JP6895730B2 - Information processing equipment, information processing methods and programs - Google Patents

Description

The present invention relates to an information processing device, an information processing method and a program.

In recent years, mobile terminals having a positioning function by GPS (Global Positioning System), autonomous navigation, or the like have become widespread. The positioning function by autonomous navigation can use various sensors (for example, a geomagnetic sensor, a gyro sensor, an acceleration sensor) to position a position in a place where GPS positioning is not possible, such as underground or indoors.

The positioning function of the mobile terminal includes route matching processing that identifies the user's estimated position on the guidance route based on the positioning result by autonomous navigation, and the user's position on an arbitrary road network based on the positioning result by autonomous navigation. A map matching process that identifies the estimated position is included.

According to Patent Document 1, in the navigation system, only route matching is performed on the terminal side, and when it is determined that the current position deviates from the guidance route, the current position information is transmitted to the server and map matching is performed on the server side. It is described that the accurate position of the terminal is specified.

Japanese Unexamined Patent Publication No. 2011-47886

If the estimated position cannot be specified on the guide route as a result of route matching, that is, if the route matching fails, the map matching is switched to specify the estimated position. At that time, in a conventional system such as Patent Document 1, map matching is executed based on the estimated position by the previous route matching, but in that method, when an error occurs in the estimated position itself by the previous route matching. , There was a problem that accurate map matching could not be performed.

Therefore, an object of the present invention is to enable accurate map matching when the vehicle deviates from the guide path.

The information processing device according to the present invention is an information processing device that estimates a user's position on a guide path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. And, based on the positioning information, the positioning information acquisition unit that acquires the positioning information including the moving direction performs route matching that specifies the estimated position of the user on the guidance route, and it is determined that the route matching has failed. In this case, the position estimation unit includes a position estimation unit that performs map matching that specifies an estimated position at an arbitrary position on the road network based on the positioning information, and the position estimation unit determines that the route matching has failed. If so, a branch point on the guide path within a certain distance from the estimated position at the time of the last successful route matching is detected, and based on the travel distance and travel direction information included in the positioning information. , The map matching is performed using the branch point.

The information processing method according to the present invention is an information processing method for estimating a user's position on a guide path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. And the step of acquiring positioning information including the moving direction, the step of performing route matching for specifying the estimated position of the user on the guide route based on the positioning information, and the step of determining that the route matching has failed. In this case, a step of performing map matching for specifying an estimated position at an arbitrary position on the road network based on the positioning information is included, and in the step of performing the map matching, when the route matching is finally successful. A branch point on the guide path within a certain distance from the estimated position is detected, and the map matching is performed using the branch point based on the moving distance and moving direction information included in the positioning information. ..

In the program according to the present invention, a computer that estimates a user's position on a guidance path is positioned including the user's movement distance and movement direction, which is specified based on the user's movement information detected by a sensor. When the positioning information acquisition unit for acquiring information and the route matching for specifying the estimated position of the user on the guidance route are performed based on the positioning information, and it is determined that the route matching has failed, the said It functions as a position estimation unit that performs map matching that identifies an estimated position at an arbitrary position on the road network based on positioning information, and the position estimation unit determines that the route matching has failed. Detects a branch point on the guide path within a certain distance from the estimated position when the route matching is finally successful, and based on the information of the movement distance and the movement direction included in the positioning information, the branch point. Is used to perform the map matching.

According to the present invention, accurate map matching can be performed when the vehicle deviates from the guide path.

The block diagram which shows the hardware composition of the mobile terminal 10 by embodiment of this invention. FIG. 3 is a block diagram showing a functional configuration of a mobile terminal 10 according to an embodiment of the present invention. The flowchart of the route guidance processing executed in the mobile terminal 10 according to the embodiment of this invention. It is a figure explaining the method of specifying the estimated position of the mobile terminal 10 by embodiment of this invention.

Next, a mode for carrying out the present invention will be described in detail with reference to the drawings.
Embodiment

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the invention is not limited to these.

