JP5740127B2 - Data structure of navigation device and network data - Google Patents

Description

    The present invention relates to a navigation device that generates and guides pedestrian guidance information, and a data structure of network data that is used by a computer to generate pedestrian guidance information.

Conventionally, PND (Personal Navigation) that can be carried around
Pedestrian navigation devices such as (Device) are used.
As a conventional pedestrian navigation device, for example, a recommended route from the departure point to the destination is set and set using network data including link and node data representing a pedestrian passage. Those having a navigation function for displaying a map image based on the route displayed on the screen for guidance are widely used. There is also known a navigation device that omits guidance for a connecting road that connects a sidewalk such as a pedestrian crossing (for example, see Patent Document 1).

JP-A-2005-114694

However, although the navigation device described in Patent Document 1 can provide simple and easy-to-understand guidance, guidance on some passages is omitted. May give guidance with different images.
An object of the present invention is to provide a navigation device that generates and guides guidance information that matches a pedestrian's sense for a passage with a high degree of freedom of walking, and a data structure of network data.

In order to solve the above problems, the navigation device of the present invention is a portable device body and a specific passage, even if a pedestrian moves in a direction shifted from the direction along the link, When it is possible to move to a destination path by moving in a shifted direction, a storage unit that stores network data including specific information that can specify the specific path is used as attribute information, and the network data is used. Based on the specific information , a route setting unit that searches for a route and sets it as a set route, and the specific route out of the set routes reflects the shape obtained by the connection state of a plurality of the links . A guidance information generation unit that generates guidance information, a current position detection unit that detects a current position of the device main body and outputs current position information, and a specification based on the current position information And those comprising a guide portion for guiding with the guide information corresponding to the range.
Note that the above-described features do not enumerate all the features of the present invention, and a configuration (or method) including these as main parts can also be an invention.

The navigation device of the present invention can move to a destination path by moving in a shifted direction even if the pedestrian moves in a direction shifted from the direction along the link in a specific path. In some cases, network data including specific information that can identify a specific passage is stored as attribute information, and the guidance obtained by reflecting the shape obtained by the connection state of a plurality of links in the specific passage is reflected. Generate information. As a result, for a passage with a high degree of freedom of walking, guidance according to the sense of the pedestrian is provided, and guidance that is easy to understand and also fits the sense of the pedestrian can be performed.

It is a block diagram which shows the structure of the navigation apparatus of a present Example. It is a figure which shows the data structure of the network data utilized for the navigation apparatus of a present Example. It is a flowchart of the outline process in a present Example. It is a flowchart of the route setting process in a present Example. It is a figure which shows the example of the setting path | route in a present Example. It is a flowchart of the guidance information generation process in a present Example. It is a figure explaining the process which blunts the shape of a link in a present Example. It is a figure which shows the example of the guidance image in a present Example.

Hereinafter, embodiments embodying the present invention will be described.
As shown in FIG. 1, the navigation device 1 includes a storage unit 11, an input unit 12, a route setting unit 13, a guidance information generation unit 14, a current position detection unit 15, and a guidance unit inside an apparatus main body (not shown). 16 is used as a pedestrian navigation terminal. The guide unit 16 includes a guide control unit 17 and an image display unit 18.

  The storage unit 11 is an external storage device such as a flash memory, a hard disk, a DVD, or a Blu-ray disc, and stores map data 19. The image display unit 18 is a device such as an LCD (Liquid Crystal Display) that displays an image on an image display surface. The input unit 12 is a touch panel provided on the image display surface of the display unit. The current position detector 15 is a GPS receiver, and is a position detection sensor that detects the current position of the main body of the navigation device 1 based on the received radio wave from the GPS satellite and outputs current position information. The route setting unit 13, the guidance information generation unit 14, and the guidance control unit 17 include an internal storage device such as a ROM and a RAM in which computer programs and processing conditions are stored in advance, and a CPU that executes the computer program. It is a small computer. The apparatus main body is a resinous housing that houses these parts.

