JPH10267683A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the processing load of a mobile-side slave machine by allowing the slave machine to take care of only a human interface processing such as a sensor processing for detecting a position and allowing a master machine at a fixed side to take care of a processing such as the indexing of a current position, the access to map data, and a correction, and a search for an optimum path. SOLUTION: A distance and a direction due to the running of an own vehicle are detected by a distance sensor 1 and a direction sensor 2 under the control of a control processing part 8 by a slave machine A and detection data are transmitted to a master machine B through a communication part 7. The detection data of distance and direction being transmitted from A are received by the master machine B via a communication part 11 under the control of a control processing part 12. The processing part 12 updates a current position on X-Y coordinates corresponding to a map by an accumulative arithmetic operation according to the inertial navigation method. The processing part 12 at the side B corrects a current position by matching, reads map data from a storage medium 9, and transmits the corrected position data to the communication part 11 along with the map data for display.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for providing guidance in unguided areas.

[0002]

2. Description of the Related Art Conventionally, in a navigation device of this type, for example, in the case of a vehicle, all devices necessary for navigation are mounted on the vehicle, the position of the vehicle is detected, and a road of a predetermined area is displayed on a screen. The map is projected, the current position of the vehicle is displayed on the road map, and all necessary processes such as correction of the current position by map matching and search for the optimal route to the destination are performed independently.

Accordingly, each vehicle has a storage medium for map data having a large storage capacity, or a C medium having a high processing capacity.
It requires a PU.

[0004] Conventionally, a receiver is installed in an on-vehicle navigation device to receive traffic information by ATIS or VICS on road congestion or traffic regulation broadcasted from a broadcasting facility, and to take the traffic information into consideration. The search for the optimal route from the position to the destination is performed.

Recently, there has been developed a device which receives position data of another vehicle through inter-vehicle communication so that the position of the other vehicle can be displayed on a road map projected on the screen of the own vehicle. Have been.

[0006] Further, data transmission,
As a thing to be received, when the position of the visited place is not known, by notifying the telephone number of the visited facility to the information center by a car phone from the vehicle side, searching for the position of the corresponding facility in the information center, A system has been developed in which position data of the facility is provided to a navigation device mounted on a vehicle through a telephone line (see Japanese Patent Application Laid-Open No. 6-208698).

[0007]

The problem to be solved is that all the devices necessary for navigation are mounted on the vehicle, the position of the vehicle is detected, and a road map of a predetermined area is displayed on a screen. Displaying the current position of the vehicle on a road map, and performing all necessary processing such as correcting the current position by map matching and searching for the optimal route to the destination by itself, requires a storage capacity of each vehicle. It has a large map data storage medium and requires a CPU with high processing capability and large capacity ROM and RAM.

[0008] Even in a conventional navigation device having a communication means, it is data that is not directly related to the navigation processing of the own vehicle, such as traffic information, position data of another vehicle, or position data of a visited facility. Is only available externally.

[0009]

A navigation device according to the present invention basically includes a detection unit for data relating to a position, a display unit for displaying navigation information on a screen, an operation unit for performing various input operations for navigation, and a data unit. Sending,
A communication unit that performs reception, a control unit that controls each unit and performs processing for displaying predetermined navigation information, for example, a slave unit mounted on a vehicle, and a communication unit that transmits and receives data. A control unit for controlling the communication unit and performing data processing for navigation, and an externally provided master unit,
In the parent device, receiving data related to the position from the child device,
The current position of the slave unit on the map is determined, and data on the current position is transmitted to the slave unit.

Further, in the navigation device according to the present invention, a storage unit for program data for navigation is provided in the master unit, and under control of the control processing unit, the program data necessary for navigation is read and the slave unit is read out. To be forwarded to.

Further, the navigation apparatus according to the present invention provides a navigation system for correcting a current position by map matching, searching for a destination on a map, and searching for an optimal route from the current position to the destination in the parent device. The necessary processing is performed, and the processing result is transmitted to the slave unit.

