JP4363087B2 - Navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation device, a navigation method, and a method for creating navigation data, and can be applied to, for example, a PDA navigation device. The present invention specifies the entry and exit to the search unit by the node based on the navigation data generated by setting the node where the boundary of the search unit set by dividing the area of the route search range crosses the passage. By detecting a route suitable for movement based on the continuous search unit, a pedestrian or the like can be guided with a simple configuration.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a car navigation device, for example, a shortest route from a current position to a destination is searched using data recorded on a recording medium such as a DVD (Digital Video Disk), and a user is guided along this route. ing.
[0003]
That is, in this type of route search, a road branch point is set as a node, and for example, a cost (weight) proportional to the distance is set as a route connecting the nodes. In this type of route search, a route that can be taken from the current position to the destination is detected, and the cost of the route constituting each route is sequentially added for each route. Further, the route with the smallest addition value is detected from the addition value obtained in this way, and thereby the shortest route to the destination is detected.
[0004]
Regarding such a route search, in Japanese Patent Laid-Open No. 2001-330461, for example, after detecting the shortest route on a map of an upper hierarchy having a size capable of displaying the current position and the purpose at the same time, For the shortest route detected in step 1, a method for searching for the shortest route in more detail on a detailed map has been proposed.
[0005]
[Patent Document 1]
JP 2001-330461 A
[0006]
[Problems to be solved by the invention]
By the way, if it is possible to provide a pedestrian with a route guidance service such as that provided by a car navigation device, it is considered convenient. In this case, it can be considered that a portable information device such as a cellular phone carried by a pedestrian can be dealt with by adding a function similar to that of the car navigation device.
[0007]
That is, for example, when a pedestrian is guided at a department store as shown in FIG. 12, a node is set at a branch point of the pedestrian passage as shown in FIG. Set. In FIG. 13, nodes and paths are indicated by straight lines connecting black dots and black circles, respectively, and costs are indicated by numbers written along the respective straight lines. In the example of FIG. 13, a distance in units of meters is applied to this cost. By setting the nodes in this way and searching for possible routes from the current position to the destination, add the cost of the route for each route, and select the route with the smallest added value The route with the shortest distance can be detected, and the route can be guided to the pedestrian by this route to guide the pedestrian to the destination at the shortest distance. Incidentally, the routes indicated by reference signs A and B in FIG. 2 are examples of the shortest route detected in the route search toward the upper floor from the current position.
[0008]
However, in such route search processing, since it is necessary to process a large amount of data, it takes time for processing, and it is practical only in a device having high processing capacity, sufficient memory capacity, etc. As a result, there was still a problem that was not sufficient in practice for route guidance using a mobile phone or the like.
[0009]
The present invention has been made in view of the above points, and intends to propose a navigation device, a navigation method, and a method for creating navigation data that can guide a pedestrian or the like with a simple configuration.
[0010]
[Means for Solving the Problems]
In order to solve such a problem, in the invention of claim 1, the navigation data is applied to a navigation device that detects a route suitable for movement based on predetermined navigation data and notifies the user, and the navigation data has a route search range. Nodes are set where the boundaries of the search units that are set by dividing the region are crossing the path, and for each search unit, the relationship with other search units based on the node and the nodes in the search unit The navigation device calculates the cost based on the node, and the navigation device detects the route suitable for the movement by the continuous search unit that specifies the entrance and exit to the search unit by the node. To do.
[0013]
According to the configuration of claim 1, the navigation data is set by dividing the area of the route search range when applied to a navigation device that detects a route suitable for movement based on predetermined navigation data and notifies the user of the route. A node is set where the boundary of the search unit crosses the passage, and for each search unit, there is a relationship with other search units based on the node and the cost of movement between nodes within the search unit. Provided, the navigation device calculates the cost based on the node, and if the route suitable for movement is detected by a series of search units in which the entry and exit to the search unit are specified by the node, the navigation device is optimal for the search unit. Can be detected, and the configuration and processing can be simplified compared to the case where a node is provided for each branch point of the passage. This makes it possible to route guidance the pedestrian or the like with a simple structure.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
[0017]
(1) First embodiment
(1-1) Configuration of the first embodiment
FIG. 2 is a block diagram showing a PDA (Personal Digital Assistants) according to an embodiment of the present invention. The PDA 1 can guide a pedestrian.
