WO2007040069A1

WO2007040069A1 - Error calculation device and navigation device

Info

Publication number: WO2007040069A1
Application number: PCT/JP2006/318922
Authority: WO
Inventors: Seiji Goto
Original assignee: Pioneer Corporation
Priority date: 2005-09-30
Filing date: 2006-09-25
Publication date: 2007-04-12

Abstract

An acquisition unit (101) acquires position information indicating a position of a moving body. A generation unit (102) generates information concerning a travel trace of the moving body containing the position indicated in the position information as history information. According to the history information and map information, a selection unit (103) calculates the position on a map corresponding to the position indicated by the position information and selects road data to which the position on the map belongs. A calculation unit (104) calculates a distance between the position indicated by the position information and the position on the map as an error of the road data selected by the selection unit (103).

Description

Specification

Error calculation device and navigation device

Technical field

[0001] The present invention relates to an error calculation device and a navigation device for calculating an error of road data.

Background art

Conventionally, a navigation device mounted on a moving body such as a vehicle is based on the absolute position of the moving body detected by satellite navigation and the amount of movement of the moving body detected by self-contained navigation. The current position on the road data is calculated. In satellite navigation, radio signals from multiple GPS (G1 obal Positioning System) satellites are received by a GPS receiver, the distance between the GPS satellite and the GPS receiver is obtained, and the position coordinate data of the GPS receiver is calculated. In the self-contained navigation, the amount of movement of the vehicle is calculated by detecting movement information that fluctuates in accordance with the movement of the vehicle using an independent sensor such as a speed sensor, a direction sensor, or an acceleration sensor.

[0003] In recent years, in order to accurately determine the current position of the vehicle, many navigation devices use map matching to convert the current position of the vehicle from the current position candidate of the moving object to road data close to the actual current position. It has a method to correct. For example, a proposal has been made to determine a current position that is close to the actual current position when and after passing through a narrow-angle branch (see, for example, Patent Document 1 below).

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2003-322534

Disclosure of the invention

Problems to be solved by the invention

[0005] However, the sensor accuracy of navigation devices in recent years is better than that of road data, and many of the factors of map matching position shift are due to errors in road data. An example is the problem that the navigation device cannot accurately determine the current position of the vehicle if the road data is at a position that deviates from the actual position. Another example is the problem that the navigation device cannot guide the route correctly if the road data is at a position that is out of the actual position. And road day The accuracy of the data was that the mismatching location where the road data was shifted from the actual position force was analyzed sensuously through repeated driving experiments. The problem is an example.

Means for solving the problem

In order to solve the above-described problems and achieve the object, an error calculation device according to the invention of claim 1 is indicated by acquisition means for acquiring position information indicating the position of a moving body, and the position information. Based on the history information and the map information, a generation unit that generates information on the traveling locus of the moving object including the position as history information, and calculates a position on the map corresponding to the position indicated in the position information. Selection means for selecting road data to which the position on the map belongs, and the distance between the position indicated in the position information and the selected road data, or the position indicated in the position information and the position on the map And calculating means for calculating the distance between the two as an error of the selected road data.

[0007] Further, the navigation device according to the invention of claim 8 relates to the error calculation device according to claim 1 and the error calculated by the calculation means as error information by associating it with the selected road data. Storage means for storing; and processing execution means for executing navigation processing based on the map information and the error information.

[0008] In addition, an error calculation method according to the invention of claim 11 includes an acquisition step of acquiring position information indicating a position of the moving object, and a running of the moving object including the position indicated by the position information. Based on the generation process for generating information related to the trajectory as history information and the history information and map information, the position on the map corresponding to the position indicated by the position information is calculated, and the road to which the position on the map belongs The road in which the selection step for selecting data and the distance between the position indicated in the position information and the selected road data, or the distance between the position indicated in the position information and the position on the map are selected. And a calculation step calculated as data error.

[0009] Further, the navigation method according to the invention of claim 12 includes an acquisition step of acquiring position information indicating a position of the moving body, and a travel locus of the moving body including the position indicated by the position information. Generation process for generating information on history information, and the history information And a map position corresponding to the position indicated by the position information based on the map information, a selection step for selecting road data to which the position on the map belongs, and a position indicated by the position information. Calculating the distance between the selected road data and the distance between the position indicated in the position information and the position on the map as an error of the selected road data; and A storage step of storing as error information in association with the road data, and a process execution step of executing a navigation process based on the map information and the error information.

[0010] An error calculation program according to the invention of claim 13 causes a computer to execute the error calculation method according to claim 11.

[0011] Further, a navigation program according to claim 14 causes a computer to execute the navigation method according to claim 12.

[0012] Further, the computer-readable recording medium according to the invention of claim 15 records the error calculation program according to claim 13 or the navigation program according to claim 14. .

Brief Description of Drawings

FIG. 1 is a block diagram showing an example of a functional configuration of an error calculation device and a navigation device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing the contents of processing of an error calculation device and a navigation device according to an embodiment of the present invention.

FIG. 3 is a block diagram of an example of a hardware configuration of the navigation device according to the first embodiment.

[FIG. 4] FIG. 4 is an explanatory view showing an example of an error in road data when the vehicle turns left according to the first embodiment.

FIG. 5 is an explanatory diagram showing an example of an approach to the parking lot after the vehicle turns left according to the first embodiment.

