KR100985171B1 - High-level road map matching system and method - Google Patents

Abstract

The present invention relates to an elevated road map matching system and method, the map matching system comprising: a GPS receiver for receiving a current position of a vehicle, a storage unit for storing information about an elevated road and a ground road, and a position and a driving road of the own vehicle And a controller for outputting a control signal and a display unit for displaying a driving route of the host vehicle according to the control signal, wherein the storage unit measures a driving speed and a time by using the vehicle's micom and navigation terminals, After calculating the moving distance using the traveling speed and the time, and comparing the moving distance when the vehicle moves on the flat and the moving distance whether the position of the own vehicle is a road or a ground road such as an elevated road or an underground road Characterized by.

By using the high-altitude map matching system and method as described above, the high-altitude road and the ground road can be discriminated only by the altitude value information of the existing GPS reception data and the electronic map data or information on whether or not the high-level information is available without a separate altitude measuring device.

GPS receiver, control unit, control unit, storage unit, display unit

Description

High-level road map matching system and method

The present invention relates to a high-altitude map matching system and method, and more particularly, to a technique for discriminating an overpass and a ground road using only altitude value information of existing GPS reception data and an electronic map data or information of high price without a separate altitude measuring device. .

In general, the Global Positioning System (GPS) orbits the earth twice a day at an altitude of 20,183 km, and the GPS satellites that transmit the coordinate signal for the current position and the time when the coordinate signal is transmitted are located on six track surfaces. A total of 18 units (3 each, including 24 preliminary satellites for each orbit) are arranged at equal intervals, and then a GPS receiver is used to receive and process signals transmitted from the GPS satellites. A device capable of detecting a signal and detecting a signal transmitted from three or more GPS satellites using a GPS receiver comprising a GPS antenna and a GPS receiver circuit is disclosed. 4 GPS satellite signals are required for measurement)

In addition, such an example is disclosed in Republic of Korea Patent Publication No. 0542714 (January 04, 2006) and the like.

That is, as shown in FIG. 1, the second GPS receiver 100 includes a GPS antenna and a GPS receiver circuit, and receives coordinate data and visual data of the GPS satellites transmitted from the GPS satellites. After inputting the digital phase difference data and the altitude change data output from the sensor 200, the yaw angle data and the pitch angle data are detected, and the second vehicle speed sensor 400 detects the number of revolutions of the wheel to determine the moving distance of the vehicle. The second CD-ROM 500 stores map data.

The second microcomputer 600 outputs the GPS signal received through the second GPS receiver 100, the digital yaw angle data output from the phase discriminator 300, and the second vehicle speed sensor 400. The current position of the vehicle is calculated by inputting the calculated distance data of the vehicle and calculating the current position of the vehicle. When pitch angle data is input through the 3-axis geomagnetic sensor 200, the 3D information is used by the pitch angle data. The display control signal for displaying the current position of the vehicle is output to the second LCD display panel 700, the second LCD display panel 700 is a vehicle by the display control signal output from the second microcomputer 600 It shows the configuration to display the current position of.

However, the technique disclosed in the above-described Republic of Korea Patent Publication No. 0542714 has a problem that the unit price of the map matching system increases because a three-axis geomagnetic sensor must be provided to determine whether the current position of the vehicle is an elevated road or an underground road.

An object of the present invention is to solve the problems described above, and does not have an additional hardware module on the navigation terminal attached to the touch screen, by adding a software logic program to map the elevated road to distinguish the overpass and underground road It is to provide a system and method.

According to the high-altitude map matching system and method according to the present invention, it is possible to determine the high-altitude road and the ground road by using only the altitude value information of the existing GPS reception data and the electronic map data or the information of the high price without a separate altitude measurement device. Lose.

In order to achieve the above object, the elevated road map matching system according to the present invention is a map matching system comprising: a GPS receiver for receiving a position of a current vehicle, a storage unit for storing information about an elevated road and a ground road, and a position of the vehicle; A control unit for matching driving roads and outputting a control signal, and a display unit for displaying a driving path of the host vehicle according to the control signal, wherein the storage unit measures a driving speed and a time by using the vehicle's micom and navigation terminals. After calculating the moving distance using the traveling speed and the time, and comparing the moving distance when the vehicle is moved on the flat and the moving distance, whether the position of the own vehicle is a road with a height such as an elevated road or an underground road Characterized in distinguishing whether the road.

In addition, in order to achieve the above object, the elevated map matching method according to the present invention comprises the steps of: (a) receiving a location of a current vehicle, (b) matching a location of the received vehicle with a road map, Searching for candidate roads on elevated, ground, or underground levels; (c) evaluating whether the locations and directions of the candidate roads are suitable; (d) if the locations and directions of candidate roads are suitable in step (c), Comparing and analyzing the moving distance of the vehicle and the moving distance when the vehicle moves on the plain and determining whether it is a road or a ground road such as an overpass or an underground road, and (e) If the position and orientation are not suitable, returning to step (b).

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention, through which the object and features of the present invention will be more clearly.

