JP5919615B2 - Travel route identification system, travel route identification method, travel route identification device, program, and recording medium - Google Patents

Description

  The present invention relates to a travel route specifying system, a travel route specifying method, a travel route specifying device, a program, and a recording medium. This application claims priority based on Japanese Patent Application No. 2012-250126 for which it applied to Japan on November 14, 2012, and uses the content here.

  A road billing system using GPS (Global Positioning System) is a system in which a travel route is specified by an in-vehicle device, a billing amount is determined based on the record, and billing is performed automatically.

  By the way, in GPS positioning, GPS positioning cannot be performed in an environment where radio waves from GPS satellites cannot be received, such as tunnels. Various techniques are known as techniques for solving such problems (see, for example, Patent Document 1).

  For example, Patent Document 1 describes a charging system that performs data processing for fee payment when a mobile terminal carried by a user or mounted on a mobile object passes through a charging area. More specifically, this billing system includes a GPS positioning device that detects the position of a moving object. The billing system also includes a monitor device that generates information representing the ground position of the moving object using a GPS positioning device. In addition, the charging system determines whether or not the ground position is within the charging area using information representing the ground position. If the ground position is determined to be within the charging area, the charging system charges the moving object. A billing processing device that performs data processing for the purpose. The monitor device has at least simple data including the absolute position and shape of the facility or terrain that causes GPS positioning inability. If GPS positioning is not possible, the monitor device generates the ground before GPS positioning is disabled. Based on the information indicating the position, the facility or terrain that caused the GPS positioning failure this time is detected from simple data, and the absolute position of the detected facility or terrain is replaced with information indicating the ground position of the moving object. The current ground position. Thus, depending on the billing system, it is possible to perform billing processing with high reliability.

Republished WO2000 / 067207

  FIG. 10 shows an example of roads connected via a tunnel. A road R1 is connected to the end point P1 of the tunnel T in this example. A road R2 is connected to the end point P2 of the tunnel T. A road R3 is connected to the end point P3 of the tunnel T. And the arrow in a figure has shown the advancing direction. That is, the vehicle that has entered the tunnel T from the end point P1 exits from the end point P2 or the end point P3.

  When traveling on such a road, the system described in Patent Document 1 specifies its own position by dead reckoning navigation when the vehicle enters the tunnel T from the end point P1 and GPS positioning becomes impossible. However, the accuracy of dead reckoning navigation depends on the accuracy of the vehicle speed sensor and the gyro, and there are cases where the position of the vehicle cannot always be specified accurately. Therefore, depending on the system described in Patent Document 1, the vehicle turns right in the tunnel T and traces the route that exits from the end point P2 to the road R2 even though the vehicle exits from the end point P3 to the road R3. There is a risk of specifying the position. In that case, the system described in Patent Document 1 corrects its own position on the road R3 after the vehicle leaves the end point P3 to the road R3 and GPS positioning becomes possible.

  However, in the road billing system that charges a fee according to the travel distance, once the specified position is corrected as in the system described in Patent Document 1, the vehicle has traveled to the corrected position. The route must be specified again and the distance traveled must be recalculated.

  In order to solve the above-described problem, according to the first aspect of the present invention, there is provided a travel route specifying system for specifying a travel route of a vehicle based on a positioning position determined by radio navigation, which is determined by radio navigation. A map matching unit that performs map matching on the determined positioning position, a travel route identifying unit that identifies a travel route of the vehicle based on a temporal change in the position obtained by map matching by the map matching unit, and radio navigation When the radio wave cannot be received, the first position obtained by the map matching unit just before the map matching is set as an area where it is difficult to receive the radio wave used for radio navigation A first position determination unit that determines whether or not the range is set in correspondence with the first end point of the difficult area, and a radio wave that is used for radio navigation is received again. When the second position obtained by the map matching unit immediately after the map matching is within the range set corresponding to the second end point of the difficult area A second position determination unit that determines whether or not the travel route specifying unit has a first position within a range set corresponding to the first end point of the difficult area. Is determined, and the second position determination unit determines that the second position is within the range set corresponding to the second end point of the difficult area, the second position is determined from the first end point of the difficult area. A road in a difficult area connecting to the end point of is identified as a travel route of the vehicle.

  The first position determination unit determines whether or not the first position is within the road range on the map set corresponding to the first end point of the difficult area, and the second position determination unit It may be determined whether or not the second position is within the road range on the map set corresponding to the second end point of the difficult area.

  The first position determination unit is configured to enter a range for entering the difficult area corresponding to the first end point of the difficult area, and for exiting the difficult area set wider than the range for entering. It is determined whether or not the first position is within the range for entering, and the second position determination unit is configured to enter the difficult area set corresponding to the second end point of the difficult area. It may be determined whether or not there is a second position within the exit range among the entry range and the exit range from the difficult area set wider than the entry range.