Further, a navigation device according to the present invention includes a slave unit including a detection unit for data relating to a position, a communication unit for transmitting and receiving data, an input / output unit by voice, and a control processing unit for controlling these units. , A communication unit for transmitting and receiving data, a voice recognition unit, and a master unit including a control processing unit for controlling the respective units and performing data processing for navigation. Recognition of the content of the input instruction based on the incoming voice data is performed, predetermined processing is performed, and voice data for guidance for navigation is transmitted to the child device.

[0013]

According to the present invention, only a human interface process capable of performing sensor processing for detecting a position, outputting navigation information and performing various input operations for navigation is performed by a slave unit, On the mobile side by allowing the parent machine to perform the necessary navigation processing such as the current position shift and access to the necessary map data in the, the correction of the current position by map matching and the search for the optimal route to the destination The processing load on the slave unit can be reduced, and the configuration of the slave unit can be simplified.

According to the present invention, the master unit can be used by a plurality of slave units, and the navigation information of each slave unit can be used mutually.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In a navigation apparatus according to the present invention, as shown in FIG. 1, a data detecting section for a position comprising a distance sensor 1 and a direction sensor 2, a display section 5 for displaying navigation information on a screen, a starting point. Unit 6 for performing various input operations for navigation, such as setting of display and display scale, or display of travel trajectory and searching for an optimal route to a destination, communication unit 7 for transmitting and receiving data, and controls these units. At the same time, a slave unit A mounted on the vehicle, comprising a control processing unit 8 for performing processing for displaying predetermined navigation information, and a reproduction unit 10 of the map data storage medium 9,
It comprises a communication unit 11 for sending, receiving and transmitting data, and a master unit B provided externally comprising a control processing unit 12 for controlling these units and performing data processing required for navigation. .

According to the above configuration, in the slave unit A, the distance sensor 1 is controlled under the control of the control processing unit 8.
The direction and the direction of the own vehicle are detected by the direction sensor 2 and the detected data is transmitted to the master unit B through the communication unit 7.

In the master unit B, the control processing unit 12
Under the control of, each detection data of the distance and the direction transmitted from the slave unit A is received through the communication unit 11. The control processing unit 12 obtains the current position on the XY coordinates corresponding to the road map in an updated manner by cumulative arithmetic processing by inertial navigation.

XY corresponding to a road map by inertial navigation
For calculating the current position on the coordinates, the conventional method is applied as it is.

The control processing section 12 of the master unit B corrects the current position by map matching, reads out map data of a predetermined area where the current position exists from the storage medium 9, and corrects the map data together with the map data. The data of the current position is transmitted to the slave A through the communication unit 11.

Under the control of the control processing unit 8, the slave unit A receives the map data and the current position data sent from the master unit B, and projects a road map of a predetermined area on the screen of the display unit 5. At the same time, the current position of the vehicle is displayed on the road map.

Instead of receiving the current position data and the map data from the main unit B, the sub unit A displays the current position of the own vehicle on the road map displayed on the screen of the display unit 5 instead of displaying the current position. Alternatively, a character as navigation information may be displayed on the display unit 5.

More specifically, in the parent machine B, predetermined character data for navigation is read from a memory set in advance in a table in accordance with the current position obtained on the road map, and the character data is read. Send to A. Then, the child device A displays a character such as “Currently in the Imperial Palace square” on the display unit 5 according to the received character data.

Therefore, in this case, the configuration of the display unit 5 for displaying the navigation information, and thus the entire configuration of the slave unit A, is simple and small, and it is particularly convenient for carrying the slave unit A.

As a method of setting the starting point, by inputting the address of the starting point from the operation unit 6 of the slave A, the address data is transmitted to the master B, and the master B responds to the address. The map data of the predetermined area is read from the storage medium 9, and the starting point is set at a predetermined address position on the road map.

Alternatively, by giving an access instruction for a predetermined area from the operation unit 6 of the slave unit A, the access data is transmitted to the base unit B, and the base unit B transmits the map data of the predetermined area from the storage medium 9. By reading and transmitting the map data to the slave A, the starting point may be input and set at a predetermined position on the road map displayed on the screen of the slave A.

The master unit B can transmit or receive data necessary for navigation of each vehicle simultaneously or in time series through the plurality of slave units A and the communication unit 11.

More specifically, a personal computer is used for the base unit B to communicate with each vehicle via the Internet.

