JP5683664B2 - Route guidance device, route guidance method, and route guidance program - Google Patents

Description

  The present invention relates to a route guidance device, a route guidance method, and a route guidance program that guide a user from a current location to a destination.

  In recent years, the performance of mobile terminal devices such as mobile phones and PHS (Personal Handyphone System) has been dramatically improved and multi-functionalized. In particular, the data communication function is strengthened in addition to the call function, and various data communication services are provided to the user via the Internet. A navigation service is one of them, and a service that provides route guidance from a current location to a destination for mobile phone users is being implemented.

  As a technology related to navigation services for such mobile phones, there is a navigation system described in Patent Document 1. The navigation system includes a GPS (Global Positioning System) receiving unit, a GPS control unit, and means for receiving GPS signals transmitted from a plurality of GPS satellites by a mobile phone with a GPS function including a GPS antenna in the mobile phone, Packet transmission of position information obtained by analyzing satellite position, distance information between satellite receivers and clock information included in a plurality of GPS signals, and data such as the telephone number and search information of the mobile phone with GPS function And means for receiving the data, detecting the position of the mobile phone with the GPS function and the destination, and transmitting map data such as map information, route information and distance of the appropriate scale to the mobile phone with the GPS function. Is provided with a map service center.

  By the way, in the navigation system using the above-described mobile phone and the normal car navigation device, since the positioning data of the current position of the moving device includes an error, the current position obtained by positioning is displayed on the road of the map. Or the process which corrects on a guidance route is performed. In general, the former is called map matching processing, and the latter is called route matching processing.

  The route matching process is disclosed in Patent Document 2, for example. Patent Document 2 relates to a communication-type navigation device. In a navigation device mounted on a vehicle, when the position of a measured vehicle deviates from a guide route (route), the closest guide route is detected and the current vehicle state is detected. Correct the position on the guide route. In consideration of the maximum GPS error, the correction is not performed when the position of the measured vehicle is 200 m or more away from the guide route.

  However, in the case of the route matching process described in Patent Document 2, mismatching may occur when the vehicle passes through a location where a plurality of parts are close to each other on the guide route.

  This will be described with reference to FIGS. FIG. 7A shows an example of a case where parts of the road on the guide route are close to each other. Here, the road R1 has a substantially Ω shape, and a plurality of portions R11, R12, R13, and R14 are close to each other. The vehicle travels on the road R1 from the point A1 to the point A2, X1 indicates the actual position of the vehicle, and P1 indicates the positioning position by GPS. Although the positioning position P1 is deviated from the guide route, the distance to the route is within 200 m, and is corrected to the closest position Q1 on the guide route by the route matching process. Then, as shown in FIG. 7B, a current position pointer R2 and a travel locus R3 are displayed on the display of the navigation device with reference to the position Q1.

  FIG. 8A shows route matching when the vehicle moves from X1 to X2. The actual position of the vehicle is X2, and the positioning position is P2. Although the positioning position P2 is also deviated from the guide route, the distance to the route is within 200 m, so that it is corrected to the position Q2 on the guide route closest to the position by route matching processing. As a result, the display of the navigation device displays the current position pointer R4 and the travel locus R5 with reference to the position Q2 as shown in FIG. 8B, and the vehicle is still over the set maximum error (for example, 200 m). Since the route that has not passed has already been passed, there is a problem that the navigation guidance function is lowered. Such mismatching is not limited to the case where the road on the guide route is substantially Ω-shaped, and may occur if a plurality of parts are close to each other, such as a three-dimensional intersection. .

JP 2003-28662 A JP 2002-310961 A

  The present invention has been made to solve such a problem, and its purpose is to improve route matching accuracy when a moving object passes through a location where a plurality of portions are close to each other on a guide route. That is.

