JP4321326B2 - Navigation system and program - Google Patents

Description

  The present invention relates to a navigation system and a program.

  Conventionally, in a navigation device, for example, a current position of a vehicle, that is, a current position, is detected by GPS (Global Positioning System), and a rotation angular velocity of a vehicle detected by a gyro sensor, that is, based on a turning angle, The direction of the vehicle, that is, the vehicle direction is detected, map data is read from the data recording unit, a map screen is formed on the display unit, and the vehicle position indicating the current location on the map screen, the vicinity of the vehicle position The map and the vehicle direction are displayed. Therefore, the driver who is an operator can drive the vehicle according to the vehicle position displayed on the map screen, the map around the vehicle position, and the vehicle direction.

  Further, when the driver inputs a destination and sets search conditions, a route from the departure point to the destination represented by the current location is searched based on the search conditions. The searched route, that is, the searched route is displayed together with the vehicle position on the map screen. Therefore, the driver can drive the vehicle along the displayed search route.

By the way, in the navigation device, map matching is performed and the position of the vehicle on the map is specified. For this purpose, the road data read from the data recording unit is compared with the vehicle travel locus representing the read current location locus to determine which road the vehicle is on, The current location is map-matched and specified on a predetermined road around the current location (see, for example, Patent Document 1).
JP-A-11-304511

  However, in the conventional navigation device, map matching may not be performed accurately when there is a change in road conditions.

  For example, when an entrance or exit is newly established on a road formed at a position higher than the ground, such as an expressway, an urban expressway, a toll road, etc. May enter the road or exit from the elevated road to the general road, and if a new road is established on the general road, it may enter the new road from the existing road. Since the new road entrance / exit data and the new road data are not included in the road data, the position of the vehicle on the map is erroneously specified, and map matching cannot be performed accurately.

  In other words, when entering an elevated road through a new entrance from a general road, map matching was performed on the general road and the new road was newly constructed despite traveling on the elevated road. When the user exits the general road through the exit, map matching is performed on the elevated road even though the vehicle is traveling on the general road.

  In addition, when entering a newly established road from an existing road, map matching is performed on a narrow street adjacent to the newly established road.

  Moreover, if map matching is performed on a narrow street while the vehicle is traveling along the searched route, useless re-searching of the route is repeatedly performed.

  An object of the present invention is to provide a navigation system and a program that can solve the problems of the conventional navigation device and can accurately perform map matching even when a road condition is changed.

For this purpose, in the navigation system of the present invention, a current location detection unit for detecting the current location of the vehicle, a storage device in which map information is recorded, route search processing means for searching for a route to the destination and making it a search route, Compare the map information with the vehicle's travel trajectory to determine whether or not the current location is away from the search route and the route is off, and the detected current location is placed on the road around the current location. Matching processing means for map matching, matching invalidation condition establishment determination processing means for determining whether or not a matching invalidation condition is satisfied when a route deviation occurs, and map matching when a matching invalidation condition is satisfied Matching invalidation processing means for invalidating.
The matching invalidation condition establishment determination processing means determines that the matching invalidation condition is established when the altitude of the vehicle changes.

In another navigation system of the present invention, a current location detection unit for detecting the current location of the vehicle, a storage device in which map information is recorded, route search processing means for searching for a route to the destination and making it a search route, Compare the map information with the vehicle's travel locus, and map the detected current location on the roads around the current location by comparing the route information with the route information processing means that determines whether the current location is away from the searched route. Matching processing means for matching, matching invalidation condition establishment determination processing means for determining whether or not a matching invalidation condition is satisfied when a route deviation occurs, and map matching when the matching invalidation condition is satisfied Matching invalidation processing means to be invalidated and matching validation conditions are satisfied when map matching is invalidated Matching enabling condition establishment determining processing means for determining whether, when the matching enabling condition is satisfied, and a normal matching processing means for performing normal map matching.
The matching validation condition establishment determination processing unit determines that the matching validation condition is established based on the average vehicle speed.

In the program of the present invention, whether the current location of the vehicle detected by the current location detection unit, the route search processing means that searches the route to the destination by searching for the route to the destination, has moved away from the searched route, A route out-of-route determination processing means for determining whether or not, a matching processing means for comparing the map information recorded in the storage device with the traveling locus of the vehicle, and map-matching the detected current location on a road around the current location, off-route As a matching invalidation condition establishment determination processing means for determining whether or not a matching invalidation condition is satisfied, and a matching invalidation processing means for invalidating the map matching when the matching invalidation condition is satisfied. Make it work.
The matching invalidation condition establishment determination processing means determines that the matching invalidation condition is established when the altitude of the vehicle changes.