[0018]
That is, in the PDA 1, the operation input unit 2 includes various operators and notifies the arithmetic processing unit 3 of user operations. As a result, the PDA 1 can input a destination or the like by operating the operation input unit 2, and can instruct route guidance to the destination. The output unit 4 includes a liquid crystal display panel and a speaker for transmitting the processing result of the arithmetic processing unit 3 to the user. In the PDA 1, the user is guided by the display of the output unit 4, and the display and sound of the output unit 4 are displayed. Various contents are provided to the user by the output of.
[0019]
The position detector 5 detects the current position under the control of the arithmetic processor 3 and notifies the arithmetic processor 3 of the current position. In this PDA 1, a GPS positioning method for receiving radio waves from a GPS (Global Positioning System) satellite is applied to the detection of the current position by the position detector 5. As a result, the PDA 1 can detect the current position as the starting point of the road guidance.
[0020]
The sensor unit 6 is configured by a sensor capable of detecting information related to the movement of the PDA 1, and in this embodiment, an acceleration sensor is applied. Accordingly, in the PDA 1, the position detection unit 5 determines the current position. Even when it is difficult to detect the current position, the current position detection result already detected by the position detection unit 5 is corrected so that the current position can be detected.
[0021]
The communication unit 7 is a data communication unit based on, for example, IEEE (The Institute of Electrical and Electrical Engineers, Inc.) 802.11. In the PDA 1, this enables other devices, a LAN (Local Area Network), a WAN (Wide Area). Network) or the like so that various data can be acquired and recorded in the secondary storage unit 8.
[0022]
Therefore, the secondary storage unit 8 is a large-capacity recording device using, for example, a memory card, and records and holds data necessary for processing in the PDA 1. The PDA 1 is configured so that music content and video content can be viewed in addition to the route guidance, whereby the secondary storage unit 8 can display navigation data, which is map information related to route guidance processing, and POIs of various locations. (Point Of Interesting) information and the like, and music content and video content data related to content processing are held. The data in the secondary storage unit 8 is recorded and provided in advance, and is downloaded and recorded from a predetermined server or the like via the communication unit 7 as necessary. .
[0023]
In this embodiment, the navigation data is composed of drawing data and network data. Here, the drawing data is data used to display a map in the output unit 4, and in this embodiment, it is provided for each network data search unit described later. The drawing data is assigned a map number as an identification code for each search unit.
[0024]
On the other hand, the network data is data for route search, and for the search unit set by dividing the route search range area, which is a range for providing user guidance services, with a predetermined range, A node is set where the boundary crosses the passage, and for each search unit, a relationship with another search unit based on this node and a cost for movement between nodes within the search unit are provided. It is formed. In this embodiment, the predetermined range that forms this search unit is set to a range in which a user who walks can grasp the surrounding situation, and is thus dynamically set according to the region.
[0025]
Specifically, for example, in a building such as a department store, a range that is almost visible is set, and as a result, for example, as shown in FIG. 3, a range including a plurality of sales floors is set as a search unit for each floor. . On the other hand, for example, in a space with a limited passage such as a subway station, one floor in one station is set as a search unit as shown in FIG. On the ground, as in the building indoors, the range that can be almost seen is set as the search unit, and as a result, in the intersections and the like that are crowded, the sidewalks on both sides of the intersection, A range including surrounding buildings is set as a search unit.
[0026]
In the network data, the boundary point data indicates the relationship with other search units based on this node, and the boundary point correlation cost data indicates the cost related to movement between nodes within the search unit. ing. In FIG. 3, the user's entry / exit between adjacent search units is indicated by arrows, and nodes are indicated by symbols a to g. In FIGS. 4A and 4B, nodes are indicated by reference signs a to h and a to i, respectively. Thus, the example shown in FIG. 4B is a case where the entrance / exit by the node f matches the entrance / exit by the node a in FIG. 4 (A).
[0027]
That is, FIG. 5 is a chart showing the contents of the boundary point data. In the boundary point data, node numbers (indicated by lowercase letters) that identify the nodes are provided at the nodes located at the boundaries of the search unit. . Further, for each node, the coordinates on the corresponding map are recorded, the map number of another search unit where each node is located, and the node number in the other search unit are recorded. Accordingly, in the example of FIG. 5, the node e has a search unit corresponding to the map data with the map number 0005753, a search unit corresponding to the map data with the map number 0005754, and a search unit corresponding to the map data with the map number 0005755. , And the node number is set to c in the search unit corresponding to the map data of map numbers 0005753, 0005754, and 0005755, respectively. It can be seen that the search unit corresponding to the map data of 0005753 can be moved to the search unit corresponding to the map data of the map numbers 0005753, 0005754, and 0005755.