FIG. 1 is a block diagram showing a hardware configuration of a mobile terminal (information processing device) 10 according to an embodiment of the present invention. The mobile terminal 10 is a mobile phone (including a smartphone), a tablet terminal, a PDA (Personal Digital Assistants), a navigation-dedicated terminal, a personal computer, and the like. As shown in FIG. 1, the mobile terminal 10 includes a control unit 11, a communication unit 12, a storage unit 13, an operation unit 14, a display unit 15, a sensor 16, and a speaker 17. The control unit 11 includes a CPU (Central Processing Unit) 11a and a memory 11b.

In the control unit 11, the CPU 11a controls the operation of various configurations included in the mobile terminal 10 by expanding and executing the program stored in the storage unit 13 or the like in the memory 11b, and also controls the execution of various processes. To do. Details of the processing executed by the control unit 11 will be described later.

The communication unit 12 is a communication interface for communicating with an external device. The communication unit 12 receives, for example, data or a command from an external device, or transmits the processing result of the mobile terminal 10 to the outside.

The storage unit 13 is a non-volatile storage device, and is composed of, for example, a semiconductor memory or the like. The storage unit 13 stores various programs and various information necessary for executing the processing in the control unit 11.

The operation unit 14 is a user interface for receiving a user's instruction of the mobile terminal 10 and outputting it to the control unit 11. The operation unit 14 is composed of, for example, operation keys, a touch panel, and the like.

The display unit 15 is a user interface for displaying the processing result of the mobile terminal 10. The display unit 15 is composed of a display device using a liquid crystal, an LED (Light Emitting Diode), or the like.

The sensor 16 is composed of various sensors. The sensor 16 can include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, a barometric pressure sensor, and the like. The sensor 16 can detect various actions of the user who carries the mobile terminal 10.

The speaker 17 outputs various sounds such as voice, music, and sound effects according to the processing control by the control unit 11.

In the present embodiment, the mobile terminal 10 is configured by a single information processing device, but the present invention is not limited to this, and the configuration and functions of the mobile terminal 10 by a plurality of information processing devices capable of communicating with each other. May be realized.

FIG. 2 is a block diagram showing a functional configuration of the mobile terminal 10. The mobile terminal 10 includes a database 110, a route guidance unit 111, a signal positioning unit 112, an autonomous navigation positioning unit 113, a positioning information acquisition unit 114, a position estimation unit 115, and a display control unit 116 as functional configurations. The database 110 is implemented by the storage unit 13. Further, the functions of the route guidance unit 111, the signal positioning unit 112, the autonomous navigation positioning unit 113, the positioning information acquisition unit 114, the position estimation unit 115, and the display control unit 116 include the CPU 11a in the control unit 11 and the storage unit 13 and the like. It is realized by expanding the program stored in the memory 11b and executing it. The details of each functional configuration included in the mobile terminal 10 will be described below.

The database 110 stores various information such as information necessary for the process executed by the mobile terminal 10 and information generated by the process.

The route guidance unit 111 acquires information on the guidance route from the departure point to the destination according to the input route search condition, and presents the guidance route to the user via the display unit 15. Provide route guidance. In the present embodiment, the guide route includes any route that can be moved by the user, such as a road, a plaza, and indoor and underground corridors.

Regarding the search for the guidance route, the route guidance unit 111 refers to, for example, map data stored in the database 110 (or acquired from an external device via the communication unit 12) according to the route search condition input by the user. , The information of the guide route is acquired by executing the route search. Alternatively, the route search process according to the input route search condition may be performed by an external device, and the route guide unit 111 may acquire the process result of the route search. As the route search method, any method such as the label determination method or the Dijkstra method can be used. The optimum route means that the cost information from the starting point to the destination point is the minimum. The cost information of the link can be set according to the purpose, such as distance, required time, fee, other parameters, and any combination of various parameters.

Further, the route guidance unit 111 presents the route via the display unit 15 for route guidance, displays the information of the user's current location specified by the process described later, and outputs the voice guidance via the speaker 17. You can also do it.