In another program of the present invention, a route search processing means that searches a route to a destination by using a computer as a search route, and the current location of the vehicle detected by the current location detection unit is separated from the searched route, resulting in an off-route. A route out-of-route determination processing means for determining whether or not a matching processing means for comparing the map information recorded in the storage device with the traveling locus of the vehicle and map-matching the detected current location on a road around the current location, Matching invalidation condition establishment determination processing means for determining whether or not a matching invalidation condition is satisfied when a route deviation occurs. Matching invalidation processing means for invalidating map matching when the matching invalidation condition is satisfied , If map matching is disabled, determine if the matching enable condition is met If the matching enabling condition establishment determining processing means, and matching enabling condition is satisfied, to function as normal matching processing means for performing normal map matching.
The matching validation condition establishment determination processing unit determines that the matching validation condition is established based on the average vehicle speed.

  According to the present invention, it is determined whether or not a matching invalidation condition is satisfied when a route deviation occurs, and map matching is invalidated when the matching invalidation condition is satisfied. Even if there is a change, map matching can be performed accurately.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a navigation system according to the first embodiment of the present invention.

  In the figure, reference numeral 14 denotes an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle. The navigation device 14 is a GPS sensor 15 as a current location detection unit for detecting the current location, map data, road data, search. It functions as a computer based on basic information of the navigation device 14 such as data, that is, a data recording unit 16 as an information recording unit in which various information is recorded in addition to navigation data, various programs, data, etc. Based on the input information, a navigation processing unit 17 that performs various arithmetic processing such as navigation processing, a direction sensor 18 as a direction detection unit that detects the direction of the host vehicle, and a predetermined driver's operation by a driver. Is displayed on a screen (not shown) as a first input unit for inputting Various displays by images, a display unit 35 as a first output unit for notifying the driver, a voice input unit 36 as a second input unit for performing predetermined input by voice, and various by voice Is provided with a voice output unit 37 as a second output unit for notifying the driver, and a communication unit 38 as a transmission / reception unit functioning as a communication terminal. A display unit 35, an audio input unit 36, an audio output unit 37, and a communication unit 38 are connected. The navigation processing unit 17 is also connected to a vehicle speed sensor 41 as a vehicle speed detection unit, and the vehicle speed detected by the vehicle speed sensor 41 is sent to the navigation processing unit 17.

  The GPS sensor 15 detects the current location on the earth by receiving radio waves generated by an artificial satellite, and also detects the time.

  In the present embodiment, the GPS sensor 15 is used as the current position detection unit, but a distance sensor, a steering sensor, an altimeter, etc. (not shown) may be used alone or in combination instead of the GPS sensor 15. The distance sensor detects a distance between predetermined points on the road, and calculates a distance based on a rotational speed of a wheel (not shown) or by integrating acceleration twice. The steering sensor detects a rudder angle, and uses, for example, an optical rotation sensor, a rotation resistance sensor, an angle sensor attached to a wheel, or the like attached to a rotating portion of a steering wheel (not shown). can do.

  Further, a gyro sensor, a geomagnetic sensor, or the like can be used as the direction sensor 18. As the gyro sensor, for example, a gas rate gyro, a vibration gyro, or the like is used, and the vehicle direction is detected by integrating the turning angle. The geomagnetic sensor detects the direction of the vehicle by measuring the geomagnetism.

  The data recording unit 16 includes a database including data files such as a map data file, an intersection data file, a node data file, a road data file, a search data file, and a facility data file, and each data file includes the navigation data. To be recorded. The data recording unit 16 also records data for outputting predetermined information by the audio output unit 37.

  For example, the map data file contains map data for displaying a map, the intersection data file contains intersection data related to each intersection, the node data file contains node data related to node points, and the road data file contains road data related to roads. The search data file includes search data for searching for routes, and the facility data file stores facility data relating to various facilities. Map information is obtained from the map data, intersection data, node data, road data, and the like. Is configured.

  The intersection data includes the name of the intersection, the shape of the intersection, the main facility adjacent to the intersection, the name of the main place ahead of the intersection, the distance between the intersections at the continuous intersection, the approach road representing the road entering the intersection, and the exit from the intersection Data indicating an exit road or the like representing the road to be included is included. In addition, the node data includes data representing an actual road branch point (including an intersection, a T-junction, and the like), a node point, a link between node points that connect the node points, and the like.

  The road data includes the width, slope, cant, bank, road surface condition, number of road lanes, places where the number of lanes decreases, places where the width becomes narrow, etc. , Radius of curvature, intersections, T-shaped roads, corner entrances, road attributes, downhill roads, uphill roads, etc., road types, national roads, prefectural roads, narrow streets, highways, urban highways Data representing expressways and toll roads such as roads and toll roads are included. Further, the road data includes data indicating level crossings, highway entrance and exit roads (rampways), highway / toll road tollgates, and the like. The facility data includes data representing names, addresses, telephone numbers, facility guidance, etc. for facilities such as hotels, gas stations, parking lots, sightseeing spots, and department stores in each region.