In such a case, the map data is stored in a personal computer having a normal communication function.
By simply setting D, a navigation device can be easily constructed without providing any map data storage medium and its reproducing device on the vehicle side.

The master unit B composed of one personal computer can be shared by a plurality of slave units A, so that the device can be effectively used. The navigation information of each vehicle can be used mutually, such as displaying the current position of the vehicle.

Further, the navigation information for each vehicle can be stored and held in the master unit B, and the navigation information for each vehicle can be used for other purposes.

For example, navigation information obtained when a vehicle has traveled in the past can be used as it is without the need for other vehicles traveling on the same route to set troublesome destinations or optimal route search conditions. .

Further, the slave unit A itself does not have program data for navigation such as map display, destination setting, guidance, etc., and a storage unit for the program data is provided on the master unit B side. In response to a request from A, it is also possible to read out predetermined program data and transfer it to the slave A under the control of the control processing unit 12.

In this case, the program R is
There is no need to have an OM, and the configuration of the slave unit A can be simplified. In addition, it is possible to flexibly respond to a change in the program. At this time, for example, if a personal computer is used for the master unit B, the program is stored in the hard disk, so that it is possible to cope with the change of the program only by replacing the hard disk.

Further, if a general-purpose computer is used for the master unit B, it is possible to easily and quickly cope with version upgrade and refinement of a program for navigation processing, so that the latest navigation technology can always be provided. Become.

FIG. 2 shows another embodiment of the present invention. In this case, the GPS receiver 3 is provided as a detection unit for data relating to the position on the slave unit A side, and the master unit B detects the vehicle on the road map based on the GPS reception data sent from the slave unit A. I am trying to start the current position. In this case, a communication unit 13 is provided on the master unit B side, which can transmit and receive data to and from other facilities as necessary.

Here, under the control of the control processing unit 12, the GPS correction data provided from another facility is received through the communication unit 13, and the GPS correction data transmitted from the slave unit A side is received.
The position deviating from the received data (including a position error intentionally) is corrected in accordance with the GPS correction data so that an accurate current position can be obtained.

FIG. 3 shows still another embodiment of the present invention. Here, the detection unit for the data relating to the position on the slave unit A side includes a distance sensor 1 for detecting the traveling distance of the vehicle, a direction sensor 2 for detecting the traveling direction of the vehicle, and a GPS receiver 3. The current position of the vehicle on the map is obtained by arithmetic processing based on inertial navigation based on the distance and direction detection data sent from the slave unit A, and then the current position is corrected based on the GPS reception data. The data of the corrected current position is transmitted to the slave unit A.

The data transmitted from the slave unit A to the master unit B may be the distance and direction detection data and the GPS reception data as they are, or the X-ray data obtained from the detected distance and direction. The position data on the Y-coordinate and the position data on the latitude-longitude coordinates obtained by processing the GPS reception signal may be transmitted.

In the present invention, as still another embodiment, an environment sensor for detecting the surrounding environment is provided in addition to the GPS receiver 3 as a position data detecting unit. In the base unit B, the surrounding environment detection data sent from the slave unit A and the surrounding environment data corresponding to the position on the map obtained from the GPS reception data stored in the map data storage medium 9 in advance. The current position of the vehicle on the road map is determined more accurately.

In the configuration shown in FIG. 4, a camera 4 is provided as an environment sensor, and under the control of the control processing unit 8, data of an image of a road taken by the camera 4 is also transmitted to the base unit B. . Then, in master unit B, G
After extracting a plurality of roadside image data stored in advance according to the road map according to the position obtained from the PS reception data, the extracted data is compared with the data of the image of the roadside taken by the camera 4 sent from the slave unit A from the slave unit A. By collating, the current position of the vehicle on the road map is determined more accurately.

Although not particularly shown, a radar is installed as an environmental sensor, and the detection data of the roadside buildings and the like by the radar is compared with data of roadside buildings and the like stored in advance and collated. It is also possible to more accurately determine the current position of the vehicle on the road map.

In the present invention, in each of the embodiments shown in FIGS. 1 to 4, in the control processing unit 12, the control unit 12 controls the data (for example, the destination) input from the operation unit 6 of the slave unit A. Receiving the destination address, the telephone number of the visited facility, etc.), searching for the destination on the map from a table registered in advance, and transmitting the position data of the searched destination to the slave unit A. I have to.

