JP4583451B2 - POSITION SETTING DEVICE, POSITION SETTING METHOD, POSITION SETTING PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM - Google Patents

Description

  The present invention relates to a position setting device, a position setting method, a position setting program, and a computer-readable recording medium for setting a current position of a moving body.

  Conventionally, a navigation device mounted on a moving body such as a vehicle calculates its own vehicle position by satellite navigation and self-contained navigation and sets it on road data. In satellite navigation, a GPS (Global Positioning System) receiver receives a radio wave from a GPS satellite and obtains a geometric position with the GPS satellite. The vehicle position is calculated. In the self-contained navigation, the amount of movement and direction of the vehicle are integrated by a self-supporting sensor such as a speed sensor or a direction sensor, and the position of the vehicle is calculated.

  In recent years, when an indoor parking lot determination is started based on GPS positioning disabling information detected by a GPS receiver, and the number of sudden turns of the vehicle based on the output of the direction sensor is detected more than a certain number of times in the same direction, The position is determined as an indoor parking lot. And the proposal which sets the own vehicle position in an indoor parking lot based on the output of a self-supporting sensor is set, without setting the own vehicle position to the surrounding road of an indoor parking lot (for example, refer patent document 1 below). ).

JP 2000-310542 A

  However, according to the above prior art, since the GPS positioning impossible information is detected and the indoor parking lot is determined, an indoor parking lot capable of GPS positioning cannot determine its own vehicle position as an indoor parking lot. Therefore, for example, before and after entering or leaving an indoor parking lot with a narrow sky, indoor parking lots with open sides, and indoor parking lots, One example is the problem of setting a road around a parking lot. In addition, since GPS positioning is possible when passing through the indoor parking lot and located in the rooftop parking lot, the problem of setting the own vehicle position on the road around the indoor parking lot is an example. .

  In order to solve the above-described problems and achieve the object, a position setting device according to the invention of claim 1 includes a receiving means for receiving a radio wave of information relating to a current position of a mobile body from a GPS satellite, and a radio wave from the GPS satellite. In order to determine that the moving body has moved from one type of parking lot to another type of parking lot, and detection means for detecting the reception intensity and the elevation angle related to the GPS satellite as parameters indicating the reception state of the received radio waves Based on the storage means for storing the transition information that defines the conditions for the transition used for the vehicle, the parameter indicating the reception state detected by the detection means, and the transition information, the type of the parking lot where the moving body is located is determined. And a setting unit that sets a current position of the moving body based on a determination result of the determination unit.

  The position setting method according to the invention of claim 8 is a position setting method in the position setting device, wherein a reception step of receiving radio waves of information relating to the current position of the mobile body from a GPS satellite; A detection step of detecting the reception intensity of the radio wave and the elevation angle related to the GPS satellite as a parameter indicating the reception state of the received radio wave, and determining that the moving body has moved from one type of parking lot to another type of parking lot A storage step for storing transition information that defines a transition condition to be used, a parameter indicating the reception state detected by the detection means, and the type of the parking lot where the mobile body is located based on the transition information And a setting step for setting the current position of the moving body based on the determination result of the determination step.

  A position setting program according to a ninth aspect of the invention causes a computer to execute the position setting method according to the eighth aspect.

  According to a tenth aspect of the present invention, a computer-readable recording medium records the position setting program according to the ninth aspect.

It is a block diagram which shows an example of a functional structure of the position setting apparatus concerning embodiment of this invention. It is a flowchart which shows the content of the process of the position setting apparatus concerning embodiment of this invention. It is a block diagram which shows an example of the hardware constitutions of the navigation apparatus concerning Example 1 of this invention. It is explanatory drawing which shows an example of the outline of entrance / exit to the indoor parking lot of the vehicle concerning Example 1 of this invention. It is explanatory drawing which shows an example of the outline of the change of the GPS signal level in the entrance / exit to the indoor parking lot of the vehicle concerning Example 1 of this invention. It is a flowchart which shows the content of the process of the navigation apparatus concerning Example 1 of this invention. It is explanatory drawing which shows an example of the score table | surface of the indoor parking lot judgment score (X) concerning Example 1 of this invention. It is a flowchart which shows the calculation process of the indoor parking lot judgment score (X) concerning Example 1 of this invention. It is explanatory drawing shown about determination of the classification of the parking lot where this vehicle of Example 2 of this invention is located.

  Exemplary embodiments of a position setting device, a position setting method, a position setting program, and a computer-readable recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of position setting device)
A functional configuration of the position setting apparatus according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing an example of a functional configuration of a position setting device according to an embodiment of the present invention.

  In FIG. 1, the position setting device 100 includes a reception unit 101, a detection unit 102, a determination unit 103, a setting unit 104, and a storage unit 105.

  The receiving unit 101 receives a radio wave of information related to the current position of the mobile object. The radio wave of information on the current position is, for example, a radio wave from a GPS satellite and is received from a plurality of GPS satellites.

  The detection unit 102 detects a parameter indicating the reception state of the radio wave received by the reception unit 101. The reception state is a state relating to reception, for example, whether or not radio waves are easily received due to the presence or absence of structures that interfere with radio wave reception around the moving body. The parameter indicating the reception state may include, for example, at least one of reception intensity (level) of radio waves from GPS satellites, elevation angles related to GPS satellites, and the number of captured satellites. In addition, the detection of the parameter indicating the reception state is, for example, in addition to the radio wave reception intensity (level), the elevation angle related to the GPS satellite, and the number of captured satellites per se, the radio wave reception intensity (level) at a predetermined time, and the GPS satellite. It may be configured to detect the amount of change in elevation angle and the number of captured satellites.

  The determination unit 103 determines the type of the parking lot where the moving body is located based on the parameter indicating the reception state of the radio wave detected by the detection unit 102. Specifically, it may be determined whether or not the vehicle is located in the indoor parking lot based on a parameter indicating the reception state of the radio wave detected by the detection unit 102.

  The determination unit 103 is, for example, at least one of an azimuth sensor that detects the amount of change in the traveling azimuth mounted on the moving body, a speed sensor that detects the speed of the moving body, and an acceleration sensor that detects the acceleration of the moving body. Whether or not the vehicle is located in the indoor parking lot may be determined based on the sensor information output from the parameter and the parameter indicating the reception state.

