JP6575133B2 - Electronic device, position display method and program - Google Patents

Description

  The present invention relates to an electronic device, a position display method, and a program.

Conventionally, as a method for positioning a position, a technique based on autonomous navigation using acceleration or geomagnetism is known.
In such a technique, map matching for specifying the nearest link on the map as the current position is performed using a positioning position obtained from GPS (Global Positioning System) or autonomous navigation and surrounding map information.
In map matching, first, all links are searched, candidate links are narrowed down to a plurality, and the maximum likelihood link estimated to be the nearest link is specified. In the subsequent map matching, only the links connected to the candidate links are searched, thereby reducing the number of links to be subjected to map matching and increasing the processing speed.
In addition, the technique regarding map matching is described in Patent Document 1, for example.

JP 2006-266986 A

  However, on a branch road such as a Y-junction, the likelihood of a candidate link is close, so the maximum likelihood link may be misjudged, and a sudden jump occurs between the links when displaying the current position There is a case. In addition, when map matching to an incorrect link is performed in route guidance or the like, a false report of course out will occur.

  The present invention has been made in view of such circumstances, and an object thereof is to perform map matching more appropriately.

In order to achieve the above object, an electronic device according to the first aspect of the present invention provides:
Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions, and
The provisional position calculation means, with respect to the position information acquired by the position acquisition means, a value indicating the probability as a road of a plurality of candidate links that are candidates for map matching, and a relative angle of the candidate links And calculating a weight of a map matching position for the candidate link in the position information based on the weight information and calculating a weighted average of each map matching position for the candidate link in the position information based on the weight. Is calculated .
In order to achieve the above object, an electronic device according to a second aspect of the present invention provides:
Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions;
The temporary position calculated by the temporary position calculation means is displayed superimposed on map information, and after the temporary position is map-matched to the candidate link by the map matching means, map matching is performed. Display control means for displaying the provisional position after map matching superimposed on the map information without displaying the previous provisional position;
It is characterized by providing.
In order to achieve the above object, an electronic device according to a third aspect of the present invention includes:
Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions;
Informing means for informing that the map information has deviated from the planned route set in the map information,
The notification means suppresses notification that the provisional position calculated by the provisional position calculation means has deviated from the planned route.

  According to the present invention, map matching can be performed more appropriately.

1A and 1B are diagrams illustrating a configuration of a wrist terminal as an embodiment of an electronic apparatus according to the present invention, in which FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is a functional block diagram which shows the functional structure for performing a position display process among the functional structures of the wrist terminal 1 of FIG. It is a schematic diagram for demonstrating the determination method of the provisional present position after branch position passage. It is a schematic diagram for demonstrating the determination method of the provisional present position after branch position passage. It is a schematic diagram for demonstrating the determination method of the provisional present position after branch position passage. It is a schematic diagram for demonstrating the determination method of the provisional present position after branch position passage. It is a schematic diagram for demonstrating the determination method of the provisional present position after branch position passage. It is a flowchart explaining the flow of the position display process which the wrist terminal of FIG. 1 which has the function structure of FIG. 2 performs. It is a flowchart explaining the flow of all the link search processing. It is a flowchart explaining the flow of a candidate link search process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Hardware configuration]
Next, the hardware configuration of the wrist terminal 1 in the present embodiment will be described with reference to FIG.
FIG. 1 is a diagram illustrating a configuration of a wrist terminal 1 as an embodiment of an electronic device according to the present invention. FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is.
As shown in FIG. 1A, the wrist terminal 1 is an electronic device that has a wristwatch type and has a function similar to a smartphone.
As shown in FIG. 1B, the wrist terminal 1 includes a control unit 11, a sensor unit 12, an input unit 13, an LCD (Liquid Crystal Display) 14, a clock circuit 15, and a ROM (Read Only). Memory 16, RAM (Read Access Memory) 17, GPS antenna 18, GPS module 19, wireless communication antenna 20, wireless communication module 21, and drive 22.

The control unit 11 includes an arithmetic processing device such as a CPU (Central Processing Unit), and controls the operation of the entire wrist terminal 1. For example, the control unit 11 executes various processes according to a program recorded in the ROM 16 such as a program for position display processing (described later).
The sensor unit 12 includes various sensors such as a triaxial acceleration sensor, a magnetic sensor, an atmospheric pressure sensor, and an air temperature sensor.

The input unit 13 is configured with various buttons, a capacitance type or resistive film type position input sensor stacked on the display area of the LCD 14, etc., and inputs various types of information according to a user's instruction operation.
The LCD 14 outputs an image according to an instruction from the control unit 11. For example, the LCD 14 displays various images and a user interface screen. In the present embodiment, the position input sensor of the input unit 13 is arranged on the LCD 14 so as to constitute a touch panel.
The clock circuit 15 generates a time signal from a signal generated by a system clock or an oscillator, and outputs the current time.