  The navigation processing unit 17 is an arithmetic device that controls the entire navigation device 14 and a CPU 31 as a control device, and a first recording medium used as a working memory when the CPU 31 performs various arithmetic processes. As a second recording medium on which various programs for searching for a route to a destination, route guidance, etc. are recorded in addition to a RAM 32 such as DRAM, SRAM, MRAM, FeRAM, etc., and a control program. The ROM 33 includes a flash memory (not shown) as a third recording medium used for recording various data, programs, and the like. A semiconductor memory, a magnetic core, or the like is used as a storage device such as the RAM 32, the ROM 33, or a flash memory.

  An MPU or the like can be used instead of the CPU 31 as the arithmetic device and the control device.

  The data recording unit 16 includes a magnetic disk (not shown) such as a hard disk or a flexible disk as a fourth recording medium arranged as a storage device for recording the various data. A head (not shown) such as a read / write head for reading and writing data is provided. Similarly, the data recording unit 16 includes a magnetic tape, a magnetic drum, a CD, an MD, a DVD, an optical disk, an MO, an IC card, an optical card, and the like as a fifth recording medium that is also provided as a storage device. You can also.

  By the way, various programs can be recorded in the ROM 33 and various data can be recorded in the data recording unit 16, but the programs, data, and the like can also be recorded on a hard disk or the like. In this case, the program, data, etc. can be read from a hard disk or the like and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging the hard disk or the like. Further, when an automatic transmission control device is mounted to control an automatic transmission (not shown) mounted on the vehicle, the control program and data for the automatic transmission control device are also stored in the hard disk or the like. Can be recorded. Further, the program, data, etc. can be received via the communication unit 38 and written to the flash memory.

  The operation unit 34 is operated by the driver to correct the current location at the start of traveling, to input a departure point and a destination, to input a passing point, and to activate the communication unit 38. A keyboard, a mouse, a barcode reader, a light pen, a remote control device for remote control, a joystick, etc., which are disposed independently of the display unit 35, can be used. Further, as the operation unit 34, a predetermined input operation is performed by touching or clicking an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed on the display unit 35. Can do.

  As the display unit 35, a display such as a CRT display, a liquid crystal display, or a plasma display can be used, or a hologram device that projects a hologram on a windshield of a vehicle can be used. Then, on various screens formed on the display unit 35, the vehicle position indicating the current location, a map, a searched route, guidance information along the searched route, traffic jam information, regulation information, parking lot information, traffic accident information, service It is only possible to display traffic information such as congestion status information of the area, and display the distance to the next intersection, the traveling direction at the next intersection, such as characteristic photographs and frame diagrams at the intersection or searched route In addition, it is possible to display operation guidance, operation menus, key guidance, and FM multiplex broadcast programs for the image operation unit, operation unit 34, voice input unit 36, and the like.

  The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. . In addition to the voice synthesized by the voice synthesizer, various sounds, various guidance information recorded in advance on a tape, a memory, and the like can be output.

  The communication unit 38 is arranged along the road with various types of information transmitted from a road traffic information center (not shown) such as a VICS (registered trademark) vehicle center as a first information provider. A beacon receiver for receiving as a radio beacon, an optical beacon or the like via a radio beacon device or an optical beacon device, an FM receiver for receiving as an FM multiplex broadcast via an FM broadcast station, or the like. Then, traffic information can be received by the beacon receiver, and general information such as news and weather forecast can be received as FM multiplexed information in addition to the traffic information by the FM receiver. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  The communication unit 38 can also receive various data such as D-GPS information for detecting a detection error of the GPS sensor 15 transmitted from a predetermined base station. Further, the communication unit 38 can receive position information by radio wave beacons, optical beacons, and the like to detect the current location. In this case, the beacon receiver functions as a current location detection unit.

  Furthermore, the communication part 38 can also receive various information such as traffic information and general information from the information center 51 as the second information provider. For this purpose, the communication unit 38 and the information center 51 are connected via a network 43, and various types of information are transmitted and received between the communication unit 38 and a communication unit (not shown) of the information center 51.

  A navigation system is constituted by the navigation device 14, the road traffic information center, the information center 51, the network 43 and the like.

  In the present embodiment, in order for the communication unit 38 to function as a communication terminal, a communication device such as a mobile phone is built in the communication unit 38 as a module. It is also possible to connect devices and connect the communication device and the communication unit 38. In that case, as a communication device, a mobile phone such as a mobile phone, a car phone, and a PHS, a wireless LAN card, etc. are used, a personal computer, a portable computer, a personal digital assistant (PDA), an electronic notebook, It is possible to use a videophone, game machine or the like having a communication function.