  Moreover, the determination part 103 is good also as determining the classification of the parking lot where a mobile body is located based on the log | history information memorize | stored in the memory | storage part 105 mentioned later, sensor information, and the parameter which shows a receiving state. The history information may be, for example, the type of the parking lot where the mobile object is located, or the type of parking lot determined in the past by the determination unit 103. Specifically, for example, when the history information immediately before determining the type of parking lot is a type of parking lot that can be moved to the rooftop of the parking lot, the determination unit 103 sets the sensor information and the parameter indicating the reception state. It is good also as determining with the type of the parking lot where a mobile body is located referring to rooftop.

  Furthermore, the determination unit 103 may determine the type of the parking lot where the mobile body is located based on the transition information, history information, sensor information, and parameters indicating the reception state stored in the storage unit 105. The transition information is, for example, information regarding whether or not the type of parking lot where the moving body is located can be changed and a threshold value for the change. Specifically, for example, when the history information immediately before determining the type of the parking lot is the type of the parking lot that can be shifted to the roof of the parking lot by the transition information, the determination unit 103 detects the sensor information and the reception state. Is compared with the threshold value in the transition information, the type of the parking lot where the moving body is located is determined as the rooftop.

  The setting unit 104 sets the current position of the moving body based on the determination result determined by the determination unit 103. The setting of the current position of the moving body may be configured to perform the map matching process based on, for example, whether or not the moving body is located in the indoor parking lot determined by the determination unit 103.

  The memory | storage part 105 memorize | stores the historical information of the classification of the parking lot in which a mobile body is located. The history information may be, for example, information related to the type of the parking lot where the mobile object is located, and the storage unit 105 overwrites the type of the parking lot where the mobile object is located to a predetermined capacity based on the determination result in the determination unit 103. It is good also as a structure to memorize | store. In addition, the storage unit 105 stores transition information that defines conditions for transition from one parking lot type to another parking lot type. The transition information is, for example, information including threshold values relating to whether or not transition is possible, sensor information for transition, and a parameter indicating a reception state.

(Contents of position setting device processing)
Next, the contents of processing of the position setting device 100 according to the embodiment of the present invention will be described with reference to FIG. FIG. 2 is a flowchart showing the contents of the processing of the position setting device according to the embodiment of the present invention. In the flowchart of FIG. 2, first, the detection unit 102 detects a parameter indicating the reception state of the radio wave received by the reception unit 101 (step S201).

  And the determination part 103 determines the classification of the parking lot in which a mobile body is located based on the parameter which shows the reception state of the electromagnetic wave detected in step S201 (step S202). The parking lot may be determined based on, for example, sensor information on the position of the moving body output from a direction sensor, speed sensor, acceleration sensor, or the like mounted on the moving body and the reception state. It is good also as determining whether it is located in an indoor parking lot.

  Although not described in the flowchart of FIG. 2, the determination of the parking lot is based on, for example, the transition information stored in the storage unit 105, history information, sensor information, and a parameter indicating the reception state. You may determine the classification of the parking lot where is located. Specifically, for example, it may be determined whether or not the type of the parking lot is a rooftop by comparing the transition information with sensor information and a parameter indicating the reception state.

  Next, the setting unit 104 sets the current position of the moving body based on the determination result determined in step S202 (step S203), and ends the series of processes. The current position of the moving body may be set, for example, by performing map matching processing based on whether or not the moving body is located in an indoor parking lot.

  As described above, according to the present invention, it is possible to determine the parking lot where the moving body is located and set the current position based on the radio wave state of the information related to the current position of the moving body. Therefore, even if reception of radio waves is not impossible, it is possible to appropriately determine the parking lot where the moving body is located and set the current position of the moving body.

  Embodiment 1 of the present invention will be described below. In the first embodiment, an example in which the position setting device of the present invention is implemented by a navigation device mounted on a vehicle such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.

(Hardware configuration of navigation device)
A hardware configuration of the navigation apparatus according to the first embodiment of the present invention will be described with reference to FIG. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the first embodiment of the present invention.

  In FIG. 3, the navigation device 300 is mounted on a vehicle or the like, and includes a navigation control unit 301, a user operation unit 302, a display unit 303, a position acquisition unit 304, a recording medium 305, and a recording medium decoding unit 306. A voice output unit 307, a communication unit 308, a route search unit 309, a route guidance unit 310, a voice generation unit 311, and a speaker 312.

  The navigation control unit 301 controls the entire navigation device 300. The navigation control unit 301 includes, for example, a CPU (Central Processing Unit) that executes predetermined arithmetic processing, a ROM (Read Only Memory) that stores various control programs, and a RAM (Random Access Memory) that functions as a work area of the CPU. It is realizable with the microcomputer etc. comprised by these.

  The navigation control unit 301 determines which map on the map based on the information on the current position acquired by the position acquisition unit 304 and the map information obtained from the recording medium 305 via the recording medium decoding unit 306 at the time of route guidance. Whether the vehicle is traveling in the position is calculated, and the calculation result is output to the display unit 303. In addition, the navigation control unit 301 inputs / outputs information related to route guidance with the route search unit 309, the route guidance unit 310, and the voice generation unit 311 during route guidance, and displays information obtained as a result of the display unit 303 and Output to the audio output unit 307.

  The navigation control unit 301 includes a map matching processing unit 313. The map matching processing unit 313 usually matches the current position of the vehicle to a road, a parking lot, or the like based on the map information, the output of a GPS receiver constituting the position acquisition unit 304 described later, and the output of various sensors. The current position of the vehicle is set (hereinafter, this current position setting process is referred to as a map matching process).

  Further, the map matching processing unit 313 determines the type of the parking lot where the vehicle is located based on the reception intensity of the radio wave from the GPS satellite acquired by the position acquisition unit 304 (hereinafter referred to as the GPS signal level), Map matching processing is performed based on the determination result. Specifically, for example, the map matching processing unit 313 may perform the map matching process by determining whether or not the moving body is located in the indoor parking lot based on the GPS signal level. .

  The map matching processing unit 313 may be configured to perform processing based on the change amount of the GPS signal level, and details of the processing will be described later with reference to FIG.

  Further, the map matching processing unit 313 may score the GPS signal level from the GPS satellite to determine whether or not the vehicle is located in the indoor parking lot. The scoring of the GPS signal level may be calculated, for example, by weighting the GPS signal level, the elevation angle of the GPS satellite, the number of captured satellites, and the like, details of which will be described later with reference to FIG.