[FIG. 6] FIG. 6 is a flowchart showing the contents of the processing of the navigation apparatus which is helpful in the first embodiment.

[FIG. 7] FIG. 7 shows the error of the branch road data at the branch start point according to the second embodiment. It is explanatory drawing which shows an example.

FIG. 8 is an explanatory diagram of an example of an error in the branch road data at the branch end point according to the second embodiment.

FIG. 9 is an explanatory diagram of an example of a vertical movement amount in the vehicle according to the second embodiment.

FIG. 10 is a flowchart of the process performed by the navigation device according to the second embodiment.

FIG. 11 is an explanatory diagram of an example of an error in road data due to the GPS position of the vehicle and road data according to the third embodiment.

FIG. 12 is an explanatory diagram of an example of an error in road data due to the GPS position of the vehicle according to the third embodiment and the map matching position in the road data.

Explanation of symbols

[0014] 100 error calculation device

101 Acquisition Department

102 generator

103 Selection section

104 Calculation unit

110 Navigation equipment

111 Storage unit

112 Processing execution part

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of an error calculation device and a navigation device according to the present invention will be described in detail with reference to the accompanying drawings.

[0016] (Embodiment)

(Functional configuration of error calculation device and navigation device)

With reference to FIG. 1, the functional configuration of the error calculation device and the navigation device according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing an example of a functional configuration of an error calculation device and a navigation device according to an embodiment of the present invention. In FIG. 1, an error calculation device 100 includes an acquisition unit 101, a generation unit 102, a selection unit 103, and a calculation unit 104. The navigation device 110 includes an error calculation device 100, a storage unit 111, and a process execution unit 112.

[0018] Acquisition unit 101 acquires position information indicating the position of the moving object. For example, the position information is acquired from the radio wave received by the GPS satellite force and the output of the self-supporting sensor mounted on the moving body.

[0019] The generation unit 102 generates information on the travel locus of the moving object including the position indicated by the position information acquired by the acquisition unit 101 as history information. The history information includes, for example, information related to the history of the moving distance and moving direction of the moving body.

The selection unit 103 calculates a position on the map corresponding to the position indicated by the position information based on the history information and the map information generated by the generation unit 102, and road data to which the position on the map belongs. Is selected. The road data may be selected, for example, by calculating a position on the map corresponding to a specific position indicated by the history information and selecting the road data to which the position on the map belongs. This specific position is, for example, a position after a right or left turn, a start position and an end position of a branch point, or the like. Also, if the location after the right or left turn is a parking lot, no road data should be selected.

[0021] The calculation unit 104 includes the position indicated by the position information acquired by the acquisition unit 101 and the selection unit 1

The distance from the road data selected by 03 is calculated as the error of the selected road data. Alternatively, the distance between the position indicated in the position information and the position on the map is calculated as an error of the selected road data.

[0022] The storage unit 111 stores the error calculated by the calculation unit 104 as error information in association with the road data selected by the selection unit 103.

The process execution unit 112 executes navigation processing based on the map information and the error information stored in the storage unit 111. The navigation process is, for example, a map matching process for setting the position of a moving body or a route guidance process for guiding a waypoint.

(Processing contents of error calculation device 100 and navigation device 110)

Next, with reference to FIG. 2, an error calculating device 100 and The contents of processing of the navigation device 110 will be described. FIG. 2 is a flowchart showing the contents of the processing of the error calculation device and the navigation device according to the embodiment of the present invention. In the flowchart of FIG. 2, the acquisition unit 101 first acquires the position information of the moving object (step S201).

[0025] Subsequently, the generation unit 102 generates history information (step S202). The history information is, for example, information relating to the traveling locus of the moving body including the position indicated by the position information acquired in step S201.

Next, the selection unit 103 calculates a position on the map corresponding to the position indicated by the position information based on the history information and the map information generated in step S202, and the position on the map belongs. Select road data (step S203).

[0027] Then, calculation section 104 calculates the distance between the position indicated by the position information acquired in step S201 and the road data selected by selection section 103 as an error of the selected road data. Alternatively, the distance between the position indicated by the position information and the position on the map is calculated as an error of the selected road data (step S204). Next, the storage unit 111 stores the error information by associating the error calculated in step S204 with the road data selected in step S203 as error information (step S205). Subsequently, the process execution unit 112 executes navigation processing based on the map information and the error information stored in step S205 (step S206), and ends the series of processes.

[0028] As described above, according to the embodiment of the present invention, the difference between the current position of the moving object and the position information of the moving object on the road data can be calculated as the error of the road data. Therefore, it is possible to evaluate the accuracy of road data and to provide optimal road data.

[0029] Further, by using the error information of the road data for the navigation process, the navigation process can be executed more accurately.

Example 1

[0030] Hereinafter, Example 1 of the present invention will be described. In the first embodiment, for example, the error calculation of the present invention is performed by a navigation device mounted on a vehicle such as an automobile or a motorcycle. An example when the apparatus and the navigation apparatus are implemented will be described.

[0031] (Hardware configuration of navigation device)

The hardware configuration of the navigation device according to the first embodiment will be described with reference to FIG. FIG. 3 is a block diagram of an example of a hardware configuration of the navigation device according to the first embodiment.