In the present invention, in each of the embodiments shown in FIGS. 1 to 4, the master unit B receives the data related to the destination from the slave unit A in the control The above destination is searched from a table registered in advance, and based on the position data of the searched destination, an optimum route from the current position of the vehicle to the destination is searched, and the data of the optimum route is stored in the slave unit. Send to A. In the slave unit A, guidance for route guidance is performed.

At that time, instead of the data relating to the destination,
The destination is set by inputting an operation of the operation unit 6 of the slave unit A by specifying a predetermined position on the road map projected on the screen with the cursor, and the position data of the destination on the map is displayed on the master unit B side. May be transmitted.

As a search for an optimal route and guidance for route guidance according to the optimal route, the conventional method is applied as it is.

FIG. 6 shows an example of a processing flow in the slave unit A.

FIG. 7 shows an example of a processing flow in the master unit B.

FIG. 5 shows still another embodiment of the present invention. Here, in particular, the microphone 15
And an audio input unit 16, an audio output unit 17 and a beaker 18. The voice recognition unit 19 is provided on the master device B side.

In such a case, under the control of the control processing unit 8 of the slave unit A, the audio data input from the microphone 15 is transmitted to the master unit B through the communication unit 7. The master unit B recognizes the content of the received voice data in the voice recognition unit 19 under the control of the control processing unit 12, and then performs a predetermined process according to the input instruction by the voice. The data required for navigation is transmitted to the slave A. Under the control of the control processing unit 8, the slave unit A notifies the user of guidance necessary for navigation through the sound output unit 17 and the speaker 18 according to data transmitted from the master unit B by voice.

More specifically, for example, a destination is specified in the master unit B by instructing a destination by voice from the microphone 15. In the meantime, in order to specify the position of the destination, the master unit B also sends question data for specifying the position to the slave unit A, and specifies the destination by dialogue while asking a question from the speaker 18 by voice. . Then, in the base unit B, a search for an optimum route between the specified destination and the current position of the vehicle is performed, and data for route guidance according to the optimum route is stored in the slave unit A.
Send to The child device A reproduces the voice data sent from the parent device B, thereby notifying the guidance of the route guidance according to the optimum route together with the surrounding road conditions at the current position by voice.

Further, according to the present invention, in each of the embodiments shown in FIGS. 1 to 5, the parent machine B, under the control of the control processing section 12, relates to a plurality of destinations registered in advance for each individual. Based on the schedule data, an optimal route for sequentially visiting those destinations is searched for, the data of the optimal route is transmitted to the child device A, and guidance for route guidance according to the optimal route in the child device A is provided. Is to be performed.

The schedule data relating to a plurality of destinations may be input and set from the operation unit 6 of the slave unit A, or may be independently set and registered in advance in the master unit B including a personal computer. You may do so.

In the base unit B, the required travel time from the current position of the vehicle to the next visit is calculated, and the required travel time is estimated based on the visit time data registered in advance together with the visit. The departure time is calculated, the departure time is notified to the child device A, and the child device A is notified of the departure time.

The travel time from the current position to the next destination is calculated based on the travel time between nodes registered in advance in the digital map data composed of nodes and links.

Further, according to the present invention, the base unit B receives traffic information relating to traffic congestion and traffic regulation through the communication unit 13 and searches for an optimum route in consideration of the traffic information.

If the main unit B is made to perform communication via the Internet using a personal computer, it is not necessary to provide a communication unit 13 for transmitting and receiving data to and from other facilities. Transmission of data between a parent and child and between other facilities by one communication unit 11;
Reception can be performed.

In each of the above embodiments, the GPS receiver 3
Communication unit 7 instead of determining the current position of slave unit A
It is also possible to shift the current position from the reception state of the radio wave having the directionality in.

Although not particularly shown, data communication is possible between the normal navigation device and the child device, and one vehicle equipped with the normal navigation device runs at the head, and When other vehicles equipped with are traveling behind, so-called group traveling,
Position information obtained by one vehicle can be used for position identification of another vehicle.