The signal positioning unit 112 positions the current position of the mobile terminal 10 (or the user of the mobile terminal 10) based on the GPS satellite signal received by the GPS receiver (not shown), and provides information on the positioned position (for example,). Latitude and longitude information) is output together with positioning time information. Further, the signal positioning unit 112 can position the current position of the mobile terminal 10 according to the signal received from the access point installed near the mobile terminal 10. Further, the mobile terminal 10 receives a signal of a radio signal transmitting device such as RFID (Radio Frequency Identification) or Bluetooth (registered trademark), and positions the current position of the mobile terminal 10 according to the received signal. You can also. The signal positioning unit 112 performs positioning processing at arbitrary timings and time intervals (for example, every second). Hereinafter, in the present embodiment, the positioning process performed in response to a signal received from an external device such as a GPS satellite signal, a signal from an access point, and an RFID radio signal is referred to as signal positioning.

The autonomous navigation positioning unit 113 based on the movement information of the user of the mobile terminal 10 detected by the sensor 16, the movement distance, the movement direction, and the position information (latitude and longitude) of the mobile terminal 10 (or the user of the mobile terminal 10). Information) is measured by autonomous navigation and output as positioning information together with positioning time information. The autonomous navigation positioning unit 113 performs positioning processing at arbitrary timings and time intervals (for example, every second). For positioning by the autonomous navigation positioning unit 113, any autonomous navigation technique using a sensor 16 or the like can be adopted.

In order to perform positioning, the autonomous navigation positioning unit 113, for example, has the number of steps of movement from the reference position (positioning position specified at the time of the previous positioning) at the time of walking movement of the user due to the movement of the user detected by the sensor 16. And the movement direction are specified, and the information of the relative movement distance and the movement direction from the reference position is calculated based on the specified number of steps and the movement direction. The relative distance traveled is, for example, multiplied by the above-specified number of steps by multiplying, for example, a standard stride (or a pre-measured stride of the user of the mobile terminal 10) (for example, 65 cm) when a person walks. Calculated by. The information on the moving direction indicates the displacement in the relative moving direction (angle) from the time of the previous positioning.

The autonomous navigation positioning unit 113 positions the current position of the mobile terminal 10 based on the calculated travel distance and travel direction information from the reference position. A more accurate current position may be specified by acquiring a reference position by the positioning process of the signal positioning unit 112.

Further, the autonomous navigation positioning unit 113 determines whether or not there is an ascending / descending movement by using an escalator, an elevator, a staircase, or the like based on the amount of change in the atmospheric pressure value with the passage of time measured by the sensor 16 (atmospheric pressure sensor). Autonomous navigation technology using a barometric pressure sensor can be used to determine the presence or absence of up / down movement. For example, the autonomous navigation positioning unit 113 outputs positioning information indicating that the ascending / descending movement is detected when an increase or decrease in the atmospheric pressure value is detected during each positioning time point.

The autonomous navigation positioning unit 113 outputs the positioning information of the mobile terminal 10 specified as described above at an arbitrary timing and time interval (for example, every second). The positioning information includes information on the relative movement distance and movement direction from the previous positioning time point, information on the number of steps since the previous positioning time point, information on the current position (latitude and longitude information), and presence / absence of detection of up / down movement. Information etc. is included.

The positioning by the autonomous navigation positioning unit 113 is effective when the mobile terminal 10 cannot receive the GPS signal or the signal from the access point (for example, when the user carrying the mobile terminal 10 is indoors or underground). Alternatively, when the mobile terminal 10 can receive the above signal but the positioning accuracy by the signal positioning unit 112 is considered to be low (for example, when the user carrying the mobile terminal 10 is in a place surrounded by an outdoor skyscraper). However, positioning by the autonomous navigation positioning unit 113 is effective. Therefore, the mobile terminal 10 can switch whether to perform positioning by the signal positioning unit 112 or the autonomous navigation positioning unit 113 according to, for example, the reception status of a GPS signal or a signal from an access point.

The positioning information acquisition unit 114 receives the positioning information each time the positioning information is output from the autonomous navigation positioning unit 113, and supplies the positioning information to the position estimation unit 115.

