KR20210047577A - Route service device and control method thereof - Google Patents

Abstract

The present invention discloses a technology that remarkably avoids a map matching error situation in which the location of a moving object (e.g., vehicle) is mapped to a roadlink different from an actual location, even when a momentary error occurs in a GPS signal (GPS value). The present invention includes an estimator.

Description

Moving route service device and moving route service method {ROUTE SERVICE DEVICE AND CONTROL METHOD THEREOF}

The present invention relates to a navigation technology for guiding a movement route, and more particularly, to a technology for dramatically avoiding a situation in which a difference between the actual position of a moving object (eg, a vehicle) and the position of a moving object recognized based on positioning occurs. About.

The navigation technology that guides the movement route guides the route from the origin to the destination and locates the moving object (e.g., vehicle) on the route by using the measurement position of the moving object (e.g., vehicle) according to the GPS signal-based position measurement. By displaying, a service is provided to guide the driver to the moving route to the destination.

In such a navigation technology, that is, a movement route service, a map matching technology is used as a method of displaying the location of a moving object (eg, a vehicle) on a route.

Map matching refers to the location of a moving object (e.g., vehicle) on a road link selected based on the measurement position among a number of roadlinks constituting the map in order to display the location of a moving object (e.g., vehicle) on the route. It means mapping (mapping).

That is, the map matching technology is a technology that matches which roadlink a moving object (eg, a vehicle) is on a map.

On the other hand, there may be a difference between the actual position of the moving object (eg, vehicle) and the position of the moving object (eg, vehicle) recognized by the navigation based on positioning.

The reason for this difference is that there is an instantaneous error in the GPS signal (GPS value) used by the navigation system due to various environmental factors such as a GPS weak field area, interference from a large number of high-rise buildings, and broadcast radio waves around a broadcasting station. Because it can.

The current navigation technology, that is, the map matching method used in the movement route service, locates the moving object (e.g., vehicle) on a roadlink closest to the measurement position of the moving object (e.g., vehicle) based on GPS signal-based location measurement. It is a mapping method.

Therefore, in the current movement route service, when an error occurs momentarily in the GPS signal (GPS value) as described above, the measurement location based on the GPS signal where the error occurs is different from the actual location of the moving object (eg, vehicle). If it is closest to the link (Roadlink), there is a problem that a map matching error situation occurs in which the location of a moving object (eg, vehicle) is mapped to this other road link.

Accordingly, in the present invention, even when an error occurs instantaneously in a GPS signal (GPS value), a map matching error situation in which the location of a moving object (eg, a vehicle) is mapped to a roadlink different from the actual location is dramatically improved. I would like to suggest a way to avoid it.

The present invention was created in view of the above circumstances, and an object to be reached in the present invention is to dramatically reduce a map matching error situation in which the location of a moving object (eg, vehicle) is mapped to a roadlink different from the actual location. We want to realize a plan that can be avoided.

The movement route service apparatus according to the first aspect of the present invention for achieving the above object, when a GPS signal-based position measurement error for a moving object occurs, a moving distance from a previous measurement position to the time when the measurement error occurs, and the immediately preceding An estimating unit for estimating a position at the point of occurrence of the measurement error on a specific roadlink to which the immediately previous measurement location is mapped, using the measurement location of; And a position determining unit for determining a position of the moving object based on a result of comparing the estimated position of the measurement error occurrence time point on the specific load link and the length of the specific load link.

Specifically, the location of the measurement error occurrence point estimated on the specific load link is derived by summing the movement distance from the start point of the specific road link to the measurement location immediately before, of the specific road link. It may be a distance from the start point to the location at which the measurement error occurs.

Specifically, when the distance from the starting point of the specific load link to the position at the time when the measurement error occurs is shorter than the length of the specific load link, the position determining unit determines that the moving object is located in the specific load link, The location of the moving object at the time when the measurement error occurs may be mapped to the specific load link.