  The present invention is a route guidance device connected to a route search server via a network, an acquisition means for obtaining route data from the route search server, a positioning means for positioning a current position of the route guidance device, Correction means for correcting the measured positioning position to a predetermined position on the route based on the route data, route guidance means for performing route guidance based on the corrected correction position, the measured positioning position and / or the correction. A predicted speed calculation means for calculating a predicted speed of the route guidance device based on the corrected position, and a predicted moving distance when the route guidance device has moved from the latest corrected position on the route for a predetermined time at the calculated predicted speed. A predicted movement distance calculating means for calculating the position of the target position measured after the predetermined time has elapsed from the positioning time corresponding to the latest correction position. Determining whether or not a determination condition determined by the distance is satisfied, and if the determination result is negative, the control means for controlling the correction unit so as not to perform the correction for the target positioning position, To do.

  The control means specifies a predicted movement trajectory when the route guidance device moves on the route by the predicted movement distance, and the target positioning position is included in a predicted positioning range including the identified predicted movement trajectory. It is characterized by determining whether it is determined as a determination condition.

  The predicted speed calculation means includes a second positioning corresponding to the second correction position based on a difference between the first correction position and the second correction position and a first positioning time corresponding to the first correction position. First predicted speed calculation means for calculating a first predicted speed of the communication terminal using the elapsed time to the time, the latest corrected position from the difference between the target positioning position and the latest corrected position and the positioning time of the target positioning position And a second predicted speed calculating means for calculating a second predicted speed of the communication terminal using an elapsed time up to the positioning time corresponding to, and calculating an average speed of the route guidance device in a predetermined period as a third predicted speed The predicted speed is calculated using at least one of the third predicted speed calculating means.

  The predicted speed calculation means adds the difference between the predicted speed calculated this time and the previously calculated predicted speed to the predicted speed calculated this time.

  The predicted movement distance calculation means adds a correction distance calculated so as to increase according to the number of times the correction has not been performed continuously with respect to the calculated predicted movement distance.

  The predicted movement distance calculating means calculates the correction distance by multiplying a predetermined distance value by the number of times that the correction has not been performed.

  The present invention is also a route guidance method for guiding a route in a route guidance device connected to a route search server via a network, the obtaining step for obtaining route data from the route search server, and the route guidance device Based on the positioning step for positioning the current position, the correction step for correcting the measured positioning position to a predetermined position on the route based on the route data, and the corrected positioning position and / or the corrected correction position. A predicted speed calculating step for calculating a predicted speed of the route guidance device; a predicted travel distance calculating step for calculating a predicted travel distance of the route guide device based on the calculated predicted speed and a predetermined travel time; and a target positioning position. Determines whether or not the determination condition determined by the predicted moving distance is satisfied, and if the determination result is negative, the target positioning position Against and having a control step of controlling so as not to perform the correction.

  Further, the present invention is also realized as a program for causing a computer to execute the above steps. This program can be installed or loaded on a computer through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network.

  Further, in this specification and the like, the term “means” does not simply mean a physical means, but includes a case where the functions of the means are realized by software. Further, the function of one means may be realized by two or more physical means, or the functions of two or more means may be realized by one physical means.

  ADVANTAGE OF THE INVENTION According to this invention, the route matching precision when a movement target passes the location where several parts are adjoining on a guidance route improves.

It is a figure which shows the route guidance system of embodiment of this invention. It is a flowchart of a route search process. It is a flowchart of a route guidance process. It is a flowchart of a route matching process. It is a figure which shows the route matching in embodiment of this invention. It is a figure which shows the route matching in other embodiment of this invention. It is a figure which shows an example of the conventional route matching. It is a figure which shows the other example of the conventional route matching.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this embodiment, the case where the road is substantially Ω-shaped will be described as an example of passing through a portion where a plurality of parts are close to each other on the guide route, but the present invention is not limited to this, For example, the present invention can be applied to a case where the road has a loop shape.