[0028]
On the other hand, FIG. 6 is a chart showing boundary point correlation cost data. The boundary point correlation cost data is configured by recording the cost corresponding to the distance between the nodes in the search unit for each of the other nodes that can move from one node. For example, in FIG. 3, when there are a plurality of such routes that can move from one node to another node, such as the route from node b to node c in FIG. Is set. In addition, no cost is recorded when there is no movable route in this search unit, such as the route of the node g provided in the middle of the downstream escalator from the node f provided in the middle of the upstream escalator. Has been made. As a result, the PDA 1 can detect which node can be moved through the shortest distance via a route with a search unit in between.
[0029]
In the PDA 1, the shortest route is searched based on a node set as a search unit by performing a route search using this network data, whereby the route between nodes in the search unit is selected by the user. Therefore, the configuration of the arithmetic processing unit 3 can be simplified as compared with the case where a node is provided for each branch point of the passage.
[0030]
That is, in a place such as a department store, even if it is the shortest distance, it may take time to move depending on the degree of congestion. In addition, there are cases where the layout of the passage is often changed by the pattern change. In this way, if a range in which the user can grasp the situation is set as a search unit, and the route setting is left to the selection by the user in this search unit range, the user can move efficiently. In other words, in this case, it can be said that it is sufficient to provide a rough guide for passing through to the destination such as stairs, escalators and doorways.
[0031]
In addition, when users enjoy window shopping while traveling, they may take a break for a while. In such cases, entrusting the user with route selection improves the user's usability. Can do.
[0032]
In the navigation data, position information corresponding to the current position detected by the position detection unit 5 is set for each search unit set in this way.
[0033]
In the arithmetic processing unit 3, the central processing unit (CPU) 12 starts up the operation according to the recording in the read only memory (ROM) 11, secures a work area in the random access memory (RAM) 13, and records it in the read only memory 11. By executing the processed processing program, the entire operation is controlled in response to the operation of the operation input unit 2 obtained via the interface unit (I / F unit) 14, thereby providing various contents to the user. And guide the user again. In the arithmetic processing unit 3, a non-volatile memory 15 such as an SRAM using a battery pack or a flash memory may be provided to record a processing program or the like.
[0034]
That is, when the user gives an instruction to reproduce the content, the central processing unit 12 sequentially reproduces and decodes the content according to the instruction from the secondary storage unit 8 and outputs the decoded content from the output unit 4. On the other hand, when the user gives directions, the route suitable for movement is detected by executing the processing procedure shown in FIG. 7, and the user is guided by this route.
[0035]
That is, when starting this processing procedure, the central processing unit 12 moves from step SP1 to step SP2, and controls the operation of the position detection unit 5 to detect the current position. In subsequent step SP3, the map is sequentially displayed on the output unit 4 in response to the operation of the operation input unit 2 by the user, and the destination input by the user is accepted in this map display.
[0036]
When the central processing unit 12 receives the input of the start point and end point of the movement route in this way, the central processing unit 12 subsequently proceeds to step SP4 and sequentially stores the navigation data from the secondary storage unit 8 for the search unit between these start point and end point. Read. That is, as shown in FIG. 1, the central processing unit 12 has the search units K2, K3 in which the corresponding nodes N3, N4 are set from the nodes N1, N2 set in the search unit K1 to which the start point PS that is the current position belongs. Is detected. Further, the search units K4 and K5 in which the corresponding nodes N9 to N12 are set are detected from the other nodes N5 to N8 set in the search units K2 and K3, and these processes are performed on the destination PE as the destination. Detection is performed up to the search unit K6 to which it belongs, and thereby navigation data is sequentially read for all routes from the search unit of the start point PS to the search unit of the end point PE. In FIG. 1, the number on the upper left of the search unit is a map number.
[0037]
Subsequently, the central processing unit 12 moves to step SP5, and calculates the cost set in the navigation data on the basis of the node for the movable route detected in this way, so that the node moves to the search unit. A route suitable for movement is detected by a series of search units that specify the entrance and the exit. In other words, for such a continuous path of nodes, the cost is added to detect the route having the smallest added value, and in this embodiment, the route suitable for movement is detected by the shortest route. In this case, as shown in FIG. 8, the relationship of the nodes may be converted into a form that allows the shortest path search such as Dijkstra to be processed. In FIG. 8, symbols C1 to C8 are costs between the nodes.