The ROM 16 stores information such as a control program executed by the control unit 11.
The RAM 17 provides a work area when the control unit 11 executes various processes.
The GPS antenna 18 receives radio waves transmitted from satellites in GPS and converts them into electrical signals, and outputs the converted electrical signals (hereinafter referred to as “GPS signals”) to the GPS module 19.
The GPS module 19 detects the position (latitude, longitude, altitude) of the wrist terminal 1 and the current time indicated by GPS based on the GPS signal input from the GPS antenna 18. Further, the GPS module 19 outputs information indicating the detected position and the current time to the control unit 11.

The radio communication antenna 20 is an antenna capable of receiving radio waves having a frequency corresponding to radio communication used by the radio communication module 21, and is configured by, for example, a loop antenna or a rod antenna. The radio communication antenna 20 transmits the radio communication electric signal input from the radio communication module 21 as an electromagnetic wave, or converts the received electromagnetic wave into an electric signal and outputs the electric signal to the radio communication module 21.
The wireless communication module 21 transmits a signal to another device via the wireless communication antenna 20 in accordance with an instruction from the control unit 11. In addition, the wireless communication module 21 receives a signal transmitted from another device and outputs information indicated by the received signal to the control unit 11.
A removable medium 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 22. The removable medium 31 can store various data such as image data.

[Functional configuration]
Next, a functional configuration for executing the position display process among the functional configurations of the wrist terminal 1 will be described.
FIG. 2 is a functional block diagram showing a functional configuration for executing the position display process among the functional configurations of the wrist terminal 1 of FIG.
The position display process is a series of display that displays the position corresponding to the likelihood of the nearby link as the current position in the vicinity of the branching link when the current position is displayed by performing map matching to the link in the map information. It is processing.
Note that the likelihood of the link is the angle difference Δθ between the movement vector (vector defined by the movement amount and movement direction) based on the acquired positioning position and the link direction, and the distance d between the link and the positioning position. Using, likelihood = 1 / d + cosΔθ. That is, the closer the acquired positioning position is to the distance and the closer the direction of the movement vector to the link, the higher the likelihood of the link.

  When the position display process is executed, as shown in FIG. 2, in the control unit 11, the position acquisition unit 51, the matching processing unit 52, the current position determination unit 53, the display control unit 54, and the route notification are performed. The unit 55 functions. A map information storage unit 71 is provided in one area of the ROM 16.

The map information storage unit 71 stores a database in which map information is stored. The map information includes route information constituted by a set of links, and each link has information on latitude, longitude, altitude, link direction, and link length.
The position acquisition unit 51 acquires the positioning position of the wrist terminal 1.
Specifically, the position acquisition unit 51 acquires the positioning position of the wrist terminal 1 based on the position information acquired from the GPS module 19 and the movement distance acquired from the sensor unit 12.

Based on the positioning position acquired by the position acquisition unit 51, the matching processing unit 52 specifies a target link for map matching and specifies a matching position in the link.
Specifically, the matching processing unit 52 first calculates the distance to the positioning position for all the links in the map information, and specifies the nearest link as the most likely link (link with the highest likelihood). . In addition, the matching processing unit 52 specifies the nearest neighbor point in the maximum likelihood link as a map matching position with respect to the positioning position acquired by the position acquisition unit 51. On the other hand, after the maximum likelihood link is specified, the matching processing unit 52 specifies a nearby link connected to the maximum likelihood link as a target of map matching. Moreover, the matching process part 52 calculates the likelihood of the identified link, and identifies the nearest point with respect to the positioning position acquired by the position acquisition part 51 as the map matching position in the link. At this time, when the route is branched, the matching processing unit 52 identifies each link connected to the maximum likelihood link as a candidate link, and in each candidate link, the nearest point to the positioning position acquired by the position acquisition unit 51 is determined. It is specified as a map matching position candidate.

  In addition, the matching processing unit 52 is a case where the route is branched, and the positioning position acquired by the position acquisition unit 51 deviates from the range of a certain distance Rth from the node of the branch position. A series of current positions (described later) determined by the current position determination unit 53 within the range of the constant distance Rth are remap-matched. That is, the matching processing unit 52 determines the positioning position acquired by the position acquisition unit 51 on the candidate link with the highest likelihood among the candidate links for the provisional current position within the range of the constant distance Rth from the node at the branch position. The nearest neighbor point for is specified as a map matching position.

When the route is not branched, the current position determination unit 53 determines the map matching position on the link specified by the matching processing unit 52 as the current position.
In addition, when the route is branched, the current position determination unit 53 determines each of the positions specified by the matching processing unit 52 when the positioning position acquired by the position acquisition unit 51 is within a certain distance Rth from the node at the branch position. Based on the likelihood of the candidate link and the maximum relative angle θmax formed by each candidate link, the weight of the map matching position candidate in each candidate link is calculated. Then, the current position determination unit 53 determines a temporary current position by calculating a weighted average using the weights of the map matching position candidates in each candidate link. A method for determining the provisional current position after passing through the branch position will be described later.

  Further, the current position determination unit 53 determines that the matching processing unit 52 restarts when the route is branched and the positioning position acquired by the position acquisition unit 51 exceeds a certain distance Rth from the node at the branch position. The map matching position on the link specified by map matching is determined as the current position at each time point. In the present embodiment, when the positioning position acquired by the position acquisition unit 51 exceeds a certain distance Rth from the node at the branch position, the provisional current position display before remapping matching is deleted.