  The network 43 includes a LAN (Local Area Network), a WAN (Wide Area Network), an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, a communication network such as the Internet, etc. Communication means can be used. Communication means using CS broadcasting, BS broadcasting, terrestrial digital television broadcasting, FM multiplex broadcasting, etc. by a broadcasting satellite can also be used. Furthermore, it is possible to use communication means such as a non-stop automatic toll payment system (ETC) and a narrow area communication system (DSRC) used in an intelligent road traffic system (ITS).

  The information center 51 may be operated by any one of an individual, a company, a group, a local government, a government-related organization, etc., and may be operated by the road traffic information center.

  The information center 51 includes a server 53, a database (DB) 57 serving as an information recording unit connected to the server 53, the communication unit, and the like, and the information center 51 and the navigation device via the network 43 by the communication unit. 14, two-way communication is performed, and traffic information, general information, and the like are provided. For this purpose, the server 53 includes a CPU 54, a RAM 55, a ROM 56, and the like as an arithmetic device and a control device, and functions as a computer based on predetermined programs, data, and the like. Further, the same data as various data (including navigation data) recorded in the data recording unit 16 can be recorded in the database 57. The server 53 and the navigation processing unit 17 can also constitute a computer. Further, an MPU or the like can be used instead of the CPU 54.

  Then, the CPU 54 receives traffic information, general information, etc. transmitted from the road traffic information center, etc., and records them in the database 57 as primary information, or processes the primary information to perform statistical processing, Statistical data constituting historical information representing the history of traffic, traffic jam prediction information for predicting traffic jam conditions, and the like are created, and the statistical data is recorded in the database 57 as secondary information. In the present embodiment, in creating the statistical data, detailed conditions such as date / time, day of the week, weather, various events, seasons, facility information (presence / absence of large facilities such as department stores and supermarkets) are included in the history information. Is added.

  Next, a basic operation of the navigation system having the above configuration will be described.

  First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, a navigation initialization processing unit (not shown) of the CPU 31 performs navigation initialization processing, and the current location and direction detected by the GPS sensor 15. While reading the direction of the vehicle detected by the sensor 18, various data are initialized. Note that a matching processing unit (not shown) of the CPU 31 performs matching processing, reads road data from the data recording unit 16, and compares the road data with a travel locus of the vehicle representing the locus of the read current location. By determining which road the vehicle is on, the current location is map-matched on a predetermined road around the current location and specified.

  Subsequently, an information acquisition processing unit (not shown) of the CPU 31 performs an information acquisition process, and reads and acquires the navigation data from the data recording unit 16 or receives it from the information center 51 or the like via the communication unit 38. get. When obtaining navigation data from the information center 51, the information acquisition processing means downloads the received navigation data to a flash memory, a hard disk or the like. In addition, when the navigation data is acquired via the communication unit 38, the program can also be acquired.

  Then, the display processing means (not shown) of the CPU 31 performs display processing, forms a map screen on the display unit 35, and maps the vehicle position, a map around the vehicle position based on the navigation data, Displays the direction of the vehicle. Therefore, the driver can drive the vehicle according to the vehicle position, the map around the vehicle position, and the vehicle direction.

  Next, an operation when the navigation device 14 or the navigation system is used for guiding a route will be described.

  When the driver operates the operation unit 34 to input a destination, a destination setting processing unit (not shown) of the CPU 31 performs a destination setting process to set the destination. Note that the departure place can be input and set as necessary. Moreover, a predetermined point can be registered in advance, and the registered point can be input as a destination.

  Then, when the destination is set, the route search processing means (not shown) of the CPU 31 performs route search processing, reads the current location, destination, etc., and also reads the search data, etc. from the data recording unit 16, and presents the current location, destination. Based on the location and the search data, a route from the starting point represented by the current location to the destination is searched for as a searched route, and route data representing the searched route is output.

  Subsequently, route guidance processing means (not shown) of the CPU 31 performs route guidance processing, and guides the driver on the searched route, that is, route guidance. For this purpose, the route display processing means of the route guidance processing means performs route display processing, reads the route data, and displays the searched route on the map screen according to the route data.

  If necessary, the voice output processing means of the route guidance processing means performs voice output processing and outputs the searched route by voice from the voice output unit 37 to provide route guidance.

  Incidentally, route search processing can be performed in the information center 51. In that case, the CPU 31 transmits the current location, the destination, and the like to the information center 51. When the current center and destination are received at the information center 51, the route search processing means (not shown) of the CPU 54 performs the same route search processing, reads search data from the database 57, and based on the current location, destination and search data. The route from the departure point to the destination is searched, and route data representing the searched route is output. Subsequently, a transmission processing unit (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14. Therefore, in the navigation device 14, when the information acquisition processing means receives the route data from the information center 51, the route guidance processing means performs route guidance as described above.