  According to the second aspect of the present invention, a travel route specifying method for specifying a travel route of a vehicle based on a positioning position determined by radio navigation, and a map for map-matching a positioning position determined by radio navigation It is impossible to receive a radio wave used for radio navigation and a driving route specifying step for specifying a driving route of a vehicle based on a matching stage and a temporal change of a position obtained by map matching in a map matching stage. The first position obtained by the map matching immediately before the map matching stage is the first end point of the difficult area set as the area where it is difficult to receive the radio wave used for radio navigation. A first position determination step for determining whether or not the signal is within a correspondingly set range, and receiving again a radio wave used for radio navigation If the second position obtained by the map matching immediately after that in the map matching stage is within the range set corresponding to the second end point of the difficult area, A second position determination step for determining, and in the travel route specifying step, if the first position is within a range set corresponding to the first end point of the difficult area, the first position determination step When it is determined in the second position determination step that the second position is within the range set corresponding to the second end point of the difficult area, the second end point is determined from the first end point of the difficult area. A road in a difficult area connecting to the end point of is identified as a travel route of the vehicle.

  According to the third aspect of the present invention, a travel route specifying device that specifies a travel route of a vehicle based on a positioning position determined by radio navigation, and a map that matches a positioning position determined by radio navigation The matching unit, the travel route identifying unit that identifies the travel route of the vehicle, and the radio wave used for radio navigation can no longer be received based on the temporal transition of the position obtained by map matching by the map matching unit. In this case, the first position obtained by the map matching unit immediately before the map matching is the first end point of the difficult area set as the area where it is difficult to receive the radio wave used for radio navigation. When the first position determination unit that determines whether or not it is within the correspondingly set range and the radio wave used for radio navigation can be received again The second position determination unit that determines whether or not the second position obtained by the map matching unit immediately after the map matching is within a range set corresponding to the second end point of the difficult area The travel route specifying unit determines that the first position is within the range set corresponding to the first end point of the difficult area, and the first position determination unit determines that the second position of the difficult area When the second position determination unit determines that the second position is within the range set corresponding to the end point, the road in the difficult area connecting the first end point to the second end point of the difficult area Is specified as the travel route of the vehicle.

  According to a fourth aspect of the present invention, there is provided a program for causing a computer to function as a travel route specifying device that specifies a travel route of a vehicle based on a positioning position determined by radio navigation, wherein the computer is operated by radio navigation. Map matching unit that performs map matching on the measured positioning position, travel route identifying unit that identifies the vehicle's travel route based on time-dependent changes in the position obtained by map matching by the map matching unit, and radio navigation When the radio wave cannot be received, the first position obtained by the map matching unit just before the map matching is set as an area where it is difficult to receive the radio wave used for radio navigation A first position determination unit that determines whether or not it is within the range set corresponding to the first end point of the difficult area, used for radio navigation The second position obtained by the map matching unit immediately after the map matching is set corresponding to the second end point of the difficult area. When the first position is within the range set corresponding to the first end point of the difficult area, the second route determination unit functions as a second position determination unit that determines whether or not the range is within the range. When the first position determination unit determines that the second position determination unit determines that the second position is within the range set corresponding to the second end point of the difficult area, the first of the difficult area A road in a difficult area connecting from one end point to the second end point is specified as a travel route of the vehicle.

  According to a fifth aspect of the present invention, there is provided a recording medium storing a program for causing a computer to function as a travel route specifying device for specifying a travel route of a vehicle based on a positioning position determined by radio navigation, A map matching unit for map matching a positioning position determined by radio navigation, a travel route specifying unit for specifying a travel route of a vehicle based on a temporal change in a position obtained by map matching by the map matching unit, When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching unit to receive radio waves used for radio navigation. A first position determination for determining whether or not the position is within a range set corresponding to the first end point of the difficult area set as the area When the radio wave used for radio navigation can be received again, the second position obtained by the map matching unit immediately after the map matching corresponds to the second end point of the difficult area. Functioning as a second position determining unit that determines whether or not the vehicle is within the set range, and the travel route specifying unit is first within the range set corresponding to the first end point of the difficult area. When the first position determination unit determines that there is a position, and the second position determination unit determines that the second position is within the range set corresponding to the second end point of the difficult area The road in the difficult area connecting the first end point to the second end point of the difficult area is specified as the travel route of the vehicle.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Also, a sub-combination of these feature groups can also be an invention.

  As is apparent from the above description, according to the present invention, it is possible to accurately specify the travel route without calculating the travel route while calculating the travel route with an error in the positioning position in the difficult area. can do.

It is a figure which shows an example of the utilization environment of the driving | running route identification system 100 which concerns on one Embodiment. It is a figure which shows an example of the block configuration of the onboard equipment 110. FIG. It is a figure which shows an example of the operation | movement flow of the onboard equipment. It is a figure which shows an example of the position obtained by map matching. It is a figure which shows an example of the range set corresponding to the end point of the tunnel. It is a figure which shows an example of the range set corresponding to the end point of the tunnel. It is a figure which shows an example of the range set corresponding to the end point of the tunnel. It is a figure which shows an example of the range set corresponding to the end point of the tunnel. It is a figure which shows an example of the hardware constitutions of the computer 800 which comprises the onboard equipment 110 which concerns on this embodiment. It is a figure which shows an example of the road connected through the tunnel.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the claimed invention, and all combinations of features described in the embodiments are described below. However, this is not always essential for the solution of the invention.