Specifically, when the distance from the starting point of the specific road link to the location at the time when the measurement error occurs is longer than the length of the specific road link, the location determining unit is the specific load on the route to the preset destination. It is determined that it has entered the load link in the next order of the link, and the position of the moving object at the time when the measurement error occurs may be mapped to the load link in the next order.

Specifically, the position of the moving object at the point of occurrence of the measurement error is calculated using the latitude and longitude according to the previous measurement position and a value obtained by dividing the moving speed of the moving object into latitude and longitude components, and the latitude and longitude of the moving object position. It may include.

Specifically, the moving distance may be calculated using a measurement period and a moving speed of the moving object when measuring the location based on the GPS signal.

The movement route service method according to the second aspect of the present invention for achieving the above object is, when a GPS signal-based position measurement error for a moving object occurs, a moving distance from a previous measurement position to the measurement error occurrence point and the immediately preceding An estimating step of estimating a position at the point of occurrence of the measurement error on a specific roadlink to which the immediately previous measurement location is mapped, using the measurement location of; And a position determining step of determining the position of the moving object based on a result of comparing the position at the time of occurrence of the measurement error and the length of the specific load link estimated on the specific load link.

The computer program according to the third aspect of the present invention for achieving the above object is combined with hardware, and when a GPS signal-based position measurement error for a moving object occurs, the moving distance from the immediately previous measurement position to the point at which the measurement error occurs. And an estimating step of estimating a location at the point of occurrence of the measurement error on a specific roadlink to which the immediately previous measurement location is mapped, using the measurement location just before. And a position determination step of determining the position of the moving object based on a result of comparing the position of the measurement error occurrence time point estimated on the specific load link and the length of the specific load link.

Specifically, the location of the measurement error occurrence point estimated on the specific load link is derived by summing the movement distance from the start point of the specific road link to the measurement location immediately before, of the specific road link. It may be a distance from the start point to the location at which the measurement error occurs.

Specifically, in the position determining step, when the distance from the start point of the specific load link to the position at the point of occurrence of the measurement error is shorter than the length of the specific load link, it is determined that the moving object is located in the specific load link, and , The location of the moving object at the time when the measurement error occurs may be mapped to the specific load link.

Specifically, in the position determination step, when the distance from the starting point of the specific road link to the location at the time when the measurement error occurs is longer than the length of the specific road link, the moving object is determined on the path to a preset destination. It is determined that it has entered a load link in the next order of the load link, and the position of the moving object at the time when the measurement error occurs may be mapped to the load link in the next order.

Specifically, the position of the moving object at the point of occurrence of the measurement error is calculated using the latitude and longitude according to the previous measurement position and a value obtained by dividing the moving speed of the moving object into latitude and longitude components, and the latitude and longitude of the moving object position. It may include.

Specifically, the moving distance may be calculated using a measurement period and a moving speed of the moving object when measuring the location based on the GPS signal.

Accordingly, according to the movement route service apparatus and the movement route service method of the present invention, even when an error occurs momentarily in the GPS signal (GPS value), the location of the moving object (eg, vehicle) is changed from the actual location to the other roadlink (Roadlink). ), the map matching error situation that maps to) can be drastically avoided.

For this reason, in the present invention, by increasing the match rate between the actual position of a moving object (e.g., a vehicle) and the position of the moving object recognized based on positioning, the reliability is remarkably improved, so that an effect that can be stably applied to advanced technology can be expected. .

1 is an exemplary diagram showing an environment for providing a moving route service (navigation) to which the present invention is applied.
2 is an exemplary diagram showing a case where a map matching error situation occurs.
3 is a block diagram showing the configuration of a movement route service apparatus according to an embodiment of the present invention.
4 and 5 are exemplary diagrams for explaining the concept of a distance from link start point (DfL) used in the present invention.
6 is a flowchart illustrating an operation flow of a moving route service method according to an embodiment of the present invention.

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

The present invention relates to a navigation technology for guiding a moving route.