  Further, the map matching processing unit 313 may determine the type of the parking lot where the vehicle is located by referring to the GPS signal level and the output of various sensors based on the transition information regarding the parking lot where the vehicle has changed. Good. The transition information may include, for example, information regarding the history of the type of parking lot where the vehicle is located, and may be overwritten and recorded on the recording medium 305 by a recording medium decoding unit 306 described later. 9 will be described later.

  The user operation unit 302 acquires information input by a user operating operation means such as a remote controller, a switch, and a touch panel, and outputs the acquired information to the navigation control unit 301.

  The display unit 303 includes, for example, a CRT (Cathode Ray Tube), a TFT liquid crystal display, an organic EL display, a plasma display, and the like. Specifically, the display unit 303 can be configured by, for example, a video display interface connected to a video I / F (interface) or a video I / F. Specifically, the video I / F includes, for example, a graphic controller that controls the entire display device, a buffer memory such as a VRAM (Video RAM) that temporarily stores image information that can be displayed immediately, and a graphic controller. Based on the output image information, the display device is configured by a control IC or the like. Then, the display unit 303 displays traffic information, map information, information on route guidance, and other various information according to the control related to the output of the navigation control unit 301.

  The position acquisition unit 304 includes a GPS receiver and various sensors such as a speed sensor, a direction sensor, and an acceleration sensor, and acquires information on the current position of the vehicle (current position of the navigation device 300). The GPS receiver receives radio waves (hereinafter referred to as GPS signals) from GPS satellites and obtains a geometric position with respect to the GPS satellites. GPS is an abbreviation for Global Positioning System, and is a system for accurately obtaining a position on the ground by receiving GPS signals from four or more satellites. The GPS receiver includes an antenna for receiving a GPS signal from a GPS satellite, a tuner for demodulating the received GPS signal, an arithmetic circuit for calculating a current position based on the demodulated information, and the like. The speed sensor detects the speed of the vehicle. The direction sensor detects the amount of change in the traveling direction of the vehicle. The acceleration sensor detects the acceleration of the vehicle.

  Various control programs and various information are recorded on the recording medium 305 in a state readable by a computer. The recording medium 305 can be realized by, for example, an HD (Hard Disk), a DVD (Digital Versatile Disk), a CD (Compact Disk), or a memory card. Note that the recording medium 305 may accept writing of information by the recording medium decoding unit 306 and record the written information in a nonvolatile manner.

  The recording medium 305 stores map information used for route search and route guidance. The map information recorded in the recording medium 305 includes background data representing features (features) such as buildings, rivers, and the ground surface, and road shape data representing road shapes. It is drawn in two or three dimensions on the display screen. When the navigation device 300 is guiding a route, the map information read from the recording medium 305 by the recording medium decoding unit 306 and the mark indicating the vehicle position acquired by the position acquisition unit 304 are displayed on the display unit 303. It will be.

  In the first embodiment, map information or the like is recorded on the recording medium 305. However, the present invention is not limited to this. The map information or the like may be recorded on a server or the like outside the navigation device 300. In that case, the navigation apparatus 300 acquires map information from a server via a network through the communication unit 308, for example. The acquired information is stored in a RAM or the like.

  The recording medium decoding unit 306 controls reading / writing of information with respect to the recording medium 305.

  The audio output unit 307 outputs audio such as guidance sound, video, music, and the like by controlling output to the connected speaker 312. There may be one speaker 312 or a plurality of speakers. The audio output unit 307 can be configured by, for example, a D / A converter that performs D / A conversion of audio digital information and an amplifier that amplifies an audio analog signal output from the D / A converter.

  The communication unit 308 acquires various information from the outside. For example, the communication unit 308 is an FM multiplex tuner, a VICS (registered trademark) / beacon receiver, a wireless communication device and other communication devices, and other communication via a communication medium such as a mobile phone, a PHS, a communication card, and a wireless LAN. Communicate with the device. Alternatively, a device that can perform communication by radio waves by radio broadcasting, radio waves by television broadcasting, or satellite broadcasting may be used.

  Information acquired by the communication unit 308 includes traffic information such as traffic jams and traffic regulations distributed from the road traffic information communication system center, traffic information acquired by businesses in their own way, and other publicly available data on the Internet, etc. It is. For example, the communication unit 308 may request traffic information from a server that accumulates traffic information and contents nationwide via a network and acquire the requested information. In addition, a configuration may be used in which a signal related to video or audio is received from radio waves such as radio broadcasts, radio waves such as television broadcasts, and satellite broadcasts.

  The route search unit 309 uses the map information acquired from the recording medium 305 via the recording medium decoding unit 306, the traffic information acquired via the communication unit 308, and the like to optimize the route from the departure point to the destination point. Search for a route. Here, the optimum route is a route that best matches the user's request.

  The route guidance unit 310 converts the optimum route information searched by the route search unit 309, the vehicle position information acquired by the position acquisition unit 304, and the map information obtained from the recording medium 305 via the recording medium decoding unit 306. Based on this, route guidance information for guiding the user to the destination point is generated. The route guidance information generated at this time may be information that considers the traffic jam information received by the communication unit 308. The route guidance information generated by the route guidance unit 310 is output to the display unit 303 via the navigation control unit 301.

  The voice generation unit 311 generates various types of voice information such as guidance sounds. That is, based on the route guidance information generated by the route guidance unit 310, the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated, and this is output to the voice output unit 307 via the navigation control unit 301. To do.

  Note that the receiving unit 101, which is a functional configuration of the position setting device 100 according to the embodiment, is detected by the position acquisition unit 304, and the detection unit 102, the determination unit 103, and the setting unit 104 are the map matching processing unit 313 (navigation control unit 301). Accordingly, the storage unit 105 realizes its function by the recording medium 305.

  Next, the GPS signal level when the vehicle according to the first embodiment of the present invention enters and leaves the indoor parking lot will be described with reference to FIGS. FIG. 4 is an explanatory diagram illustrating an example of an outline of entering and exiting the indoor parking lot of the vehicle according to the first embodiment of the present invention. FIG. 5 is an explanatory diagram illustrating an example of a schematic change in the GPS signal level when the vehicle according to the first embodiment of the present invention enters and exits the indoor parking lot.