The display control unit 54 superimposes the current position determined by the current position determination unit 53 on the map and displays it on the LCD 14.
The route notification unit 55 determines whether or not the user is moving along a route deviating from the planned route when a planned route to the destination is set by the user. If the route notification unit 55 determines that the user is moving along a route that is out of the planned route, the route notification unit 55 notifies the user that the user is out of the planned route by displaying a voice and a message. Here, when the positioning position acquired by the position acquisition unit 51 is within a certain distance Rth from the node at the branch position, the route notification unit 55 determines whether or not the user is moving on a route that is out of the planned route. Suppress. That is, when the positioning position acquired by the position acquisition unit 51 is within a certain distance Rth from the node at the branch position, the route notification unit 55 does not have the current position determined by the current position determination unit 53 on the planned route. Even so, it is set so as not to notify that the user is off the planned route.
This can reduce the situation where the current position suddenly jumps between links when it is not easy to accurately estimate the current position on a branch road such as a Y-junction.

[Method of determining the temporary current position after passing through the branch position]
Next, a method in which the current position determination unit 53 determines a provisional current position after passing through the branch position will be described.
3 to 7 are schematic diagrams for explaining a method for determining a provisional current position after passing through the branch position.
3 to 7, PG is the obtained positioning position, Pn is the candidate position (where n is a natural number) of the map matching position at each time on the link Ln, and PM is determined by the current position determining unit 53. The current position is represented, and the numbers given to PG and PM represent the time series of time t. Moreover, the code | symbol which attached | subjected the suffixes lat and lon each represents the latitude component and longitude component of the parameter which the code | symbol represents.

As shown in FIG. 3A, it is assumed that, at time t = 2, the user has passed the node N1 from the state of walking along the link L1 and has reached a point where the user has branched to the links L2 and L3.
At this time, the positioning position PG0 at time t = 0 acquired by the position acquisition unit 51 is map-matched to the position PM0 on the link L1, and the positioning position PG1 at time t = 1 overlaps the node N1 at the end point in the link L1. Map-matched to PM1.

When the current position corresponding to the positioning position PG2 at time t = 2 acquired by the position acquisition unit 51 after passing through the node N1 is determined, first, the candidate link connected to the link L1 (that is, the matching link 52 by the matching processing unit 52). , The likelihoods Lh2 and Lh3 of the links L2 and L3) and the map matching position candidate positions P2 and P3 that are the nearest neighbor points in the links L2 and L3 are specified. Here, it is assumed that Lh2 = 0.6 and Lh3 = 0.4.
Also, as shown in FIG. 3B, the current position determination unit 53 calculates the maximum relative angle θmax formed by the links L2 and L3, and calculates the parameter α = θmax / 360. Here, it is assumed that α = 0.5.

Next, as illustrated in FIG. 4A, the current position determination unit 53 calculates the weights d2 [1] and d3 [1] of the positions P2 and P3 at time t = 2. Specifically, the current position determination unit 53 sets both the initial values d2 [0] and d3 [0] of the weights of the positions P2 and P3 to zero, the weight d2 [1] of the position P2 and the position at time t = 2. The weight d3 [1] of P3 is calculated by the following equation.
d2 [1] = d2 [0] + α (Lh2-d2 [0]) = 0.3
d3 [1] = d3 [0] + α (Lh3-d3 [0]) = 0.2

The current position determination unit 53 determines the current position PM2 at time t = 2 by calculating a weighted average of the positions P2 and P3 using the calculated weights of the positions P2 and P3. Specifically, the current position determination unit 53 calculates a weighted average for each of the latitude PM2lat and the longitude PM2lon of the current position PM2 by the following equation.
PM2lat = (P2lat × d2 [1] + P3lat × d3 [1]) / (d2 [1] + d3 [1])
PM2lon = (P2lon × d2 [1] + P3lon × d3 [1]) / (d2 [1] + d3 [1])
Thereby, the temporary current position PM2 is determined by calculating the weighted average using the weights of the candidate positions of the map matching positions in the links L2 and L3.

Furthermore, as shown in FIG. 4B, it is assumed that the user has advanced from the positioning position PG2 to the positioning position PG3 at time t = 3.
At this time, when determining the current position corresponding to the positioning position PG3 at time t = 3 acquired by the position acquisition unit 51, first, the matching processing unit 52 uses the link L2, which has been made a candidate link at time t = 2. The likelihoods Lh2 and Lh3 of L3 and the map matching position candidate positions P2 and P3, which are the nearest points in the links L2 and L3, are specified. Here, it is assumed that Lh2 = 0.6 and Lh3 = 0.4.