In FIG. 3, a navigation device 300 is mounted on a vehicle, and includes a navigation control unit 301, a user operation unit 302, a display unit 303, a position acquisition unit 304, a recording medium 300, A recording medium decoding unit 306, an audio output unit 307, a communication unit 308, a route search unit 309, a route guidance unit 310, an audio generation unit 311, a speaker 312 and an error calculation unit 313 are configured. The

The navigation control unit 301 controls the entire navigation device 300. The navigation control unit 301 includes, for example, a CPU (Central Processing Unit) that executes predetermined arithmetic processing, a ROM (Read Only Memory) that stores various control programs, and a RAM (Random) that functions as a work area for the CPU. It can be realized by a microcomputer constituted by an Access Memory).

[0034] The navigation control unit 301 includes position information indicating the current position of the vehicle acquired by the position acquisition unit 304 at the time of route guidance, and map information obtained from the recording medium 305 via the recording medium decoding unit 306. Based on the above, a position on the map where the vehicle is traveling is calculated, and the calculation result is output to the display unit 303. In addition, based on the calculation result, information on the travel locus of the vehicle is generated as history information. Then, a position on the map corresponding to the current position of the vehicle indicated in the position information is calculated based on the generated history information and map information, and road data to which the position on the map belongs is selected. In addition, the navigation control unit 301 inputs / outputs information related to route guidance between the route search unit 309, the route guidance unit 310, and the voice generation unit 311 during route guidance, and displays information obtained as a result. Output to 303 and audio output unit 307.

The user operation unit 302 acquires information input by the user by operating operation means such as a remote controller, a switch, and a touch panel, and outputs the acquired information to the navigation control unit 301.

[0036] The display unit 303 is, for example, a CRT (Cathode Rav Tube), a TFT liquid crystal display, Includes organic EL displays and plasma displays. Specifically, the display unit 303 can be configured by, for example, a video IZF (interface) or a video display device connected to the video IZF. Specifically, the video IZF is, for example, a graphic controller that controls the entire display device, a buffer memory such as VRAM (Video RAM) that temporarily stores image information that can be displayed immediately, and a graphics controller. It is composed of a control IC that controls the display of the display device based on the image information output from the device. The display unit 303 displays traffic information, map information, information on route guidance, and various other information in accordance with the control related to the output of the navigation control unit 301.

[0037] The position acquisition unit 304 includes a GPS receiver and various sensor forces such as a speed sensor, a direction sensor, and an acceleration sensor, and acquires information on the current position of the vehicle (current position of the navigation device 300). The GPS receiver receives radio waves from GPS satellite power and determines the geometric position with the GPS satellite. GPS is an abbreviation for Global Positioning System, and is a system that accurately determines the position on the ground by receiving radio waves from four or more satellites. The GPS receiver consists of an antenna for receiving radio waves from GPS satellites, a tuner that demodulates the received radio waves, and an arithmetic circuit that calculates the current position based on the demodulated information. Various sensors detect movement information that fluctuates according to the movement of the vehicle, and calculate the amount of movement of the vehicle. For example, the speed sensor detects the speed of the vehicle from the output shaft of the transmission of the vehicle and outputs speed information. The direction sensor detects the amount of change in the direction of travel of the vehicle and outputs travel direction information. The acceleration sensor detects acceleration of the vehicle and outputs acceleration information

In the recording medium 305, various control programs and various information are recorded in a state that can be read by a computer. The recording medium 305 can be realized by, for example, an HD (Hard Disk), a DVD (Digital Versatile Disk), a CD (Compact Disk), or a memory card. Note that the recording medium 305 may accept writing of information by the recording medium decoding unit 306 and record the written information in a nonvolatile manner. [0039] Further, map information used for route search and route guidance is recorded in the recording medium 305. The map information recorded in the recording medium 305 includes background data representing features (features) such as buildings, rivers, and the ground surface, and road data including road shape data representing the shape of the road. Rendered in 2D or 3D on the display screen of the display unit 303. When the navigation device 300 is guiding a route, the map information read from the recording medium 305 by the recording medium decoding unit 306 and the mark indicating the vehicle position acquired by the position acquisition unit 304 are displayed on the display unit 303. The Rukoto.

In the first embodiment, map information and the like are recorded on the recording medium 305. However, the present invention is not limited to this. The map information or the like may be recorded on a server outside the navigation device 300. In that case, the navigation device 300 acquires map information from Sano via the network through the communication unit 308, for example. The acquired information is stored in RAM.

[0041] Further, the recording medium 305 records the road data error calculated by an error calculation unit 313 described later as error information. The error information can be read, for example, according to a user's request, and may be used for analysis of road data error and calculation of accuracy.

The recording medium decoding unit 306 controls reading of information on the recording medium 305 and writing of Z.

[0043] The audio output unit 307 outputs audio such as internal sound, video, music, and the like by controlling output to the connected speaker 312. There may be one speaker 312 or a plurality of speakers 312. The audio output unit 307 can be configured, for example, from a DZA converter that performs DZA conversion of audio digital information, and an amplifier that amplifies an audio analog signal output from the DZA converter.

[0044] The communication unit 308 obtains various types of information from the outside. For example, the communication unit 308 is an FM multiplex tuner, a VICS (registered trademark) Z beacon receiver, a wireless communication device and other communication devices, and other communication via a communication medium such as a mobile phone, PHS, communication card and wireless LAN. Communicate with the device. Alternatively, it may be a device that can communicate by radio broadcast radio waves, television broadcast radio waves, or satellite broadcasts.