2 is a block diagram of a system for discriminating an overpass and an underground road using a pattern analysis according to the present invention, and FIG. 3 illustrates a method for discriminating an overpass and an underground road using a pattern analysis according to the present invention. 4 is a view showing the principle of discrimination between elevated and underground roads using the pattern analysis according to the present invention, Figure 5 is to distinguish the road (highway, general road, underground road) of the navigation on the map according to the present invention The figure shown.

As shown in Figure 2, the system for determining the overpass and the underground road using the pattern analysis according to an embodiment of the present invention is a GPS receiver 10 for receiving the position of the current user vehicle from the GPS satellite, the driving of the vehicle A storage unit 40 for storing a map of roads and routes, a controller 30 for matching the map with a current position of the user vehicle, and outputting a calculation and control signal, a route coordinate value, a starting point and arrival of the user The control unit 20 to which the coordinate value of the point (target point) is input, the display unit 50 for displaying the driving route of the vehicle according to the output signal of the controller 30, and the output signal of the controller 30. The sound output unit 60 guides the driving route by voice.

The present invention is a technique for distinguishing whether the current driving road is an elevated road or a ground road using coordinates and altitude received through a GPS satellite.

The electronic map data of the storage unit 40 builds road information on overpasses and ground roads, and the altitude value is valid when there are four or more satellites in the GPS reception data. Store for a certain period of time.

In order to perform map matching of the own vehicle, using the position value of the GPS data, the candidate link is extracted by searching the peripheral road data of the electronic map.

Conformity assessment is performed on candidate links (candidate roads) to determine final matching roads.

Conformity assessment is an evaluation of whether the driving direction of the vehicle coincides with the traffic direction of the road and whether the pattern is similar to the positional trajectory of the vehicle, and weights the similarity between the linearity of the road and the trajectory of the vehicle. (Pattern 1), if there is an altitude value in the road data, the weight value is compared by comparing the altitude value (pattern 2), and the weight is checked by checking the high variance type of the vehicle and the presence of the candidate road (pattern 3). ).

The final candidate link is selected using the weight value of the suitability of the result of the conformity assessment, and the position is corrected to the final candidate link.

The display unit 50 includes a display unit capable of a touch screen, outputs a map and a graphical user interface (GUI), and includes an operation unit 20.

The controller 30 receives input coordinates on the touch screen and performs matching processing to convert the coordinates into road coordinates on a map DB.

  The electronic map data of the storage unit 40 includes road shape coordinate information and map data including information of whether or not traffic can be performed.

As shown in FIG. 3, the method for determining the overpass and the underground road using the pattern analysis according to the embodiment of the present invention includes a GPS reception step of receiving a position of the host vehicle using the GPS receiver 10 from a GPS satellite ( S10), performing neighboring link search (S20) and the step (S20), searching for and extracting candidate roads by searching the neighboring link (road) data of the electronic map using the position value of the own vehicle, The shortest distance link selection step (S30) for selecting a short candidate road and the step (S30) are performed, and the position and direction suitability for determining whether the candidate road coincides with the traveling direction of the host vehicle and the candidate road. In step 40, if the candidate road coincides with the traveling direction of the host vehicle and the passage direction of the candidate road in step S40, weighting is applied to the similarity between the linearity of the road and the movement trajectory of the vehicle (pattern 1). place If the site has an altitude value, weight the similarity of the vehicle's movement trajectory to the altitude value of the vehicle's movement trajectory (Pattern 2), and check the vehicle's altitude variation type and the presence of the candidate link's altitude to check the weight. A pattern analysis step (S50) is given (pattern 3), and if the candidate road does not coincide with the traveling direction of the host vehicle and the traveling direction of the candidate road in step S40, returning to step 20 above. It includes.

The step S50 may include selecting a final candidate road using a weight value of which fitness is evaluated.

The step (S50) is to calculate the linearity (for example, the slope) of the road most similar to the movement trajectory of the vehicle as the coordinate value of the two points to give the highest weight (pattern 1), if there is an altitude value in the road data, the altitude value By comparing the weights (pattern 2), using the relationship between the vehicle speed and the driving distance and the inclination angle to check the altitude variation of the vehicle and whether there is a high presence of the candidate link to give a weight (pattern 3).

The case where the value of the pattern 1 + pattern 2 + pattern 3 is the largest is selected as the final candidate.

The vehicle speed and mileage information may be obtained from a host vehicle instrument panel. The relational expression may be experimentally obtained, programmed and stored in the controller 30 to distinguish the overpass and the underground road according to the calculation of the inclination angle.

The core technology of the present invention is to assign a weight by checking a vehicle's altitude variation type and the existence of an elevated road on a candidate road, and the vehicle track data as a criterion for determining when an elevated road and a ground road exist among the candidate links at the same location. This is to discriminate according to the variation type of altitude value of.

That is, if the altitude value continuously rises and is matched with the overpass, and if there is no altitude variation or decreases, it is a technique for matching with the ground road.

The candidate road includes a ground road, an overpass, or an underground road.

As shown in FIG. 4, the principle of discrimination of overpass and underpass using pattern analysis according to an embodiment of the present invention draws a concentric circle whose center is the origin (O) and whose radius is the distance (S1). ), A straight line connecting the one point P1 on the circumference is drawn.