Next, as shown in FIG. 5A, the current position determination unit 53 calculates the weights d2 [2] and d3 [2] of the positions P2 and P3 at time t = 3. Specifically, the current position determination unit 53 uses the weights d2 [1] and d3 [1] of the positions P2 and P3 at the time t = 2, and uses the weights d2 [2] of the position P2 at the time t = 3 and The weight d3 [2] of the position P3 is calculated by the following equation.
d2 [2] = d2 [1] + α (Lh2-d2 [1]) = 0.45
d3 [2] = d3 [1] + α (Lh3-d3 [1]) = 0.3

The current position determination unit 53 determines the current position PM3 at time t = 3 by calculating a weighted average of the positions P2 and P3 using the calculated weights of the positions P2 and P3. Specifically, the current position determination unit 53 calculates a weighted average for each of the latitude PM3lat and longitude PM3lon of the current position PM3 by the following equation.
PM3lat = (P2lat × d2 [2] + P3lat × d3 [2]) / (d2 [2] + d3 [2])
PM3lon = (P2lon × d2 [2] + P3lon × d3 [2]) / (d2 [2] + d3 [2])
Thereby, the temporary current position PM3 is determined by calculating the weighted average using the weights of the candidate positions of the map matching positions in the links L2 and L3.

Furthermore, as shown in FIG. 5B, it is assumed that the user has advanced from the positioning position PG3 to the positioning position PG4 at time t = 4.
At this time, when determining the current position corresponding to the positioning position PG4 at time t = 4 acquired by the position acquisition unit 51, first, the matching processing unit 52 uses the link L2, which has been made a candidate link at time t = 2. The likelihoods Lh2 and Lh3 of L3 and the map matching position candidate positions P2 and P3, which are the nearest points in the links L2 and L3, are specified. Here, it is assumed that Lh2 = 0.4 and Lh3 = 0.6.

Next, as shown in FIG. 5C, the current position determination unit 53 calculates the weights d2 [3] and d3 [3] of the positions P2 and P3 at time t = 4. Specifically, the current position determination unit 53 uses the weights d2 [2] and d3 [2] of the positions P2 and P3 at the time t = 3, and uses the weights d2 [3] of the position P2 at the time t = 4 and The weight d3 [3] of the position P3 is calculated by the following equation.
d2 [3] = d2 [2] + α (Lh2-d2 [2]) = 0.425
d3 [3] = d3 [2] + α (Lh3-d3 [2]) = 0.45

The current position determination unit 53 determines the current position PM4 at time t = 4 by calculating a weighted average of the positions P2 and P3 using the calculated weights of the positions P2 and P3. Specifically, the current position determination unit 53 calculates a weighted average for each of the latitude PM4lat and the longitude PM4lon of the current position PM4 by the following equation.
PM4lat = (P2lat × d2 [3] + P3lat × d3 [3]) / (d2 [3] + d3 [3])
PM4lon = (P2lon × d2 [3] + P3lon × d3 [3]) / (d2 [3] + d3 [3])
Accordingly, the provisional current position PM4 is determined by calculating the weighted average using the weights of the map matching position candidate positions in the links L2 and L3.

Furthermore, as shown in FIG. 6A, it is assumed that the user has advanced from the positioning position PG4 to the positioning position PG5 at time t = 5.
At this time, when determining the current position corresponding to the positioning position PG5 at time t = 5 acquired by the position acquisition unit 51, first, the matching processing unit 52 uses the link L2, which has been made a candidate link at time t = 2. The likelihoods Lh2 and Lh3 of L3 and the map matching position candidate positions P2 and P3, which are the nearest points in the links L2 and L3, are specified. Here, it is assumed that Lh2 = 0.2 and Lh3 = 0.8.

Next, as illustrated in FIG. 6B, the current position determination unit 53 calculates the weights d2 [4] and d3 [4] of the positions P2 and P3 at time t = 5. Specifically, the current position determination unit 53 uses the weights d2 [3] and d3 [3] of the positions P2 and P3 at time t = 4, and uses the weights d2 [4] of the position P2 at time t = 5 and The weight d3 [4] of the position P3 is calculated by the following equation.
d2 [4] = d2 [3] + α (Lh2-d2 [3]) = 0.625
d3 [4] = d3 [3] + α (Lh3-d3 [3]) = 0.675

Further, the current position determination unit 53 determines the current position PM5 at time t = 5 by calculating a weighted average of the positions P2 and P3 using the calculated weights of the positions P2 and P3. Specifically, the current position determining unit 53 calculates a weighted average for each of the latitude PM5lat and the longitude PM5lon of the current position PM by the following equation.
PM5lat = (P2lat × d2 [4] + P3lat × d3 [4]) / (d2 [4] + d3 [4])
PM5lon = (P2lon × d2 [4] + P3lon × d3 [4]) / (d2 [4] + d3 [4])
Thereby, the temporary current position PM5 is determined by calculating the weighted average using the weights of the candidate positions of the map matching positions in the links L2 and L3.

Furthermore, as shown in FIG. 6C, it is assumed that the user proceeds from the positioning position PG5 to the positioning position PG6 at time t = 6.
At this time, when determining the current position corresponding to the positioning position PG6 at time t = 6 acquired by the position acquisition unit 51, first, the matching processing unit 52 uses the link L2, which has been made a candidate link at time t = 2. The likelihoods Lh2 and Lh3 of L3 and the map matching position candidate positions P2 and P3, which are the nearest points in the links L2 and L3, are specified. Here, it is assumed that Lh2 = 0.0 and Lh3 = 1.0.

