can be applied to route guidance in buildings. Furthermore, by outputting an instruction command in the direction to proceed as guidance information, the present invention can be applied to route guidance of a self-propelled robot / device.
[0082]
The present invention is not limited to the above-described embodiments, and various modifications and applications can be made within the scope of the claims.
[0083]
【The invention's effect】
As described above, according to the present invention, a monitoring point for outputting guidance for guiding a pedestrian between the departure point and the destination and a monitoring zone corresponding to each monitoring point are provided, and a pedestrian in the monitoring zone is provided. Determine the necessity of guidance according to the moving direction of the moving body, or prepare a guidance sentence according to the relationship between the approach direction to the monitoring point and the departure direction, appropriate according to the direction the pedestrian entered the monitoring point Since a simple guidance sentence is output, it is possible to appropriately guide a pedestrian. Further, by setting the central position of the monitoring point and the monitoring zone to different positions, guidance can be provided before the pedestrian reaches the monitoring point (intersection, etc.). Furthermore, since the present invention employs such a method, there is no need to perform complicated calculations relating to the relationship between the landmark and the traveling direction as in the technique described in Japanese Patent Application Laid-Open No. 2000-046567. It is possible to output an appropriate guide with a calculation amount. Therefore, it is not necessary to adopt a configuration in which the server and the guidance terminal are connected via a network, and all necessary processing can be performed only by a portable terminal such as a PDA.
[0084]
Also, since the traveling direction angle range that is the angle range of the approaching direction to the monitoring point is set, even if it is impossible to predict from which direction the pedestrian will reach the monitoring point, such as near the exit of a park without a sidewalk, the traveling direction angle range is set. By taking it widely, you can always output guidance. In addition, since the monitoring zone radius that determines the range for outputting guidance is set, it is possible to avoid overlapping of monitoring points by narrowing the monitoring zone radius on roads like narrow alleys, and the sidewalks on both sides By taking a wide monitoring zone radius on a wide road, guidance can be output through either sidewalk of the wide road. Accordingly, it is possible to accurately guide the pedestrian to the destination.
[0085]
In addition, guidance information can be automatically set based on the direction of entering the monitoring point and the direction of exiting from the monitoring point. Furthermore, since the guidance information can be set based on the state of the route starting from the monitoring point and / or entering the route (walking path, pedestrian crossing, etc.), it is possible to prevent the guided person from making an error.
[0086]
In addition, when guidance information is output in a certain monitoring zone, the guidance information corresponding to the monitoring zone can be prevented from being output until a predetermined time has elapsed, so the same guidance is provided even if the guided person is stopped in the monitoring zone. The effect of not having to output is produced.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining a monitoring zone, a monitoring point, and a traveling direction angle range;
FIG. 2 is a configuration diagram of a navigation device according to the first embodiment.
FIG. 3 is a flowchart showing an outline of operation of the navigation device according to the first embodiment.
FIG. 4 is a diagram illustrating an example of monitoring zone information creation data according to the first embodiment.
FIG. 5 is a diagram illustrating an example of monitoring zone information according to the first embodiment.
FIG. 6 is a diagram for explaining a traveling direction angle range;
FIG. 7 is a flowchart showing a flow of processing when guiding a user.
FIG. 8 is a flowchart illustrating a process for determining whether a condition is met in a process for guiding a user.
FIG. 9 is a diagram for explaining a monitoring zone radius;
FIG. 10 is a diagram for explaining a traveling direction angle range;
FIG. 11 is a configuration diagram of a navigation device according to a second embodiment.
FIG. 12 is a diagram illustrating an example of data stored in a route search data storage unit;
FIG. 13 is a diagram showing an outline of the operation of the navigation device in the second embodiment.
FIG. 14 is a diagram illustrating an example of a result obtained by a route search.
FIG. 15 is a flowchart of creating monitoring point information according to the second embodiment.
FIG. 16 is a flowchart for creating monitoring zone information according to the second embodiment;
FIG. 17 is a diagram for explaining monitoring zone information creation data according to the second embodiment;
FIG. 18 is a diagram for explaining a method of selecting a guidance sentence and a guidance image in creating monitoring zone information according to the second embodiment.
FIG. 19 is a configuration diagram of a navigation device according to a third embodiment.
FIG. 20 is a diagram for explaining link attribute information.
FIG. 21 is a flowchart showing processing for creating monitoring zone information using link attribute information.
FIG. 22 is a diagram illustrating a correspondence between angles and guidance information used when creating monitoring zone information using link attribute information.
FIG. 23 is a diagram for describing a specific example of creating monitoring zone information from link attribute information.
[Explanation of symbols]
1 Monitoring zone information creation data storage
2 Monitoring zone information creation part
3 Monitoring zone information storage
4 Current position acquisition unit
5 Guidance guide
6 User output section
7 User input section 7
8 Route search data storage
9 Route search part

Claims (5)

A program for causing a computer to execute a process for guiding a target moving body from a starting point to a destination,
One or more traveling direction angle ranges and traveling direction angles of the target moving body for each monitoring zone provided in association with one or more monitoring points provided on the route from the departure place to the destination A function for searching a table provided in the computer, storing guidance information according to a range;
When the current position and the traveling direction of the target moving body are acquired and the current position is in the monitoring zone, and the guidance information corresponding to the monitoring zone and the acquired traveling direction is stored in the table, A program that realizes the function to output guidance information .   The program according to claim 1, wherein the number, position, shape, and size of the monitoring zone corresponding to one monitoring point are set according to the characteristics of the monitoring point. Function when outputting the guidance information corresponding to the target mobile, from the output until a predetermined time elapses to suppress the output of the guidance information corresponding to the same target mobile in a monitored zone which outputs the guidance information The program according to claim 1 which realizes. A function for obtaining a route from the departure place to the destination from a predetermined route or by searching for a route;
Realizes the function to generate the guidance information based on the obtained route from the departure point to the destination and the angle of the direction in which the target moving body enters the monitoring point corresponding to the route and set it in the table The program according to claim 1. 5. The program according to claim 4 , wherein a function for setting the guide information in the table based on a state of a route starting from the monitoring point, a route entering the monitoring point, or both of the routes is realized.

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