The navigation technology that guides the movement route guides the route from the origin to the destination and locates the moving object (e.g., vehicle) on the route by using the measurement position of the moving object (e.g., vehicle) according to the GPS signal-based position measurement. By displaying, a service is provided to guide the driver to the moving route to the destination.

In such a navigation technology, that is, a movement route service, a map matching technology is used as a method of displaying the location of a moving object (eg, a vehicle) on a route.

Map matching refers to the location of a moving object (e.g., vehicle) on a road link selected based on the measurement position among a number of roadlinks constituting the map in order to display the location of a moving object (e.g., vehicle) on the route. It means mapping (mapping).

Most of the navigation applications that provide a moving route service operate based on a navigation server that divides and manages roads across the country in units of Roadlinks. That is, road maps across the country consist of a number of Roadlinks.

At this time, a unique ID is assigned to each roadlink, and information such as the length of the roadlink, the number of lanes, top/bottom division, and whether or not a center divider is included.

And, assuming route guidance from 63 Building as the departure point and Sindorim Station as the destination, the navigation application sets RP (Route Planning) for route guidance to the destination, and through the screen Roadlink43 ->Roadlink15 ->… -> In the same way as Roadlink66, a roadlink-based route is displayed and guided, and the moving object (e.g., vehicle) uses the measurement location of the moving object (e.g., vehicle) according to the GPS signal-based position measurement. ) Is displayed by matching the map.

That is, the map matching technology is a technology that matches which roadlink a moving object (eg, a vehicle) is on a map.

On the other hand, there is a case where a difference occurs between the actual position of a moving object (eg, a vehicle) and a position of a moving object (eg, a vehicle) recognized by a navigation application based on positioning.

The reason for this difference is that there is an instantaneous error in the GPS signal (GPS value) used by the navigation system due to various environmental factors such as a GPS weak field area, interference from a large number of high-rise buildings, and broadcast radio waves around a broadcasting station. Because it can.

In the existing navigation technology, that is, the map matching method used in the movement route service, the location of the moving object (e.g., vehicle) is located on the roadlink closest to the measurement position of the moving object (e.g., vehicle) based on GPS signal-based location measurement. It is a mapping method.

2 shows a case in which a map matching error situation occurs.

As described above, in the existing movement route service, when an error occurs momentarily in the GPS signal (GPS value) as described above, the measurement location based on the GPS signal where the error occurs is different from the actual location of the moving object (eg, vehicle). If it is closest to the link (Roadlink), there is a problem that a map matching error situation occurs in which the location of a moving object (eg, vehicle) is mapped to this other road link.

Accordingly, in the present invention, even when an error occurs instantaneously in a GPS signal (GPS value), a map matching error situation in which the location of a moving object (eg, a vehicle) is mapped to a roadlink different from the actual location is dramatically improved. I would like to suggest a technique that can be avoided.

Specifically, in the present invention, the movement route service apparatus 100 realizes a technology capable of remarkably avoiding a map matching error situation in which a location of a moving object (eg, a vehicle) is mapped to a roadlink different from the actual location. ).

As shown in FIG. 1, the movement route service apparatus 100 proposed in the present invention utilizes the measurement position of the vehicle 10 according to the GPS signal-based position measurement while moving together with a moving object, such as a vehicle 10. It may be a navigation device (or application).

Hereinafter, a movement route service apparatus 100 according to an embodiment of the present invention will be described in detail with reference to FIG. 3.

As shown in FIG. 3, the movement route service apparatus 100 according to an embodiment of the present invention includes an estimating unit 110 and a position determining unit 120.

Furthermore, the movement route service apparatus 100 of the present invention may further include a GPS unit 130 and a navigation control unit 140 in the case of a navigation device (or application).

In addition to the above-described configuration, the movement route service apparatus 100 of the present invention receives a GPS signal from the satellite 1 or, furthermore, an external V2X device (2, for example, another vehicle, through a vehicle to everything) communication function. It may further include a configuration of the communication unit 150 in charge of a practical communication function with a base station, pedestrians, bicycles, traffic lights, etc.).