  In FIG. 4, marks indicated by isosceles triangles indicate vehicles 403 to 407 having different states running on the indoor parking lot 401 or the surrounding road 402. The traveling direction of the vehicles 403 to 407 is the direction from the base of the isosceles triangle to the apex, and is the direction of the arrow 408 in this figure.

  The vehicle 403 is traveling in the normal positioning state of the GPS signal. In addition, the vehicle 404 is in a state before entering the indoor parking lot 401, the vehicle 405 is in a state after entering the indoor parking lot 401, the vehicle 406 is in a state before leaving the indoor parking lot 401, and the vehicle 407 is after leaving the indoor parking lot 401. State.

  In FIG. 5, in the graph 500, the vertical axis 520 indicates the GPS signal level, and the horizontal axis 521 indicates the time. On the vertical axis 520, the average value A501 indicates the average value of the GPS signal level in the normal positioning state in the vehicles 403 to 407 (hereinafter referred to as the average GPS signal level). The threshold value a502 indicates a threshold value for determining that the vehicle 403 to 407 has entered the indoor parking lot 401 from outside the indoor parking lot 401 (hereinafter referred to as an indoor parking lot determination threshold value). The threshold value a ′ 503 is a threshold value for determining that the vehicle 403 to 407 has exited from the indoor parking lot 401 to the outside of the indoor parking lot 401 (hereinafter referred to as an indoor parking lot determination threshold value). The calculation of the average value A501, the threshold value a502, and the threshold value a′503 will be described later with reference to FIG.

  On the horizontal axis 521, t (1) 507 indicates the time of the vehicle 404. Then, t (2) 508 after the predetermined time Δt 504 indicates the time of the vehicle 405. Further, t (3) 509 indicates the time of the vehicle 406. Then, t (4) 510 after the lapse of the predetermined time Δt 506 indicates the time of the vehicle 407. In addition, between time t (2) 508 and time t (3) 509, the indoor parking lot entrance period 505 in which the vehicles 405 and 406 enter the indoor parking lot 401 is shown.

(Contents of processing of navigation device 300)
Next, the contents of the process of the navigation device 300 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 6 is a flowchart showing the contents of processing of the navigation device according to Embodiment 1 of the present invention. In the flowchart of FIG. 6, first, the map matching processing unit 313 acquires the GPS signal level of the GPS signal received by the GPS receiver of the position acquisition unit 304 (step S601). For example, the GPS signal level is acquired by acquiring the strongest GPS signal among a plurality of GPS signals received by the GPS receiver. Moreover, the structure which acquires the average value which averaged the level of several GPS signal, and the average value which averaged the level of GPS signal from the GPS satellite which satisfy | fills specific conditions, such as an elevation angle with respect to a GPS satellite, an azimuth | direction, and a health state, may be sufficient. . Furthermore, a value obtained by removing noise from the GPS signal level using a Kalman filter may be used. When the GPS receiver does not receive a GPS signal, the map matching processing unit 313 determines that the GPS signal level is zero.

  And the map matching process part 313 acquires the average GPS signal level of a normal positioning state (step S602). The average GPS signal level may be acquired from a GPS signal level at a predetermined past time stored in a memory (not shown) or the like, or the level held in step S613 described later may be used.

  Subsequently, the map matching processing unit 313 calculates a threshold value for indoor parking lot determination and a threshold value for indoor parking lot determination (step S603). The calculation of the threshold value may be, for example, a predetermined ratio (b%, b ′%) of the average GPS signal level acquired in step S602. More specifically, in the graph 500 of FIG. 5, the configuration may be such that b% of the average value A501 is the threshold value a502 and b ′% of the average value A501 is the threshold value a′503. The predetermined ratio may be, for example, a configuration set in advance or a configuration that can be updated by a user.

  Next, the map matching processing unit 313 acquires a GPS signal level after a predetermined time Δt504 (506) has elapsed (step S604), and determines whether or not the previous determination is in the indoor parking lot 401 for the vehicle position. (Step S605). The previous determination may be stored in, for example, a memory (not shown).

  In step S605, if the previous determination is in the indoor parking lot 401 with respect to the vehicle position (step S605: Yes), the map matching processing unit 313 continues to check whether the GPS signal level is a certain value or more It is determined whether or not the threshold value for the out-of-field determination is exceeded (step S606). The constant value is, for example, a value that is set in advance, and may be a value that can reliably determine that the vehicle position is outside the indoor parking lot 401 regardless of the indoor parking lot outside determination threshold value calculated in step S603. Good.

  In step S606, if the GPS signal level is equal to or greater than a certain value or greater than or equal to the threshold value for indoor parking lot determination (step S606: Yes), the map matching processing unit 313 sets the vehicle position outside the indoor parking lot 401. Is determined (step S608). If the GPS signal level is not less than a certain value or not greater than the threshold value for indoor parking lot determination (step S606: No), the map matching processing unit 313 determines that the vehicle position is within the indoor parking lot 401 ( Step S607).

  In step S605, if the previous determination is not in the indoor parking lot 401 for the own vehicle position (step S605: No), the map matching processing unit 313 continues to determine whether the GPS signal level is equal to or less than a predetermined value or in the indoor parking lot. It is determined whether or not the threshold value is below the determination threshold value (step S609). The constant value is, for example, a value set in advance, and can be a value that can reliably determine that the vehicle position is within the indoor parking lot 401 regardless of the indoor parking lot determination threshold value calculated in step S603. Good.

  In step S609, when the GPS signal level is equal to or lower than a certain value or equal to or lower than the threshold value for indoor parking determination (step S609: Yes), the map matching processing unit 313 sets the vehicle position within the indoor parking lot 401. Is determined (step S610). If the GPS signal level is not equal to or less than a certain value or not equal to or less than the threshold value for the indoor parking lot determination (step S609: No), the map matching processing unit 313 determines that the vehicle position is outside the indoor parking lot 401 ( Step S611). Then, the GPS signal level including the current GPS signal level during Δt is averaged (step S612) and held as the GPS signal level in the normal positioning state (step S613).

  Then, the map matching processing unit 313 determines whether or not the own vehicle position is determined to be within the indoor parking lot 401 in the above-described step S607, step S608, step S610, and step S611 (step S614). When it is determined that the position is in the indoor parking lot 401 (step S614: Yes), the matching correlation to the surrounding road 402 of the indoor parking lot 401 is weakened (step S615). If the vehicle position is not determined to be in the indoor parking lot 401 (step S614: No), the matching correlation with the surrounding road 402 of the indoor parking lot 401 is strengthened (step S616).