  FIG. 1 shows an example of a usage environment of a travel route specifying system 100 according to an embodiment. The travel route identifying system 100 is a system that identifies a travel route of a vehicle based on a positioning position measured by GPS. Here, the GPS may be an example of “radio navigation” in the present invention.

  The travel route specifying system 100 includes an on-vehicle device 110 and a GPS receiver 130. The vehicle-mounted device 110 may be an example of the “travel route specifying device” in the present invention.

  The GPS receiver 130 is a device that measures its own position by using both radio navigation and autonomous navigation. More specifically, the GPS receiver 130 includes a GPS antenna, an accelerometer, and an angular velocity meter. Here, the GPS antenna is an antenna that receives radio waves from GPS satellites. The accelerometer is a measuring instrument that measures a change in acceleration when the vehicle moves. The angular velocity meter is a measuring instrument that measures a change in angular velocity when the vehicle moves. The GPS receiver 130 is provided at a position where the GPS antenna is not shielded, such as on the dashboard D of the vehicle. The GPS receiver 130 is electrically connected to the vehicle-mounted device 110. Then, the GPS receiver 130 uses the GPS radio navigation and the autonomous navigation using the accelerometer and the angular velocity meter in combination to determine its own position. Then, the GPS receiver 130 outputs data indicating the positioning position to the vehicle-mounted device 110.

  The vehicle-mounted device 110 is a device that specifies the travel route of the vehicle based on the positioning position measured by the GPS, and charges the toll on the toll road according to the travel distance. More specifically, the vehicle-mounted device 110 is provided at a position that can be reached by the driver without disturbing driving, such as the side surface of the center console C of the vehicle. The vehicle-mounted device 110 is electrically connected to the GPS receiver 130. And the onboard equipment 110 will identify the driving | running route of a vehicle based on the positioning position shown by the data, if the input of the data output from the GPS receiver 130 is received. And the onboard equipment 110 charges the toll of the toll road according to the specified travel distance.

  FIG. 2 shows an example of a block configuration of the vehicle-mounted device 110. The vehicle-mounted device 110 includes a positioning data input receiving unit 111, a map matching unit 112, a first position determining unit 113, a second position determining unit 114, a travel route specifying unit 115, and a billing processing unit 116. In the following description, the function and operation of each component will be described in detail.

  The positioning data input receiving unit 111 receives input of data output from the GPS receiver.

  The map matching unit 112 performs map matching on the positioning position measured by GPS.

  When the first position determination unit 113 becomes unable to receive radio waves from GPS satellites, the first position obtained by map matching immediately before that by the map matching unit 112 is the first position of the tunnel. It is determined whether or not it is within a range set corresponding to the end point. For example, the first position determination unit 113 determines whether or not the first position is within the road range on the map set corresponding to the first end point of the tunnel. In addition, for example, the first position determination unit 113 may enter a range for entering the tunnel set corresponding to the first end point of the tunnel and exit from the tunnel set wider than the range for entering. It is determined whether or not the first position is within the entry range. The radio wave from the GPS satellite may be an example of “radio wave used for radio navigation” in the present invention. The tunnel may be an example of a “difficult area” in the present invention.

  When the second position determination unit 114 can receive the radio wave from the GPS satellite again, the second position obtained by the map matching unit 112 immediately following the map matching is It is determined whether it is within the range set corresponding to the second end point. For example, the second position determination unit 114 determines whether or not the second position is within the road range on the map set corresponding to the second end point of the tunnel. In addition, for example, the second position determination unit is configured to enter the tunnel that is set in correspondence with the second end point of the tunnel and to exit from the tunnel that is set wider than the entry range. It is determined whether or not the second position is within the exit range.

  The travel route specifying unit 115 specifies the travel route of the vehicle based on the temporal transition of the position obtained by map matching by the map matching unit 112. More specifically, the travel route specifying unit 115 determines that the first position determination unit determines that the first position is within the range set corresponding to the first end point of the tunnel, and The road in the tunnel connecting the first end point to the second end point of the tunnel when the second position determination unit determines that the second position is within the range set corresponding to the second end point Is specified as the travel route of the vehicle.

  The billing processing unit 116 bills the toll when the vehicle travels in the billing area.

  FIG. 3 shows an example of the operation flow of the vehicle-mounted device 110. In this operation flow, a process when the vehicle travels in the tunnel will be described in detail. In the description of this operation flow, both FIG. 1, FIG. 2, and FIGS. Here, for example, when the vehicle travels on a toll road in the billing area, the vehicle-mounted device 110 identifies the travel route and charges the toll according to the travel distance. However, the billing process of the vehicle-mounted device 110 is not a process according to the present invention, and a detailed description thereof will be omitted.

  When the motor | power_engine of a vehicle starts, the GPS receiver 130 starts the positioning of an own position using GPS. For example, the GPS receiver 130 measures its own position at predetermined time intervals. The GPS receiver 130 outputs positioning data indicating the position coordinates of the positioning result to the vehicle-mounted device 110 each time positioning is performed.

  When the positioning data input receiving unit 111 of the vehicle-mounted device 110 receives the positioning data output from the GPS receiver 130, the positioning data input receiving unit 111 sends the data to the map matching unit 112.