Here, the communication unit 150 includes, for example, an antenna system, an RF transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, a codec chipset, and a memory, but is not limited thereto. Any known circuit to perform may be included.

All or at least a part of the configuration of the movement route service apparatus 100 may be implemented in the form of a hardware module or a software module, or may be implemented in a form in which a hardware module and a software module are combined.

Here, the software module may be understood as, for example, an instruction executed by a processor that controls an operation in the movement path service device 100, and such a command has a form mounted in a memory in the movement path service device 100. I will be able to.

As a result, the movement route service apparatus 100 according to an embodiment of the present invention realizes a new technology proposed by the present invention, that is, a technology capable of remarkably avoiding a map matching error situation through the above-described configuration. In the following will be described in more detail for each configuration in the movement route service apparatus 100 for realizing this.

When an error occurs in position measurement based on a GPS signal for a moving object, the estimating unit 110 uses the moving distance from the immediately previous measurement position to the time when the measurement error occurs and the immediately previous measurement position, and the immediately previous measurement position is It is responsible for estimating the location of the measurement error occurrence point on a specific mapped roadlink.

Hereinafter, for convenience of description, the vehicle 10 of FIG. 1 will be referred to as a moving object.

Specifically, in the present invention, it is checked whether or not a location measurement error based on a GPS signal for a moving object, that is, a vehicle 10 has occurred.

For example, the movement route service apparatus 100 of the present invention may include a GPS unit 130.

The GPS unit 130 receives a GPS signal provided from a satellite.

In this case, in the present invention, when the number of GPS signals received by the GPS unit 130, that is, the number of connected satellites, is less than or equal to the threshold number, or the reception strength of the GPS signal is less than or equal to the threshold, This can be confirmed by the occurrence of a location measurement error based on a GPS signal for the vehicle 10.

When the occurrence of a GPS signal-based location measurement error for the moving object, that is, the vehicle 10, the estimating unit 110, the measurement error at the measurement location (P _k-1 ) immediately before the confirmation time (hereinafter, the measurement error occurrence time). Using the moving distance d to the point of occurrence and the previous measurement position (P _k-1 ), the position of the measurement error occurrence point on the specific Roadlink to which the previous measurement position (P _{k-1) is mapped is estimated.} can do

Here, the moving distance d is a value calculated using a _{GPS period and a moving speed v k} of the moving object, for example, the vehicle 10 when measuring a location based on a GPS signal.

For example, the estimation unit 110, when it is confirmed that the occurrence of a GPS signal-based location measurement error for the vehicle 10, using the measurement period (GPS period) and the moving speed (v _k ) of the vehicle 10 The moving distance d can be calculated according to Equation 1 below.

For example, assuming that the GPS period is 1, the moving distance d will be calculated as _{the moving speed v k of the vehicle 10.}

And, the location of the estimated measurement error on a specific load link is _{the distance from the link start point of the specific load link to the previous measurement location (P k-1} ) (DfL: Distance from Link start point) It can be defined as the distance (DfL) from the link start point of a specific road link to the location at which the measurement error occurs, which is derived by summing the moving distance d to.

As a result, the location of the estimated measurement error occurrence time point on a specific load link is defined as the distance from the start point of the specific load link to the location of the estimated measurement error occurrence time point (P _{k to be} described later), that is, Estimated DfL.

Thus, for example, the estimation unit 110, according to the following Equation 2, by summing the movement distance d calculated in advance to the DfL (previous DfL) of the _{immediately previous measurement position (P k-1), the time when the measurement error occurs} Est. DfL can be derived (estimated).

Hereinafter, the concept of a distance from link start point (DfL) will be described with reference to FIGS. 4 and 5.