  As shown in FIG. 1, the route guidance system according to the embodiment of the present invention includes a route search server 100, a map server 150, and a mobile phone 200 as a route guidance device. The mobile phone 200 functions as a pedestrian navigation device when carried by a person, and functions as a car navigation device when mounted on a vehicle.

  The mobile phone 200 includes a GPS receiver 201, a display panel 202, an audio output unit 203, a wireless communication circuit 205, a command input unit 206, a main control unit 210, and a call control unit 220.

  The main control unit 210 is a controller for controlling each unit of the mobile phone 200. The main control unit 210 includes a CPU (Central Processing Unit) 211, a RAM (Random Access Memory) 212, and a ROM (Read Only Memory) 213. The CPU 211 implements various processes to be described later by loading the control program stored in the ROM 213 into the RAM 212 and executing it.

  The GPS receiver 201 is a device that receives radio waves transmitted from GPS satellites. The main controller 210 measures (detects) the current position based on the radio wave received by the GPS receiver 201. If the GPS receiver 201 can receive radio waves from three satellites, the main control unit 210 can determine a two-dimensional current position, and if the GPS receiver 201 can receive radio waves from four satellites, Dimensional current position can be measured. Further, if radio waves can be received from five or more satellites, the current position can be measured with high accuracy.

  The display panel 202 includes a liquid crystal display and a drive circuit that drives the liquid crystal display. The main control unit 210 controls the display panel 202 to display a map image, a recommended route, a current position, and the like. The display panel 202 can employ various display devices such as an organic EL display as well as a liquid crystal display.

  The voice output unit 203 includes a speaker for outputting voice during route guidance, a circuit for driving the speaker, and the like.

  The wireless communication circuit 205 is a circuit for performing data communication or voice communication with the base station BS. For example, the route search server 100 and the map server 150 are connected to the base station BS via the Internet INT. The wireless communication circuit 205 can access the route search server 100 and the map server 150 via the base station BS.

  The call control unit 220 is a circuit that performs incoming calls and calls for voice calls, conversion of voice signals and electrical signals, and the like.

  The command input unit 206 includes a group of buttons such as a numeric keypad 206a and a cursor key 206b. By using these buttons, the user can input the starting point and destination used for route search.

  The map server 150 includes a communication unit 152, a control unit 154, and a storage device 155. The storage device 155 stores a map database 156. The communication unit 152 can communicate with the mobile phone 200 via the Internet INT. In the map database 156, map data to be supplied to the mobile phone 200 is recorded in a vector format, for example. This map data includes data representing the shape of topography, buildings, roads, and the like. When there is a map data acquisition request from the mobile phone 200, the control unit 154 searches the map database 156 for map data in the specified range, and transmits the map data to the mobile phone 200 via the communication unit 152.

  The route search server 100 includes a communication unit 102, a control unit 104, and a storage device 105. The communication unit 102 can communicate with the mobile phone 200 via the Internet INT. The storage device 105 stores a route database 106 in which road connection states are recorded. The road connection state is represented by node data representing intersections, branch points, and the like, and link data representing roads by line segments connecting the node data. When there is a route search request from the mobile phone 200, the route search server 100 uses the route database 106 to search for a recommended route connecting the designated departure place and destination. Then, the recommended route data obtained as a result of the search (hereinafter referred to as “route data”) is transmitted to the mobile phone 200 via the communication unit 102.

  In the present embodiment, the route data is obtained by arranging position data indicating division positions obtained by dividing a recommended route (hereinafter referred to as “route”) into a plurality of sections in the order of the routes. In other words, the latitude and longitude of the current position is (X0, Y0), the latitude and longitude of the destination is (Xn, Yn), and the position (X1, Y1) that divides the route into n sections from the current position to the destination To (Xn-1, Yn-1) are defined in the order (X0, Y0, X1, Y1, X2, Y2, ... Xn-1, Yn-1, Xn, Yn). be able to.