  When the map matching unit 112 of the vehicle-mounted device 110 receives the positioning data sent from the positioning data input receiving unit 111, the map matching of the position coordinates indicated by the positioning data is performed on the digital map. For example, the map matching unit 112 has a premise that the vehicle is traveling on a road, and forcibly adjusts to the road even if the position coordinates of the positioning result are in a place other than the road. For example, the measured travel route and map data are collated, and the vehicle position is corrected on a nearby road even when the position is deviated from the road.

  Here, when the GPS receiver 130 becomes unable to receive the radio wave from the GPS satellite (S101: Yes), the GPS receiver 130 outputs first notification data to that effect to the vehicle-mounted device 110. Note that while the radio wave from the GPS satellite cannot be received, the GPS receiver 130 may interrupt the positioning process or may continue the positioning process by autonomous navigation.

  When the positioning data input receiving unit 111 of the in-vehicle device 110 receives the input of the first notification data output from the GPS receiver 130, the positioning data input receiving unit 111 sends the first notification data to the map matching unit 112.

  When the map matching unit 112 of the vehicle-mounted device 110 receives the first notification data sent from the positioning data input receiving unit 111, the position coordinates of the end points of the tunnel closest to the position coordinates obtained by performing the map matching immediately before From the digital map. For example, as illustrated in FIG. 4, when the position obtained by map matching immediately before receiving the first notification data is the position MM1, the map matching unit 112 includes the tunnel T closest to the position coordinate of the position MM1. The position coordinates of the end point P1 are read from the digital map. Then, the map matching unit 112 uses the data indicating the position coordinates obtained by map matching immediately before receiving the first notification data and the position coordinates of the end points of the tunnel read from the digital map as the first position determination. Send to section 113. Further, the map matching unit 112 sends data indicating the position coordinates of the end points of the tunnel read from the digital map to the travel route specifying unit 115.

  When the first position determination unit 113 of the vehicle-mounted device 110 receives the data sent from the map matching unit 112, the position coordinates obtained by map matching indicated by the data correspond to the position coordinates of the end points of the tunnel. Then, it is determined using the digital map whether it is within the set range (near the end point) (S102).

  For example, as shown in FIG. 5, assume that each end point P1 to P3 of the tunnel T is set with a range of circles AC1 to AC3 having a predetermined radius centered on the position coordinates of the end point. In that case, the first position determination unit 113 determines whether or not the position coordinates of the position MM1 obtained by map matching are within the circle range AC1.

  Further, for example, as shown in FIG. 6, it is assumed that ranges AR1 to AR3 on the road having a predetermined distance from the position coordinates of the end points are set for the end points P1 to P3 of the tunnel T, respectively. In that case, the first position determination unit 113 determines whether or not the position coordinates of the position MM1 obtained by map matching are within the range AR1 on the road.

  For example, as shown in FIG. 7, it is assumed that two ranges AC1a and AC1b having different radii of circles centered on the position coordinates of the end points are set at the end point P1 of the two-lane tunnel T. Similarly, it is assumed that two ranges AC2a and AC2b having different radii of circles centered on the position coordinates of the end point are set at the end point P2 of the tunnel T. Here, the ranges AC1a and AC2a where the radius of the circle is small are used for the position determination process immediately before the radio wave from the GPS satellite cannot be received. On the other hand, the ranges AC1b and AC2b where the radius of the circle is large are used for position determination processing immediately after the radio wave from the GPS satellite can be received again. This is a setting that takes into account that GPS positioning accuracy is generally poor immediately after radio waves from GPS satellites can be received again. In that case, the first position determination unit 113 has the position coordinates of the position MM1 obtained by map matching in the range AC1a having a smaller circle radius, out of the two ranges AC1a and AC1b having different circle radii. It is determined whether or not.

  For example, as shown in FIG. 8, it is assumed that two ranges AR1a and AR1b having different distances on the road from the position coordinates of the end points are set at the end point P1 of the two-lane tunnel T. Similarly, it is assumed that two ranges AR2a and AR2b having different distances on the road from the position coordinates of the end point are set at the end point P2 of the tunnel T. Here, the ranges AR1a and AR2a having a short distance on the road are used for the position determination process immediately before the radio wave from the GPS satellite can no longer be received. On the other hand, ranges AR1b and AR2b having a long distance on the road are used for position determination processing immediately after the radio wave from the GPS satellite can be received again. As described above, this is a setting that takes into account the poor positioning accuracy of GPS immediately after radio waves from GPS satellites can be received again. In that case, the first position determination unit 113 has a position coordinate of the position MM1 obtained by map matching within the range AR1a where the distance on the road is short of the two ranges AR1a and AR1b having different distances on the road. It is determined whether or not.

  Then, the first position determination unit 113 sends data indicating the determination result thus determined to the travel route specifying unit 115.

  Thereafter, when the vehicle passes through the tunnel T, the GPS receiver 130 can receive the radio wave from the GPS satellite again (S103: Yes). In that case, the GPS receiver 130 outputs second notification data to that effect to the vehicle-mounted device 110. Then, when GPS positioning is resumed using GPS, the GPS receiver 130 outputs positioning data indicating the position coordinates of the positioning result to the vehicle-mounted device 110 each time positioning is performed.

