JP5881426B2 - Tunnel information use navigation device - Google Patents

Description

  The present invention relates to a navigation device, and more particularly to a tunnel information utilization navigation device that can perform appropriate map matching by using tunnel information.

  In the navigation device. Use GPS to get your exact location. Furthermore, the current location can be matched with the road on the map of the map by the map match, so that the vehicle position can always be matched with the road on the map and the current location can be accurately known. This map matching is also performed by autonomous navigation based on vehicle speed pulses and direction detection.

  However, in order to match the current position to the road on the map, the current position cannot necessarily be accurately applied to the road on the map, and the same road as the overrun that matches the road ahead from the true current position on the same road Underruns that match the upper rear position may occur. On the other hand, if a predetermined number of GPS signals are received, an accurate position can be detected. However, GPS cannot be received behind a tunnel or a building, and an accurate position cannot be measured.

  It is determined whether there is an entrance to the specific road near the current position calculated from the positioning data of the GPS receiver, the data from the angle sensor, and the acceleration sensor. At that time, the vehicle travels / runs along the specific road. If the vehicle travels or runs in parallel on a specific road, strong map matching control is performed so as not to remove the current position from the current vehicle traveling road. Toll roads are controlled by strong map matching control when positioning data accidentally enters the toll road even though it is running on a toll road in a situation where ordinary roads and toll roads exist in parallel. A technique for preventing the recognition of having entered is disclosed in Patent Document 1.

JP-A-11-304512

  In this way, GPS cannot measure the exact position in the tunnel, and map matching has overruns and underruns, so the following problems occur when two roads are running in parallel: .

  That is, as shown in FIG. 5A, when roads A and B are running in parallel and currently exist at the position P of road A as the actual vehicle position, this road is located at the position T. When entering the tunnel, the GPS matching is overrun and it is assumed that it is at the position of Q in the tunnel. When the road B that runs next to the road is a general road that is not a tunnel, Recognizing that it is traveling on a general road because it can receive GPS, it is estimated that it exists at the position of R of road B running in parallel from the position of Q in the tunnel, Match the position.

  In addition, as shown in FIG. 5B, when the current position is the position P of road A, that is, when traveling in the tunnel and exiting the tunnel soon, when performing map matching by self-contained navigation, etc., due to overrun When it is estimated that it exists at the point Q that has left the tunnel, it is still in the tunnel at the current location, so GPS cannot be received, and it is incorrectly map-matched as being at the R point in the tunnel of the road B that runs next to it Resulting in.

  Furthermore, as shown in FIG. 5 (c), when there is a point P in the tunnel of the road A, when the map matching is attempted to be map-matched to the point Q due to an underrun, the current GPS cannot be received. As a result, the map is matched with the R point of the road B existing in the tunnel.

  As shown in FIG. 5 (d), when the current location is at the point P of the scale exiting from the tunnel on the road A, the current GPS is received when the map matching is attempted to be map matched to the point Q due to underrun. As a result, there is a problem that map matching is performed to a point R that is not a tunnel of the adjacent road B.

  FIG. 6 shows an actual driving example. In FIG. 6, when driving on the road V, when entering the tunnel section, the vehicle was normally driving by map matching until the GPS side. 5 shows an example in which an error occurs in map matching as shown in FIG. 5A, map matching is erroneously performed on another road W that is not a tunnel adjacent to the road V, and the vehicle travels as it is. Yes. In this way, a map matching error occurs.

  SUMMARY OF THE INVENTION Accordingly, it is a primary object of the present invention to provide a navigation apparatus that can perform accurate map matching without being affected by overrun or underrun in map matching and without being affected by the entrance / exit of a tunnel. .

  In order to solve the above-described problem, the navigation apparatus using tunnel information according to the present invention detects a tunnel entrance / exit detecting means for detecting a tunnel entrance / exit of the own vehicle running road, and a front / rear direction from the tunnel entrance detected by the tunnel entrance / exit detecting means. Adjacent road movement prohibited area setting means for setting an adjacent road movement prohibited area within a predetermined distance; and adjacent road detection means for detecting whether the road adjacent to the entrance detected by the tunnel entrance detection means is a tunnel road or a general road. An adjacent road movement prohibiting process for prohibiting movement of map matching to an adjacent road depending on whether the adjacent road detecting means is a tunnel road or a general road when the own vehicle position exists in the adjacent road movement prohibited area It is characterized by performing.

  Further, the tunnel information utilization navigation device according to the present invention is the tunnel information utilization navigation device, wherein the vehicle position is in the adjacent road movement prohibited area at the entrance of the tunnel and map matching is performed by overrun. When the road is a general road, an adjacent road movement prohibition process is performed.