The angle of the inclination angle which is the inclination of the straight line is called θ.

In addition, assuming that the vehicle is inclined in the traveling direction as shown by the arrow, it is determined by the moving distance S of the vehicle = the speed V of the vehicle * the moving time t of the vehicle.

That is, S = V * t.

Here, the movement distance S, the speed V, and the travel time may be obtained through a microcomputer provided in the vehicle.

Based on the obtained data table, the distance traveled by the vehicle can be known as speed * time. If the vehicle climbs the overpass at the inclination angle θ, the distance measured from the actual GPS satellite becomes a shorter distance (S2). (If you run on the same speed and time on the flat, the distance is S1)

At this time, the driving distance measured by the microcomputer mounted on the vehicle is S1, and the measurement distance on the navigation terminal is indicated by S2.

That is, it can be seen that the larger the value of S1-S2, the larger the inclination angle of the overpass.

The magnitude of the inclination angle is determined and stored in the controller 30 by programming a relational expression for determining whether the road is an elevated road, an underground road, or a plain.

As shown in FIG. 5, the roads (overpass, general road, and underground road) of the navigation map according to another embodiment of the present invention are divided into three-dimensional roads, for example, overpasses and underground roads are translucent. Or any one or more of a picture or other color or shape or other text or contrast or shadow.

The three-dimensional map is displayed by the control unit 30 by the altitude value data by the GPS reception information by the translucent and the like stored in the storage unit 40 and displayed on the display unit 50, the driver visually It can be seen at a glance that one of the overpass, underground road or ground road.

As mentioned above, although the invention made by this inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example, Of course, it can change variously in the range which does not deviate from the summary.

1 is a block diagram showing an apparatus for discriminating an overpass and an underground road using a 3-axis geomagnetic sensor according to the related art;

2 is a block diagram of a system for discriminating between elevated and underground roads using pattern analysis according to the present invention;

3 is a flowchart illustrating a method for discriminating between overpass and underpass using pattern analysis according to the present invention;

4 is a view showing the principle of discrimination of overpass and underground road using the pattern analysis according to the present invention,

5 is a diagram showing the division of roads (overpass, general road, underground driveway) of the navigation map according to the present invention;

* Description of the symbols for the main parts of the drawings *

10: GPS receiver

20: control panel

30: control unit

Claims (10)

In the map matching system, GPS receiver for receiving the current position of the vehicle, A storage unit that stores information about overpasses and ground roads, A controller which matches the position of the host vehicle and the driving road and outputs a control signal according to the vehicle; It is composed of a display unit for displaying the driving route of the host vehicle according to the control signal, The storage unit measures the traveling speed and time by using the vehicle's microcomputer and navigation terminal, calculates the moving distance using the traveling speed and the time, and then calculates the moving distance when the vehicle moves on the moving distance and the plain. In comparison, the high-speed map matching system, characterized in that the location of the own car to distinguish whether the road is a high or low ground road, such as overpass or underground road. The method of claim 1, The storage unit can measure the altitude value when there are four or more GPS satellites, and thus the high-speed map matching system, characterized in that to store the latest GPS trajectory for a period of time to determine the overpass, ground road or underground road. The method of claim 1, The control unit maps the elevated road map matching system, characterized in that it is a road or a ground road with a height such as an elevated road or an underground road only by using the altitude value information of the electronic map data or the information of the elevated price without a separate altitude measuring device. The method of claim 3, wherein The control unit maps the overpass road map matching system, characterized in that the three-dimensional storage and display of the overpass and underground road. The method of claim 4, wherein The three-dimensionalized high-altitude map matching system, characterized in that to display at least one of the overpass and underground road translucent or other colors or other shapes or other text or contrast or shadow. In the map matching method, (a) receiving a location of the current vehicle, (b) matching the location of the received vehicle with a road map and searching for candidate roads on elevated, ground, or underground levels; (c) evaluating whether the location and direction of the candidate road are appropriate; (d) If the position and direction of the candidate road in the step (c) is appropriate, compare and analyze the moving distance of the vehicle and the moving distance when the vehicle moves on the plain and whether the road is a high or low road, such as overpass or underground road Determining whether it is a road, (e) if the position and direction of the candidate road in step (c) is not suitable, returning to step (b). The method of claim 6, The step (d) checks and assigns a weight to at least one of the linearity of the driving road, the movement trajectory of the own vehicle, the altitude value of the road data, the altitude variation of the own vehicle or the elevated road of the candidate road, the ground road or the underground road. Mapping method characterized in that it is determined whether the presence of the high road according to the weight. The method of claim 6, The step (c) further comprises the step of selecting the shortest link among the candidate roads before evaluating whether the location and direction of the candidate roads are suitable. The method of claim 6, The method of selecting the shortest distance link is a map matching method comprising a coordinate string of a candidate link and a Cartesian intersection coordinate of the current vehicle. The method of claim 6, The step (a) is to determine whether there is a high or low road, such as an overpass or an underground road, using only the information of the altitude value information or overpass, ground road or underground road of the electronic map data without a separate altitude measuring device. Overpass map matching method.

Images