[0045] The information acquired by the communication unit 308 includes the power of the road traffic information communication system center. This includes traffic information such as traffic jams and traffic regulations, traffic information acquired by operators in their own way, and other public data on the Internet. For example, the communication unit 308 may request traffic information via a network from a server that stores traffic information and contents throughout the country, and obtain the requested information. In addition, radio broadcasts may be configured to receive video or audio signals from radio waves such as television broadcasts or satellite broadcasts.

[0046] The route search unit 309 uses the map information acquired from the recording medium 305 via the recording medium decoding unit 306, the traffic information acquired via the communication unit 308, and the like. Search for the optimal route. Here, the optimal route is the route that best matches the user's request.

The route guidance unit 310 is obtained from the optimum route information searched by the route search unit 309, the vehicle position information acquired by the position acquisition unit 304, and the recording medium 305 via the recording medium decoding unit 306. Based on the map information, route guidance information for guiding the user to the destination is generated. The route guidance information generated at this time may be information that considers the traffic jam information received by the communication unit 308. The route guidance information generated by the route guidance unit 310 is output to the display unit 303 via the navigation control unit 301.

[0048] The sound generation unit 311 generates information of various sounds such as a guide sound. That is, based on the route guidance information generated by the route guidance unit 310, the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated, and this is output as voice via the navigation control unit 301. Output to part 307.

[0049] The error calculation unit 313 calculates the distance between the current position of the vehicle indicated by the position information acquired by the position acquisition unit 304 and the road data selected by the navigation control unit 301, as the error of the selected road data. Calculate as Alternatively, the distance between the current position of the vehicle indicated in the position information and the position on the map corresponding to the position of the vehicle is calculated as an error of the road data to which the position on the map belongs. Details of the calculation of this road data error will be described later in FIGS.

[0050] Note that the acquisition unit 101, which is a functional configuration of the error calculation device 100 according to the embodiment, The function is realized by the position acquisition unit 304, the generation unit 102, the selection unit 103, and the determination unit 105 by the navigation control unit 301, and the calculation unit 104 by the error calculation unit 313.

[0051] (Explanation of road data error when turning left or right)

Next, an outline of the error of the road data when the vehicle according to the first embodiment of the present invention makes a right or left turn will be described with reference to FIGS. 4 and 5. FIG. In addition, since the explanation at the time of the right turn and the left turn of the vehicle is almost the same, respectively, FIGS. 4 and 5 will be described by taking only the left turn as an example. FIG. 4 is an explanatory diagram of an example of an error in road data when the vehicle turns left according to the first embodiment.

[0052] In FIG. 4, road 401 and road 402 intersect at intersection 403, and vehicles 407 (407a, 407b) force S on roads 401, 4002, directions of Yaguchi 410 (410a, 410b) respectively. The car is driving towards. On the map, road data 404 corresponding to road 401 and road data 405 corresponding to road 402 intersect at intersection data 406 corresponding to intersection 403. The road data 405 includes an error L (1) 408 between the position of the vehicle 407a on the road 403 and the road data 405 and an error L (2) 409 between the position of the vehicle 407b on the road 403 and the road data 405. Have! / The positions of roads 401, 402 and intersections 403 are the positions where the driving trajectory force of the vehicle 407 (407a, 407b) is also estimated as the position of the actual road 'intersection', and road data 404, 405 and intersection data 406 The position is a position stored in the recording medium 305 as a part of the map information.

[0053] The position of the vehicle 407 (407a, 407b) on the map is information relating to the travel locus of the vehicle 407 (407a, 407b) including the current position indicated by the position information acquired by the position acquisition unit 304. It is calculated from certain history information and map information. In this figure, the position of the vehicle 407 (407a, 407b) on the map before the left turn is on the road data 404, and after the left turn is on the road data 405.

[0054] The error L (1) 408 and the error L (2) 409 are calculated when the vehicle 407 (407a, 407b) makes a left turn at the intersection 403 and the vehicle 407 (407a, 407b) indicated in the position information This is done by measuring the distance between the position and the road data 405 to which the position on the map after the left turn belongs. Or, it corresponds to the current position of the vehicle 407 (407a, 407b) indicated in the position information and the current position. This is done by measuring the distance from the map location.

[0055] The determination of turning left or right is made based on, for example, the output of the position acquisition unit 304. Specifically, the direction of the vehicle (the vehicle 407 (407a, 407b) in Fig. 4) for which the output force of the direction sensor is required is more than a certain distance from the direction of the road data (road data 404 in Fig. 4) to which the position on the map belongs. When leaving, it is determined that the vehicle has turned left or right. At this time, in order to determine whether the vehicle is turning left or right at an intersection or right or left outside the intersection, the vehicle made a right or left turn when intersection data (intersection data 406 in Fig. 4) exists near the location on the map of the vehicle. You can make a decision! Furthermore, when there is intersection data (intersection data 406) nearby, the road data that has traveled up to that point and intersected with the road data (road data 404 in Fig. 4)! (In Fig. 4, road data 405) The difference between the direction of vehicle 407 (407a, 407b) and the intersection corresponding to the intersection data (intersection data 406 in Fig. 4) (intersection 403 in Fig. 4) ) You may decide that you have made a left turn!