  Further, the tunnel information use navigation device according to the present invention is the tunnel information use navigation device, wherein the vehicle position is in the adjacent road movement prohibited area at the entrance of the tunnel and map matching is performed by underrun. When the road is a tunnel, the adjacent road movement prohibition process is performed.

  In the tunnel information utilization navigation device according to the present invention, in the tunnel information utilization navigation device, when the vehicle position exists in the adjacent road movement prohibited area at the tunnel exit and map matching is performed due to overrun, the adjacent road When the road is a tunnel, the adjacent road movement prohibition process is performed.

  Further, the tunnel information utilization navigation device according to the present invention is the tunnel information utilization navigation device, wherein the vehicle location is in the adjacent road movement prohibited area at the tunnel exit, and the map is matched by underrun, the adjacent road When the road is a general road, an adjacent road movement prohibition process is performed.

  A self-traveling road tunnel entrance / exit detection means for detecting a tunnel entrance / exit of the own vehicle travel road, an unclear section setting means for defining an unclear section within a predetermined distance from the tunnel entrance detected by the tunnel entrance / exit detection means, and the tunnel An adjacent road detecting means for detecting whether a road adjacent to the doorway detected by the doorway detecting means is a tunnel road or a general road, and when the vehicle position is present in the unclear section, the adjacent road detecting means Next, an adjacent road movement prohibition process is performed in which map matching movement to an adjacent road is prohibited depending on whether the road is a tunnel road or a general road.

It is a functional block diagram of the Example of this invention. It is an operation | movement flowchart of the Example. It is a figure which shows the embodiment of this invention. It is a figure which shows the other embodiment of this invention. It is a figure which shows the trouble of a prior art example. It is a figure which shows a prior art example.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram of an embodiment of a navigation apparatus using tunnel information according to the present invention, and shows a functional block diagram in which the present invention can be implemented in various modes. In addition, in the same figure, the function part which performs each function can be said to be a means which performs each function.

  In the functional block diagram of the navigation device shown in FIG. 1, various conventionally used functional units are provided. In the system control unit 10, a CPU, a ROM storing software, and a RAM required for processing of the CPU Etc., and each function unit performs a predetermined operation in association with software recorded in the ROM.

  In the illustrated navigation apparatus, a vehicle position detection unit 13 is connected to the system control unit 10 and position data of the GPS receiver 11 is input. Further, a travel distance / orientation detection unit 12 using a vehicle speed sensor or an angle sensor is provided. The current position of the vehicle is accurately detected by inputting the movement data of the vehicle. This data is displayed as the vehicle position in the vehicle position display unit 32 of the map display unit 31.

 The VICS (registered trademark) information input unit 14 receives traffic information, particularly receives traffic information and makes it available for various types of guidance. The instruction signal input unit 17 inputs a signal from the remote controller 15, a signal from the touch panel 16 attached to the monitor, and the like, and further inputs various instruction signals such as recognizing the user's voice.

  Further, the data input / output unit 19 takes in necessary map data, facility data, etc. from a map / information data recording medium 18 such as a DVD-ROM or a hard disk or a memory card, and the data recording medium is like a hard disk. If data can be written easily, data can be input to the data recording medium so that data imported from outside or data processed by other functional units can be read and used later. ing.

  The image output unit 21 outputs various images to the monitor 20 and displays a map centered on the current location, an enlarged intersection map output from a guidance route guide unit 25 described later, and the like. The voice output unit 23 outputs voice guidance such as a left / right turn guidance of an intersection output from a guidance route guide unit 25 described later from the speaker 22 and further outputs voice guidance such as various warnings as necessary.

  In addition, the guidance route calculation unit 24 selects a destination by various methods, calculates a guidance route from the current location to the destination, stores an appropriate guidance route in the guidance route storage unit 25, and guide route guidance unit 25. Then, we will guide you so that you can drive safely and definitely along the guidance route. In that case, guidance will be provided separately at the intersection on the left and right turn, etc. using an enlarged view of the intersection.

  Further, the map display unit 31 displays a map centered on the own vehicle position, and the own vehicle position display unit 32 therein displays the position of the own vehicle according to the data of the vehicle position detection unit 13. This own vehicle position display unit includes a map matching unit 33, which matches the data of the GPS receiver 11 and the current position obtained by the road distance / orientation detection unit 12 to the road on the map.

  The map matching unit 33 includes a tunnel position data capturing unit 34 according to the present invention, in which an entrance 37 and an exit 38 are detected for the own vehicle traveling road 35 and the adjacent road 36. Further, the map matching unit 33 is provided with an unclear distance setting unit 39, in particular, it is unclear which road is running for the entrance 37 and the exit 38 of the tunnel for the own vehicle traveling road 35 where the own vehicle position exists. The overrun distance setting unit 40 and the underrun distance setting unit 41 are set. This distance can be set to 1 km as the same distance. For this unclear distance, the movement to the adjacent road is not performed due to a predetermined condition. Thereby, the present invention can solve the problems of the conventional example as shown in FIG.