  In this way, route guidance is performed, and the driver can drive the vehicle according to the searched route.

  The navigation device 14 can receive traffic information, general information, and the like via the communication unit 38. For this purpose, the additional information acquisition processing means of the information acquisition processing means performs additional information acquisition processing, and receives and acquires the traffic information, general information, etc. as additional information. Therefore, the route guidance processing means displays the traffic information, general information, etc. on the map screen.

  The traffic information specifies information type data indicating the type of information, secondary mesh X and Y data for specifying a secondary mesh as a mesh, and a road link connecting two points (for example, intersections). And link number data representing the uplink / downlink and link information representing the content of information provided corresponding to the link number data. The link information includes, for example, a traffic jam from the start point of the road link. Consists of traffic jam head data representing the distance to the head, traffic jam degree data representing the degree of traffic jam, traffic jam length data representing a traffic jam section from the head of the traffic jam to the end of the traffic jam, and the like.

  Therefore, the route guidance processing means converts each link information in the traffic information into, for example, a traffic congestion arrow as a traffic condition index indicating a traffic congestion index indicating whether the traffic is congested or not. The congestion arrow is displayed along the road on the map screen. In this case, the color of the road, the traffic jam arrow, etc. is changed to red, orange, etc. according to the degree of traffic jam.

  In this manner, the driver can know the traffic jam situation on the route on which the vehicle is to travel, the searched route, and the like.

  By the way, as described above, in the navigation device 14, the matching processing is performed by the matching processing means so that the current location can be map-matched to a predetermined road. However, the situation of the road has changed. In such a case, if the map matching cannot be performed accurately, the driver cannot drive the vehicle according to the vehicle position or drive the vehicle according to the searched route.

  For example, if an entrance or exit is newly established on an elevated road, it may enter the elevated road from an ordinary road or exit from the elevated road to an ordinary road. Also, if a road is newly established on an ordinary road In some cases, a new road may be entered from an existing road. In such a case, the new entry / exit data and the new road data are not included in the road data. If specified incorrectly, map matching cannot be performed accurately.

  Therefore, in the present embodiment, the map matching is invalidated when a preset map matching invalidation condition is satisfied, and then the map matching valid condition is satisfied when the predetermined map matching invalidation condition is satisfied. I try to enable matching.

  Next, an operation for invalidating or validating the map matching while the route guidance process is being performed will be described.

  FIG. 2 is a flowchart showing an operation of matching processing in the first embodiment of the present invention, and FIG. 3 is a diagram showing an example of map matching in the first embodiment of the present invention.

  In FIG. 3, Pr is the current location, and roads w1 to w3 extend ahead of the current location Pr. There is a three-way intersection CR1 between the roads w1 and w2, and a four-way intersection CR2 between the roads w2 and w3. An elevated road w4 intersects and extends on the road w2, and the roads w5 and w6 extending substantially parallel to the elevated road w4 intersect the roads w1 to w3 at the intersection CR2. The intersection CR1 is a newly established intersection as the entrance In of the existing elevated road w4 is newly established. Further, an attachment road w8 is connected between the intersection CR1 and the elevated road w4. A toll gate gt is newly established at a predetermined position on the attachment road w8.

  Rt1 is a searched route, and Tk1 is a travel route representing a route on which the vehicle actually travels.

  First, the normal matching processing means of the matching processing means performs normal matching processing and starts normal map matching. That is, the current location is read, and the locus of the current location is calculated based on the change in the current location. Then, the normal matching processing means reads road data from the data recording unit 16 (FIG. 1), compares the road data with the travel locus of the vehicle, and determines on which road the vehicle is located. Do. Then, when it is found that the vehicle is located on a predetermined road, the normal matching processing means maps and specifies the current location on the predetermined road around the current location.

  By the way, when route guidance is started by the route guidance processing unit, the route off determination processing unit of the matching processing unit performs a route off determination processing, reads the current location Pr, and each guidance link of the route data of the search route Rt1 (In the present embodiment, by comparing the coordinates of the roads w1, w2, w6,...) With the coordinates of the current location Pr, it is determined whether or not the current location Pr has left the search route Rt1 and an off-route has occurred. . For example, in FIG. 3, when the vehicle is traveling on the road w1 along the search route Rt1, when the driver tries to enter the elevated road w4 from the intersection CR1 via the entrance In, When entering the attachment road w8 from the intersection CR1, the route deviation determination processing means determines that a route deviation has occurred.

  In this case, if normal map matching is continuously performed by the normal matching processing unit, the normal matching processing unit does not search for the attachment road w8 where the vehicle is actually traveling, but the search route Rt1. Map matching is performed on the roads w2 and w6.