  In the present embodiment, the control unit 104 of the route search server 100 performs a route search using the route database 106 stored in its own storage device 105. However, when the route database 106 is stored in the map server 150, the route database 106 may be read and used via the Internet INT. The route search server 100 and the map server 150 can also be configured as an integrated server. Further, instead of the mobile phone 200, another mobile terminal device (PDA: Personal Digital Assistant) having a communication function and an image display function can be used.

<Route search processing>
FIG. 2 is a flowchart of route search processing executed by the main control unit 210 of the mobile phone 200. This process is executed when the user calls the route guidance function of the mobile phone 200 using the command input unit 206. Here, a case will be described in which the movement target moving on the route is a vehicle.

  When the route search process is started, first, the main control unit 210 receives an input of a departure point, a destination, and the like from the user via the command input unit 206 (step S1). The departure point can be the current position measured by the GPS receiver 201. Upon receiving these inputs, the main control unit 210 transmits a route search request signal to the route search server 100 using the wireless communication circuit 205 (step S2). This request signal includes the information input in step S1.

  When the route search server 100 receives the route search request signal from the mobile phone 200, the route search server 100 refers to the route database 106 stored in the storage device 105 and connects the departure point and the destination included in the request signal (route point). If the route is set, the route will be calculated. The route is calculated using, for example, a well-known Dijkstra method. When the latitude and longitude of the departure point or destination acquired from the mobile phone 200 are not on the route recorded in the route database 106, the route search server 100 performs the well-known map matching process to obtain the point The point on the road closest to is the starting point or destination. When the route search server 100 calculates the route, it returns the route data described above to the mobile phone 200.

  When receiving the route data from the route search server 100 (step S3), the main control unit 210 of the mobile phone 200 stores the route data in the RAM 212 (step S4). The route data stored in the RAM 212 is displayed on the display panel 202 in a map display process described later. The route data transmitted from the route search server 100 to the mobile phone 200 includes the type of route (highway, general road, sidewalk, railroad, etc.), and the latitude and longitude of intersections and branch points where guidance display should be performed. You may include the positional information to show and the image data which should be displayed on a screen at the time of guidance display. Image data to be displayed on the screen at the time of guidance display includes, for example, image data representing a detailed connection state of roads at intersections and branch points, and image data imitating an interchange or lamp guide plate.

<Route guidance processing>
FIG. 3 is a flowchart of the route guidance process executed following the route search process shown in FIG. In the present embodiment, the main control unit 210 of the mobile phone 200 executes this process at a predetermined time interval (for example, once per second). In addition, each processing step to be described later can be executed in any order or in parallel as long as there is no contradiction in processing contents, and other steps may be added between the processing steps. . Further, a step described as one step for convenience can be executed by being divided into a plurality of steps, while a step described as being divided into a plurality of steps for convenience can be grasped as one step.

  When this route guidance process is executed, first, the main control unit 210 measures the current position using the GPS receiver 201, and stores the positioning result in the RAM 212 (step S11). Next, the main control unit 210 acquires map data of a predetermined range (for example, 500 m square) including the positioning position, that is, the measured latitude and longitude, from the map server 150 (step S12). When the map data around the positioning position is buffered in the RAM 212, the main control unit 210 acquires map data corresponding to the positioning position from the buffered data. The range of the map data to be acquired can be adjusted according to the map display scale set by the user.

  When the map data is acquired, the main control unit 210 inputs route data from the RAM 212 (step S13). This route data is data received from the route search server 100 in step S3 of the route search process shown in FIG. Instead of receiving the route data in step S3 in FIG. 2, like the map data, data within a predetermined range from the positioning position is received during the route guidance process in FIG. 3 (after steps S11 to S13). You may comprise.