For example, if a normal navigation device is a GP
In the case where the S navigation and the inertial navigation are used in combination, in one vehicle, the accurate distance from the current position corrected by map matching and corrected to the GPS satellite is obtained, and GPS position correction data is created. By transmitting the correction data to another vehicle and using the correction data in the other vehicle when calculating the current position, the current position of the other vehicle can be accurately obtained.

At this time, if the slave unit also uses the GPS navigation and the inertial navigation, the GPS position correction data obtained from another vehicle and the GPS position correction data sent from one vehicle are used. Based on the above, processing such as weighted averaging based on the likelihood of averaging and map matching can be performed to obtain more accurate correction data.

If image data taken by one vehicle is stored together with position data, at least the current position of another vehicle can be accurately obtained from the previously stored image data.

[0062] The navigation device according to the present invention is not limited to the one for a vehicle, and it is also possible to make the slave unit portable for walking.

In this case, although not particularly shown, a G sensor for detecting the number of walks and a direction sensor for detecting the direction of travel are used as detection units for the data relating to the position, and the detected number of walks is previously determined in the master unit. The walking distance is calculated by multiplying the set step length, and the current position of the slave unit is obtained by inertial navigation from the walking distance and the traveling direction. It goes without saying that a GPS receiver may be provided in the slave unit.

As the G sensor for detecting the number of walks, a one-axis configuration may be used as long as the mounting posture to the pedestrian is constant, but a three-axis configuration is used otherwise.

Further, according to the present invention, the master unit and the slave unit are combined and mounted on a vehicle to be used as a normal navigation device, and the slave unit is removed as necessary and carried outside the vehicle. Is also possible.

Further, according to the present invention, the slave unit can communicate with a plurality of master units, and the master unit serving as a contact partner can be selectively switched according to the usage status of the slave unit. It is also possible to

For example, when the map information held by the master unit is different from each other, a master unit having map information for sightseeing guidance or detailed information on a region can be selected, and a slave unit can be selected to reduce communication costs. For example, switching to a master unit located in a place close to the server may be considered.

[0068]

As described above, in the navigation apparatus according to the present invention, the slave unit only performs the sensor processing for detecting the position and the processing of the human interface which can perform the output of the navigation information and the various input operations for the navigation. To perform the necessary navigation processing, such as deriving the current position on the road map and accessing necessary map data, correcting the current position by map matching, searching for the optimal route to the destination, and providing route guidance. Because the main unit is to do it,
There is an advantage that the processing load on the slave unit can be reduced and the configuration of the slave unit can be simplified.

According to the present invention, the master unit can be used by a plurality of slave units, the navigation information of each slave unit can be used mutually, and the master unit is shared for effective use of the apparatus. Will be able to do it.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a navigation device according to the present invention.

FIG. 2 is a block diagram showing another embodiment of the navigation device according to the present invention.

FIG. 3 is a block diagram showing still another embodiment of the navigation device according to the present invention.

FIG. 4 is a block diagram showing still another embodiment of the navigation device according to the present invention.

FIG. 5 is a block diagram showing still another embodiment of the navigation device according to the present invention.

FIG. 6 is a diagram illustrating an example of a processing flow in a slave unit.

FIG. 7 is a diagram illustrating an example of a processing flow in a master unit.

[Explanation of symbols]

 Reference Signs List 1 distance sensor 2 direction sensor 3 GPS receiver 4 camera 5 display unit 6 operation unit 7 communication unit 8 control processing unit 9 map data storage medium 10 map data reproduction unit 11 communication unit 12 control processing unit 13 communication unit 15 microphone 16 voice input Unit 17 Voice output unit 18 Speaker 19 Voice recognition unit A Slave unit B Base unit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G09B 29/10 G09B 29/10 A

Claims (18)