  Therefore, the matching invalidation condition establishment determination processing unit of the matching processing unit performs matching invalidation condition establishment determination processing to determine whether a matching invalidation condition for invalidating the map matching is established. When there is a change in the situation that does not occur when the vehicle is traveling along an existing road (search route Rt1 in the present embodiment), the matching invalidation condition is It is established when the altitude of the vehicle is changed, and is not established when there is no change in the altitude of the vehicle. Further, whether or not the vehicle altitude has changed can be determined based on whether the vehicle is tilted forward or backward by using a level not shown. Furthermore, it is possible to directly detect the altitude of the vehicle using a three-dimensional detector with four GPS sensors 15 and determine whether the altitude of the vehicle has changed based on the detection result. In the present embodiment, the attachment road w8 connects the road w1 that is a general road and the elevated road w4, so that there is a change in altitude while the vehicle travels along the attachment road w8, and the altitude gradually increases. Judged to be higher.

  Then, when the altitude of the vehicle changes and the matching invalidation condition establishment determination processing unit determines that the matching invalidation condition is satisfied, the matching invalidation processing unit of the matching processing unit performs the matching invalidation processing. The map matching is invalidated, the normal matching process by the normal matching processing means is stopped, the current location is detected by the GPS sensor 15, the detection result by the direction sensor 18, the travel distance of the vehicle detected by the distance sensor not shown, etc. Identify based on. When there is no change in the altitude of the vehicle, the normal matching processing unit performs normal map matching.

  Subsequently, the matching validation condition establishment determination processing unit of the matching processing unit performs a matching validation condition establishment judgment process to determine whether or not a matching validation condition for validating the map matching is established. The matching validation condition is a situation that occurs when a vehicle is traveling along an existing road, for example, a general road. In the present embodiment, the average vehicle speed Va of the vehicle is a threshold value (threshold value vth1). (For example, 40 [km]) or less, and is not established when the average vehicle speed Va is higher than the threshold value vth1. Therefore, the matching validation condition establishment determination processing means reads the vehicle speed V and calculates the average vehicle speed Va based on the vehicle speed V at a predetermined time.

  When the average vehicle speed Va of the vehicle is equal to or less than the threshold value vth1 and the matching validation condition establishment determination processing unit determines that the matching validation condition is established, the matching validation processing unit of the matching processing unit performs the matching validation processing. The map matching is validated, it is determined that the vehicle has left the elevated road w4, and the normal matching processing means performs normal map matching.

  As a result, the route search processing unit re-searches the route, and performs route guidance based on the searched route obtained by the re-search.

  On the other hand, when the average vehicle speed Va is higher than the threshold value vth1, the matching correction condition establishment determination processing unit of the matching processing unit performs the matching correction condition establishment determination processing, and whether the condition for correcting the map matching, that is, the matching correction condition is satisfied. Judge whether. The matching correction condition is satisfied when a road that can be map-matched, in the present embodiment, when there is an elevated road w4 in the road data, and there is no elevated road that can be map-matched. Not satisfied.

  Then, when there is an elevated road w4 that can be map-matched, and the matching correction condition is satisfied, the correction matching processing means of the matching processing means performs the correction matching process to correct the map matching, and to the elevated road w4 Map matching.

  In this embodiment, the case of entering the elevated road w4 from the general road w1 is described. However, the map can also be changed based on the change in altitude when leaving the elevated road to the ordinary road. Matching can be disabled or enabled.

  Thus, in the present embodiment, when an invalidation condition for invalidating map matching is established, normal map matching is not performed until an validation condition for validating map matching is established. Even if there is a change in the map, it is possible to accurately perform map matching in response to changes in road conditions.

  That is, when entering the elevated road w4 via the newly established entrance In from the road w1 on the ordinary road, map matching is performed on the roads w2 and w6 on the ordinary road even when traveling on the elevated road w4. There is no. In addition, when the user exits from the elevated road to a general road through a new exit (not shown), map matching is not performed on the elevated road even if the vehicle travels on the general road.

Next, the flowchart of the figure will be described.
Step S1: Normal map matching is started.
Step S2: It is determined whether or not a route deviation has occurred. If the route is off, the process ends in step S3. If not, the process ends.
Step S3: Determine whether the altitude of the vehicle has changed. If the altitude of the vehicle has changed, the process proceeds to step S4, and if not, the process proceeds to step S7.
Step S4: Map matching is invalidated.
Step S5: Determine whether the average vehicle speed Va is less than or equal to the threshold value vth1. If the average vehicle speed Va is less than or equal to the threshold value vth1, the process proceeds to step S6. If the average vehicle speed Va is higher than the threshold value vth1, the process proceeds to step S8.
Step S6: Map matching is validated.
Step S7: Normal map matching is performed.
Step S8: It is determined whether or not there is an elevated road w4 that can be map-matched. If there is an elevated road w4 that can be map-matched, the process returns to step S9, and if not, the process returns to step S5.
Step S9: Map matching is performed on the elevated road w4, and the process is terminated.