[0056] Further, the determination of the right or left turn may be made based on history information. Specifically, when the vehicle (vehicle 407 (407a, 407b) in Fig. 4) travels from the history information and it is determined that the road (road 401 in Fig. 4) is also more than a certain distance away, Judge that left turn. At this time, if there is intersection data (intersection data 406 in Fig. 4) near the position on the map of the vehicle in order to determine whether it is a left or right turn at an intersection or an intersection other than the intersection, the intersection data (intersection data) It may be determined that the intersection 403 corresponding to the data 406) is turned to the left.

[0057] When it is determined that the vehicle 407 (407a, 407b) has made a left turn at the intersection 403 as described above, an error (error L (l) 408 or error L (2) 409) is calculated. The details of the error calculation process (error L (1) 408 or error L (2) 409) will be described later with reference to FIG.

[0058] Even if a left turn is detected, if it is not a left turn at intersection 403, no error is calculated. Here, the case where the vehicle enters the parking lot will be described with reference to FIG. FIG. 5 is an explanatory diagram of an example of an approach to the parking lot after the left turn of the vehicle according to the first embodiment.

[0059] In Fig. 5! / Take the road 501 ί, parking lot 502 (502a, 502b) force ^ The vehicle is running with a force S in the direction of vehicle 505 (505a, 505b), and in the direction of Yaguchi 506 (506a, 506b). Further, road data 503 corresponding to the road 501 on the map includes intersection point data 504. Note that the position of the road 501 is the position estimated as the actual road position of the vehicle 505 (505a, 505b), and the positions of the road data 503 and the intersection data 504 are recorded as part of the map information. This is the position stored in the medium 305.

[0060] In this figure! Because there is a parking lot 502 (502a, 502b) near the intersection data 504, when the left turn of the vehicle 505 (505a, 505b) is judged, it corresponds to the intersection data 504 The error is calculated as a left turn at the intersection. If an entry to the parking lot 502 (502a, 502b) is detected, it is not stored as error information. When entering the parking lot 502 (502a, 502b), for example, the vehicle 505 (505a, 505b) is parked at the parking lot 502 (502a, 502b), and it is detected that the navigation device 300 is turned off. Judging by doing. Further, the approach to the parking lot 502 (502a, 502b) may be determined by comparing the position of the vehicle 505 (505a, 505b) on the map after the left turn with the parking lot data included in the map information.

[0061] (Contents of processing of navigation device 300)

Next, the contents of processing of the navigation device 300 according to the first embodiment will be described with reference to FIG. FIG. 6 is a flowchart of the process performed by the navigation device according to the first embodiment. In the flowchart of FIG. 6, the navigation control unit 301 first determines whether or not it is the force that has detected the intersection data near the position on the map of the vehicle (step S601). Here, after waiting for detection of intersection data near the position on the map of the vehicle, if detected (step S601: Yes), the navigation control unit 301 detects that the vehicle has made a turn at the intersection. It is determined whether or not the force has been applied (step S602).

[0062] If it is detected in step S602 that the vehicle has made a turn at the intersection (step S602: No), the series of processing ends.

[0063] When it is detected in step S602 that the vehicle has made a turn at the intersection (step S6 02: Yes), the navigation control unit 301 moves to the position indicated in the position information after the vehicle has made a turn. The corresponding map position is calculated and the road data to which the position on the map belongs is selected. The error calculation unit 313 is the position after the vehicle turns the intersection. The distance between the position indicated in the information and the selected road data is calculated as an error, and temporarily stored in a memory (not shown) or the like (step S603). Alternatively, the distance between the position indicated by the position information after the vehicle turns around the intersection and the position on the map corresponding to the position indicated by the position information is temporarily stored as an error of the selected road data.

[0064] Subsequently, the navigation control unit 301 determines whether or not the vehicle is parked in the parking lot (step S604).

In step S604, when the vehicle is parked in the parking lot (step S604: Yes), the series of processing ends. In this case, the data temporarily stored in step S603 may be deleted.

[0066] If the vehicle is not parked in the parking lot in step S604 (step S604: No), the data temporarily stored in step S603 is associated with the selected road data in the recording medium 305 or a memory (not shown). Is stored as error information (step S605), and a series of processing ends.

[0067] The error information recorded in the recording medium 305 may be used when calculating an average or deviation and statistically analyzing the error of the road data. Then, the degree of error may be determined from the analysis result, and the tuning value may be adjusted in the map matching process. By adjusting the Chu-Jung value, an accurate map matching process can be performed at the intersection. More specifically, when it is detected that the vehicle is bent, the position indicated by the position information after the turn and the road data to which the position on the map corresponding to the position indicated by the position information belongs (or If the distance to the map position is less than the tuning value A (m), map matching is performed on the road data. If the distance is greater than the tuning value A (m), map matching is not performed on the road data.

[0068] Further, the error information may be used for route guidance processing. Specifically, when the error associated with the road data to which the waypoint to be guided belongs is larger than a predetermined value, the guide information for the waypoint is output earlier than usual. In this way, it is possible to prevent guidance delays due to low accuracy of road data. Note that the time for speeding up the output of the guidance information may be changed according to the magnitude of the error.

[0069] According to the first embodiment described above, when a vehicle turns right or left, the point is an intersection. Whether it is a parking lot or a parking lot, an error can be calculated, and error information can be recorded. Then, based on the error information, a more appropriate navigation process can be executed by setting a tuning value in the map matching process and outputting a guidance in route guidance.