  Subsequently, a route matching process with a determination function is performed using the positioning position measured in step S11 and the route data input in step S13 (step S14). The route matching process with a determination function includes a correction process for correcting the positioning position to a predetermined position on the route (also referred to as a route matching process) and a determination process for determining whether to execute the correction process. It is. In the correction process, for example, the coordinates of the positioning position and the path data are compared, and when the position coordinates on the path closest to the coordinates of the positioning position are specified, the coordinates of the positioning position are corrected to the position coordinates on the specified path. For example, a known correction technique can be used. The corrected position coordinates are stored as route match information in a predetermined storage area. Details of the determination process will be described later.

  Next, the main control unit 210 draws a map with the map data in the vector format acquired at step S12, draws a route with the route data input at step S13, and superimposes the route on the map on the display panel 202. indicate. Further, based on the result of the route matching process with a determination function performed in step S14, the route guidance display is performed by superimposing the current position mark indicating the current position of the vehicle and the travel locus.

<Route matching process>
FIG. 4 is a flowchart of the route matching process with a determination function of FIG. Note that the latest positioning information (including the positioning position and positioning time) determined in step S11 in FIG. 3 is hereinafter referred to as “target positioning information”, whereby route matching processing is performed on the previous positioning information. It is assumed that the route match information is stored in a predetermined storage area.

  First, the main control unit 210 calculates a first predicted speed of the vehicle using route match information stored in a predetermined storage area (S141). The route match information includes a route match position (correction position coordinates) that has been route-matched up to the present time, a positioning position before the route match, a positioning time, and the like. For example, the main control unit 210 calculates the first route match from the difference between the two most recent route match information, that is, the difference between the first route match position and the second route match position, and the positioning time corresponding to the second route match position. The first predicted speed can be calculated from the elapsed time of the position to the positioning time.

  Next, the main control unit 210 calculates the second predicted speed of the vehicle using the GPS positioning information (S142). The GPS positioning information includes a positioning position and a positioning time measured by the GPS receiver 201. The main control unit 210, for example, the difference between the target positioning information measured this time and the information of the route matching last executed up to the present time (hereinafter referred to as “latest route match information”), that is, the target positioning position. The second predicted speed can be calculated based on the difference from the latest route match position and the elapsed time from the positioning time corresponding to the latest route match position to the positioning time of the target positioning position.

  Next, the main control unit 210 calculates a third predicted speed of the vehicle by calculating an average speed of the vehicle during a predetermined period (S143). The average speed during the predetermined period can be calculated by applying a conventional technique such as a median filter. The calculation method of the average speed can be appropriately set according to the design. For example, when the reference point is 30 seconds before the current reference point, 30 seconds and 45 seconds every 15 seconds before the reference point. , 60 seconds, 75 seconds, and 90 seconds, and the average of the three values excluding the maximum value and the minimum value can be used as the average speed.

  Next, the main control unit 210 selects a speed that matches a predetermined condition from the first predicted speed, the second predicted speed, and the third predicted speed as the predicted speed of the vehicle (S144). In this embodiment, the fastest speed is selected. The predicted speed is calculated differently depending on the performance of the GPS receiver 201, the positioning state, etc., and the accuracy of the predicted speed is improved by determining the predicted speed of the vehicle from a plurality of predicted speeds with different calculation methods. Can do. Note that the above three predicted speeds can be changed or deleted depending on the design. For example, only one predicted speed may be used or obtained by another calculation method. The predicted speed may be added as the fourth predicted speed.

  When the predicted speed is calculated, the main control unit 210 executes a predicted speed correction process (S145). The actual vehicle speed is faster than the calculated value when accelerating, and slower than the calculated value when decelerating due to a delay caused by a GPS positioning interval (for example, 1 second) or processing time. Therefore, here, the difference (acceleration) between the predicted speed calculated this time and the predicted speed calculated last time is added to the predicted speed calculated this time. Thereby, the influence of delay can be reduced.

