JPH11304512A - Navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system for performing the appropriate operation of the system by changing map matching control corresponding to conditions. SOLUTION: Whether or not the entrance of a specified road (toll road, tunnel or bridge) is present near a present position calculated from the position measurement data of a GPS receiver and data from an angle sensor and an acceleration sensor is judged, whether or not a present vehicle is traveling on/traveling parallelly to the specified road at the time is judged, and in the case that present vehicle is traveling on or traveling parallelly to the specified road, strong map matching control for not making the present position deviate from a present vehicle traveling road at present is performed. As shown in the figure, in the condition where a general road and the toll road are parallelly present, in the case that the position measurement data erroneously advance to the toll road even though traveling on the general road by performing the strong map matching control, the recognition of advance to the toll road is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation system, and more particularly, to a car navigation system that uses a positioning device such as a GPS receiver to display a measured position of a vehicle on a map.

[0002]

2. Description of the Related Art FIG. 5 is a block diagram showing an outline of a conventional positioning device using only a GPS receiver. FIG.
In the example shown in (1), the current position is calculated by the main CPU block 2 based on the positioning data (speed, azimuth, east longitude, north latitude, etc.) sent every second from the GPS receiver 1, and the CD unit 3 The display device 4 reads map data from the storage device and combines the current position with the map.
To be displayed. In the car navigation system using the above-mentioned GPS receiver, if the position of the own vehicle is displayed using only the GPS positioning data, the speed, the direction, the east longitude, and the north latitude change even during stoppage due to an error in the GPS positioning data. If the vehicle position changes, or if the vehicle position is displayed using only GPS positioning data even while driving,
Due to an error in the GPS positioning data, the own vehicle position will be displayed in a place other than the road even while traveling on the road,
For this reason, a technique called map matching is used.

[0003] Map matching usually means that a car travels on a road. Therefore, an error in the GPS positioning data is taken into consideration. This refers to the control of matching the travel route of the car with the map, moving the vehicle position on the road, and displaying it. However, when map matching is performed, the vehicle position is displayed only on the road when driving on a road that does not exist in the map data, or when actually driving on a place other than the road such as a parking lot. However, there may be a problem that the vehicle position is not displayed at a correct position.

Further, in this conventional method, once map matching is performed, the own vehicle is considered to be running on the same road until the vehicle leaves the road to some extent.
Therefore, if map matching is performed on another lane for a lane that actually runs once on a toll road or the like, it is difficult to return to the correct lane because roads often run in parallel. Also, when a route search to the destination is performed based on the position of the own vehicle, if the wrong lane is recognized as the position of the own vehicle as described above, a toll road or the like is a one-way road that cannot make a U-turn. The user cannot search for the intended route.

[0005] On the other hand, if the map matching is canceled due to an error in the GPS signal or the like, the vehicle cannot be moved to a part other than the general road from a part other than the exit on a toll road. Is displayed. Since the entrance of a toll road or the like is limited, once it enters, it does not return to a general road from a place other than the exit. Therefore, if map matching control is performed in this section, the processing becomes heavy, and the map becomes heavy. By performing matching control, the own vehicle position is displayed in the other lane with respect to the own lane,
Displaying the position of the own vehicle on a portion other than the road is a mistake, meaning that useless control is being performed.

[0006]

SUMMARY OF THE INVENTION As described above, the present invention has been made in view of the fact that in a conventional navigation system, control by map matching may not always work effectively as an operation of the system depending on circumstances. An object of the present invention is to provide a navigation system for performing an appropriate system operation by changing map matching control according to a situation.

[0007]

SUMMARY OF THE INVENTION In order to solve such technical problems, the present invention relates to a positioning device using a GPS receiver alone or a GPS receiver + an angle sensor or an acceleration sensor, wherein an entrance of a toll road, a tunnel, or the like is provided. Map information storage means such as a CD-ROM having clear entrance / exit position information of a specific road and information of a designated one-way road; means for detecting parallel running with the specific road; Means for comparing the designated direction of the one-way designated road with the self-propelled direction, and strong map matching that does not deviate from the own vehicle traveling road when traveling on the specific road or when running parallel to the specific road. A navigation system is characterized by performing control.