  When the positioning data input receiving unit 111 of the vehicle-mounted device 110 receives the input of the second notification data output from the GPS receiver 130, the positioning data input receiving unit 111 sends the second notification data to the map matching unit 112. In addition, when the positioning data input receiving unit 111 receives an input of positioning data output from the GPS receiver 130, the positioning data input receiving unit 111 sends the positioning data to the map matching unit 112.

  When the map matching unit 112 of the vehicle-mounted device 110 receives the positioning data immediately after receiving the second notification data sent from the positioning data input receiving unit 111, the map matching unit 112 maps the position coordinates of the positioning result indicated by the positioning data. The position coordinate of the end point of the tunnel closest to the position coordinate obtained by matching is read from the digital map. For example, as shown in FIG. 4, when the position obtained by map matching immediately after receiving the second notification data is the position MM2, the map matching unit 112 uses the tunnel T closest to the position coordinates of the position MM2. Is read from the digital map. Then, the map matching unit 112 converts the data indicating the position coordinates obtained by map matching immediately after receiving the second notification data and the position coordinates of the tunnel end point read from the digital map into the second position. The data is sent to the determination unit 114. Further, the map matching unit 112 sends data indicating the position coordinates of the end points of the tunnel read from the digital map to the travel route specifying unit 115.

  When the second position determination unit 114 of the vehicle-mounted device 110 receives the data sent from the map matching unit 112, the position coordinates obtained by map matching indicated by the data correspond to the position coordinates of the end points of the tunnel. It is determined using the digital map whether it is within the set range (near the end point) (S104).

  For example, in the case of the setting shown in FIG. 5, the second position determination unit 114 determines whether or not the position coordinates of the position MM2 obtained by map matching are within the circle range AC2.

  For example, in the case of the setting shown in FIG. 6, the second position determination unit 114 determines whether or not the position coordinates of the position MM2 obtained by map matching are within the range AR2 on the road. To do.

  Further, for example, in the case of the setting as shown in FIG. 7, the second position determination unit 114 has the position coordinates of the position MM2 obtained by map matching among the two ranges AC2a and AC2b having different circle radii. It is determined whether or not the radius of the circle is within the large range AC2b.

  For example, in the case of the setting shown in FIG. 8, the second position determination unit 114 uses the position coordinates of the position MM2 obtained by map matching in two ranges AR2a and AR2b having different distances on the road. Among these, it is determined whether or not the distance on the road is within the long range AR2b.

  Then, the second position determination unit 114 sends data indicating the determination result thus determined to the travel route specifying unit 115.

  The travel route specifying unit 115 of the vehicle-mounted device 110 receives data transmitted from the map matching unit 112, the first position determining unit 113, and the second position determining unit 114, respectively. Then, the travel route specifying unit 115 indicates that the determination results indicated by the data received from the first position determination unit 113 and the second position determination unit 114 are both “the position coordinates obtained by map matching are Is within the range set corresponding to the position coordinates of the tunnel end point ", the map matching is performed from the tunnel end point at the position coordinate indicated by the data first received from the map matching unit 112. A road in the tunnel that connects to the end point of the tunnel at the position coordinates indicated by the data received next from the unit 112 is specified as the travel route of the vehicle.

  As described above, the vehicle-mounted device 110 performs map matching on the positioning position measured by the GPS. And the onboard equipment 110 pinpoints the driving | running route of a vehicle based on the temporal transition of the position obtained by map matching. When the vehicle-mounted device 110 becomes unable to receive radio waves from GPS satellites, the first position obtained by map matching immediately before is set corresponding to the first end point of the tunnel. It is determined whether it is within the specified range. When the vehicle-mounted device 110 can receive the radio wave from the GPS satellite again, the second position obtained by map matching immediately after that corresponds to the second end point of the tunnel. It is determined whether or not it is within the set range. Then, the vehicle-mounted device 110 determines that the first position is within the range set corresponding to the first end point of the tunnel, and is within the range set corresponding to the second end point of the tunnel. When it is determined that the second position is present, the road in the tunnel connecting the first end point to the second end point of the tunnel is specified as the travel route of the vehicle.

  Thus, depending on the travel route specifying system 100, when the vehicle travels in the tunnel, the travel route can be accurately specified by one process.

  Moreover, as above-mentioned, the onboard equipment 110 determines whether there exists a 1st position in the range of the road on the map set corresponding to the 1st end point of a tunnel. And the onboard equipment 110 determines whether there exists a 2nd position in the range of the road on the map set corresponding to the 2nd end point of a tunnel.

  In this way, depending on the travel route specifying system 100, in setting the range corresponding to the end point of the tunnel, only setting is performed for each road on the digital map used for map matching. Can be used for processing.

  Further, as described above, the vehicle-mounted device 110 is used for entering from the tunnel set corresponding to the first end point of the tunnel and for exiting from the tunnel set wider than the range for entering. It is determined whether or not the first position is within the entry range. The vehicle-mounted device 110 includes a range for entering the tunnel set corresponding to the second end point of the tunnel, and a range for exiting from the tunnel set wider than the range for entering. Then, it is determined whether or not the second position is within the exit range.