The position estimation unit 115 performs route matching that specifies the estimated position of the mobile terminal 10 (or the estimated position of the user of the mobile terminal 10) on the guidance route based on the positioning information. Specifically, the position estimation unit 115 sets a position advanced by a predetermined distance in the direction of the destination along the guide path from the previous estimated position (the starting point position in the case of the first time) as the estimated position of the mobile terminal 10. Identify. The predetermined distance here is determined based on the positioning information output by the autonomous navigation positioning unit 113. For example, the moving distance included in the positioning information may be used as a predetermined distance. Further, a value obtained by multiplying the number of steps included in the positioning information by a preset stride may be set as a predetermined distance.

Further, the position estimation unit 115 performs map matching when the route matching fails. The case where the route matching fails is the case where the mobile terminal 10 is determined to be off the guide route (off-route). For example, when it is determined that the mobile terminal 10 has traveled in a direction different from the traveling direction of the guiding route based on the information of the moving direction included in the positioning information, it is determined that the mobile terminal 10 has deviated from the guiding route. Specifically, when the moving direction included in the positioning information or the cumulative value of the moving direction included in the positioning information for a predetermined number of times differs from the traveling direction of the guiding route by a certain angle or more, the traveling direction differs from the traveling direction of the guiding route. It can be judged that it has proceeded in the direction.

Further, as another example in which it is determined that the route matching has failed, the current position of the mobile terminal 10 indicated by the latitude / longitude information included in the positioning information is off the guidance route, and the current position and guidance of the mobile terminal 10 When the shortest distance to the route (the length of the perpendicular line drawn from the current position of the mobile terminal 10 to the guide route) is equal to or more than a certain value, it may be determined that the distance from the guide route is deviated.

In map matching, unlike route matching, the estimated position is not specified on the guide route based on the positioning information, but is registered in the map data based on the positioning information regardless of whether it is on the guide route or not. Identify an estimated location at any location on the road network.

In the present embodiment, if the position estimation unit 115 fails in route matching, it first detects a branch point on the guide route that serves as a reference for map matching. The branch point is a corner or the like where the road network outside the guide route can be entered from the guide route. The position estimation unit 115 first detects a branch point on the guide route closest to the estimated position when the route matching is finally successful, and determines whether or not the detected branch point satisfies a predetermined condition. The predetermined condition is, for example, whether or not the distance is within a certain distance (for example, within 10 m, within 15 m, within 20 m, etc.) from the estimated position when the route matching was finally successful. If the branch point satisfies the condition, map matching is performed based on the branch point. The position estimation unit 115 identifies a position advanced by the movement distance included in the positioning information in the movement direction included in the positioning information from the detected branch point as a temporary estimated position, and further, the temporary estimated position is map data. The estimated position by map matching is specified by pulling it on the road network registered in. If the tentative estimated position cannot be pulled into the road network, the estimated position may be specified at a point outside the road network.

Further, the position estimation unit 115 may first detect one or more branch points within a certain distance from the estimated position when the route matching is finally successful. Further, when a plurality of branch points satisfying such conditions are detected, the position estimation unit 115 determines that the difference from the moving direction included in the positioning information is a certain value or less (for example, 5 degrees or less, 10 degrees or less, It may be added as a further condition that the branch point branches from the guide path in the direction of 15 degrees or less). Alternatively, the branching point from the guidance route may be selected as the branching point closest to the moving direction included in the positioning information. The branch point may be ahead of the estimated position at the time of the last successful route matching, or may be in front of the estimated position. Further, when there are branch points both before and after the estimated position, the branch point in front may be preferentially selected. In general, when a user (pedestrian) moves away from the guide route, it is expected that the movement distance will be longer than when the user (pedestrian) moves along the guide route. Therefore, the estimated position by route matching is the user's actual position. It is expected that it will be specified earlier than. Therefore, when the branch point is both before and after the estimated position, the branch point in front may be selected preferentially.