Next, as illustrated in FIG. 7, the current position determination unit 53 calculates the weights d2 [5] and d3 [5] of the positions P2 and P3 at time t = 6. Specifically, the current position determination unit 53 uses the weights d2 [4] and d3 [4] of the positions P2 and P3 at the time t = 5, and uses the weights d2 [5] of the position P2 at the time t = 6 and The weight d3 [5] of the position P3 is calculated by the following equation.
d2 [5] = d2 [4] + α (Lh2-d2 [4]) = 0.13125
d3 [5] = d3 [4] + α (Lh3-d3 [4]) = 0.8375

The current position determination unit 53 determines the current position PM6 at time t = 6 by calculating the weighted average of the positions P2 and P3 using the calculated weights of the positions P2 and P3. Specifically, the current position determining unit 53 calculates a weighted average for each of the latitude PM6lat and the longitude PM6lon of the current position PM by the following equation.
PM6lat = (P2lat × d2 [5] + P3lat × d3 [5]) / (d2 [5] + d3 [5])
PM6lon = (P2lon × d2 [5] + P3lon × d3 [5]) / (d2 [5] + d3 [5])
Thereby, the temporary current position PM6 is determined by calculating the weighted average using the weights of the candidate positions of the map matching positions in the links L2 and L3.
The above processing is repeated for the positioning position that is within a certain distance Rth from the node N1.

[Operation]
Next, the operation will be described.
FIG. 8 is a flowchart for explaining the flow of position display processing executed by the wrist terminal 1 of FIG. 1 having the functional configuration of FIG.
The position display process is started by accepting an operation for starting the position display process of the user at the input unit 13 of the wrist terminal 1, and is repeatedly executed until an end operation of the user is accepted.
In step S <b> 1, the position acquisition unit 51 acquires the positioning position of the wrist terminal 1. Moreover, the matching process part 52 calculates a movement vector from the acquired positioning position.

In step S2, the matching processing unit 52 determines whether the maximum likelihood link has already been specified.
When the maximum likelihood link is not specified, it is determined as NO in Step S2, and the process proceeds to Step S3.
On the other hand, if the maximum likelihood link has already been specified, YES is determined in step S2, and the process proceeds to step S4.

In step S3, the matching processor 52 executes an all link search process (described later).
In step S4, the matching processing unit 52 performs a candidate link search process (described later).
After step S3 and step S4, the process proceeds to step S5.
In step S5, the display control unit 54 superimposes the current position determined by the current position determination unit 53 in step S3 and step S4 on the map and causes the LCD 14 to display the superimposed position.
After step S5, the position display process is repeated.

Next, the all link search process executed in step S3 of the position display process will be described.
FIG. 9 is a flowchart for explaining the flow of the all link search process.
In step S11, the matching processing unit 52 calculates the distance to the positioning position for all links in the map information.
In step S12, the matching processing unit 52 specifies the link closest to the positioning position as the maximum likelihood link, and specifies the nearest neighbor point of the positioning position in the maximum likelihood link as the map matching position. The current position determination unit 53 determines the map matching position on the link specified by the matching processing unit 52 as the current position.
After step S12, the process returns to the position display process.

Next, the candidate link search process executed in step S4 of the position display process will be described.
FIG. 10 is a flowchart for explaining the flow of the candidate link search process.
In step S <b> 21, the matching processing unit 52 calculates the likelihood of each candidate link, and specifies the nearest point of the positioning position in each candidate link as the map matching position. In step S21, when there is one candidate link, that is, when a branch point is not passed, the matching processing unit 52 calculates likelihood and specifies a map matching position for one candidate link. I do.

In step S22, the current position determination unit 53 determines whether or not the positioning position acquired by the position acquisition unit 51 is within a certain distance Rth from the node at the branch position.
If the positioning position acquired by the position acquisition unit 51 is within a certain distance Rth from the node at the branch position, YES is determined in step S22, and the process proceeds to step S23.
On the other hand, when the positioning position acquired by the position acquisition unit 51 is not within the predetermined distance Rth from the node at the branch position, NO is determined in step S22, and the process proceeds to step S27.

In step S23, the current position determination unit 53 calculates the maximum relative angle θmax formed by each candidate link connected to the branch position.
In step S24, the current position determination unit 53 calculates the parameter α = θmax / 360 based on the maximum relative angle θmax.
In step S25, the current position determination unit 53 calculates the weight of the map matching position candidate in each candidate link.

In step S <b> 26, the current position determination unit 53 determines a temporary current position by calculating a weighted average using the weights of the map matching position candidates in each candidate link.
After step S26, the process returns to the position display process.
In step S27, the matching processing unit 52 specifies the link closest to the positioning position as the maximum likelihood link, and specifies the nearest neighbor point of the positioning position in the maximum likelihood link as the map matching position. The current position determination unit 53 determines the map matching position on the link specified by the matching processing unit 52 as the current position.