  Next, the map matching processing unit 313 executes map matching processing based on the matching correlation that has been strengthened in step S615 or step S616 (step S617). Then, a series of processing ends. For example, the map matching process may be configured to perform a process of matching (or not matching) the vehicle position with the road by comparing the strength of the matching correlation with a threshold value.

  In the flowchart of FIG. 6, the average GPS signal level is obtained from the past GPS signal level each time so as to cope with various reception states. The structure which fixes may be sufficient.

  Moreover, the map matching process part 313 is good also as a structure which produces | generates a score about the above-mentioned GPS signal level, and produces | generates an indoor parking lot judgment score (X). The map matching processing unit 313 may generate the indoor parking lot determination score (X) and perform the processing in FIG. 6 using the indoor parking lot determination score (X) instead of using the GPS signal level. More specifically, instead of performing processing related to the GPS signal level in steps S601 to S604, an indoor parking lot determination score (X) is calculated and compared with a predetermined reference score in step S606 or step S609. You may use for indoor parking lot judgment. Here, the indoor parking lot determination score (X) according to the first embodiment of the present invention will be described with reference to FIG.

  FIG. 7 is an explanatory diagram showing an example of a score table of indoor parking lot determination scores (X) according to the first embodiment of the present invention. In FIG. 7, the score table 700 is composed of an element 701 and a score 711. Element 701 is each element of indoor parking lot judgment score (X), GPS signal level (a1) 702, satellite elevation angle (a2) 703, and number of captured satellites (a3). Moreover, the score 711 classifies 1-3 points corresponding to each element of the indoor parking lot judgment score (X).

  If the reception state is good, the score 711 may be set to a high score in order to strengthen the matching correlation with the road. For example, if the GPS signal level (a1) 702 is 15 AMU or more, 3 points, 8 AMU If it is above to less than 15 AMU, it is 2 points, and if it is from 0 AMU to less than 8 AMU, it is 1 point. The satellite elevation angle (a2) 703 is 3 points if it is 60 ° or more, 2 points if it is 30 ° or more and less than 60 °, and 1 point if it is 0 ° or more and less than 30 °. Similarly, the number of captured satellites (a3) 704 is 3 points for 8 or more, 2 points for 4-7, and 1 for 1-3.

  In addition, in calculating the indoor parking lot determination score (X), the importance (weight) for determination may be considered for each element 701. For example, if the importance for determination is GPS signal level (a1) 702, satellite elevation angle (a2) 703, and number of captured satellites (a3) 704, the weights may be set as w1> w2> w3. Good. Alternatively, the indoor parking lot determination score (X) may be calculated by selecting from the element 701. More specifically, when the GPS signal level (a1) 702 and the satellite elevation angle (a2) 703 are used, the indoor parking lot determination score (X) is X = a1 × w1 + a2 × w2. When the GPS signal level (a1) 702, the satellite elevation angle (a2) 703, and the number of captured satellites (a3) 704 are used, the indoor parking lot judgment score (X) is X = a1 × w1 + a2 × w2 + a3 × w3. . Note that a value obtained by removing noise using a Kalman filter may be used for X.

  Moreover, the inside / outside determination of the indoor parking lot 401 may be performed in consideration of the output of various sensors in addition to the GPS signal. The data obtained by the outputs of the various sensors are, for example, the moving distance by the output of the speed sensor, the azimuth change amount by the azimuth sensor output, the altitude change amount by the acceleration sensor output, and the like. Considering the output of various sensors, for example, with respect to the movement of the vehicles 405 and 406 in the indoor parking lot 401, the azimuth change amount and the altitude change amount with respect to a predetermined moving distance become large. It is good also as a structure which sets.

  Furthermore, the inside / outside determination of the indoor parking lot 401 may be configured in consideration of the previous matching result. The previous matching result is, for example, whether or not the previous vehicle position was on the road. If the previous matching result is a position deviating from the road, the current vehicle position is in the indoor parking lot 401. If there is a high possibility and the previous matching result is on the road, it is highly likely that the current vehicle position is outside the indoor parking lot 401 (the surrounding road 402), so the indoor parking lot judgment score (X) It is good also as a structure which sets.

  Here, an example of the calculation process of the indoor parking lot determination score (X) in consideration of various sensor outputs and the previous matching result according to the first embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart showing the calculation process of the indoor parking lot determination score (X) according to the first embodiment of the present invention. In the flowchart of FIG. 8, first, the map matching processing unit 313 acquires an indoor parking lot determination score (X) from the score table 700 described above (step S801). Subsequently, the map matching processing unit 313 determines from the outputs of the speed sensor and the direction sensor of the position acquisition unit 304 whether or not the direction change amount with respect to a predetermined movement distance is a certain value or more (step S802). For example, the fixed value may be a configuration that can be set in advance, and is a value that can be determined that the indoor parking lot 401 is moving.

  In step S802, if the azimuth change amount is equal to or greater than a certain value (step S802: Yes), the indoor parking lot judgment score (X) is deducted (X-α1) (step S805), and the speed of the position acquisition unit 304 is determined. It is determined from the outputs of the sensor and the acceleration sensor whether or not the amount of change in altitude with respect to a predetermined movement distance is a certain value or more (step S803).

  In step S802, if the azimuth change amount is not equal to or greater than a certain value (step S802: No), the altitude for a predetermined movement distance is determined from the output of the speed sensor and acceleration sensor of the position acquisition unit 304 without performing deduction processing. It is determined whether the amount of change is equal to or greater than a certain value (step S803).

  In step S803, when the amount of change in altitude is equal to or greater than a certain value (step S803: Yes), the indoor parking lot judgment score (X) is deducted (X-α2) (step S806), and the previous map matching result is obtained. It is determined whether or not the vehicle is on a road (step S804).

  In step S803, if the altitude change amount is not equal to or greater than a certain value (step S803: No), it is determined whether or not the previous map matching result is on the road without performing the deduction process (step S804).

  In step S804, when the previous map matching result is on the road (step S804: Yes), the series of processing is ended as it is.

  In step S804, if the previous map matching result is not on the road (step S804: No), the indoor parking lot judgment score (X) is deducted (X-α3) (step S807), and a series of processes Exit. Note that α1 to α3 in the deduction process in steps S805 to S807 may be configured in advance or may be set experimentally.