If the specified branch point does not satisfy the predetermined conditions, map matching is performed based on the estimated position when the route matching was finally successful. That is, from the estimated position when the route matching was finally successful, the position advanced by the movement distance included in the positioning information in the moving direction included in the positioning information is specified as a temporary estimated position, and further, the temporary estimated position is specified. Is drawn onto the road network registered in the map data to identify the estimated position by map matching.

When the route matching is successful, the position estimation unit 115 causes the display control unit 116 to display the estimated position as an on-route result. On the other hand, when the route matching fails and the estimated position is specified by the map matching, the estimated position is displayed on the display control unit 116 as the result of the off-route.

As the starting point position on the guidance route, the position on the guidance route where the user of the mobile terminal 10 has started to move is set. Further, it is desirable that the information on the starting point position is set as highly reliable information as possible as the information on the position where the user actually started moving. For example, when the accuracy of positioning by the signal positioning unit 112 is high (for example, when the strength of the received GPS signal is strong), the position of the mobile terminal 10 positioned by the signal positioning unit 112 can be set as the starting position. ..

Further, when the position estimation unit 115 has high positioning accuracy by the signal positioning unit 112 (for example, when the strength of the received GPS signal is strong), the position estimation unit 115 determines the position of the mobile terminal 10 positioned by the signal positioning unit 112. It can also be specified as an estimated position of 10.

The display control unit 116 controls the display of various information and images on the display unit 15. For example, the display control unit 116 controls the display unit 15 to display the estimated position of the user on the guide route specified by the position estimation unit 115.

(Route guidance processing)
Next, the route guidance process executed by the mobile terminal 10 will be described with reference to the flowchart of FIG.

First, in step S11, the route guidance unit 111 refers to the map data and the like stored in the database 110 according to the route search conditions input by the user of the mobile terminal 10, and executes the route search from the departure point. Acquire information on the guide route to the destination.

Next, in step S12, the position estimation unit 115 sets the starting point position of the mobile terminal 10 on the guide path searched in step S11.

Next, in step S13, the autonomous navigation positioning unit 113 performs positioning of the moving distance and moving direction of the mobile terminal 10 based on information such as the number of steps of the user of the mobile terminal 10 detected by the sensor 16.

Next, in step S14, the autonomous navigation positioning unit 113 provides positioning information including information on the moving distance and moving direction of the mobile terminal 10, information on the current position (information on latitude and longitude), information on the presence or absence of vertical movement, and the like. It is output to the positioning information acquisition unit 114.

Next, in step S15, the position estimation unit 115 acquires the positioning information output by the autonomous navigation positioning unit 113 from the positioning information acquisition unit 114, and moves from the previous estimated position (the starting point position in the first case) to the guide path. Along the line, the position advanced by the moving distance of the mobile terminal 10 output by the autonomous navigation positioning unit 113 is specified as the estimated position of the mobile terminal 10 (route matching).

Next, in step S16, the position estimation unit 115 determines whether or not the route matching executed in step S15 is successful. If it is determined to be successful as a result of the determination (YES), the process proceeds to step S22. On the other hand, if it is determined that the failure has occurred (NO), the process proceeds to step S17.

In step S17, the position estimation unit 115 searches for the closest branch point on the guide route from the estimated position when the route matching was finally successful.

In step S18, the position estimation unit 115 determines whether or not the branch point detected in step S17 is within a certain distance from the estimated position when the route matching was finally successful, based on information such as map data. To do. If, as a result of the determination, it is determined that the distance is within a predetermined distance (YES), the process proceeds to step S19. On the other hand, if it is determined as a result of the determination that the distance is not within the predetermined distance (NO), the process proceeds to step S20.

In step S19, the position estimation unit 115 performs map matching with reference to the branch point detected in step S17. That is, the position estimation unit 115 identifies a position advanced by the movement distance included in the positioning information in the movement direction included in the positioning information from the detected branch point as a provisional estimated position, and further determines the provisional estimated position. The estimated position by map matching is specified by pulling it onto the road network registered in the map data.