  Next, the main control unit 210 calculates a predicted moving distance when the vehicle has moved from the latest route match position on the route for a predetermined predicted moving time at the corrected predicted speed (S146). The predetermined predicted travel time can be set as appropriate according to the design, and can be, for example, the elapsed time from the positioning time corresponding to the latest route match position to the positioning time of the target positioning information.

  When the predicted moving distance is calculated, the main control unit 210 corrects the predicted moving distance with a predetermined correction distance (S147). The predetermined correction distance is calculated so as to increase in accordance with the number of times route matching fails continuously. For example, the sum of the first predetermined distance (eg, 50 m) multiplied by the number of times route matching has failed and the result added to the second predetermined distance (eg, 75 m) can be used as the correction distance (expression) : Correction distance = (first predetermined distance × number of route matching failures) + second predetermined distance). The first and second predetermined distances can be set in consideration of the GPS performance and the type of moving object. Moreover, the maximum distance (for example, 200 m in the case of a vehicle) according to the performance of GPS or the type of moving object can be set as the correction distance.

  Next, the main control unit 210 calculates a range in which the target positioning position is predicted based on the corrected predicted moving distance (hereinafter referred to as “predicted positioning range”). For example, first, using the route match position of the latest route match information as a reference position, a position when the vehicle moves in the traveling direction from the reference position by the corrected predicted movement distance (hereinafter referred to as “predicted maximum movement position”). "). Then, a route from the reference position to the predicted maximum movement position is specified as a “predicted movement locus”, and a certain range including the predicted movement locus is calculated as a “predicted positioning range”. The calculation conditions of the predicted positioning range based on the predicted movement trajectory can be set as appropriate according to the design, but here, the range within a predetermined distance from the reference axis when the predicted movement trajectory is used as the reference axis Is the predicted positioning range. The predetermined distance can be set according to the moving object, the type of road, and the like. For example, when the moving object is a user walking, a range that is expanded to the left and right by 75 m from the reference axis, and when the moving object is a vehicle The range can be expanded to the left and right by 110 m on ordinary roads and by 300 m on expressways.

  Then, the main control unit 210 determines whether or not the target positioning position measured in step S11 of FIG. 3 is included in the predicted positioning range (S149). When it is determined that the target positioning position is included in the predicted positioning range, route matching is executed, and the target positioning position is corrected to the route matching position on the route. In addition, route matching information is stored in a predetermined storage area. On the other hand, when it is determined that the target positioning position is not included in the predicted positioning range, route matching is not executed, and the number of times of route matching failure is counted and stored in a predetermined storage area.

  FIG. 5 is a diagram for explaining route matching according to the present embodiment. In FIG. 9A, Y1 is a predicted positioning range set based on the predicted moving distance. The predicted positioning range Y1 is generated based on the predicted movement trajectory S11 from the latest route match position Q1 to the predicted maximum movement position S1. Here, the positioning position P2 measured next to the positioning position P1 is not located within the predicted positioning range Y1. Therefore, the main control unit 210 does not execute route matching for correcting the positioning position P2 to the route match position Q2 on the route, and the latest route match position remains Q1.

  On the other hand, FIG. 5B is a diagram showing route matching when the positioning position P3 is positioned next to the positioning position P2. At the time of positioning of the positioning position P3, since the time has passed since the positioning of the positioning position P2, the predicted moving distance is updated, and based on the updated predicted moving distance, the predicted maximum moving position S2, the predicted moving trajectory S12, A predicted positioning range Y2 is newly set. Here, the positioning position P3 is included in the predicted positioning range Y2. Therefore, the main control unit 210 executes route matching for correcting the positioning position P3 to the closest route matching position Q3 on the route. As a result, the route match position Q3 becomes the latest route match position. The main control unit 210 clears the number of route matching failures by executing route matching.

  As described above, according to the route guidance system of the present embodiment, when performing route matching for correcting the positioning position detected by the GPS receiver 201 on the route, the positioning position is determined based on the predicted travel distance. It is determined whether or not it is included in the predicted positioning range. If the determination result is negative, route matching is not executed for the positioning position (not corrected on the route). Thereby, it becomes possible to improve the matching accuracy when the moving object passes through a place where a plurality of parts are close to each other on the route.