  As described above, according to the first embodiment of the present invention, the current position of the vehicle can be set based on the radio wave state of the information related to the current position of the vehicle. Therefore, it is possible to set an appropriate current position even if radio waves cannot be received.

  Moreover, in order to acquire the average value of a GPS signal level and to calculate the threshold value for the inside / outside determination of the indoor parking lot, the determination is performed in consideration of the past traveling state. Therefore, accurate map matching processing can be achieved.

  In addition, in addition to the GPS signal level, the inside / outside determination of the indoor parking lot is performed in consideration of the elevation angle, direction, and health of the satellite, so that more accurate map matching processing can be achieved.

  Further, since the indoor parking lot judgment score can be calculated based on the change amount related to the movement of the vehicle in consideration of the outputs of the various sensors, the accuracy of the map matching process can be improved. In addition, since the indoor parking lot judgment score can be calculated in consideration of the past history of the map matching process, the accuracy of the map matching process can be improved.

  Next, a second embodiment of the present invention will be described. In the second embodiment, for the parking lot where the vehicle is located, the transition information regarding the parking lot is used without being limited to the inside / outside determination of the indoor parking lot using the GPS signal level and various sensor outputs described in the first embodiment. A case where the type of the parking lot where the vehicle is located is determined will be described. The hardware configuration of the navigation device according to the second embodiment is substantially the same as that shown in FIG.

  Specifically, in the second embodiment, a plurality of types of parking lots in which the vehicle is located are assumed in advance, and in order to determine the type of each parking lot, the parking lot transition is a condition. By monitoring the transition of the type of the parking lot and using the type of the previous parking lot as the determination condition, an accurate determination can be made and the current position of the vehicle can be set accurately.

(Judgment of parking lot type)
Here, the determination of the type of the parking lot where the vehicle according to the second embodiment of the present invention is located will be described with reference to FIG. FIG. 9 is an explanatory diagram showing determination of the type of parking lot where the vehicle according to the second embodiment of the present invention is located.

  In FIG. 9, the types of parking lots where the vehicle transitions are the general road 900, the blue sky parking lot 910, the indoor parking lot (first floor) 920, the multi-level parking lot 930 on the premises, and the multi-level parking lot on the premises. A parking lot 940, a horizontal parking lot 950, a rooftop parking lot 960 without a premises, and an underground parking lot 970 are configured. Moreover, each parking lot type can discriminate | determine the possibility of being a parking lot with reference to the vertical axis | shaft 980 showing the possibility of being a parking lot.

  The map matching processing unit 313 determines the type of parking lot where the vehicle is located by referring to the GPS signal level and the output of various sensors as the vehicle transitions between the types of parking lots according to the illustrated arrows. It is a configuration. In addition, about the output of a GPS signal level and various sensors, the structure set with respect to each parking lot type instead of an indoor parking lot may be sufficient like the above-mentioned FIG.4, FIG.5, FIG.7, FIG.8, The description is omitted in FIG. In addition, regarding the determination of the parking lot type, in the flowchart of FIG. 8, instead of determining the inside / outside of the indoor parking lot, a determination process is performed using the previous parking lot type for the parking lot type to be determined. Well, the description is omitted in FIG. Further, the score classification shown in FIG. 7, the range of each threshold, the constant value (threshold value) relating to the azimuth change amount and the altitude change amount shown in FIG. It is good also as changing according to the classification of a parking lot.

  Specifically, the vehicle is configured to transition to the general road 900 from the blue sky parking lot 910 according to the direction of the arrow 911.

  In addition, the vehicle has a blue sky parking lot 910 with no roof, an arrow 901 from a general road 900, an arrow 921 from an indoor parking lot (first floor) 920, an arrow 931 from a multilevel parking lot 930, and a multilevel parking lot with a premise. In this configuration, a transition is made in the direction of the arrow 941 from the rooftop parking lot 940, the arrow 951 from the horizontal parking lot 950, the arrow parking 961 from the roof parking lot 960 of the premisesless parking lot, and the arrow 971 from the underground parking lot 970, respectively.

  Similarly, in the indoor parking lot (first floor) 920 with a roof, the vehicle is shown as an arrow 912 from the blue sky parking lot 910, an arrow 932 from the multilevel parking lot 930, an arrow 954 from the horizontal parking lot 950, and underground parking. Thus, the vehicle transits from the parking lot 970 in the direction of the arrow 972, respectively.

  Similarly, in the multi-storey parking lot 930 on the second floor or higher in the building, the indoor parking lot (first floor) 920 has an arrow 922, the multi-storey parking lot has a roof parking lot 940, an arrow 942, a horizontal Thus, the vehicle transits in the direction of the arrow 952 from the parking space 950.

  The vehicle is configured to transition from the on-site multi-level parking lot 930 to the on-site multi-level parking lot 940, which is the roof of the parking lot in the building, according to the direction of the arrow 934.

  Similarly, the vehicle is placed in a horizontal parking lot 950 on the second floor or higher in a building that can receive radio waves from GPS satellites through a gap or the like, from the blue sky parking lot 910 to an arrow 913, an indoor parking lot (first floor ) A transition is made in the direction of the arrow 923 to the arrow 923, the multilevel parking lot 930 to the arrow 935, and the roof parking lot 960 of the multilevel parking lot without the premise to the direction of the arrow 962.

  Similarly, the vehicle transits from the blue sky parking lot 910 to the arrow 914 and from the horizontal parking lot 950 to the arrow 953 in the direction of the roof parking lot 960 of the parking lot without a premises, respectively.

  Similarly, the vehicle is configured to transit to the underground parking lot 970 in the directions of the blue sky parking lot 910 to the arrow 915 and the indoor parking lot (first floor) 920 to the arrow 924, respectively.

  Specifically, the parking lot transition shown in FIG. 9 is a configuration in which the type of parking lot is determined by referring to the GPS signal level and the output of various sensors and comparing with a threshold value that is transition information. is there. The threshold value that is the transition information may be, for example, a configuration recorded in advance on the recording medium 305 or the like, and may be different depending on the type of parking lot to which the vehicle transitions. More specifically, for example, when a transition is made from an indoor parking lot (first floor) 920 to a parking lot 930 with a premises, and a transition from a roof parking lot 940 of a parking lot with a premises to a parking lot 930 that is a premises. The transition information may be different.