Example 2

[0070] Next, Example 2 of the present invention will be described. In the second embodiment, an example in which the road data error at the branch point is calculated by the navigation device 300 described in the first embodiment will be described. The hardware configuration of the navigation device 300 according to the second embodiment is substantially the same as that in FIG.

[0071] (Explanation of road data error at branch point)

Here, an outline of the error of the branch road data at the branch start point according to the second embodiment of the present invention will be described with reference to FIG. 7 and FIG. FIG. 7 is an explanatory diagram of an example of the branch road data error at the branch start point according to the second embodiment.

In FIG. 7, road 701 has a branch shape, and vehicle 705 starts to branch from branch start point 702 of road 701 and travels in the direction of arrow 707 toward branch road 708. is doing. Further, the road data 703 corresponding to the road 701 and the branch road data 709 corresponding to the branch road 708 are connected by the branch start point data 704. Further, the branch road data 709 has an error L (3) 706 between the branch start point 702 on the road 701 of the vehicle 705 and the branch road data 709. The positions of the road 701, the branch start point 702, and the branch road 708 are estimated as actual road / branch point positions from the travel locus of the vehicle 705, and road data 703, branch start point data 704 The position of the branch road data 709 is a position stored in the recording medium 305 as a part of the map information.

[0073] The branch start point is detected by, for example, monitoring the amount of movement in the vertical direction with respect to the road on which the vehicle is currently traveling by the position acquisition unit 304. More specifically, when there is a branch start point data (branch start point data 704 in FIG. 7) in the direction of travel of the position of the vehicle (vehicle 705 in FIG. 7) on the map, the road ( In Fig. 7, road 701) When the force also moves vertically over a predetermined distance, the vehicle It is determined that the movement from the road to the branch road (branch road 708 in Fig. 7) has started. Then, referring to the history information, the point where the vertical movement is started is detected as the branch start point. In addition, the amount of change in the traveling direction of the vehicle may be monitored by the output of the direction sensor. The monitoring of the amount of movement in the vertical direction will be described later in Fig. 9. In addition, if the point where the amount of movement in the vertical direction occurs is not in the vicinity of the branch shape, or if the amount of movement itself does not occur, the branch determination impossibility information is generated and saved. Good.

[0074] The error L (3) 706 of the branch road data is calculated by, for example, calculating the distance between the branch start point 702 and the branch point data 704 when the vehicle 705 is detected to have moved to the branch road 708. Measure.

In FIG. 8, the road 801 has a branch shape, and the vehicle 805 is traveling in the direction of the arrow 807 from the road 801 toward the branch road 807. The road data 808 corresponding to the branch road 807 includes branch end point data 804. Further, the branch road data 808 includes an error L between the branch end point 802 of the branch road 807 of the vehicle 805 and the branch road data 808 after the branch end point data 804 L (4) 806 (the direction of travel after the branch end). Error in the vertical direction). The positions of road 801, branch end point 802, and branch road 807 are estimated as actual road / branch point positions from the travel locus of vehicle 805, and road data 803, branch end point data 804 The position of the branch road data 808 is a position stored in the recording medium 305 as a part of the map information.

The branch end point 802 is detected by, for example, monitoring the amount of movement in the vertical direction with respect to the road on which the vehicle is currently running by the position acquisition unit 304. More specifically, when branch road data exists near the position of the vehicle (vehicle 805 in FIG. 8) on the map, the force on the road on which the vehicle is traveling (road 801 in FIG. 8) is also vertical. When the vehicle travels for a while and finishes moving in the vertical direction, it is determined that the vehicle has finished moving to the current road power branch road (branch road 807 in Fig. 8). To do. And the vertical direction The point where the amount of travel to has ended is detected as a branch end point 802. In addition, the amount of change in the traveling direction of the vehicle may be monitored by the output of the direction sensor. The monitoring of the amount of movement in the vertical direction will be described later with reference to FIG. In addition, if the point where the amount of movement in the vertical direction occurs is not in the vicinity of the branch shape, or if the amount of movement itself does not occur, the branch determination impossibility information may be generated and stored.

[0078] The error L (4) 806 of the branch road data is calculated by, for example, calculating the vertical difference between the branch end point 802 and the branch end point data 804 described above when it is detected that the vehicle 805 has moved to the branch road 807. Measure the distance in the direction.

[0079] Next, the monitoring of the amount of vertical movement in the vehicles 705 and 805 will be described with reference to FIG. FIG. 9 is an explanatory diagram of an example of the vertical movement amount in the vehicle according to the second embodiment.

[0080] As shown in FIG. 9, the road data 903 and the moving direction 904 of the vehicles 705 and 805 form an angle Θ901. The vertical movement amount 902 of the vehicles 705 and 805 can be obtained by adding the sine of the angle 0 901 to the movement amount of the vehicles 705 and 805. The amount of movement of the vehicles 705 and 805 can be obtained, for example, from the outputs of various sensors, and the amount of movement 902 in the vertical direction is (the amount of movement of the vehicles 705 and 805) X sin Θ.