[Claims] 1. A detection unit for detecting data relating to a position, a display unit for displaying navigation information on a screen, an operation unit for performing various input operations for navigation, a communication unit for transmitting and receiving data, and controlling these units. And a slave unit comprising a control processing unit for performing processing for displaying predetermined navigation information, a reproducing unit for a geographical data storage medium, a communication unit for transmitting and receiving data, and a communication unit for controlling and navigating the communication unit. And a master unit comprising a control processing unit for performing data processing of the slave unit. Is transmitted to the slave unit. 2. The master unit is provided with a storage unit for program data for navigation, and transmits program data necessary for navigation to the slave unit under the control of the control processing unit. Said first
Navigation device according to the description of the section. 3. The parent device transmits the data of the current position and the map data of a predetermined area corresponding to the current position to the child device, and displays the current position on the map of the predetermined region displayed on the screen in the child device. 3. The navigation device according to claim 1, wherein: 4. A position data detecting unit includes a distance sensor for detecting a moving distance and a direction sensor for detecting a traveling direction. After calculating the current position of the slave unit on the map based on the arithmetic processing based on the inertial navigation based on it, the position of the slave unit is corrected by map matching, and the data of the current position after the map matching is transmitted to the slave unit. 3. The navigation device according to claim 1, wherein: 5. A data detecting unit for a position includes a G sensor for detecting the number of steps and a direction sensor for detecting a traveling direction. After calculating the current position of the slave unit on the map based on the arithmetic processing based on the inertial navigation based on it, the position of the slave unit is corrected by map matching, and the data of the current position after the map matching is transmitted to the slave unit. 3. The navigation device according to claim 1, wherein: 6. A GPS receiver is used as a data detector for detecting data relating to a position.
2. The navigation device according to claim 1, wherein the current position of the slave unit on a map is determined based on the received data. 7. A data detecting unit for a position includes a distance sensor for detecting a moving distance, a direction sensor for detecting a traveling direction, and a GPS receiver. The current position of the slave unit on the map is obtained by arithmetic processing by inertial navigation based on each detected data, and the current position is corrected based on the GPS reception data. 3. The navigation device according to claim 1, wherein the information is transmitted to the navigation device. 8. An environment sensor for detecting a surrounding environment is provided in a position data detecting unit, and the surrounding environment data sent from the slave unit and the surrounding environment stored in advance in the master unit according to a map are provided. 8. The navigation device according to any one of claims 1 to 7, wherein the current position of the slave unit on the map is determined by comparing and collating with the data of (1). 9. The navigation device according to claim 8, wherein a camera is installed as an environment sensor. 10. The navigation device according to claim 8, wherein a radar is installed as an environment sensor. 11. The master unit receives data on a destination from the slave unit, searches for the destination on a map, and transmits position data of the searched destination to the slave unit. 2. The navigation device according to claim 1, wherein: 12. The master unit receives data on the destination from the slave unit, searches for the destination on the map, and receives the data based on the searched position data of the destination or from the slave unit. Based on the location data of the destination on the map, search for the optimal route from the current location to the destination,
2. The navigation device according to claim 1, wherein the data of the optimal route is transmitted to the child device, and the child device performs route guidance guidance. 13. The parent device searches for an optimal route for a visit based on schedule data on a visit destination registered in advance, transmits data of the optimal route to the child device, and routes the route to the child device. 3. The navigation device according to claim 1, wherein guidance is provided. 14. The master unit determines the travel time required from the current position of the slave unit to the destination, and estimates the travel time based on the visit time data registered in advance with the destination. 14. The navigation device according to claim 13, wherein the departure time is calculated, and the child device is notified of the departure time, and the child device is notified of the departure time. 15. The master unit according to claim 12, wherein the master unit receives traffic information relating to traffic congestion and traffic regulation, and searches for an optimum route in consideration of the traffic information. Navigation device as described. 16. A slave unit comprising a position-related data detection unit, a data transmission / reception communication unit, a voice input / output unit, and a control processing unit for controlling these units. A communication unit, a voice recognition unit, and a master unit including a control processing unit that controls the respective units and performs data processing for navigation.In the master unit, an input instruction is provided by voice data sent from the slave unit. Recognize the contents of and perform predetermined processing according to the instruction,
A navigation device, wherein voice data for guidance for navigation is transmitted to a child device. 17. A communication system comprising a plurality of slave units, wherein the master unit and each slave unit can communicate with each other, and the master unit is used by the plurality of slave units. 17. A navigation device according to claim 1 or 16. 18. The apparatus according to claim 1, wherein communication between the slave unit and the plurality of master units is enabled, so that the slave unit can selectively use the master unit. 16
Navigation device according to the description of the section.