First, referring to FIG. 4, the concept of DfL will be described. In the case of the location of the vehicle (C5) map-matched to the road link_Link03, the distance from the start point of the roadlink_Link03 to the location of the vehicle (C5) is DfL. This is a value, and in the case of the location of the vehicle (C6) map-matched to the road link_Link03, the distance from the start point of the roadlink_Link03 to the location of the vehicle (C6) becomes the DfL value.

That is, the DfL defined in the present invention refers to a distance from a starting point of a corresponding road link to a map-matched location of a measurement location on a road link to which a measurement location determined through GPS-based location measurement is mapped.

Thus, Referring to Figure 5 to illustrate the present invention, the position of the measurement point, error estimation on a specific link rod, just before the measurement position is mapped link rod _{(P k-1) (a} Road Segment) that is Est. DfL is a value derived by summing the moving distance d to the DfL value (previous DfL) of the immediately previous measurement position (P _{k-1) according to Equation 2 above.}

In this case, the position of L in FIG. 5 refers to the position at the point of occurrence of the measurement error, which is measured based on the GPS signal reflecting the GPS measurement error after the _{previous measurement position (P k-1 ).}

_{In addition, the location of P k} in FIG. 5 refers to a location (mobile body location) at the time of occurrence of a measurement error, which is separately calculated and predicted using the above-described moving distance d, not a location in which a GPS measurement error is reflected.

As such, the position of the moving object (P _k ) at the point of occurrence of the measurement error is a value obtained by dividing the latitude and longitude according to the previous measurement position (P _{k-1 ) and the moving speed (v k} ) of the moving object into latitude and longitude components. As a value calculated by using, the latitude and longitude of the location of the moving object may be included.

Specifically, the immediately previous measurement location (P _k-1 ) refers to a location measured based on a GPS signal at the time when the occurrence of a location measurement error based on the current GPS signal is confirmed, that is, just before (last) the time when the measurement error occurs. .

This measurement location (P _k-1 ) includes latitude and longitude coordinates.

Thus, estimation unit 110, according to the following equation (3), latitude and longitude coordinates _{(x k-1, y k} -1) and a moving object for example a vehicle according to the measuring position immediately before (P _k-1) (10 ) Of the moving speed (v _k ) divided into latitude and longitude components (v _x , v _y ), calculated using latitude and longitude coordinates (x _k , y _k ). _k ) can be predicted.

로 정의되며, 본 발명에서는 tau값은 1s로 가정하고 있다.here,

Is defined as, and in the present invention, the tau value is assumed to be 1s.

As described above, the position determining unit 120 estimates the position at the time of the current measurement error occurrence, that is, Est. on a specific road link (eg, a Road Segment) to which the _{previous measurement position P k-1 is mapped, as described above.} Based on the result of comparing the length of DfL and a specific road link (eg, a Road Segment), it is responsible for determining the location of the moving object, that is, the vehicle 10.

As mentioned above, a unique ID is assigned to each roadlink, and information such as the length of the corresponding roadlink, the number of lanes, top/bottom division, and whether or not a center divider is included.

Thus, the position determination unit 120, the position at the time of the current measurement error occurrence, that is, Est. Based on the result of comparing the length of a specific road link (e.g., a Road Segment) to which DfL and the previous measurement location (P _{k-1) are mapped, determine which road link the vehicle 10 is currently in.} It is to do.

Specifically, the position determination unit 120, the distance from the start point of the specific road link (eg, a Road Segment) to the position at the time of the measurement error occurrence, that is, the above-estimated Est. If DfL is shorter than the length of a specific road link (e.g., a Road Segment), it is determined that the moving object, that is, the vehicle 10 is located on a specific road link (e.g., a Road Segment), and the vehicle position at the time of this measurement error ( P _k ) can be mapped to a specific road link (eg, a Road Segment).

That is, the position determination unit 120 is the Est. If DfL is shorter than the length of a specific road link (e.g., a Road Segment), it is determined that the vehicle 10 is located on a specific road link (e.g., a Road Segment) to which the _{previous measurement position (P k-1) is still mapped. Thus, it is possible to perform map matching in which the vehicle position P k} predicted through the above calculation is mapped to a specific road link (eg, a Road Segment).