In step S28, the matching processing unit 52 determines whether or not the positioning position acquired by the position acquisition unit 51 is immediately after leaving the range of the certain distance Rth from the node at the branch position.
If the positioning position acquired by the position acquisition unit 51 is immediately after leaving the range of the constant distance Rth from the node at the branch position, YES is determined in step S28, and the process proceeds to step S29.
On the other hand, if the positioning position acquired by the position acquisition unit 51 is not immediately after leaving the range of the constant distance Rth from the node at the branch position, NO is determined in step S28, and the process returns to the position display process.

In step S29, the matching processing unit 52 remap-matches a series of provisional current positions determined by the current position determining unit 53 within a certain distance Rth from the branch position node. Further, the current position determination unit 53 determines the map matching position on the link specified by the remap matching performed by the matching processing unit 52 as the current position.
After step S29, the process returns to the position display process.

By such processing, after the wrist terminal 1 passes through the branch position and is located within a certain distance from the branch position node, the likelihood of each candidate link, the relative angle formed by each candidate link, and each candidate A temporary current position of the positioning position is determined based on the weight of the link map matching position candidate.
Therefore, since the current position is not map-matched to any link immediately after passing through the branch position, it is possible to suppress erroneous determination of the maximum likelihood link. A situation in which a jump occurs can be reduced.
Therefore, map matching can be performed more appropriately.

In addition, when the wrist terminal 1 leaves the range of a certain distance after passing through the branch position, a series of temporary current positions that are not map-matched to any link are mapped to links with higher likelihood. Matched and displayed.
Therefore, it is possible to display the position after passing the branch position displayed by map matching more appropriately.
In addition, since the current position that is not map-matched to any of the links is displayed only within a certain distance after the wrist terminal 1 passes through the branch position, the period for temporarily displaying the current position is prolonged. This can be suppressed.

In addition, since the current position that is not map-matched to any link is a position corresponding to the likelihood of each candidate link with respect to the positioning position, the current position is displayed at a more likely position even if the position is not map-matched. be able to.
In addition, the current position that is not map-matched to any of the links is calculated corresponding to the weight of the candidate map-matching position of each candidate link, and the weight is sequentially determined corresponding to the relative angle formed by each candidate link. The
Therefore, since the current position reflects the difference in direction of each candidate link, a more appropriate current position can be displayed corresponding to the form of the candidate link after branching even if the position is not map-matched. .

In addition, the current position that is not map-matched to any link is calculated corresponding to the weight of the candidate map matching position of each candidate link, and the weight is the weight of the candidate map matching position of each previous candidate link. Since it corresponds, it can suppress that the present position which is not map-matched to any link changes rapidly with the change of a positioning position, etc.
Further, when the wrist terminal 1 notifies that the user is off the planned route, while the current position that is not map-matched to any of the links is displayed, the current position is not on the planned route. Even if it exists, it is set as the setting which does not alert | report that the user has deviated from the planned route.
This can reduce the situation where the current position suddenly jumps between links when it is not easy to accurately estimate the current position on a branch road such as a Y-junction.

The electronic device 1 configured as described above includes a position acquisition unit 51, a current position determination unit 53, and a matching processing unit 52.
The position acquisition unit 51 acquires position information.
The current position determination unit 53 is a plurality of map matching candidates when the position information acquired by the position acquisition unit 51 is within a certain range from the branch position on the branch road in the branch road where the link of the map information branches. The temporary position corresponding to the position information is calculated based on the likelihood of the candidate link.
When the position information acquired by the position acquisition unit 51 deviates from a certain range, the matching processing unit 52 corresponds to a candidate link having a higher likelihood with respect to the temporary position. Map matching location information.
As a result, since the current position is not map-matched to any link immediately after passing the branch position, it is possible to suppress erroneous determination of the maximum likelihood link, and when displaying the current position, The situation where a sudden jump occurs can be reduced.
Therefore, map matching can be performed more appropriately.

In addition, the current position determination unit 53 determines the position information based on the likelihood of the plurality of candidate links that are candidates for map matching and the relative angle of the candidate links with respect to the position information acquired by the position acquisition unit 51. The temporary position is calculated by calculating the weight of the map matching position for the candidate link, and calculating the weighted average of each map matching position for the candidate link of the position information based on the weight.
Thereby, the provisional position can be displayed at a more appropriate position.

In addition, the wrist terminal 1 displays the temporary position calculated by the current position determination unit 53 superimposed on the map information, and after the temporary position is map-matched to the candidate link by the matching processing unit 52, The provisional position after the map matching is displayed superimposed on the map information without displaying the provisional position before the map matching.
As a result, the position after passing the branch position displayed by map matching can be displayed more appropriately.

The wrist terminal 1 also includes a route notification unit 55.
The route notification unit 55 notifies that the route has deviated from the planned route set in the map information.
Further, the route notification unit 55 suppresses notification that the provisional position calculated by the current position determination unit 53 has deviated from the planned route.
This can reduce the situation where the current position suddenly jumps between links when it is not easy to accurately estimate the current position on a branch road such as a Y-junction.