  The vertical axis 980 indicates the possibility of being a parking lot in the determination of each type of parking lot, and is configured to increase the possibility of being a parking lot both in the vertical direction. In other words, the determination result of the underground parking lot 970 and the multi-level parking lot 930 with the premises is a result with high certainty, and as the determination with high certainty, the matching correlation to the surrounding roads in the map matching process may be weakened. Good.

  As a first specific example, a description will be given of a case where the type of parking lot changes in the order of a blue sky parking lot 910, an indoor parking lot (first floor) 920, a multilevel parking lot 930 with a premises, and a rooftop parking lot 940 with a multilevel parking lot on the premises To do.

  First, when the map matching processing unit 313 determines that the vehicle is located on the general road 900 in the previous processing, the distance from the intersection from the current position information is equal to or greater than a predetermined threshold, and the turning amount is predetermined. When it is equal to or greater than the threshold value, the type of the parking lot where the vehicle is located is determined as the blue sky parking lot 910.

  Next, when the type of parking lot determined in the previous process is the blue sky parking lot 910, the map matching processing unit 313 has a GPS signal level equal to or less than a predetermined threshold and a turn amount per moving distance. Is equal to or greater than a predetermined threshold value, the type of the parking lot where the vehicle is located is determined to be the indoor parking lot (first floor) 920.

  Then, when the type of parking lot determined in the previous process is the indoor parking lot (first floor) 920, the map matching processing unit 313 has a GPS signal level equal to or lower than a predetermined threshold value and is in the upward direction. When the amount of change in altitude is equal to or greater than a predetermined threshold value or the upward inclination angle is equal to or greater than a predetermined threshold value, the type of parking lot where the vehicle is located is determined to be a three-dimensional parking lot 930.

  Further, the map matching processing unit 313 determines that the position of the vehicle is determined when the GPS signal level is equal to or higher than a predetermined threshold when the type of parking lot determined in the previous process is a premises parking lot 930. It is determined that the type of parking lot to be located is located in the rooftop parking lot 940 of the multi-level parking lot that is on-site.

  Thus, by using the history of the type of parking lot, it is possible to accurately determine the rooftop parking lot that was difficult to determine. Then, by performing map matching using the determination result, it is possible to optimize the vehicle position setting.

  As a second specific example, a case will be described in which the types of parking lots are changed in the order of a blue sky parking lot 910, a horizontal parking lot 950, and a rooftop parking lot 960 of a parking lot without a premises.

  First, when the map matching processing unit 313 determines that the vehicle is located on the general road 900 in the previous processing, the distance from the intersection from the current position information is equal to or greater than a predetermined threshold, and the turning amount is predetermined. When it is equal to or greater than the threshold value, the type of the parking lot where the vehicle is located is determined as the blue sky parking lot 910.

  Next, when the type of parking lot determined in the previous process is the blue sky parking lot 910, the map matching processing unit 313 has a GPS signal level equal to or lower than a predetermined threshold value and an altitude change amount is predetermined. When it is equal to or greater than the threshold value, the type of the parking lot where the vehicle is located is determined to be the horizontal parking lot 950.

  Then, when the type of parking lot determined in the previous process is a horizontal parking lot 950, the map matching processing unit 313 has a GPS signal level equal to or higher than a predetermined threshold and an altitude variation is predetermined. If it is equal to or greater than the threshold value, the type of the parking lot where the vehicle is located is determined to be a roof parking lot 960 of a multilevel parking lot without a premises.

  In this way, it is possible to accurately determine the parking lot type that could not be determined by the determination based on the positioning or non-positioning of the radio wave from the GPS satellite, using the GPS signal level and the transition information. In particular, since it is possible to accurately determine the roof parking lot 960 of the multilevel parking lot without a premises, the vehicle position setting can be optimized by performing map matching using the determination result.

  Moreover, the map matching process part 313 can also confirm the transition of the horizontal parking lot 950 and the premises parking lot 930 by setting the threshold value of the GPS signal level in two stages. Specifically, for example, the threshold of the GPS signal level at the time of transition to the horizontal parking lot 950 is A, and the threshold of the GPS signal level at the time of transition to the multilevel parking lot 930 is B. . Note that the value of B is smaller than that of A.

  When the map matching processing unit 313 determines that the vehicle is located in the blue sky parking lot 910, the indoor parking lot (first floor) 920, or the rooftop parking lot 960 of the parking lot without parking in the previous processing, the GPS signal level is A. If it is less than B and greater than or equal to B and the amount of change in altitude is greater than or equal to a predetermined threshold value, the type of parking lot where the vehicle is located is determined to be a horizontal parking lot 950. As described above, the threshold value for determining the parking lot type as the horizontal parking lot 950 may be different from the threshold value shown in the first specific example.

  In addition, when the map matching processing unit 313 determines that the vehicle is located in the indoor parking lot (first floor) 920, the on-site parking lot rooftop 940 or the horizontal parking lot 950 in the previous processing, When the signal level is less than B and the amount of change in altitude is greater than or equal to a predetermined threshold value, the type of parking lot where the vehicle is located is determined to be a three-dimensional parking lot 930.

  Thus, the type of parking lot can be determined in detail by setting a plurality of threshold values and monitoring transitions.

  Further, as a third specific example, a case where the type of parking lot transitions in the order of blue sky parking lot 910, indoor parking lot (first floor) 920, and underground parking lot 970 will be described.

  First, when the map matching processing unit 313 determines that the vehicle is located on the general road 900 in the previous processing, the distance from the intersection from the current position information is equal to or greater than a predetermined threshold, and the turning amount is predetermined. When it is equal to or greater than the threshold value, the type of the parking lot where the vehicle is located is determined as the blue sky parking lot 910.

  Next, when the type of parking lot determined in the previous process is the blue sky parking lot 910, the map matching processing unit 313 has a GPS signal level equal to or less than a predetermined threshold and a turn amount per moving distance. Is equal to or greater than a predetermined threshold value, the type of the parking lot where the vehicle is located is determined to be the indoor parking lot (first floor) 920.

  Then, when the type of the parking lot determined in the previous process is the indoor parking lot (first floor) 920, the map matching processing unit 313 has a GPS signal level equal to or lower than a predetermined threshold value and moves downward. When the altitude change amount is equal to or greater than a predetermined threshold value or the downward inclination angle is equal to or greater than the predetermined threshold value, the type of the parking lot where the vehicle is located is determined to be the underground parking lot 970.