On the other hand, the position determination unit 120, the distance from the starting point of the specific road link (eg, a Road Segment) to the position at the time of the measurement error occurrence, that is, the above-estimated Est. When DfL is longer than the length of a specific road link (e.g., a Road Segment), the moving vehicle, that is, vehicle 10, enters the next road link on a specific road link (e.g., a Road Segment) on the route to a preset destination. It is determined that it is determined that the vehicle position P _k at the time when the measurement error occurs may be mapped to the next order of the road link.

For example, the movement route service apparatus 100 of the present invention includes the navigation control unit 140

It may include.

The navigation control unit 140 operates based on a navigation server that divides and manages roads across the country by roadlink units, and when guiding a route from a departure point to a destination, RP (Route Planning) for guiding a route to a destination Set it up, and through the screen Roadlink43 ->Roadlink15 ->… -> In the same way as Roadlink66, a road link-based route is displayed and guided.

That is, the position determination unit 120 is the Est. If DfL is longer than the length of a specific road link (e.g., a Road Segment), the vehicle 10 goes out of the specific road link (e.g., a Road Segment) to which the previous measurement position (P _k-1 ) is mapped to the destination. Specifically, it is determined that the route set for route guidance has subscribed to the next order of roadlink in route planning (RP).

Accordingly, the location determination unit 120 _{performs map matching that maps the vehicle location (P k} ) predicted through the above calculation to the next road link (eg, b Road Segment) on the RP (Route Planning). I can.

Assuming a map matching method employed in an existing movement route service with reference to FIG. 5, in the existing technology, based on the location L at the time of the measurement error, which is measured based on the GPS signal reflecting the GPS measurement error, the location ( The location of the moving object, that is, the vehicle 10, will be mapped to the roadlink closest to L).

Therefore, in the existing technology, the road link closest to the location (L) measured based on the GPS signal is not a specific road link (e.g., a Road Segment) to which the _{previous measurement location (P k-1) is mapped.} In the case of a road link of (eg, f Road Segment), the location of the vehicle 10 would have an error in which the map was matched to a separate road link (eg, f Road Segment).

However, in the present invention, when the position location error in the GPS signal based occurs, the GPS signal based on a location other than the location measurement, the measurement of the position just before the moving distance calculated / estimated by using the (P _k-1) d and Est. A new map matching method based on DfL is used.

That is, in the present invention, the measuring position immediately before, during position measurement errors in the GPS signal based on the moving distance occurs calculated / estimated by using the (P _k-1) d and Est. Based on DfL, whether the position of the vehicle 10 is on the _{same road link (eg, a Road Segment) as the previous measurement position (P k-1} ), or out of the road link (eg, a Road Segment), It is determined whether a road link (eg, b Road Segment) has been subscribed, and map matching is performed to map the _{vehicle location (P k) to the road link according to the determination.}

For this reason, in the present invention, even when an error occurs momentarily in a GPS signal (GPS value), a map matching error situation in which the location of a moving object (e.g., a vehicle) is mapped to a roadlink different from the actual location is epoch-making. Can be avoided.

As described above, in the present invention, when a location measurement error based on a GPS signal occurs, a moving distance d calculated/estimated using the _{previous measurement location (P k-1 ), not the location measured based on the GPS signal} And Est. By realizing a new map matching method based on DfL, even when an error occurs momentarily in the GPS signal (GPS value), the location of the moving object (e.g., vehicle) is mapped to a roadlink different from the actual location. The effect of remarkably avoiding the map matching error situation is being derived.

For this reason, in the present invention, by increasing the match rate between the actual position of a moving object (e.g., a vehicle) and the position of the moving object recognized based on positioning, the reliability is remarkably improved, so that an effect that can be stably applied to advanced technology can be expected. .

Hereinafter, a moving route service method according to an embodiment of the present invention will be described with reference to FIG. 6.

