JP7070380B2 - 歩行経路判定装置、方法、及びプログラム - Google Patents
歩行経路判定装置、方法、及びプログラム Download PDFInfo
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- JP7070380B2 JP7070380B2 JP2018228565A JP2018228565A JP7070380B2 JP 7070380 B2 JP7070380 B2 JP 7070380B2 JP 2018228565 A JP2018228565 A JP 2018228565A JP 2018228565 A JP2018228565 A JP 2018228565A JP 7070380 B2 JP7070380 B2 JP 7070380B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/428—Determining position using multipath or indirect path propagation signals in position determination
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Description
(v+σ)>C/No≧v → 信号評価値:1
v>C/No≧(v-σ) → 信号評価値:-1
(v-σ)>C/No → 信号評価値:-2
12 候補算出部
14 区間決定部
16 進行方向決定部
18 環境値算出部
20 経路判定部
Claims (8)
- 対象の歩行者が保持する測位装置により、複数の衛星の各々から受信した衛星信号に基づいて、歩行経路ネットワークを構成するリンクの始点と終点とによって定まる前記歩行者の進行方向を基準とした左半面及び右半面毎に、前記衛星信号の受信環境の良し悪しを示す環境値を算出する環境値算出部と、
前記環境値算出部により算出された前記左半面の環境値と前記右半面の環境値とを比較して、前記歩行者の歩行経路を判定する経路判定部と、
を含む歩行経路判定装置。 - 前記環境値算出部は、前記衛星信号の到達量を示す値を用いて、前記環境値を算出する請求項1に記載の歩行経路判定装置。
- 前記環境値算出部は、前記歩行者から見た前記衛星の見通しの良し悪しを示す値を用いて、前記環境値を算出する請求項1又は請求項2に記載の歩行経路判定装置。
- 前記複数の衛星の各々から受信した衛星信号に基づいて受信時刻毎に測位した前記歩行者の位置を、前記歩行経路ネットワークを構成するリンクのいずれかにマップマッチングすることにより、歩行者の進行方向に沿った車道に関して対向に位置する歩行経路の第1候補及び第2候補を算出する候補算出部をさらに含み、
前記経路判定部は、前記左半面の環境値と前記右半面の環境値との比較により選択した前記第1候補又は前記第2候補のいずれかに、前記受信時刻毎に測位した前記歩行者の位置をマップマッチングすることにより、前記歩行経路を判定する
請求項1~請求項3のいずれか1項に記載の歩行経路判定装置。 - 連続する受信時刻における前記歩行者の測位結果から求まる前記測位装置の方向と、前記第1候補又は前記第2候補として算出されたリンクの始点から終点へ向かう順方向、及び前記終点から前記始点へ向かう逆方向の各々の方向との内積に基づく演算値の符号に基づいて、前記歩行者の進行方向を決定する進行方向決定部をさらに含む請求項4に記載の歩行経路判定装置。
- 前記候補算出部により算出される前記第1候補及び前記第2候補としてのリンクが同時に変化する時点を境目として区間を決定する区間決定部をさらに含み、
前記環境値算出部は、前記区間決定部により決定された区間毎に前記左半面の環境値及び前記右半面の環境値を算出し、
前記経路判定部は、前記区間決定部により決定された区間毎に前記歩行経路を判定する請求項4又は請求項5に記載の歩行経路判定装置。 - 環境値算出部が、対象の歩行者が保持する測位装置により、複数の衛星の各々から受信した衛星信号に基づいて、歩行経路ネットワークを構成するリンクの始点と終点とによって定まる前記歩行者の進行方向を基準とした左半面及び右半面毎に、前記衛星信号の受信環境の良し悪しを示す環境値を算出し、
経路判定部が、前記環境値算出部により算出された前記左半面の環境値と前記右半面の環境値とを比較して、前記歩行者の歩行経路を判定する
歩行経路判定方法。 - コンピュータを、請求項1~請求項6のいずれか1項に記載の歩行経路判定装置を構成する各部として機能させるための歩行経路判定プログラム。
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JP2018228565A JP7070380B2 (ja) | 2018-12-05 | 2018-12-05 | 歩行経路判定装置、方法、及びプログラム |
US17/299,279 US20220026219A1 (en) | 2018-12-05 | 2019-11-21 | Walking route determination unit, method, and program |
PCT/JP2019/045636 WO2020116187A1 (ja) | 2018-12-05 | 2019-11-21 | 歩行経路判定装置、方法、及びプログラム |
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WO2022123673A1 (ja) * | 2020-12-09 | 2022-06-16 | 日本電信電話株式会社 | 経路判定装置、経路判定方法、及びプログラム |
Citations (3)
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JP2004264203A (ja) | 2003-03-03 | 2004-09-24 | Matsushita Electric Ind Co Ltd | マップマッチング方法と装置 |
JP2005233779A (ja) | 2004-02-19 | 2005-09-02 | Nissan Motor Co Ltd | カーナビゲーションシステムと自車位置判定方法 |
JP2006227004A (ja) | 2005-02-16 | 2006-08-31 | Samsung Electronics Co Ltd | ナビゲーション装置の初期位置決定方法 |
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JPS58113711A (ja) * | 1981-12-26 | 1983-07-06 | Japan Aviation Electronics Ind Ltd | 方位及び軌跡表示装置 |
US8694251B2 (en) * | 2010-11-25 | 2014-04-08 | Texas Instruments Incorporated | Attitude estimation for pedestrian navigation using low cost mems accelerometer in mobile applications, and processing methods, apparatus and systems |
US9766349B1 (en) * | 2016-09-14 | 2017-09-19 | Uber Technologies, Inc. | Localization and tracking using location, signal strength, and pseudorange data |
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JP2004264203A (ja) | 2003-03-03 | 2004-09-24 | Matsushita Electric Ind Co Ltd | マップマッチング方法と装置 |
JP2005233779A (ja) | 2004-02-19 | 2005-09-02 | Nissan Motor Co Ltd | カーナビゲーションシステムと自車位置判定方法 |
JP2006227004A (ja) | 2005-02-16 | 2006-08-31 | Samsung Electronics Co Ltd | ナビゲーション装置の初期位置決定方法 |
Non-Patent Citations (2)
Title |
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内山 彰 AKIRA UCHIYAMA,都市区画におけるGPS衛星の見通し判定を用いた位置精度向上法の提案 Location Accuracy Enhancement Us,情報処理学会 論文誌(ジャーナル) Vol.55 No.1 [online],日本,情報処理学会,2014年01月15日,pp.389-398 |
阿部 裕文 Hirofumi ABE,アーバンキャニオン下における歩行通路判定方法,映像情報メディア学会 2018年冬季大会講演予稿集 [CD-ROM] 2018年映像情報メディア学会, 一般社団法人映像情報メディア学会,2018年12月06日 |
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US20220026219A1 (en) | 2022-01-27 |
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