[0038]
In this process, the central processing unit 12 calculates the costs up to the nodes N1, N2 and N15, N16 with reference to the coordinates of the start point PS and the end point PE for the search unit of the start point PS and the end point PE. In this case, for the search unit of the start point PS and the end point PE, the cost up to the node may be calculated by cost calculation based on the same branch point as in the past.
[0039]
When the route suitable for movement is detected in this way, the central processing unit 12 moves to step SP6 and displays a map corresponding to the search unit to which the current position belongs on the output unit 4. In this display, the central processing unit 12 responds from the current position so as to point from the entry node to the exit node of the corresponding search unit as indicated by the arrow C in FIG. 9 or as indicated by the arrow D. The path to which the user should go is displayed so as to indicate the exit node of the search unit, and the user is guided by the route suitable for the detected movement. When the central processing unit 12 guides the user in this way and is instructed to end the processing by the user, the central processing unit 12 moves to step SP7 and ends the processing procedure.
[0040]
Accordingly, in the PDA 1, the operation input unit 2, the arithmetic processing unit 3, the output unit 4, and the secondary storage unit 8 constitute a functional block shown in FIG.
[0041]
(1-2) Operation of the first embodiment
In the above configuration, when the user operates the operation input unit 2 to instruct road guidance, the PDA 1 detects the current position by the position detection unit 5, acquires the destination via the operation input unit 2, A route suitable for movement is detected by processing the navigation data held in the secondary storage unit 8 based on the current position and destination by the arithmetic processing unit 3. In addition, this route is displayed on the output unit 4 so that the user can be guided to the destination by, for example, the shortest route.
[0042]
In the navigation data processing, the PDA 1 sets a search unit by dividing a region that provides a route guidance service to a user by a predetermined range, and sets a node where the boundary of the search unit crosses the passage. For each search unit with such settings, the relationship with other search units based on the node and the cost for movement between nodes within the search unit are set, and navigation data is formed. The
[0043]
As a result, the PDA 1 detects a route suitable for movement on the basis of the search unit by a process similar to the route search process by cost calculation in which the conventional branch point is set as a node.
[0044]
In this case, the PDA 1 is applied to the route search related to walking with a relatively detailed map, and even if there are many branch points within one search unit, the search unit is simply Since the location where the boundary of the crossing of the passage is set as a node, the amount of calculation for route search can be significantly reduced compared to the conventional one, and by that amount, the configuration is simpler than the conventional one. A pedestrian can be guided.
[0045]
Also, in this way, within the search unit, it is entrusted to the user to select a route, thereby improving usability. That is, in a place such as a department store, even if it is the shortest distance, it may take time to move depending on the degree of congestion. In addition, there are cases where the layout of the passage is often changed by the pattern change. In this way, if a range in which the user can grasp the situation is set as a search unit, and the route setting is left to the selection by the user in this search unit range, the user can move efficiently. In other words, in this case, it can be said that it is sufficient to provide a rough guide for passing through to the destination such as stairs, escalators and doorways. In addition, when users enjoy window shopping while traveling, they may take a break for a while. In such cases, entrusting the user with route selection improves the user's usability. Can do.
[0046]
(1-3) Effects of the first embodiment
According to the above configuration, based on the navigation data generated by setting the node where the boundary of the search unit set by dividing the region of the route search range crosses the passage, the node enters the search unit and By detecting a route suitable for movement based on a series of search units that specify the exit, it is possible to guide a pedestrian or the like with a simple configuration.
[0047]
That is, by configuring the navigation data in this way, the capacity of the secondary storage unit 8 can be reduced, and the capacity of the memory constituting the arithmetic processing unit 3 can also be reduced. Even when the navigation data is downloaded via the communication unit 7, the time required for communication can be shortened. Further, the whole can be configured by using the central processing unit 12 having a low processing capacity.
[0048]
In addition, by performing route search in this manner, it is possible to detect a route suitable for movement using a plurality of different maps, and further, information on latitude and longitude is set in the navigation data. Even if there is no route, a route suitable for movement can be detected. The route detection process suitable for movement can be performed by the same process as the cost calculation based on the conventional branch point.