For convenience of explanation, the movement path service apparatus 100 related to the vehicle 10 will be described as a subject performing the movement path service method of the present invention.

According to the movement route service method of the present invention, the movement route service apparatus 100 performs GPS-based location measurement on the moving object, that is, the vehicle 10 (S10), and separately, whether a location measurement error based on a GPS signal occurs. Can be checked continuously (S20).

According to the movement route service method of the present invention, when the occurrence of a location measurement error based on a GPS signal is not confirmed (S20 No), the movement route service apparatus 100 is closest to a location measured based on a GPS signal as before. GPS-based map matching for mapping the location of the moving object, that is, the vehicle 10 to the roadlink, may be performed (S30).

On the other hand, according to the movement route service method of the present invention, the movement route service apparatus 100 determines the occurrence of a location measurement error based on a GPS signal (S20 Yes), and the measurement period and the vehicle 10 The moving distance d may be calculated according to Equation 1 above by using the moving speed v _{k (S40).}

And, according to the movement route service method of the present invention, the movement route service device 100 according to equation (2) above, just before the measuring position (P _k-1) DfL, i.e. measurement of the immediately preceding position (P _k-1 The distance (DfL) from the link start point of the specific road link to which) is mapped to the previous measurement location (P _k-1 ) is added to the previously calculated moving distance d, and the location at the time of the measurement error For Est. DfL can be derived (estimated) (S50).

Thereafter, according to the movement route service method of the present invention, the movement route service apparatus 100 estimates the position at the time when the measurement error occurs. The length of the specific road link (eg, a Road Segment) to which the DfL and the previous measurement location (P _{k-1) is mapped is compared (S60).}

According to the movement route service method of the present invention, the movement route service apparatus 100 determines the Est. If DfL is shorter than the length of a specific road link (e.g. a Road Segment) (S60 Yes), the vehicle (10) is still in the specific road link (e.g. a Road Segment) to which the _{previous measurement position (P k-1) is mapped.} When it is determined that this is located, map matching may be performed to map the location of the moving object, that is, the vehicle location P _k predicted through Equation 3 above, to a specific road link (eg, a Road Segment) (S70).

On the other hand, according to the movement path service method of the present invention, the movement path service apparatus 100 determines the Est. If DfL is longer than the length of a specific road link (e.g., a Road Segment) (S60 No), the vehicle 10 is on a specific road link (e.g., a Road Segment) to _{which the previous measurement position (P k-1) is mapped.} It is determined that the route set for guiding the route to the destination outside, specifically, has subscribed to the next road link in the route planning (RP).

In this case, the movement route service device 100 maps the moving object position, that is, the vehicle position (P _k ), predicted through Equation 3 above, to a road link (eg, b Road Segment) in the next order on RP (Route Planning). Map matching may be performed (S80).

According to the movement route service method of the present invention, the movement route service apparatus 100 will repeat the entire operation described above until the current route guidance is terminated or the power is turned off (S90 No).

As described above, according to the present invention, even when an error occurs momentarily in a GPS signal (GPS value), a map matching error situation in which the location of a moving object (eg, a vehicle) is mapped to a roadlink different from the actual location is epoch-making. The effect that can be avoided is being derived.

For this reason, in the present invention, by increasing the match rate between the actual position of a moving object (e.g., a vehicle) and the position of the moving object recognized based on positioning, the reliability is remarkably improved, so that an effect that can be stably applied to advanced technology can be expected. .

The movement route service method according to an embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

Until now, the present invention has been described in detail with reference to preferred embodiments, but the present invention is not limited to the above-described embodiments, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the following claims. Anyone of ordinary skill in the art will say that the technical idea of the present invention extends to the range in which various modifications or modifications are possible.