  In addition, this invention is not limited to the above-mentioned embodiment, The deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention.

  In the above-described embodiment, the maximum relative angle θmax is described as being a relative angle formed by each candidate link. However, the present invention is not limited to this. For example, in consideration of positioning position errors, place a positioning position area (circular area, etc.) having a certain range at any position on the candidate link, and maximize the angle at which the straight lines that touch the outer edge intersect. The relative angle θmax may be used.

In the above-described embodiment, when the matching processing unit 52 remap-matches a series of provisional current positions determined by the current position determination unit 53 within the range of the fixed distance Rth from the node at the branch position, Instead of the current position, the remap-matched position is displayed as the current position. On the other hand, a series of provisional current positions determined by the current position determining unit 53 may be displayed in a distinguishable form together with the remap-matched positions.
As a result, the user can easily recognize that the remapping matching has been performed after the provisional current position is displayed after passing through the branch position, so that the current position determination process can be grasped.

In the above-described embodiment, the wrist terminal is described as an example of the electronic device to which the present invention is applied. However, the present invention is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a function of estimating a position. Specifically, for example, the present invention can be applied to a notebook personal computer, a tablet terminal, a video camera, a portable navigation device, a mobile phone, a smartphone, a portable game machine, and the like.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIG. 2 is merely an example and is not particularly limited. That is, it is sufficient that the wrist terminal 1 has a function capable of executing the above-described series of processing as a whole, and what functional blocks are used to realize this function is not particularly limited to the example of FIG.
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.

When a series of processing is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

  The recording medium including such a program is not only constituted by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body in order to provide the program to the user, but also in a state of being incorporated in the apparatus main body in advance. It is comprised with the recording medium etc. which are provided in this. The removable medium 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disc is composed of, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) Disc (Blu-ray Disc), and the like. The magneto-optical disk is configured by MD (Mini-Disc) or the like. Further, the recording medium provided to the user in a state of being pre-installed in the apparatus main body is composed of, for example, the ROM 16 in FIG. 1 in which a program is recorded.

  In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in chronological order according to the order, but is not necessarily performed in chronological order, either in parallel or individually. The process to be executed is also included.

  As mentioned above, although several embodiment of this invention was described, these embodiment is only an illustration and does not limit the technical scope of this invention. The present invention can take various other embodiments, and various modifications such as omission and replacement can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in this specification and the like, and are included in the invention described in the claims and the equivalents thereof.

The invention described in the scope of claims at the beginning of the filing of the present application will be appended.
[Appendix 1]
Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, if the position information acquired by the position acquisition means is within a certain range from a branch position in the branch road, the likelihood of a plurality of candidate links that are candidates for map matching Temporary position calculation means for calculating a temporary position corresponding to the position information based on the degree;
When the position information acquired by the position acquisition means leaves the certain range, the position corresponding to the temporary position is set to the candidate link having a higher likelihood with respect to the temporary position. Map matching means for map matching information,
An electronic device comprising:
[Appendix 2]
The provisional position calculation means is configured to determine the position information based on the likelihood of a plurality of candidate links that are candidates for map matching and the relative angle of the candidate links with respect to the position information acquired by the position acquisition means. Calculating a temporary position by calculating a weight of a map matching position for the candidate link and calculating a weighted average of each map matching position for the candidate link in the position information based on the weight. The electronic device according to appendix 1.
[Appendix 3]
The temporary position calculated by the temporary position calculation means is displayed superimposed on map information, and after the temporary position is map-matched to the candidate link by the map matching means, map matching is performed. 3. The electronic apparatus according to appendix 1 or 2, wherein the temporary position after map matching is displayed superimposed on the map information without displaying the previous temporary position.
[Appendix 4]
Informing means for informing that the map information has deviated from the planned route set in the map information,
4. The information according to claim 1, wherein the notification unit suppresses notification that the temporary position calculated by the temporary position calculation unit has deviated from the planned route. 5. Electronics.
[Appendix 5]
A position display method executed in an electronic device,
A position acquisition step for acquiring position information;
In the branch road where the link of the map information branches, if the position information acquired by the position acquisition step is within a certain range from the branch position in the branch road, the likelihood of a plurality of candidate links that are candidates for map matching A temporary position calculating step for calculating a temporary position corresponding to the position information based on the degree;
When the position information acquired by the position acquisition step has deviated from the certain range, the position corresponding to the temporary position corresponds to the candidate link having a higher likelihood with respect to the temporary position. A map matching step for map matching information;
The position display method characterized by including.
[Appendix 6]
To the computer that controls the electronic equipment,
A location acquisition function for acquiring location information;
In a branch road where a link of map information branches, if the position information acquired by the position acquisition function is within a certain range from a branch position in the branch path, the likelihood of a plurality of candidate links that are candidates for map matching A provisional position calculation function for calculating a provisional position corresponding to the position information based on the degree;
When the position information acquired by the position acquisition function has deviated from the certain range, the position corresponding to the temporary position corresponds to the candidate link having a higher likelihood with respect to the temporary position. Map matching function to map match information,
A program characterized by realizing.