  As shown in FIG. 2, the map data 19 stored in the storage unit 11 includes network data that expresses the connection state of a pedestrian passage with nodes and links, an administrative boundary diagram, a road map, a house shape map, and the like. Map data including drawing data such as polyline and polygon data for generating.

  In the network data, a point connecting passages is defined as a node, a line connecting two nodes is defined as a link, and a connection relationship between these nodes and the link is defined. The node information includes node coordinate information, connected link information, information of other nodes connected via the link, and the like. The link information includes link ID information, node ID information at both ends, link length information, and information on the coordinates of shape interpolation points for expressing the shape of the passage so as to be close to reality.

  And in the navigation apparatus 1 of a present Example, the information of a link shows that it is a shape blunt object link with the width | variety of the area | region which can actually walk is wide with respect to the width | variety of the path | pass which a link expresses "Flag" is included as attribute information. The shape of the object to be blunted is wider than the width of the passage represented by the link. It shows a link that can be moved to the passageway.

  The route setting unit 13 refers to the map data 19 stored in the storage unit 11 based on the position information specified by the user's operation using the input unit 12 or the current position information detected by the current position detection unit 15. In addition to determining a designated point on the map corresponding to each of the departure point and destination, it has a function of setting a recommended route by calculating a route from the departure point to the destination using network data.

  The guide information generating unit 14 generates guide information for guiding the set route set by the route setting unit 13 using the network data. Specifically, guide information reflecting the shape of the link is generated as guidance information corresponding to links other than the shape blunting link in the set route, and the shape of the link is blunted as guidance information corresponding to the shape blunting link. The guidance information reflected is generated.

  The guide unit 16 provides guidance using the guide information generated by the guide information generation unit 14. The guide unit 16 includes a guide control unit 17 and an image display unit 18.

  The guidance control unit 17 performs map matching on an appropriate link among the links included in the network data based on the current position information detected by the current position detection unit 15, and a map in a range specified to include the map-matched position. An image is generated, and a guide image generated by superimposing a guide line generated using the guide information generated by the guide information generation unit 14 on the map image is output to the image display unit 18. In this embodiment, the map-matched position is positioned at the center of the generated guide image, and the guide information corresponds to the position of the pedestrian.

  The image display unit 18 displays the guidance image output from the guidance control unit 17 on the image display surface.

  The navigation device of the present invention predefines a shape-blunting link in which the width of the area that can actually be walked is wide relative to the width of the passage represented by the link, and basically for guiding along the link Guidance information that reflects the shape of the link is generated, and for the shape-blunting link, guidance information that reflects and reflects the shape of the link is generated. This usually generates guidance information for walking along the passage, and for the passage with a high degree of freedom of walking, it generates guidance information that matches the pedestrian's sense. It is possible to provide guidance that matches the senses.

  The process of the navigation apparatus 1 of a present Example is demonstrated. As shown in FIG. 3, the navigation apparatus 1 according to the present embodiment executes a route setting process S300 by the route setting unit 13 to set a set route, and a guide information generation process by the guide information generation processing unit based on the set route. The guidance information is generated by executing S400, and the guidance control unit 17 executes guidance processing S500 using the guidance information to guide the set route.

<Example of route setting processing>

  First, the route setting process S300 in which the navigation device 1 of this embodiment sets a route will be described in detail with reference to FIG. The route search of the present embodiment shows an example of setting a train transfer route in the station premises. In this embodiment, as shown in FIG. 5, the route of the pedestrian between the departure point S and the destination G is sandwiched by an underground passage UP that connects a plurality of stairs HP1 to HP4 leading to the platform on the station premises. An example of the search set in is shown. Although the home is not shown, the staircase HP1 is connected to the first and second homes, the staircase HP2 is connected to the third and fourth homes, the staircase HP3 is connected to the fifth and sixth homes, and the staircase HP4 is connected to the seventh and eighth homes.

  First, the navigation device 1 refers to the map data 19 stored in the storage unit 11 by the route setting unit 13 and corresponds a specific node to the departure point based on the current position information detected by the current position detection unit 15. Next, a process for registering the search start node as a confirmed node is executed (step S301). In the present embodiment shown in FIG. 5, the node N9 becomes the search start node S and is registered as a confirmed node.