  In this way, depending on the traveling route specifying system 100, it is possible to flexibly cope with the fact that the positioning accuracy of the GPS immediately after the radio wave from the GPS satellite can be received again is poor.

  FIG. 9 shows an example of a hardware configuration of a computer 800 constituting the vehicle-mounted device 110 according to the present embodiment. A computer 800 according to the present embodiment includes a CPU peripheral unit having a CPU (Central Processing Unit) 802, a RAM (Random Access Memory) 803, a graphic controller 804, and a display 805, and an input / output unit connected to each other by a host controller 801. An input / output unit having a communication interface 807, a hard disk drive 808, and a CD-ROM (Compact Disk Read Only Memory) drive 809 connected to each other by a controller 806, and a ROM (Read Only Memory) connected to the input / output controller 806 810, a flexible disk drive 811 and a legacy input / output unit having an input / output chip 812. Obtain.

  The host controller 801 connects the RAM 803, the CPU 802 that accesses the RAM 803 at a high transfer rate, and the graphic controller 804. The CPU 802 operates based on programs stored in the ROM 810 and the RAM 803 and controls each unit. The graphic controller 804 acquires image data generated on a frame buffer provided in the RAM 803 by the CPU 802 and the like and displays the image data on the display 805. Instead of this, the graphic controller 804 may include a frame buffer for storing image data generated by the CPU 802 or the like.

  The input / output controller 806 connects the host controller 801 to the communication interface 807, the hard disk drive 808, and the CD-ROM drive 809, which are relatively high-speed input / output devices. The hard disk drive 808 stores programs and data used by the CPU 802 in the computer 800. The CD-ROM drive 809 reads a program or data from the CD-ROM 892 and provides it to the hard disk drive 808 via the RAM 803.

  In addition, the input / output controller 806 is connected to the ROM 810, the flexible disk drive 811, and the relatively low-speed input / output device of the input / output chip 812. The ROM 810 stores a boot program that is executed when the computer 800 is started and / or a program that depends on the hardware of the computer 800. The flexible disk drive 811 reads a program or data from the flexible disk 893 and provides it to the hard disk drive 808 via the RAM 803. The input / output chip 812 connects the flexible disk drive 811 to the input / output controller 806 and connects various input / output devices to the input / output controller 806 via, for example, a parallel port, serial port, keyboard port, mouse port, and the like. To do.

  A program provided to the hard disk drive 808 via the RAM 803 is stored in a recording medium such as a flexible disk 893, a CD-ROM 892, or an IC (Integrated Circuit) card and provided by the user. The program is read from the recording medium, installed in the hard disk drive 808 in the computer 800 via the RAM 803, and executed by the CPU 802.

  A program that is installed in the computer 800 and causes the computer 800 to function as the vehicle-mounted device 110 is obtained by performing map matching between the map matching unit 112 that maps the positioning position measured by the GPS, and the map matching unit 112. The map matching unit 112 performs map matching immediately before the travel route identifying unit 115 that identifies the travel route of the vehicle and the radio wave from the GPS satellite cannot be received based on the time-dependent change of the position. A first position determination unit 113 that determines whether or not the first position obtained in this manner is within a range set corresponding to the first end point of the tunnel T, and a GPS satellite If you can receive the signal again from the A second determination is made in step S104 as to whether or not the second position obtained by the map matching immediately after the mapping unit 112 is within the range set corresponding to the second end point of the tunnel T. The first position determining unit 113 determines that the travel route specifying unit 115 has a first position within a range set corresponding to the first end point of the tunnel T. When the second position determination unit 114 determines that the second position is within the range set corresponding to the second end point of the tunnel T, the first end point of the tunnel T is determined in step S105. The road in the tunnel T connecting from the first end point to the second end point is caused to function as a vehicle travel route.

  Further, the program first determines whether or not the computer 800 has a first position within the road range on the map set corresponding to the first end point of the tunnel T in step S102. And a second position determination for determining whether or not the second position is within the road range on the map set corresponding to the second end point of the tunnel T in step S104 The unit 114 may function.

  Further, the program causes the computer 800 to enter the tunnel T set corresponding to the first end point of the tunnel T and exit from the tunnel T set wider than the entry range. The first position determination unit 113 for determining whether or not the first position is within the entry range, and the tunnel T set corresponding to the second end point of the tunnel T. A first judgment is made as to whether or not there is a second position in the exit range out of the entrance range and the exit range from the tunnel T set wider than the entry range. The second position determination unit 114 may function.

  Information processing described in these programs is read by the computer 800, whereby the positioning data input receiving unit 111, the map matching unit 112, which are specific means in which the software and the various hardware resources described above cooperate with each other, It functions as a first position determination unit 113, a second position determination unit 114, a travel route identification unit 115, and a billing processing unit 116. And the specific vehicle equipment 110 according to the intended purpose is constructed | assembled by implement | achieving the calculation of the information according to the intended purpose of the computer 800 in this embodiment, or a process by these specific means.