The invention of each claim constitutes the following technical means. The invention according to claim 1 is a positioning device, own position calculating means for expressing own position information obtained by the positioning device as map position information, and a map obtained by reading map information stored in a storage means. In a navigation system having self-position display means for displaying position information, and a map matching control means for correcting the self-position information by matching a road map included in the map information with a traveling route based on the self-position information, A route change-impossible road detecting means for detecting whether or not a relation of the current own traveling road to a specific road on which a traveling route cannot be changed in the road has a predetermined relationship; and the map matching control means includes: It is characterized in that the matching strength is selected according to the detection result of the unchangeable road detecting means.

A second aspect of the present invention is characterized in that, in the first aspect of the present invention, the route change-impossible road detecting means has means for detecting passage through an entrance of the specific road on which a traveling route cannot be changed. .

A third aspect of the present invention is characterized in that, in the first or second aspect of the present invention, the route change-impossible road detecting means has means for detecting parallel running with the specific road on which the traveling route cannot be changed. Things.

According to a fourth aspect of the present invention, in any one of the first to third aspects of the present invention, the route change-impossible road detecting means has means for comparing a designated direction of a one-way designated road with a self-propelled direction. It is a characteristic.

According to a fifth aspect of the present invention, in the invention of any one of the first to fourth aspects, the map matching control means includes: a self-propelled road for the specific road on which the unchangeable road detecting means cannot change a traveling route; Is characterized in that stronger matching is selected only when it is detected that the relation of.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a flowchart of a processing procedure performed by a CPU block in an embodiment of a navigation system according to the present invention. After the GPS receiver calculates the current position and its own position by the positioning data obtained independently or by the positioning data sent from the GPS receiver and the angle sensor or the acceleration sensor, the flow enters the flow of FIG. It is determined whether there is an entrance to a specific road, for example, a toll road, a tunnel, a bridge, or the like near the calculated current position (step S1). Takes into account the conditions of one-way traffic (steps S3 and S4), and determines whether or not the vehicle is traveling / parallel to a specific road (step S3)
2) A strong map that does not deviate from the current vehicle traveling road when the vehicle is traveling on a specific road, and when the vehicle is running on a specific road even when not traveling on the specific road. The matching control is performed (step S5).

It is determined whether the vehicle is approaching the exit of the specific road while traveling on the specific road (step S6). If it is determined that the vehicle has reached the exit, one-way conditions are also taken into consideration (steps S8 and S9). It is determined whether the own vehicle has moved from a specific road to a general road (step S7), and it is detected whether the parallel road on which the own vehicle is traveling is a one-way road (step S8). When a car moves on a public road,
When the positioning data departs from the road to some extent, or when the vehicle runs in parallel on a one-way road, the same one-way direction and the traveling direction of the vehicle are detected (step S9). Then, normal map matching for displaying the own vehicle position in a portion other than the road is performed (step S10).

When traveling on a normal road, not all narrow roads are recorded in the map data, and the vehicle often travels on non-roads such as parking lots and shops. Displaying the position on the road is not correct, and there is no need for control operation by normal map matching. However, specific roads such as toll roads, tunnels, and bridges have limited entrances and exits. Since the vehicle is not in contact with other roads and travels only from these doorways to general roads and non-roads, when the vehicle approaches the toll road, tunnel, bridge, etc. in the map data, the car is identified It checks whether the vehicle has passed the entrance of the road, judges that the vehicle is traveling on a toll road, etc. at the time of passing the entrance, and performs strong map matching control. Only the particular road so as to display the vehicle position. This can prevent the vehicle position from being displayed on a place other than the place where the vehicle is currently traveling, such as a toll road, while traveling on a toll road or the like.