  When step S301 ends, the navigation device 1 refers to the map data 19 stored in the storage unit 11 by the route setting unit 13 and corresponds to the destination specified by the input to the input unit 12 by the user's operation. A process for registering the search end node to be executed is executed (step S302). In the present embodiment shown in FIG. 5, the node N16 becomes the search end node G.

  When step S302 is completed, the navigation device 1 selects a connection node with the lowest passing cost among the connection nodes connected to the confirmed node by the route setting unit 13, and executes a process of registering as a node of interest (step). S303). The calculation method of the passage cost will be described later.

  When step S303 ends, the navigation device 1 causes the route setting unit 13 to execute a process of determining whether or not the registered node of interest is the search end node G (step S304).

  If the navigation device 1 determines in step S304 that the registered node of interest is a search end node (step S304: Yes), it ends the route setting process S300. When the route setting process S300 ends, the navigation device 1 moves to a guidance information generation process S400 described later.

  If the navigation device 1 determines in step S304 that the registered node of interest is not a search end node (step S304: No), the navigation device 1 registers all links connected to the node of interest as connection links and is applicable. Refers to the link length information included in the connection link information, sets the passing cost of the corresponding connection link, registers the other end point node of the connection link as a connection node, and is given to the connection node in advance A process of reading the left turn cost is executed (step S305).

  When step S305 is completed, the navigation device 1 uses the route setting unit 13 to connect the connection link and the link connecting the target node and the confirmed node to the connection link for which the passing cost is not set. The process which determines whether it is is performed is performed (step S306). Among the links L1 to L22 shown in FIG. 4, the “blunting target flag” is given as attribute information to the links L13 to L22 representing the passages in the area of the underground passage UP.

  If the navigation device 1 determines in step S306 that the connection link to be determined and the link connecting the node of interest and the confirmed node are not shape blunting links (step S306: No), The process proceeds to S308.

When the navigation device 1 determines in step S306 that both the connection link to be determined and the link connecting the node of interest and the confirmed node are shape blunting links (step S306: Yes), in advance. Based on the set right / left turn cost reduction rate, processing for reducing the right / left turn cost given to the connection node to be determined is executed (step S307).
In this embodiment, the pedestrian moves to the next passage even if the pedestrian travels in a direction greatly deviating from the direction of the line indicating the link in order to shorten the walking distance. Since the right / left turn cost is reduced at the place where the link shape blunting link that can be connected is connected, it can be evaluated as a route corresponding to the actual walking expected to shorten the distance that the pedestrian walks.

  When step S307 ends, the navigation device 1 uses the route setting unit 13 to execute processing for calculating the cost of the route from the search start node to the connection node (step S308). Specifically, the cost of the route from the search start node to the connection node is calculated by adding the above-mentioned passing cost and right / left turn cost of each connection link to the cost of the route from the search start node to the target node.

When step S308 ends, the navigation device 1 determines whether or not the route setting unit 13 has completed calculation of the cost of the route from the search start node to the connection node for all the connection nodes registered. Is executed (step S309). If the navigation device 1 determines in step S309 that the calculation of the route cost has not been completed (step S309: No), the navigation device 1 performs the processes in and after step S306 for the connection node for which the calculation of the route cost has not been completed. Try again. If the navigation device 1 determines in step S309 that the calculation of the route cost has been completed (step S309: Yes), the navigation device 1 executes the processing from step S303 onward again.
In the present embodiment, as a result of executing the above-described processing, a route W that reaches the node N16 from the node N9 via the nodes N1, N3, N5, N7, and N8 is set as the setting route.

<Example of guidance information generation processing>

  Next, a guidance information generation process S400 in which the navigation device 1 of this embodiment generates guidance information based on the set route set by the route setting unit 13 will be described in detail with reference to FIG. In the present embodiment, the set route W is set by the processing by the route setting unit 13 described above.