<Other embodiments>
The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above-described embodiment is merely an example in all respects, and is not construed as limiting.

  (1) As another example of the route matching determination condition, when there is a place where a plurality of parts are close to each other on the guide route, a passing point through which the moving target should pass in order is set in the route data in advance. In addition, it may be determined whether or not route matching is performed based on whether or not the movement target has passed the passage point. FIG. 6A shows a plurality of passing points Z1, Z2, and Z3 installed on the guide route. The main control unit 120 holds, for example, passage information indicating whether or not the movement target has passed for each passage point in a predetermined storage area. When a new positioning position is detected by the GPS receiver, the main control unit 120 matches the positioning position with the temporary route match position Q2 on the route, and between the latest route match position Q1 and the temporary route match position Q2. It is determined whether or not there are at least two items indicating “non-passing” among the passing information of the passing points (Z1, Z2, Z3). Then, the temporary route match position may be deleted when the determination result is right, and the temporary route match position may be confirmed when the determination result is negative.

  (2) As another example of the route matching determination condition, when a new positioning position is detected by the GPS receiver, the main control unit 120 matches the positioning position with the temporary matching position on the route, and updates the latest route match. It is determined whether or not the movement distance when moving on the route from the position to the temporary route match position is within the predicted movement distance. If the determination result is positive, the temporary route match position is confirmed and the determination result is negative. In such a case, the temporary route match position may be deleted.

(3) As another example of the determination condition of the route matching, as shown in FIG. 6 (B), GPS
When a new positioning position is detected by the receiver, the main control unit 120 matches the positioning position to the temporary route match position Q2 on the route, and connects the predicted maximum movement position S3 from the latest route match position Q1. A predicted movement trajectory S31 is set. Then, it is determined whether or not the temporary route match position Q2 is located on the predicted movement trajectory Y3. If the determination result is positive, the temporary route match position is determined, and if the determination result is negative, the temporary route match position is determined. You may make it cancel a position. In the figure, the temporary route match position Q2 is canceled because the temporary route match position Q2 is not located on the predicted movement locus Y3.

  (4) A place where a plurality of parts are close to each other on the route is identified based on the map data and the route data, and only when the latest route match position exists in the vicinity of the close place, the matching execution determination process is performed. You may make it perform. According to this, since the process for determining whether or not to perform route matching is executed only in a situation where mismatching is likely to occur, the matching process can be made more efficient.

  (5) In the process of correcting the predicted movement distance, a maximum value can be set as the number of route matching failures used for calculating the correction distance. Then, if the target positioning position is not continuously included in the target prediction range calculated based on the correction distance (maximum correction distance) by the maximum value more than a predetermined number of times, the target positioning position is the closest on the route. Route matching may be executed so as to correct the position.

  DESCRIPTION OF SYMBOLS 10 ... Route guidance system, 100 ... Route search server, 150 ... Map server, 200 ... Mobile phone, 201 ... GPS receiver, 210 ... Main control part

Claims (6)