  The tunnel information utilization navigation device shown in the functional block diagram as described above can be implemented by sequentially operating according to the operation flow shown in FIG. That is, in the tunnel entrance / exit adjacent road movement prohibition process shown in FIG. 2, it is first determined whether or not the tunnel entrance overrun adjacent road movement prohibition area (step S1). Here, when it is in the adjacent road movement prohibited area, it is determined whether or not the adjacent road is a general road that is not a tunnel road (step S6), and when the adjacent road is a general road, an adjacent road movement prohibition process is performed ( Step S10).

  That is, as shown in FIG. 3 (a), when the vehicle is currently traveling on the road A, the map matching enters the tunnel entrance S due to overrun at the point P1 before the tunnel entrance S and becomes the position Q1, which is erroneous. Map matching may result in map matching to R1 of the adjacent general road B. In this state, the current position continues until the entrance of the tunnel of P2, and here, when the map is matched to the position of Q2 due to overrun, it may be matched to R2 of the adjacent B road.

  If GPS passes after this and enters the tunnel, map matching to a general road does not occur. Therefore, section V is an adjacent road movement prohibited area. In step S1, it is determined whether or not it is within the adjacent road movement prohibition area for tunnel entrance overrun. In step S6, it is determined whether or not the adjacent road is a general road. An operation of performing a prohibition process is performed. If the adjacent road is a tunnel, the above problem does not occur.

  Therefore, when it is determined in step S6 that the adjacent road is not a general road, it is determined in step S1 that it is not a tunnel entrance overrun adjacent road movement prohibited area. It is determined whether or not it is within.

  Here, when it is determined that it is within the adjacent road prohibition area for tunnel entrance underrun, the process proceeds to step S7 to determine whether the adjacent road is a general road that is not a tunnel, and is determined to be a general road that is not a tunnel. If so, the process proceeds to step S10 to perform adjacent road movement prohibition processing.

  This operation is shown in FIG. 3 (b). When the road A first entered the tunnel at P3, when it was map-matched to the position of the point Q3 due to underrun, the vehicle position P3 entered the tunnel. As a result, map matching is performed with the tunnel road of the adjacent road. Since this state continues until the underrun point Q3 enters the tunnel, this section is set as an adjacent road movement prohibited area.

  When it is determined in step S7 that the adjacent road is not a tunnel but a general road, there is no such map matching error. Therefore, in step S2, when it is determined that it is not within the adjacent road movement prohibition area for tunnel entrance underrun. In step S3, it is determined whether or not it is an adjacent road movement prohibited area for tunnel exit overrun.

  If it is determined in step S3 that it is a tunnel exit overrun matching prohibited area, the process proceeds to step S8 to determine whether the adjacent road is a tunnel. When the adjacent road is a tunnel, the process proceeds to step S10, and adjacent road movement prohibition processing is performed.

  This operation is shown in FIG. 3 (c), and when passing through the point P5 on the road A, the map matching matches the point Q5 that exits the tunnel due to overrun. Will be map-matched. Since this state continues until the current position leaves the tunnel, this section is set as an adjacent road movement prohibited section.

  When it is determined in step S8 that the adjacent road is not a tunnel but a general road, when it is determined in step S3 that the road is not within the tunnel exit overrun adjacent road movement prohibition area, the process proceeds to step S4. Determine if you are in a prohibited area on the adjacent road

  When it is determined that the area is a tunnel exit underrun adjacent road movement prohibited area, the process proceeds to step S9 to determine whether the adjacent road is a general road. Here, when it is determined that the adjacent road is a general road, the process proceeds to step S10 and the adjacent road movement prohibition process is performed.

  This operation is shown in FIG. 3 (d). From the exit from the tunnel exit T of the road A to the place Q6 where the current location P6 exits the tunnel due to an underrun, it is easy to be map-matched to the adjacent general road. Adjacent road movement prohibited section.

  When it is determined in step S9 that the adjacent road is not a general road, the map matching process for passing is performed together with the time when it is determined in step S4 that the road is adjacent to the tunnel exit underline adjacent road prohibited area. Therefore, when it is determined in step S1 that there is no tunnel entry overrun adjacent road prohibition area, or in step S2, it is determined that it is not in the tunnel entrance underline adjacent road prohibition area, the tunnel exit in step S3. When it is determined that it is not within the overrun adjacent road movement prohibited area, or when it is determined in step S4 that it is not within the tunnel exit underrun adjacent road movement prohibited area, normal map matching is performed as it is. Thereafter, after the adjacent road movement prohibition process is performed in step S10, the operation returns to step S1 and the operation is repeated.