  Next, a second embodiment of the present invention will be described.

  FIG. 4 is a flowchart showing an operation of matching processing in the second embodiment of the present invention, and FIG. 5 is a diagram showing an example of map matching in the second embodiment of the present invention.

  In FIG. 5, Pr is a present location, and roads w11 and w12 extend ahead of the present location Pr. The roads w11 and w12 and the roads w13 to w15 merge at the intersection CR11 of the three-way intersection. Further, there is a three-way intersection CR12 between the roads w11 and w12. At the intersection CR12, the roads w16 and W17 are branched in a direction perpendicular to the roads w11 and w12. Roads w18 and w19 extend in parallel with the roads w11 and w12, the roads w16 and w17 and the roads w18 and w19 intersect at a four-way intersection CR13, and the roads w18 and w19 and the roads w13 to w15 Merge at the intersection CR14 of the three-way intersection. The road w12 is a newly established road, and intersections CR11 and CR12 are newly established along with the establishment of the road w12.

  Rt11 is a searched route, and Tk11 is a travel route representing a route on which the vehicle actually travels.

  First, the normal matching processing means starts normal map matching. Then, when route guidance is started by the route guidance processing means, the route deviation determination processing means reads the current location Pr, and each guidance link of the route data of the searched route Rt11 (in this embodiment, the road w11, By comparing the coordinates of w16, w19, w14, w15,...) with the coordinates of the current location Pr, it is determined whether or not the current location Pr has left the search route Rt11 and an off-route has occurred. For example, in FIG. 5, when the vehicle is traveling on the road w11 along the search route Rt11, if the vehicle enters the road w12 from the intersection CR12, the off-route determination processing means has caused an off-route. Judge.

  In that case, if normal map matching is continuously performed by the normal matching processing unit as it is, the normal matching processing unit is arranged on a narrow street (not shown) adjacent to the road w12 where the vehicle is actually running. On the other hand, map matching is performed.

  Therefore, the matching invalidation condition establishment determination processing means determines whether a matching invalidation condition for invalidating the map matching is established. The matching invalidation condition is that there is no road other than the existing narrow street within the set range ζ [m] around the vehicle in the road data, that is, there is no guide road, and the average vehicle speed Va is the threshold value vth2. (E.g., 40 [km]) or higher, and does not hold when a guide road exists or the average vehicle speed Va is lower than the threshold value vth2.

  Then, when there is no guide road within the range ζ [m], the average vehicle speed Va is equal to or higher than the threshold value vth2, and the matching invalidation condition establishment determination processing unit determines that the matching invalidation condition is satisfied, The matching invalidation processing means performs the matching invalidation processing, invalidates the map matching, stops the normal matching processing by the normal matching processing means, detects the detection result of the GPS sensor 15 (FIG. 1), detects the direction sensor 18 As a result, the present location is specified based on the travel distance of the vehicle detected by a distance sensor (not shown). When the guide road exists within the range ζ [m], and when the guide road does not exist and the average vehicle speed Va is lower than the threshold value vth2, the normal matching processing unit performs normal map matching. . The guide road is a road having a certain width or more, a road having upper and lower lanes, etc., and represents a road used for route search, guidance, and the like.

  Subsequently, the matching validation condition establishment determination processing means performs a matching validation condition establishment determination process, and determines whether a matching validation condition for validating map matching is established. The matching validation condition is satisfied when there are other guide roads within the range ζ [m], in this embodiment, roads w13 to w15 joining the roads w11 and w12, and the range ζ [m ] Is not established when there is no other guide road within.

  Then, when there is another guide road within the range ζ [m] and the matching validation condition establishment determination processing unit determines that the matching validation condition is established, the matching validation processing unit performs the matching validation process. The map matching is validated and it is determined that the vehicle leaves the road w12, and the normal matching processing means performs normal map matching.

  As a result, the route search processing unit re-searches the route, and performs route guidance based on the searched route obtained by the re-search.

  As described above, in this embodiment, when the matching invalidation condition for invalidating the map matching is established, the map matching is validated. Since the normal map matching is not performed until the matching validation condition is established, Even when there is a change in the road condition, map matching can be accurately performed in response to the change in the road condition.

  For example, when entering the newly established road w12 from the existing road w11, map matching is not performed on the narrow street adjacent to the newly established road w12.

  In addition, since map matching is not performed on the narrow streets when the vehicle is traveling according to the route guidance, it is possible to prevent repeated unnecessary re-searching of the route.