In step S20, the position estimation unit 115 performs map matching based on the estimated position when the route matching was finally successful. That is, the position estimation unit 115 identifies as a tentative estimated position a position advanced by the movement distance included in the positioning information in the movement direction included in the positioning information from the estimated position when the route matching was finally successful. Furthermore, the estimated position by map matching is specified by pulling the temporary estimated position onto the road network registered in the map data.

In step S21, the position estimation unit 115 causes the display control unit 116 to display the estimated position of the mobile terminal 10 by the map matching executed in step S19 or step S20 as the result of map matching (off-route).

In step S22, the position estimation unit 115 causes the display control unit 116 to display the estimated position of the mobile terminal 10 by the route matching executed in step S15 as the result of the route matching (on-route).

Next, in step S23, the route guidance unit 111 determines whether or not the estimated position of the mobile terminal 10 has reached the destination of the guidance route, and if not (NO), the process proceeds to step S13. To do. On the other hand, when the destination has been reached (YES), the process ends.

FIG. 4 is a diagram illustrating a method of specifying an estimated position of the mobile terminal 10 according to the present embodiment. In the figure, the line (U) indicates the movement of the user, and R1, R2, and R3 indicate the actual positions of the user at the times t1, t2, and t3, respectively. Further, X1, X2, and X3 indicate the estimated positions of the users specified by the position estimation unit 115 at the times t1, t2, and t3. If the estimated position is indicated by "●", it indicates that it is the result of route matching (on-route), and if it is indicated by "◆", it is the result of map matching (off-route). Is shown.

As shown in FIG. 4, at time t1, the user is traveling along the guide route R, and the route matching performed based on the positioning information is successful, so that the estimated position X1 (on-route) is specified by the position estimation unit 115. Will be done.

At time t2, the user is traveling substantially along the guide path R. At this point, since the cumulative value of the moving direction included in the positioning information is not significantly different from the traveling direction of the guide route R, the route matching based on the positioning information is successful, and the position estimation unit 115 determines the estimated position X2 (on-route). Be identified. However, as shown in the figure, at this point, the user's actual position R2 and the estimated position X2 are out of alignment.

Further, at time t3, the user's actual position R3 deviates from the road W1 along the guide route R and enters the road W2. At this point, since the cumulative value of the moving direction included in the positioning information is significantly different from the traveling direction of the guide route R, it is determined that the route matching has failed. At this time, the position estimation unit 115 detects the branch point C1 closest to the estimated position X2 by the previous route matching, and first sets a temporary estimated position X3'with reference to the branch point C1. Further, a process of drawing the temporary estimated position X3'to the road W2 is performed, and the estimated position X3 (off-route) by map matching is specified.

As described above, according to the present embodiment, when the position estimation unit 115 determines that the route matching performed based on the positioning information has failed, the position estimation unit 115 is a fixed distance from the estimated position when the route matching was finally successful. The branch points within are detected, and map matching is performed based on the detected branch points. As a result, map matching can be performed based on a point at which the user is likely to have traveled in a direction deviating from the guidance route, so that accurate map matching can be performed. In addition, the branch point on the guide route closest to the estimated position when the route matching is finally successful is detected first, and the detected branch point is within a certain distance from the estimated position when the route matching is finally successful. In a certain case, accurate map matching can be efficiently performed by performing map matching based on the detected branch point.

Further, when the position estimation unit 115 does not detect a branch point within a certain distance from the estimated position when the route matching is finally successful, the position estimation unit 115 moves in a predetermined direction from the estimated position when the route matching is finally successful. Since the position advanced by a predetermined distance is specified as the estimated position by map matching, it is possible to judge whether it is appropriate to perform map matching based on the branch point and perform accurate map matching.

Further, the position estimation unit 115 branches from the guide path in a direction within a certain distance from the estimated position when the route matching was finally successful and the difference from the movement direction included in the positioning information is a certain angle or less. Changed to select the branch point. This makes it possible to select a more appropriate branch point and perform accurate map matching.

Further, when it is determined that the mobile terminal 10 has traveled in a direction different from the traveling direction of the guidance route based on the information of the moving direction included in the positioning information, it is determined that the route matching has failed. Therefore, it can be determined that the user has deviated from the guidance route when the user enters the wrong road at a corner.