  Moreover, the map matching process part 313 is good also as calculating | requiring the number of transitions between parking lot types from the historical information of a parking lot type, and determining a parking lot type in consideration of the frequency | count of this transition. More specifically, the map matching processing unit 313 has a GPS signal level of A or more and an altitude change amount of a certain value or more. When the transition information of the previous stage is the horizontal parking lot 950 and the number of transitions to the horizontal parking lot 950 is less than two times, it is determined that the vehicle is located in the roof parking lot 960 of the multilevel parking lot without a premises. To do.

  In this way, by adding the number of transitions to the determination condition, a side parking lot 950 or a three-dimensional parking lot without a parking space can be used due to fluctuations in the GPS signal level, even though the vehicle has actually shifted to the outdoors (such as the blue sky parking lot 910). A misrecognition located in the rooftop parking lot 960 of a parking lot can be prevented. In other words, it is possible to prevent erroneous recognition such that the side-by-side parking lot 950 and the roof parking lot 960 of the parking lot without parking are infinitely reciprocated.

  For example, the number of transitions may be set in advance. If the map matching processing unit 313 exceeds the predetermined number of times and the vehicle is located at the roof parking lot 940 of the multilevel parking lot with the premises or the roof parking lot 960 of the multilevel parking lot without the premises, the map matching processing unit 313 performs the false recognition. It may be determined that the vehicle is located in the blue sky parking lot 910 as being awake.

  And the map matching process part 313 performs a map matching process according to the classification of the parking lot determined by the above, and sets the present position of a vehicle. In other words, the map matching processing unit 313 can set the current position of the vehicle in detail and accurately based on the matching correlation according to the determined parking lot type.

  As described above, according to the second embodiment of the present invention, it is possible to determine the type of parking lot where the vehicle is located by referring to the GPS signal level and the sensor output based on the type of parking lot where the vehicle has transitioned. it can. Therefore, erroneous recognition due to fluctuations in the GPS signal level and sensor output can be prevented, and the parking lot type can be accurately determined. In particular, the rooftop of a multi-story parking lot has a slight difference in GPS signal level from the blue sky parking lot, but can be accurately determined by considering transition information and the number of transitions.

  In addition, map matching processing can be performed by changing the matching correlation according to the parking lot type, so that the setting of the current position of the vehicle can be optimized, and mismatching to surrounding roads can be prevented. it can.

  Furthermore, for the azimuth correction for errors related to the direction accumulated in various sensors by turning of the vehicle, errors of various sensors are accumulated even in an indoor parking lot, etc. Orientation correction may be performed according to the determination result. In other words, as a condition for correcting the azimuth of various sensors, the determination result of the parking lot type may be used instead of detecting turning of the vehicle. In addition, when it is located in the rooftop parking lot of the multi-level parking lot with premises, it has already been repeated in the indoor parking lot, so it is assumed that errors related to the direction are accumulated in various sensors. Corrections may be made. In addition to the direction correction, the determination result of the parking lot type may be used for speed and altitude change correction.

  Note that the present invention can be applied not only to map matching processing of a parking lot but also to an environment where the reception state of radio waves changes, such as a road under an overpass or a road in a tunnel.

  The position setting method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Position setting apparatus 101 Receiving part 102 Detection part 103 Judgment part 104 Setting part 105 Storage part

Claims (10)

Receiving means for receiving radio waves of information relating to the current position of the moving object from GPS satellites;
Detecting means for detecting a reception intensity of the radio wave from the GPS satellite and an elevation angle related to the GPS satellite as a parameter indicating a reception state of the received radio wave;
Storage means for storing transition information that defines transition conditions used to determine that the moving body has moved from one type of parking lot to another type of parking lot;
Determination means for determining a type of a parking lot where the moving body is located based on the parameter indicating the reception state detected by the detection means and the transition information ;
Setting means for setting a current position of the moving body based on a determination result of the determination means;
A position setting device comprising: 2. The position setting according to claim 1, wherein the determination unit determines whether or not the moving body is located in an indoor parking lot based on the parameter indicating the reception state and the transition information. apparatus.   The position setting device according to claim 1, wherein the detection unit detects the reception intensity, the elevation angle, and the number of captured satellites as parameters indicating the reception state. The determination means is output from at least one of an azimuth sensor that detects the amount of change in the traveling azimuth of the moving body, a speed sensor that detects the speed of the moving body, and an acceleration sensor that detects the acceleration of the moving body. The position according to any one of claims 1 to 3, wherein a type of a parking lot where the moving body is located is determined based on sensor information, a parameter indicating the reception state, and the transition information. Setting device. The storage means further stores history information of a type of parking lot where the moving body is located,
The said determination means determines the classification of the parking lot where the said mobile body is located based on the said log | history information, the said sensor information, the parameter which shows the said reception state, and the said transition information. Position setting device. 6. The position setting device according to claim 5, wherein the determination unit can determine a rooftop parking lot as the type of the parking lot. The determination means is capable of determining a multilevel parking lot and an underground parking lot as a type of parking lot, and when the type of parking lot determined last time from the history information is found to be a multilevel parking lot, Sensor information output from at least one of an azimuth sensor that detects a change in travel direction of the moving body, a speed sensor that detects a speed of the moving body, and an acceleration sensor that detects acceleration of the moving body, and The position setting device according to claim 6, wherein it is determined whether or not a type of a parking lot where the moving body is located is a rooftop parking lot based on a parameter indicating a reception state. A position setting method in a position setting device,
A receiving step of receiving radio waves of information relating to the current position of the mobile body from a GPS satellite;
A detection step of detecting a reception intensity of the radio wave from the GPS satellite and an elevation angle related to the GPS satellite as a parameter indicating a reception state of the received radio wave;
A storage step of storing transition information that defines a transition condition used for determining that the moving body has moved from one type of parking lot to another type of parking lot;
A determination step of determining a type of a parking lot where the moving body is located based on the parameter indicating the reception state detected by the detection unit and the transition information;
Based on the determination result of the determination step, a setting step for setting the current position of the moving body;
The position setting method characterized by including. A position setting program for causing a computer to execute the position setting method according to claim 8. A computer-readable recording medium on which the position setting program according to claim 9 is recorded.

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