According to the movement route service apparatus and the movement route service method of the present invention, even when an error occurs momentarily in a GPS signal (GPS value), a map matching error situation for a moving object (e.g., vehicle) can be drastically avoided. In this regard, it is an invention that has industrial applicability because it exceeds the limitations of the existing technology, not only the use of the related technology, but also the possibility of commercialization or sales of the applied device is sufficient, as well as a degree that can be practically clearly implemented.

100: moving route service device
110: estimation unit 120: position determination unit
130: navigation unit 140: GPS unit
150: communication department

Claims (13)

When a location measurement error based on a GPS signal for a moving object occurs, a specific roadlink to which the previous measurement location is mapped using the moving distance from the previous measurement location to the measurement error occurrence point and the measurement location immediately before ) An estimating unit for estimating the location of the measurement error occurrence time point; And
And a position determining unit configured to determine a position of the moving object based on a result of comparing the position of the measurement error occurrence time point estimated on the specific load link and the length of the specific load link. The method of claim 1,
The position at the time of occurrence of the measurement error estimated on the specific load link is,
Movement, characterized in that the distance from the starting point of the specific road link to the position at the time when the measurement error occurs, which is derived by summing the movement distance with the distance from the starting point of the specific road link to the previous measurement position Route service device. The method of claim 2,
The position determination unit,
When the distance from the start point of the specific load link to the position at which the measurement error occurs is shorter than the length of the specific load link,
And determining that the moving object is located on the specific load link, and mapping the position of the moving object at the time when the measurement error occurs to the specific load link. The method of claim 2,
The position determination unit,
When the distance from the starting point of the specific load link to the position at which the measurement error occurs is longer than the length of the specific load link,
It is determined that the moving object has entered a load link in the next order of the specific road link on a path to a preset destination, and the position of the moving object at the time of occurrence of the measurement error is mapped to the next order load link. Service device. The method according to claim 3 or 4,
The position of the moving object at the time of occurrence of the measurement error is,
A movement route service device comprising the latitude and longitude of the location of the moving object, which is calculated using a value obtained by dividing the latitude and longitude according to the immediately previous measurement position and the moving speed of the moving object into latitude and longitude components. The method of claim 1,
The moving distance is,
A movement route service device, characterized in that it is calculated using a measurement period and a movement speed of the moving object when the GPS signal-based position is measured. When a location measurement error based on a GPS signal for a moving object occurs, a specific roadlink to which the previous measurement location is mapped using the moving distance from the previous measurement location to the measurement error occurrence point and the measurement location immediately before ) An estimation step of estimating the position at the time when the measurement error occurs; And
And a location determination step of determining the location of the moving object based on a result of comparing the location of the measurement error occurrence point estimated on the specific road link and the length of the specific road link. . The method of claim 7,
The position at the time of occurrence of the measurement error estimated on the specific load link is,
Movement, characterized in that the distance from the starting point of the specific road link to the position at the time when the measurement error occurs, which is derived by summing the movement distance with the distance from the starting point of the specific road link to the previous measurement position Route service method. The method of claim 8,
The location determination step,
When the distance from the start point of the specific load link to the position at which the measurement error occurs is shorter than the length of the specific load link,
And determining that the moving object is located on the specific load link, and mapping the position of the moving object at the time when the measurement error occurs to the specific load link. The method of claim 8,
The location determination step,
When the distance from the starting point of the specific load link to the position at which the measurement error occurs is longer than the length of the specific load link,
It is determined that the moving object has entered a load link in the next order of the specific road link on a path to a preset destination, and the position of the moving object at the time of occurrence of the measurement error is mapped to the next order load link. Service method. The method of claim 9,
The location of the moving object at the time of occurrence of the measurement error is,
A moving route service method comprising the latitude and longitude of the location of the moving object, which is calculated using a value obtained by dividing the latitude and longitude according to the immediately previous measurement position and the moving speed of the moving object into latitude and longitude components. The method of claim 7,
The moving distance is,
When measuring the location based on the GPS signal, it is calculated using a measurement period and a moving speed of the moving object. A computer program stored on a medium for executing the method of claim 7.

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