Also, as shown in FIG. 3, when there is a general road near a toll road or the like, it is recognized that the vehicle is traveling on a toll road which is a specific road whose route cannot be changed until reaching the exit once entering. In such a case, by performing strong map matching control, even if the GPS positioning data is off the toll road, it is possible to prevent the vehicle position from being displayed in a place other than the toll road. In such a case, when the route is one-way such as a toll road, the own vehicle position is displayed on the lane in the direction in which the vehicle is currently traveling, taking into account the direction of the one-way traffic. Thus, even in a state where the lines are parallel at close intervals like a toll road, the own vehicle position can be displayed on the currently traveling lane.

Further, as shown in FIG. 4, when a general road and a toll road are present in parallel and the GPS positioning data erroneously enters the toll road despite running on the general road. By performing strong map matching control, it is possible to prevent recognition of entry into a toll road. Then, the control of the map matching is returned to the normal state only when the vehicle passes through the entrance of this route or when the vehicle departs from this route more than the error of the GPS positioning data (for example, 500 m) near this entrance. This prevents the position of the own vehicle from being displayed on a toll road or the like even when it is not detected that the vehicle has passed through the exit despite returning to the general road from the exit.

[0018]

The following effects are achieved by the present invention.
According to the present invention, it is detected whether or not the relation of the traveling road of the own vehicle to a specific road is a predetermined relation, and based on the result, whether the map matching control is performed normally or strongly is selected. When it is recognized that the vehicle is traveling on a specific road such as a toll road, a tunnel, or a bridge, the route that the vehicle actually travels by performing strong map matching control even if the position data of the own vehicle is incorrect. It will not be displayed in any other location, and errors in the display of the vehicle position will be reduced. Further, even if there is a similar error in the positioning data while traveling on a general road that is close to and parallel to the specific route, the own vehicle position is not displayed on the specific route, and errors in the own vehicle position are reduced. If you are traveling on a specific route and cannot change the route until you reach the exit, the vehicle position should always be displayed on the specific road.Therefore, the vehicle position should be displayed on the road or displayed on a part other than the road. Since the control of the kimono becomes unnecessary, the processing speed can be improved.

[Brief description of the drawings]

FIG. 1 is a flowchart of a processing procedure performed by a CPU block in an embodiment of a navigation system according to the present invention.

FIG. 2 is a flowchart of a processing procedure performed by a CPU block in one embodiment of the navigation system according to the present invention.

FIG. 3 is a diagram illustrating an example of an actual car position and GPS positioning data when a general road exists near a toll road.

FIG. 4 is a diagram showing an example of an actual vehicle position and GPS positioning data when a general road and a toll road exist in parallel.

FIG. 5 is a block diagram showing an outline of a conventional positioning device using a GPS receiver.

[Explanation of symbols]

1 ... GPS receiver, 2 ... Main CPU block, 3 ... C
D unit, 4 ... display device.

Claims (5)

[Claims] 1. A positioning device, self-position calculating means for representing self-position information obtained by the positioning device in map position information, and self-position information on a map obtained by reading map information stored in a storage means. And a map matching control unit that corrects the self-position information by matching a road map included in the map information with a traveling route based on the self-position information. A route change-impossible road detecting means for detecting whether or not a relation of the current self-propelled road to a specific road on which a travel route cannot be changed is determined in advance, wherein the map matching control means A navigation system for selecting a matching strength according to a detection result of a road detecting unit. 2. The navigation system according to claim 1, wherein said non-routable road detecting means includes means for detecting passage through an entrance of said specific road on which a traveling route cannot be changed. 3. The navigation system according to claim 1, wherein said non-routable road detecting means includes means for detecting parallel running with said specific road on which a traveling route cannot be changed. 4. The navigation system according to claim 1, wherein said unchangeable-route detecting means includes means for comparing a designated direction of a one-way designated road with a self-propelled direction. 5. The method according to claim 5, wherein the map matching control means is configured to determine whether or not the route change-impossible road detecting means has detected that the relationship of the own travel route to the specific road on which the travel route cannot be changed has a predetermined relationship. The navigation system according to any one of claims 1 to 4, wherein strong matching is selected.