[0081] (Contents of processing of navigation device 300)

Next, the contents of processing of the navigation apparatus 300 according to the second embodiment will be described with reference to FIG. FIG. 10 is a flowchart of the process contents of the navigation device according to the second embodiment. In the flowchart of FIG. 10, the navigation control unit 301 first determines whether or not the force detected the branch shape in the traveling direction of the vehicle (step S1001). For example, the branch shape is detected based on the position of the vehicle indicated by the position information acquired by the position acquisition unit 304 and the map information recorded on the recording medium 305. The structure which detects point data may be sufficient. Here, waiting for the detection of the branch shape, and if it is detected (step S 1001: Yes), the navigation control unit 301 determines the amount of vertical movement relative to the road on which the vehicle is currently traveling. Monitor (step S 1002).

[0082] Subsequently, the navigation control unit 301 detects the vehicle monitored in step S1002. Based on the amount of movement in the vertical direction, it is determined whether or not the movement to the branch road has been detected (step S1003). In step S1003, when the movement to the branch road is not detected (step S1003: No), the process returns to step S1001 and the process is repeated.

[0083] If the movement to the branch road is detected in step S1003 (step S10 03: Yes), the navigation control unit 301 uses the history information to determine the branch start point and branch end point. Detect (Step S 1004).

[0084] Next, the navigation control unit 301 calculates the error of the branch road data at the branch start point and stores it in the recording medium 305, a memory (not shown) or the like (step S100 5), and at the branch end point. The error of the road data is stored in the recording medium 305 or a memory (not shown) (step S1006). Then, a series of processing ends.

[0085] The error of the branch road data at the branch start point and the branch road data at the branch end point are stored as error information in the recording medium 305 or a memory (not shown), and an average or deviation is calculated. It may be used when statistically analyzing the error. Then, it is possible to determine the degree of error as a result of the analysis and adjust the tuning value in the map matching process. By adjusting the tuning value, it is possible to make branch judgments in precise intervals. More specifically, when there is a fork shape in front of the road that is currently running, when the tuning value A (m) or less starts to be monitored, the change in the vertical movement amount 902 begins to be monitored, and then after traveling for a certain distance or more If the vertical movement amount 902 is larger than the tuning value B (m), it is determined that the branch is bent. In addition, if there is a branch shape ahead of the road that is currently running, branch guidance can be performed when the tuning value A (m) or less is reached, and branch guidance can be provided at the correct timing.

[0086] According to the second embodiment described above, in the road where the vehicle has a branch shape, the branch start point and the branch end point are determined, and the error of the branch road data at the branch start point and the branch end point are determined. Error of branch road data can be calculated and error information can be recorded. By setting tuning values and outputting guidance based on the error information, it is possible to provide accurate route guidance on a road having a branch shape.

Example 3 [0087] Next, Example 3 of the present invention will be described. In the third embodiment, an example will be described in which the road data and the road data error due to the GPS position acquired by the position acquisition unit 304 are calculated by the navigation device 300 described in the first embodiment. The hardware configuration of the navigation device 300 according to the third embodiment is substantially the same as that in FIG.

[0088] (Explanation of road data and road data error at GPS position)

The GPS position includes a certain amount of error. The error is reduced by using the GPS position data for a certain period. Therefore, if the GPS position data for a long time is used, it will be very small compared to the road data error, and the difference between the GPS position and the road data can be evaluated as the road data error. Here, an outline of the road data error due to the GPS position and the road data in the vehicle according to the third embodiment of the present invention will be described using FIG. 11 and FIG. FIG. 11 is an explanatory diagram of an example of road data error due to the GPS position of the vehicle and road data according to the third embodiment.

In FIG. 11, the vehicle is traveling on the road 1101 and is located at the GPS position 1103 at each time. Further, the road data 1102 corresponding to the road 1101 is configured to be separated from the GPS position 1103 by the difference 1104. The difference 1104 is stored as error information in, for example, a recording medium 305 or a memory (not shown) that may be calculated by measuring the distance from the GPS position 1103 to the nearest road data 1102.

In FIG. 12, the vehicle is traveling on the road 1201 and is located at the GPS position 1203 at each time. On the road data 1202 corresponding to the road 1201, there is a map matching position 1204 corresponding to the GPS position 1203. The GPS position 1203 and the map matching position 1204 corresponding to the GPS position 1203 are separated by a difference 1205. This is a configuration. The difference 1205 is stored as error information in, for example, the recording medium 305 or a memory (not shown).

[0092] The difference 1104 and the difference 1205 are stored as error information in the recording medium 305 or a memory (not shown), and the average and deviation are calculated, and the errors of the road data 1102 and 1202 are statistically analyzed. You may use when you do. For example, if the degree of error can be determined as a result of analysis, the tuning value in the map matching process may be adjusted based on the error information. More specifically, if the current position of the vehicle is more than A (m) away from the GP S positions 1103 and 1203 by adjusting the tuning value A (m), the map matching process does not move the vehicle position. The vehicle is determined to be a map matching error, and the vehicle position is moved to a location close to the GPS positions 110 3 and 1203.

[0093] According to the third embodiment described above, the difference information 1104 and difference 1205 between the GPS position 1103, 1203 of the vehicle and the road data 1102, 1202 or the map matching position 1204 are calculated, and the error information is recorded. be able to. Then, by setting tuning values and outputting guidance based on the error information, accurate route guidance on the roads 1101 and 1201 can be achieved.

[0094] The road data analysis result can also be used for road data maintenance. For example, if there is an error exceeding a specified value at a certain location, it can be determined that the road data needs to be corrected and the road data can be maintained.

As described above, according to the present invention, the difference between the current position of the vehicle and the position information of the vehicle on the road data can be calculated as an error of the road data. Therefore, it is possible to evaluate the accuracy of road data and to provide optimal road data.