  First, the navigation device 1 executes a process in which the guide information generation unit 14 acquires the set route set by the route setting unit 13 (step S401).

  When step S401 is completed, the navigation device 1 causes the guidance information generation unit 14 to extract a link closest to the search start node from the links included in the set route and register it as an evaluation link. (Step S402). Note that a link that has been once extracted and registered as an evaluation link is excluded from the target of the link that is extracted in step S402 from the next time.

  When step S402 ends, the navigation device 1 causes the guidance information generation unit 14 to execute processing for determining whether the evaluation link is a link connected to the search end node (step S403).

  When the navigation device 1 determines in step S403 that the evaluation link is not a link connected to the search end node (step S403: No), the guidance information generation unit 14 determines whether the evaluation link is a shape blunting target link. The process which determines whether or not is executed (step S404).

  If the navigation device 1 determines in step S404 that the evaluation link is a shape blunting target link (step S404: Yes), the guidance information generator 14 adds the evaluation link to the list of blunting target link strings. A registration process is executed (step S405). When step S405 ends, the navigation device 1 clears the registration of the evaluation link, and executes the processing after step S402 again.

  When the navigation device 1 determines in step S404 that the evaluation link is not the shape blunting target link (step S404: No), the guidance information generation unit 14 causes the link shape of the links in the list of blunting target link rows to be determined. The process which produces | generates the guidance information which made dull and reflect was performed (step S406). Specifically, a case where a plurality of shape blunting target links are included in the list of blunting target link sequences is a processing target. In this embodiment, for the section where the shape-blunting links are connected, the shape of the link is smoothly corrected and blunted so that the distance connecting the entry point entering this section and the exit point exiting from this section is shortened. The reflected line is generated as a correction line, and this is used as guide information for the blunt shape blunting target link. The shape of the link in the present invention includes both the shape of a single link and the shape formed by connecting a plurality of links. The link shape is blunted by performing fillet processing to round the corner of the link connection portion when the angle formed by the two links to be connected is within a predetermined range. Specifically, in the fillet processing, by referring to a list in which the relationship between the angle formed by two connecting links, the link length, and the curvature radius of the corresponding fillet is determined in advance, as shown in FIG. Generate fillet FL. If all nodes in this section exist within a certain distance from the straight line connecting the entry point and the exit point, the link shape in this section is linearized. The process is executed to generate a correction line, and this is used as guide information for the shape blunting link.

  When step S406 is completed, the navigation device 1 causes the guidance information generation unit 14 to perform a process of clearing the list of blunting target link sequences (step S407). When step S407 ends, the navigation device 1 executes the processing subsequent to step S402 again.

  When the navigation device 1 determines in step S403 that the evaluation link is a link connected to the search end node (step S403: Yes), the guidance information generation unit 14 uses the guidance information generation unit 14 for the links in the list of blunting target link strings. The guide information reflecting the shape of the link is generated and the guide information reflecting the shape of the link is generated as the guide information corresponding to the link other than the shape blunting link in the set route. (Step S408). The process for generating guidance information for links in the list of blunting target link strings is the same as in step S406. For links other than the shape blunting target link, a trace line that reflects the link shape without correction is generated, and this is used as guide information for links other than the shape blunting target link. When step S408 ends, the navigation device 1 ends the guidance information generation process S400.

<Example of guidance control processing>

Next, a description will be given of guidance processing S500 in which the navigation device 1 of the present embodiment guides the set route using the generated guidance information.
In the navigation device 1, the guidance control unit 17 performs map matching on an appropriate link among the links included in the network data based on the current position information detected by the current position detection unit 15, so that the map-matched position is included. A map image in the range specified in FIG. 5 is generated, and a guide image in which a correction line of the guide information generated by the guide information generation unit 14 and a guide line highlighting the trace line is superimposed on the map image is output to the image display unit 18. Execute the process. And the navigation apparatus 1 performs the process which displays the guidance image which the guidance control part 17 output on the image display surface by the image display part 18. FIG.