  As an example, when communication is performed between the computer 800 and an external device or the like, the CPU 802 executes a communication program loaded on the RAM 803 and executes a communication interface based on the processing content described in the communication program. A communication process is instructed to 807. Under the control of the CPU 802, the communication interface 807 reads transmission data stored in a transmission buffer area or the like provided on a storage device such as the RAM 803, the hard disk drive 808, the flexible disk 893, or the CD-ROM 892, and sends it to the network. The reception data transmitted or received from the network is written into a reception buffer area or the like provided on the storage device. As described above, the communication interface 807 may transfer transmission / reception data to / from the storage device by the direct memory access method. Instead, the CPU 802 reads data from the transfer source storage device or the communication interface 807. The transmission / reception data may be transferred by writing the data to the transfer destination communication interface 807 or the storage device.

  In addition, the CPU 802 transfers all or a necessary part of the files or databases stored in the external storage device such as the hard disk drive 808, CD-ROM 892, and flexible disk 893 to the RAM 803 by direct memory access transfer or the like. The data is read and various processes are performed on the data on the RAM 803. Then, the CPU 802 writes the processed data back to the external storage device by direct memory access transfer or the like.

  In such processing, since the RAM 803 can be regarded as temporarily holding the contents of the external storage device, in the present embodiment, the RAM 803 and the external storage device are collectively referred to as a memory, a storage unit, or a storage device. . Various types of information such as various programs, data, tables, and databases in the present embodiment are stored on such a storage device and are subjected to information processing. Note that the CPU 802 can hold a part of the RAM 803 in the cache memory and perform reading and writing on the cache memory. Even in such a form, the cache memory bears a part of the function of the RAM 803. Therefore, in the present embodiment, the cache memory is also included in the RAM 803, the memory, and / or the storage device unless otherwise indicated. To do.

  In addition, the CPU 802 performs various operations, such as various operations, information processing, condition determination, information retrieval, replacement, and the like described in the present embodiment for data read from the RAM 803 and specified by a command sequence of the program. Is written back to the RAM 803. For example, when performing the condition determination, the CPU 802 satisfies the conditions such that the various variables shown in the present embodiment are larger, smaller, above, below, or equal to other variables or constants. If the condition is satisfied or not satisfied, the program branches to a different instruction sequence or calls a subroutine.

  In addition, the CPU 802 can search for information stored in a file in a storage device, a database, or the like. For example, when a plurality of entries in which the attribute value of the second attribute is associated with the attribute value of the first attribute are stored in the storage device, the CPU 802 stores the plurality of entries stored in the storage device. The entry that matches the condition in which the attribute value of the first attribute is specified is retrieved, and the attribute value of the second attribute that is stored in the entry is read, thereby associating with the first attribute that satisfies the predetermined condition The attribute value of the specified second attribute can be obtained.

  The program or module described above may be stored in an external storage medium. As a storage medium, in addition to a flexible disk 893 and a CD-ROM 892, an optical recording medium such as a DVD (Digital Versatile Disk) or a CD (Compact Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), or a tape A medium, a semiconductor memory such as an IC card, or the like can be used. Further, a storage medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the computer 800 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various changes or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can also be included in the technical scope of the present invention.

  For example, in the above embodiment, the tunnel has been described as an example of the “difficult area” in the present invention. Other examples of the “difficult area” in the present invention may be, for example, under an overpass, in a high-rise building, between trees and the like.

  The execution order of each process such as operations, procedures, steps, and stages in the system, method, apparatus, program, and recording medium shown in the claims, the description, and the drawings is particularly “before”. It should be noted that “preceding” or the like is not specified, and that the output of the previous process can be realized in any order unless it is used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. It is not a thing.

  The present invention relates to a travel route identifying system, a travel route identifying method, a travel route identifying device, and a program that causes a computer to function as the travel route identifying device, based on a positioning position determined by radio navigation, In addition, the present invention can be applied to a recording medium on which the program is recorded.

DESCRIPTION OF SYMBOLS 100 Travel route identification system 110 Onboard equipment 111 Positioning data input reception part 112 Map matching part 113 1st position determination part 114 2nd position determination part 115 Travel path specification part 116 Charge processing part 130 GPS receiver 800 Computer 801 Host controller 802 CPU
803 RAM
804 Graphic controller 805 Display 806 Input / output controller 807 Communication interface 808 Hard disk drive 809 CD-ROM drive 810 ROM
811 Flexible disk drive 812 I / O chip 891 Network communication device 892 CD-ROM
893 Flexible disk AC Range AR Range C Center console D Dashboard MM Map matching position T Tunnel P End point R Road

Claims (7)