Furthermore, according to the present invention, the tuning value can be adjusted in the map matching process by measuring the accuracy of the road data. Therefore, it is possible to accurately recognize the vehicle position by an accurate map matching process. In addition, if the guidance is issued early on roads with large road data errors, it is possible to provide accurate route guidance without the user misidentifying the road.

[0097] In addition, the road data error may be measured when the navigation device is developed, or may be dynamically acquired by the user during use. The user can dynamically measure and dynamically change the tuning value, thereby realizing an optimal navigation system for the user.

[0098] Further, the present invention only needs to have at least one or more functions according to the first to third embodiments. For example, if it has the functions of Example 1 and Example 3, The road data error may be calculated according to the third embodiment while driving on the road, and the road data error may be calculated using the function of the first embodiment when turning left or right at the intersection. Similarly, if the functions of Example 2 and Example 3 are provided, an error in road data is calculated according to Example 3 while traveling on a normal road, and when traveling on a branched road. The road data error may be calculated by the function of the second embodiment. The present invention may have all the functions of the first to third embodiments.

[0099] Furthermore, in the present invention, an error of road data may be calculated and recorded as error information for each of the first to third embodiments described above. Alternatively, a configuration may be adopted in which a larger error is recorded as error information at a location where there is a difference in each error information.

[0100] In the first to third embodiments described above, the function of the error calculating device 100 of the present invention is a device that displays the current position on the force map described using the in-vehicle navigation device 300. If it exists, it does not need to be limited to in-vehicle. For example, a configuration in which the function of the error calculation device 100 according to the present invention is realized by a mobile phone having a current position display function or the like.

[0101] Further, the distance (off-road distance) that cannot be matched with the road data may be measured and recorded as error information in the recording medium 305. The error information obtained by measuring the off-road distance is converted into data and can be used as an indicator of how many roads there are. Even when measuring the off-road distance, the off-road distance is not measured because the navigation device 300 is considered to be a parking lot before and after turning the power on and off.

[0102] Furthermore, by providing a function that counts the number of times the map matching process has been performed, the number of times the map matching process has been performed is recorded on the recording medium 305. Can be evaluated as V and location with high accuracy of road data.

Note that the error calculation method and the navigation method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. . This program can be read by computers such as hard disks, flexible disks, CD-ROMs, MOs, and DVDs. It is recorded on a recordable recording medium and executed by being read out by the computer. This program may also be a transmission medium that can be distributed over a network such as the Internet! /.

Claims

The scope of the claims

[1] acquisition means for acquiring position information indicating the position of the moving object;

Generating means for generating, as history information, information relating to the travel locus of the mobile body including the position indicated by the position information;

Selection means for calculating a position on the map corresponding to the position indicated by the position information based on the history information and the map information, and selecting road data to which the position on the map belongs;

Calculating means for calculating a distance between the position indicated by the position information and the selected road data, or a distance between the position indicated by the position information and the position on the map as an error of the selected road data; ,

An error calculation device comprising:

[2] The selection means according to claim 1, wherein the selection means calculates a position on a map corresponding to a specific position indicated by the history information, and selects road data to which the position on the map belongs. Error calculation device.

[3] The error calculation device according to claim 2, wherein the specific position is a position after a right or left turn.

4. The error calculating device according to claim 3, wherein the selecting means does not select road data when it is determined that the position after the right or left turn is a parking lot.

5. The error calculation apparatus according to claim 2, wherein the specific position is a branch start position.

6. The error calculating apparatus according to claim 2, wherein the specific position is a branch end position.

[7] The selection means according to any one of claims 1 to 6, wherein the road data is not selected at a predetermined time after the power is turned on or a predetermined time before the power is turned off. Error calculation device.

[8] The error calculation device according to claim 1,

Storage means for storing the error calculated by the calculation means as error information in association with the selected road data; A process execution means for executing a navigation process based on the map information and the error information;

A navigation device comprising:

[9] The navigation system according to claim 8, wherein the process execution means executes a map matching process for setting a position of the moving body based on the map information and the error information. Yong equipment.

10. The navigation apparatus according to claim 8 or 9, wherein the processing execution means executes a route guidance process for guiding a waypoint based on the map information and the error information.

[11] An acquisition step of acquiring position information indicating the position of the moving body;

A generation step of generating, as history information, information relating to the travel locus of the mobile object including the position indicated by the position information;

A selection step of calculating a position on the map corresponding to the position indicated by the position information based on the history information and the map information, and selecting road data to which the position on the map belongs;

A calculation step of calculating a distance between the position indicated by the position information and the selected road data or a distance between the position indicated by the position information and a position on the map as an error of the selected road data; ,

An error calculation method comprising:

[12] An acquisition step of acquiring position information indicating the position of the moving body;

A calculation step of calculating a distance between the position indicated by the position information and the selected road data or a distance between the position indicated by the position information and a position on the map as an error of the selected road data; , Storing the error as error information in association with the selected road data;

A process execution step of performing a navigation process based on the map information and the error information;

A navigation method comprising:

[13] An error calculation program causing a computer to execute the error calculation method according to claim 11.

[14] A navigation program for causing a computer to execute the navigation method according to claim 12.

[15] A computer-readable recording medium in which the error calculation program according to claim 13 or the navigation program according to claim 14 is recorded.