Next, the flowchart of the figure will be described.
Step S11: Normal map matching is started.
Step S12: It is determined whether or not a route deviation has occurred. If the route is off, the process proceeds to step S13. If not, the process ends.
Step S13: It is determined whether or not there is an existing guide road within the range ζ [m] set around the vehicle. If there is no existing guide road within the range ζ [m] set around the vehicle, the process proceeds to step S14, and if present, the process proceeds to step S18.
Step S14: It is determined whether the average vehicle speed Va is greater than or equal to a threshold value vth2. If the average vehicle speed Va is greater than or equal to the threshold value vth2, the process proceeds to step S15. If the average vehicle speed Va is lower than the threshold value vth2, the process proceeds to step S18.
Step S15: Map matching is invalidated.
Step S16: It is determined whether another guide road exists within the range ζ [m] set around the vehicle. If another guide road exists within the range ζ [m] set around the vehicle, the process waits in step S17.
Step S17: Map matching is validated.
Step S18: Normal map matching is performed, and the process is terminated.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a block diagram which shows the navigation system in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the matching process in the 1st Embodiment of this invention. It is a figure which shows the example of the map matching in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the matching process in the 2nd Embodiment of this invention. It is a figure which shows the example of the map matching in the 2nd Embodiment of this invention.

Explanation of symbols

14 Navigation device 15 GPS sensor 31, 54 CPU
43 Network 51 Information Center 53 Server Pr Current Location Rt1, Rt11 Search Route

Claims (5)

A current location detection unit that detects the current location of the vehicle, a storage device in which map information is recorded, route search processing means that searches for a route to the destination and sets the route as a search route, and the current location leaves the search route and deviates from the route The off-route determination processing means for determining whether or not it has occurred, the matching processing means for comparing the map information with the traveling locus of the vehicle and map-matching the detected current location on the road around the current location, and off-route A matching invalidation condition establishment determination processing means for determining whether or not a matching invalidation condition is satisfied, and a matching invalidation processing means for invalidating the map matching when the matching invalidation condition is satisfied. together with, the matching disabling condition satisfaction judgment processing means, when the altitude of the vehicle is changed, matching invalidation condition is satisfied Navigation system, characterized in that it is determined that the. Before Symbol Matching disabling condition fulfillment determination processing unit navigation system according to claim 1, when there is no guidance road within a set range around the vehicle, it determines a matching invalidation condition is satisfied. A current location detection unit that detects the current location of the vehicle, a storage device in which map information is recorded, route search processing means that searches for a route to the destination and sets the route as a search route, and the current location leaves the search route and deviates from the route The off-route determination processing means for determining whether or not it has occurred, the matching processing means for comparing the map information with the traveling locus of the vehicle and map-matching the detected current location on the road around the current location, and off-route A matching invalidation condition establishment determination processing unit that determines whether or not a matching invalidation condition is satisfied, and a matching invalidation processing unit that invalidates the map matching when the matching invalidation condition is satisfied, When map matching is disabled, the matching enabling condition is determined to determine whether the matching enabling condition is satisfied A constant processing unit, when matching enabling condition is satisfied, and having a normal matching processing means for performing normal map matching, the matching enabling condition establishment determining processing means, matching based on the average vehicle speed enabling condition navigation system and determines that but satisfied. The computer, the route out to determine whether a route search processing unit for the searched route by searching for a route to a destination, the current position of the vehicle detected by the current position detection unit is a root out away from the search path is generated Judgment processing means, comparing the map information recorded in the storage device with the vehicle travel trajectory, matching processing means for map-matching the detected current location on a road around the current location, when a route deviation occurs, The matching invalidation condition establishment determination processing means for determining whether or not the matching invalidation condition is satisfied, and the matching invalidation processing means for invalidating the map matching when the matching invalidation condition is satisfied, and the matching The invalidation condition establishment determination processing means determines whether the matching invalidation condition is met when the vehicle altitude changes. Features and to Help program that is judged to have standing. Route search processing means for searching the route to the destination by using a computer as a search route, route detection that determines whether the current location of the vehicle detected by the current location detection unit has moved away from the search route and an off route has occurred A processing means, a matching processing means for comparing the map information recorded in the storage device with the traveling locus of the vehicle and map-matching the detected current location on a road around the current location, a matching when an out-of-route occurs Matching invalidation condition establishment determination processing means for determining whether the invalidation condition is satisfied, matching invalidation processing means for invalidating map matching when the matching invalidation condition is satisfied, and map matching is invalidated Sometimes, the matching validation condition establishment judgment process that determines whether the matching validation condition is established or not And when the matching validation condition is established, the matching validation condition establishment judgment processing means establishes the matching validation condition based on the average vehicle speed. A program characterized in that it has been determined.

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