A travel route identifying system for identifying a travel route of a vehicle based on a positioning position determined by radio navigation,
A map matching unit for map matching of positioning positions determined by radio navigation;
A travel route identifying unit that identifies a travel route of the vehicle based on a temporal transition of a position obtained by map matching by the map matching unit;
When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching unit to receive radio waves used for radio navigation. A first position determination unit that determines whether or not the current position is within a range set corresponding to the first end point of the difficult area set as a safe area;
When the radio wave used for radio navigation can be received again, the second position obtained by map matching immediately after that by the map matching unit is the second end point of the difficult area. A second position determination unit that determines whether or not it is within a correspondingly set range,
The travel route specifying unit determines that the first position determination unit determines that the first position is within a range set corresponding to the first end point of the difficult area, and determines the first of the difficult area. When the second position determination unit determines that the second position is within the range set corresponding to the second end point, the first end point to the second end point of the difficult area is connected. A travel route specifying system that specifies a road in a difficult area as a travel route of the vehicle. The first position determination unit determines whether or not the first position is within a road range on a map set corresponding to the first end point of the difficult area;
The second position determination unit determines whether or not the second position is within a road range on a map set corresponding to the second end point of the difficult area. The travel route specifying system according to claim 1. The first position determination unit includes a range for entering the difficult area set corresponding to the first end point of the difficult area, and the difficult area set wider than the range for entering. And determining whether or not the first position is within the entry range,
The second position determination unit includes a range for entering the difficult area set corresponding to the second end point of the difficult area, and the difficult area set wider than the range for entering. 3. The travel route identifying system according to claim 1, further comprising: determining whether or not the second position is within the exit range. A travel route identifying method for identifying a travel route of a vehicle based on a positioning position determined by radio navigation,
A map matching stage for map matching the positioning position determined by radio navigation;
A travel route identifying step for identifying a travel route of the vehicle based on a temporal change in position obtained by map matching in the map matching step;
When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching stage to receive radio waves used for radio navigation. A first position determining step for determining whether or not the current position is within a range set corresponding to the first end point of the difficult area set as a safe area;
When the radio wave used for radio navigation can be received again, the second position obtained by the map matching immediately after the map matching stage is the second end point of the difficult area. And a second position determination step for determining whether or not it is within a correspondingly set range,
In the travel route specifying step, it is determined in the first position determining step that the first position is within a range set corresponding to the first end point of the difficult region, and When it is determined in the second position determination step that the second position is within a range set corresponding to the second end point, the first end point to the second end point of the difficult area is determined. The road in the difficult area to be connected is specified as the driving path of the vehicle. A travel route identifying device that identifies a travel route of a vehicle based on a positioning position determined by radio navigation,
A map matching unit for map matching of positioning positions determined by radio navigation;
A travel route identifying unit that identifies a travel route of the vehicle based on a temporal transition of a position obtained by map matching by the map matching unit;
When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching unit to receive radio waves used for radio navigation. A first position determination unit that determines whether or not the current position is within a range set corresponding to the first end point of the difficult area set as a safe area;
When the radio wave used for radio navigation can be received again, the second position obtained by map matching immediately after that by the map matching unit is the second end point of the difficult area. A second position determination unit that determines whether or not it is within a correspondingly set range,
The travel route specifying unit determines that the first position determination unit determines that the first position is within a range set corresponding to the first end point of the difficult area, and determines the first of the difficult area. When the second position determination unit determines that the second position is within the range set corresponding to the second end point, the first end point to the second end point of the difficult area is connected. A travel route identifying device that identifies a road in a difficult area as a travel route of the vehicle. A program that causes a computer to function as a travel route identifying device that identifies a travel route of a vehicle based on a positioning position measured by radio navigation,
The computer,
A map matching unit that performs map matching of positioning positions measured by radio navigation,
A travel route identifying unit that identifies a travel route of the vehicle based on a temporal change in position obtained by map matching by the map matching unit;
When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching unit to receive radio waves used for radio navigation. A first position determination unit that determines whether or not the current position is within a range set corresponding to the first end point of the difficult area set as a difficult area;
When the radio wave used for radio navigation can be received again, the second position obtained by map matching immediately after that by the map matching unit is the second end point of the difficult area. And function as a second position determination unit for determining whether or not it is within a correspondingly set range,
The travel route specifying unit determines that the first position determination unit determines that the first position is within a range set corresponding to the first end point of the difficult area, and determines the first of the difficult area. When the second position determination unit determines that the second position is within the range set corresponding to the second end point, the first end point to the second end point of the difficult area is connected. A program for identifying a road in a difficult area as a travel route of the vehicle. A recording medium that records a program that causes a computer to function as a travel route identifying device that identifies a travel route of a vehicle based on a positioning position determined by radio navigation,
The computer,
A map matching unit that performs map matching of positioning positions measured by radio navigation,
A travel route identifying unit that identifies a travel route of the vehicle based on a temporal change in position obtained by map matching by the map matching unit;
When it becomes impossible to receive radio waves used for radio navigation, it is difficult for the first position obtained by map matching immediately before the map matching unit to receive radio waves used for radio navigation. A first position determination unit that determines whether or not the current position is within a range set corresponding to the first end point of the difficult area set as a difficult area;
When the radio wave used for radio navigation can be received again, the second position obtained by map matching immediately after that by the map matching unit is the second end point of the difficult area. And function as a second position determination unit for determining whether or not it is within a correspondingly set range,
The travel route specifying unit determines that the first position determination unit determines that the first position is within a range set corresponding to the first end point of the difficult area, and determines the first of the difficult area. When the second position determination unit determines that the second position is within the range set corresponding to the second end point, the first end point to the second end point of the difficult area is connected. A recording medium recording a program, wherein a road in a difficult area is specified as a travel route of the vehicle.

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