Further, when the current position of the mobile terminal 10 indicated by the latitude / longitude information included in the positioning information is out of the guidance route and the shortest distance between the current position of the mobile terminal 10 and the guidance route is equal to or more than a certain value, Since it is determined that the route matching has failed, it can be determined that the guide route has been deviated regardless of whether or not there is a corner.

The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above embodiments are merely exemplary in all respects and are not to be construed in a limited manner.

In addition, each processing step included in the above processing flow can be arbitrarily changed in order or executed in parallel within a range that does not cause a contradiction in the processing contents, and other steps can be inserted between each processing step. You may add it. Further, the steps described as one step for convenience can be executed by being divided into a plurality of steps, while those described as one step can be grasped as one step for convenience.

Further, the program of the present invention can be installed or loaded on a computer by downloading through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network or the like. ..

10 Mobile terminal, 11 Control unit, 12 Communication unit, 13 Storage unit, 14 Operation unit, 15 Display unit, 16 Sensor, 17 Speaker, 110 Database, 111 Route guidance unit, 112 Signal positioning unit, 113 Autonomous navigation positioning unit, 114 Positioning information acquisition unit, 115 position estimation unit, 116 display control unit

Claims (5)

An information processing device that estimates the user's position on the guidance route.
A positioning information acquisition unit that acquires positioning information including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by the sensor.
Based on the positioning information, route matching for specifying the estimated position of the user on the guidance route is performed, and when it is determined that the route matching has failed, an arbitrary on the road network is performed based on the positioning information. It is equipped with a position estimation unit that performs map matching to specify the estimated position at the position of.
The position estimation unit
When it is determined that the route matching has failed, a branch point on the guide path within a certain distance from the estimated position at the time of the last successful route matching is detected, and the moving distance included in the positioning information is included. And, based on the information of the moving direction, the map matching is performed using the branch point, and if the branch point within a certain distance from the estimated position at the time of the last successful route matching is not detected, the last An information processing device that performs the map matching using the estimated position when the route matching is successful. The position estimation unit
A branch point that is within a certain distance from the estimated position when the route matching was finally successful and is branched from the guide path in a direction in which the difference from the movement direction included in the positioning information is a certain angle or less. The information processing apparatus according to claim 1, wherein the map matching is performed by using the information processing apparatus. The position estimation unit
If it is determined that the user has traveled in a direction different from the traveling direction of the guide route based on the information of the moving direction included in the positioning information, it is determined that the route matching has failed. Item 2. The information processing apparatus according to item 1 or 2. It is an information processing method that estimates the user's position on the guidance route by a computer.
A process in which the computer acquires positioning information including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by the sensor.
A step in which the computer performs route matching for specifying the estimated position of the user on the guide route based on the positioning information
When the computer determines that the route matching has failed, it includes a step of performing map matching to specify an estimated position at an arbitrary position on the road network based on the positioning information.
In the step of performing the map matching, a branch point on the guide path within a certain distance from the estimated position when the route matching is finally successful is detected, and the moving distance and the moving direction information included in the positioning information are used. Based on this, the map matching is performed using the branch point, and if a branch point within a certain distance from the estimated position at the time of the last successful route matching is not detected, the route matching is finally successful. An information processing method that performs the map matching using the estimated position of time. A computer that estimates the user's position on the guidance route,
A positioning information acquisition unit that acquires positioning information including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by the sensor.
Based on the positioning information, route matching for specifying the estimated position of the user on the guidance route is performed, and when it is determined that the route matching has failed, an arbitrary on the road network is performed based on the positioning information. It functions as a position estimation unit that performs map matching that specifies the estimated position at the position of.
The position estimation unit
When it is determined that the route matching has failed, a branch point on the guide path within a certain distance from the estimated position at the time of the last successful route matching is detected, and the moving distance included in the positioning information is included. And, based on the information of the moving direction, the map matching is performed using the branch point, and if the branch point within a certain distance from the estimated position at the time of the last successful route matching is not detected, the last A program that performs the map matching using the estimated position when the route matching is successful.

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