  In the guide image shown in FIG. 8, for the shape blunting link, a guide line GL that reflects the blunted shape of the link is displayed. As a result, for a passage with a high degree of freedom of walking, guidance according to the sense of the pedestrian is provided, and guidance that is easy to understand and also fits the sense of the pedestrian can be performed. In other words, in the pedestrian network, although there is a space with a high degree of freedom of passage, the combination of passages that can be passed is forcibly expressed as links, so in the past, guidance images that were far from the actual walking state Although it has been expressed, according to the guidance image of the present embodiment, the expression is less uncomfortable than the actual walking state.

  In addition, for a section where a plurality of shape-blunting links are connected, guidance based on a correction line in which the shape of the link is blunted so that the distance connecting the entry point entering this section and the exit point exiting from this section is shortened. Since an image is generated and displayed as guidance information, guidance that is close to the pedestrian's sense of walking the shortest distance is actually performed.

<Other examples>
The present invention is not limited to the above-described embodiments, and various modifications and improvements can be made without departing from the scope of the present invention. For example, in the embodiment described above, the navigation device 1 is a PND, but it can also be used in an in-vehicle dedicated navigation system, a mobile phone, and a personal computer with a GPS receiver.

  Moreover, in the Example mentioned above, although the navigation apparatus 1 is performing the fillet process about the process which blunts the shape of a shape blunting object link, depending on the state of the link shape of the area where a shape blunting object link continues, for example, You may make it perform the process which produces | generates a Pezier curve.

  In the above-described embodiment, the navigation device 1 includes the storage unit 11, the route setting unit 13, and the guidance information generation unit 14 in the device main body, but these are limited to being in the device main body. Is not to be done. For example, the storage unit 11, the route setting unit 13, and the guidance information generation unit 14 may be provided in a separately prepared data transmission body. In such a configuration, data is transmitted and received between the apparatus main body and the data transmitter. Specifically, first, the apparatus main body transmits current position information to the data transmitter, and the data transmitter generates guidance information based on the received current position information and transmits it to the apparatus main body, and uses the received guidance information. Then, a series of processes in which the apparatus main body guides is executed.

DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus 11 ... Memory | storage part 13 ... Route setting part 14 ... Guidance information generation part 15 ... Current position detection part 16 ... Guidance part

Claims (4)

A portable device body;
Network data that expresses the connection state of a pedestrian passage with nodes and links. In a specific passage, even if the pedestrian moves in a direction shifted from the direction along the link, the shift A storage unit that stores network data including specific information capable of specifying the specific path as attribute information, when moving to a destination path by moving in a specific direction;
A route setting unit that searches for a route using the network data and sets the route as a set route;
Based on the specific information, in the specific path of the set route, a guide information generation unit that generates guide information that reflects and reflects the shape obtained by the connection state of the plurality of links;
A current position detector for detecting a current position of the apparatus body and outputting current position information;
A navigation device comprising a guide unit that guides using the guide information corresponding to the range specified based on the current position information. The navigation device according to claim 1,
The guide information generation unit blunts a shape obtained by a connection state of the plurality of links so that a distance connecting an entry point entering the specific passage and an exit point exiting the specific passage is shortened. A navigation device, wherein a correction line is generated as the guidance information, and the guide unit guides using a guide image based on the correction line. The navigation device according to claim 2,
The navigation apparatus, wherein the guide image includes a guide line highlighted based on the correction line. A computer having a guide information generating unit and a guide unit is a data structure of network data that represents a connection state of a pedestrian passage used for generating guide information for guiding a route with nodes and links,
The data structure is
In a specific passage, even if a pedestrian moves in a direction shifted with respect to the direction along the link, the attribute information can be moved to the destination passage by moving in the shifted direction. By providing specific information capable of specifying the specific passage,
The guide information generation unit reflects the shape obtained by the connection state of the plurality of links in the specific path among the set paths set using the network data based on the specific information. Generate guidance information,
A data structure of network data, wherein the guide unit is configured to perform a process of guiding using the guide information corresponding to a position of a pedestrian.