  DESCRIPTION OF SYMBOLS 1 ... Wrist terminal, 11 ... Control part, 12 ... Sensor unit, 13 ... Input part, 14 ... LCD, 15 ... Clock circuit, 16 ... ROM, 17 ... · RAM, 18 ··· GPS antenna, 19 · · · GPS module, 20 · · · wireless communication antenna, 21 · · · wireless communication module, 22 · · · drive, 31 · · · removable media, 51 · · · Position acquisition unit, 52 ... matching processing unit, 53 ... current position determination unit, 54 ... display control unit, 55 ... route notification unit, 71 ... map information storage unit

Claims (9)

Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions, and
The provisional position calculation means, with respect to the position information acquired by the position acquisition means, a value indicating the probability as a road of a plurality of candidate links that are candidates for map matching, and a relative angle of the candidate links And calculating a weight of a map matching position for the candidate link in the position information based on the weight information and calculating a weighted average of each map matching position for the candidate link in the position information based on the weight. An electronic device characterized by calculating Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions;
The temporary position calculated by the temporary position calculation means is displayed superimposed on map information, and after the temporary position is map-matched to the candidate link by the map matching means, map matching is performed. Display control means for displaying the provisional position after map matching superimposed on the map information without displaying the previous provisional position ;
You wherein electronic devices in that it comprises. Position acquisition means for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition means is within a certain range from the branch position in the branch road Temporary position calculation means for calculating a temporary position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition means has deviated from the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. Map matching means for map matching the position information corresponding to various positions;
And a notification means for notifying that deviates from the predetermined route which is set in the map information,
The notification means, the provisional wherein the temporary position calculated by the position calculating means, the child device electrostatic you characterized by inhibiting the notification of having deviated from the planned route. A position display method executed in an electronic device,
A position acquisition step for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired in the position acquisition step is within a certain range from a branch position in the branch road A provisional position calculating step for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition step is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. A map matching step for map-matching the position information corresponding to various positions ,
In the provisional position calculating step, a value indicating the probability as a road of a plurality of candidate links that are candidates for map matching with respect to the position information acquired in the position acquiring step, and a relative angle of the candidate links, And calculating a weight of a map matching position for the candidate link in the position information based on the weight information and calculating a weighted average of each map matching position for the candidate link in the position information based on the weight. A position display method characterized by calculating . A position display method executed in an electronic device,
A position acquisition step for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired in the position acquisition step is within a certain range from a branch position in the branch road A provisional position calculating step for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition step is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. A map matching step for map matching the position information corresponding to various positions;
The temporary position calculated by the temporary position calculating step is displayed superimposed on map information, and after the temporary position is map-matched to the candidate link by the map matching step, map matching is performed. A display control step of displaying the provisional position after map matching superimposed on the map information without displaying the previous provisional position;
The position display method characterized by including. A position display method executed in an electronic device,
A position acquisition step for acquiring position information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired in the position acquisition step is within a certain range from a branch position in the branch road A provisional position calculating step for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition step is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is assigned to the temporary link. A map matching step for map matching the position information corresponding to various positions;
An informing step of informing that the map information has deviated from the planned route set in the map information,
The notification step suppresses notification that the provisional position calculated by the provisional position calculation step has deviated from the planned route. To the computer that controls the electronic equipment,
A location acquisition function for acquiring location information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition function is within a certain range from the branch position in the branch road A provisional position calculation function for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition function is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is set to the temporary link. A map matching function for map-matching the position information corresponding to various positions ,
The provisional position calculation function includes a value indicating the probability of the plurality of candidate links serving as map matching candidates as the road, and a relative angle of the candidate links, with respect to the position information acquired by the position acquisition function. And calculating a weight of a map matching position for the candidate link in the position information based on the weight information and calculating a weighted average of each map matching position for the candidate link in the position information based on the weight. The program characterized by calculating . To the computer that controls the electronic equipment,
A location acquisition function for acquiring location information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition function is within a certain range from the branch position in the branch road A provisional position calculation function for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition function is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is set to the temporary link. A map matching function for map matching the position information corresponding to various positions;
The temporary position calculated by the temporary position calculation function is displayed superimposed on map information, and after the temporary position is map-matched to the candidate link by the map matching function, map matching is performed. A display control function for displaying the provisional position after map matching superimposed on the map information without displaying the previous provisional position;
A program characterized by realizing. To the computer that controls the electronic equipment,
A location acquisition function for acquiring location information;
In a branch road where a link of map information branches, a plurality of candidate link roads that are candidates for map matching when the position information acquired by the position acquisition function is within a certain range from the branch position in the branch road A provisional position calculation function for calculating a provisional position corresponding to the position information based on a value indicating the probability as
When the position information acquired by the position acquisition function is out of the certain range, the provisional link having a higher value indicating the certainty as the road with respect to the temporary position is set to the temporary link. A map matching function for map matching the position information corresponding to various positions;
A program for realizing a notification function for notifying that the map information has deviated from the planned route set in the map information,
The notification function suppresses notification that the provisional position calculated by the provisional position calculation function is out of the planned route.

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