   Next, another aspect performed by the same method will be described with reference to FIG. According to this aspect, in the GPS tracking state, if tracking is possible, determination is made outside the tunnel, and if tracking is not possible, determination inside the tunnel is performed. In addition, since it is highly likely that correct determination cannot be made within a certain period of time after detecting a change in the tracking status of the GPS or a change in tunnel attributes, it is considered as an “indefinite interval”, and the others are defined as “clear intervals”. "

  The “predetermined period” is the time exceeding the time until GPS tracking is started when leaving the tunnel, or the distance at which the vehicle position may underrun or overrun. In addition, when a “clear section” and in-tunnel determination is being performed, a road having a tunnel attribute is easily selected. Further, if it is determined that the area is “clear section” and is in a tunnel, it is easy to select a road having a tunnel attribute. In addition, if it is a “clear section” and determination is made outside the tunnel, it is easy to select a road other than the tunnel attribute. In addition, the road selection based on the tunnel attribute is not performed in the “unclear section”. Thereby, the processing as shown in FIG. 4 is performed, and the same effect can be obtained.

DESCRIPTION OF SYMBOLS 10 System control part 11 GPS receiver 12 Traveling distance and direction detection part 13 Vehicle position detection part 14 VICS (trademark) information input part 15 Remote control 16 Touch panel 17 Instruction signal input part 18 Map information data recording medium 19 Data input / output part 20 Monitor 21 Image output unit 22 Speaker 23 Audio output unit 24 Guide route calculation unit 25 Guide route storage unit 26 Guide route guide unit 31 Map display unit 32 Own vehicle position display unit 33 Map matching unit 34 Tunnel position data capturing unit 35 Own vehicle traveling road 36 Adjacent road 37 Entrance 38 Exit 39 Unclear distance setting section 40 Overrun distance setting section 41 Underrun distance setting section

Claims (6)

Self-vehicle driving road tunnel entrance detecting means for detecting the tunnel entrance / exit of the own vehicle driving road;
Adjacent road movement prohibited area setting means for setting the adjacent road movement prohibited area within a predetermined distance from the tunnel entrance detected by the tunnel entrance detection means,
An adjacent road detecting means for detecting whether a road adjacent to the entrance detected by the tunnel entrance detecting means is a tunnel road or a general road;
Own vehicle position detecting means for detecting the own vehicle position;
Map matching means for map-matching the vehicle position detected by the vehicle position detection means to a road on map data;
The map matching means, when said adjacent road mobile vehicle position detected by the vehicle position detecting means prohibition zone is present, depending on whether a tunnel of a road or a general road with the adjacent road detecting means, the adjacent road A navigation apparatus using tunnel information, which performs an adjacent road movement prohibition process that prohibits movement of map matching. The map matching means performs an adjacent road movement prohibition process when the own vehicle position detected by the own vehicle position detection means exists in an adjacent road movement prohibited area at the entrance of the tunnel and the adjacent road is a general road. The tunnel information utilization navigation device according to claim 1. The map matching means performs an adjacent road movement prohibition process when the own vehicle position detected by the own vehicle position detection means exists in an adjacent road movement prohibited area at the entrance of the tunnel and the adjacent road is a tunnel. The navigation apparatus using tunnel information according to claim 1. The map matching means performs an adjacent road movement prohibition process when the own vehicle position detected by the own vehicle position detection means exists in an adjacent road movement prohibited area at a tunnel exit and the adjacent road is a tunnel. The navigation apparatus using tunnel information according to claim 1. The map matching means performs an adjacent road movement prohibition process when the own vehicle position detected by the own vehicle position detection means exists in an adjacent road movement prohibited area at the tunnel exit and the adjacent road is a general road. The tunnel information utilization navigation device according to claim 1. Self-vehicle driving road tunnel entrance detecting means for detecting the tunnel entrance / exit of the own vehicle driving road;
An unclear section setting means for setting an unclear section within a predetermined distance from the tunnel entrance detected by the tunnel entrance detection means,
An adjacent road detecting means for detecting whether a road adjacent to the entrance detected by the tunnel entrance detecting means is a tunnel road or a general road;
Own vehicle position detecting means for detecting the own vehicle position;
Map matching means for map-matching the vehicle position detected by the vehicle position detection means to a road on map data;
The map matching means, when the vehicle position detected by the vehicle position detecting means to the indefinite period in the presence, depending tunnel road or a general road with the adjacent road detecting means, map to the adjacent road A navigation apparatus using tunnel information characterized in that it performs an adjacent road movement prohibition process for prohibiting matching movement.

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