A route guidance device connected to a route search server via a network,
Obtaining means for obtaining route data from the route search server;
Positioning means for positioning the current position of the route guidance device;
Correction means for correcting the measured positioning position to a predetermined position on the route based on the route data;
Route guidance means for performing route guidance based on the corrected correction position;
Predicted speed calculation means for calculating a predicted speed of the route guidance device based on the measured positioning position and / or the corrected corrected position;
Predicted travel distance calculating means for calculating a predicted travel distance when the route guidance device has moved from the latest corrected position on the route for a predetermined time at the calculated predicted speed;
It is determined whether or not the target positioning position determined after the predetermined time has elapsed from the positioning time corresponding to the latest correction position satisfies a determination condition determined by the predicted movement distance, and if the determination result is negative, the target positioning A control unit that controls the correction unit so as not to perform the correction on the position, and specifies a predicted movement locus when the route guidance device moves on the route by the predicted movement distance; Control means for determining as a determination condition whether or not the target positioning position is included in a predicted positioning range including a predicted movement locus;
I have a,
The predicted speed calculation means includes
A route guidance device , wherein a difference between a predicted speed before correction calculated this time and a predicted speed corrected by previous calculation is added to the predicted speed before correction and corrected . The predicted speed calculation means includes
Using the difference between the first correction position and the second correction position and the elapsed time from the first positioning time corresponding to the first correction position to the second positioning time corresponding to the second correction position, First predicted speed calculation means for calculating one predicted speed;
Second prediction for calculating the second predicted speed of the communication terminal using the difference between the target positioning position and the latest correction position and the elapsed time from the positioning time of the target positioning position to the positioning time corresponding to the latest correction position Speed calculation means, and
2. The predicted speed is calculated using at least one calculation means of third predicted speed calculation means for calculating an average speed of the route guidance device in a predetermined period as a third predicted speed. The route guidance device described in 1. The predicted moving distance calculation means includes
3. The route guidance according to claim 1, wherein a correction distance calculated so as to increase according to the number of times that the correction is not continuously performed is added to the calculated predicted movement distance. apparatus. The predicted moving distance calculation means includes
The route guidance device according to claim 3 , wherein the correction distance is calculated by multiplying a predetermined distance value by the number of times the correction is not performed. A route guidance method for guiding a route in a route guidance device connected to a route search server via a network,
An acquisition step of acquiring route data from the route search server;
A positioning step of positioning the current position of the route guidance device;
A correction step for correcting the measured positioning position to a predetermined position on the route based on the route data;
A route guidance step for performing route guidance based on the corrected position;
A predicted speed calculating step of calculating a predicted speed of the route guidance device based on the measured positioning position and / or the corrected position corrected;
A predicted travel distance calculating step for calculating a predicted travel distance of the route guidance device based on the calculated predicted speed and a predetermined travel time;
It is determined whether or not a target positioning position satisfies a determination condition determined by the predicted movement distance, and if the determination result is negative, a control step for performing control so as not to perform the correction on the target positioning position, A predicted movement trajectory is determined when the route guidance apparatus has moved on the route by the predicted movement distance, and it is determined whether or not the target positioning position is included in a predicted positioning range including the identified predicted movement trajectory. A control step to determine as a condition;
I have a,
The predicted speed calculation step includes :
A route guidance method characterized by correcting by adding a difference between a predicted speed before correction calculated this time and a predicted speed corrected by previous calculation to the predicted speed before correction calculated this time . To a computer connected to the route search server via a network,
An acquisition step of acquiring route data from the route search server;
A positioning step of positioning the current position of the route guidance device;
A correction step for correcting the measured positioning position to a predetermined position on the route based on the route data;
A route guidance step for performing route guidance based on the corrected position;
A predicted speed calculating step of calculating a predicted speed of the route guidance device based on the measured positioning position and / or the corrected position corrected;
A predicted travel distance calculating step for calculating a predicted travel distance of the route guidance device based on the calculated predicted speed and a predetermined travel time;
It is determined whether or not a target positioning position satisfies a determination condition determined by the predicted movement distance, and if the determination result is negative, a control step for performing control so as not to perform the correction on the target positioning position, A predicted movement trajectory is determined when the route guidance apparatus has moved on the route by the predicted movement distance, and it is determined whether or not the target positioning position is included in a predicted positioning range including the identified predicted movement trajectory. A control step to determine as a condition is executed,
The predicted speed calculation step includes :
This calculated corrected prior predicted velocity and the previous calculated and corrected predicted velocity and differential characteristics and route guidance program that it is corrected by adding the correction forward prediction rate calculated the current.