[0049]
In addition, since the route suitable for this movement is a route that moves by walking, when the search unit is set to the line-of-sight range, for example, when guiding a department store sales office, etc., the user is guided with a simple configuration, Furthermore, user convenience can be improved.
[0050]
(2) Second embodiment
In this embodiment, a route is detected on the server side and notified to a portable device capable of data communication by wire or wireless.
[0051]
That is, as shown in FIG. 11, in this embodiment, the server 40 is a computer installed at a predetermined connection point, for example, and is a portable device having current position detecting means via a network 41 such as the Internet. A portable device such as a telephone 42 is connected. The server 40 acquires the current position and destination from the mobile phone 42 by access from the mobile phone 42, detects a route suitable for movement in the same manner as described above for the first embodiment, and Notice.
[0052]
For this reason, the server 40 is connected to the network 41 by the communication unit 44, and a work area is secured in the random access memory (RAM) 46 according to the recording in the read only memory (ROM) 45 and recorded in the hard disk device (HDD) 47. By executing a predetermined program by a central processing unit (CPU) 48, navigation data recorded in the hard disk device 47 is processed to execute route search processing.
[0053]
As in this embodiment, even when a route is detected and notified on the server side to a portable device capable of data communication by wire or wirelessly, the same effect as the first embodiment is obtained. Obtainable.
[0054]
(3) Other embodiments
In the above-described embodiment, the case where a map is held in search units has been described. However, the present invention is not limited to this, and a map in which a plurality of search units are collected may be held.
[0055]
In the above-described embodiment, the case where the cost between nodes is expressed based on the distance has been described. However, the present invention is not limited to this, and the cost may be expressed by travel time. You may make it mix the cost by a different standard. When costs based on different standards are mixed, a configuration for converting one cost into a cost based on the other standard is required.
[0056]
In the above-described embodiment, the case where the operation input unit 2 is configured by an operator and the user receives an input of a destination or the like has been described. However, the present invention is not limited to this, for example, by a remote commander, a touch panel, or the like. You may make it comprise, Furthermore, you may make it accept operation by a user by applying the method of voice recognition and image recognition. When applying voice recognition, a microphone that is a voice acquisition unit and a voice recognition unit that recognizes voice acquired by the microphone are provided. In image recognition, a camera for acquiring an image and an image recognition means for recognizing an image from the camera are provided.
[0057]
Further, in the above-described embodiment, the case where the map is displayed on the output unit 4 by the liquid crystal display panel to guide the user is described. However, the present invention is not limited to this, and the output unit 4 includes various display means. The present invention can be widely applied, and further, voice synthesis may be applied to guide the route by voice.
[0058]
In the above-described embodiment, the case where the current position is detected by applying the GPS positioning method has been described. However, the present invention is not limited to this, and various methods may be applied to detect the current position. The current position may be detected by an input by the user, and in the case of the input by the user, the configuration of the position detection unit 5 can be omitted.
[0059]
In the above-described embodiment, the case where the current position detected by the position detection unit 5 is corrected based on the detection result of the sensor unit 6 has been described. However, the present invention is not limited thereto, and the sensor unit 6 is omitted. Such correction of the current position may be omitted.
[0060]
In the above-described embodiment, the case where the communication unit 7 is configured by the data communication unit based on IEEE 802.11 has been described. However, the present invention is not limited to this, and other wireless communication units such as Bluetooth are used in the communication unit 7. It may be applied, or a wired communication means such as USB (Universal Serial Bus) may be applied to the communication unit 7, and further an offline communication means such as a memory card may be applied. When there is no need to acquire navigation data or the like, the communication unit 7 may be omitted.
[0061]
In the above-described embodiments, the present invention is applied to PDAs and servers to guide pedestrians. However, the present invention is not limited to this, and various portable information devices such as mobile phones, for example. The present invention can be widely applied to a vehicle navigation system, and can also be widely applied to a car navigation device or the like to guide a vehicle. In addition, when applying to a car navigation apparatus in this way, in the sensor part 6, the sensor provided in the vehicle can be applied. In such a sensor, a vehicle speed sensor that detects the number of rotations of the wheel, a vibration gyro sensor that detects the rotation angular velocity of the vehicle body, an acceleration sensor that detects the acceleration of the car, a vibration sensor that detects the vibration of the car, etc. is there. In addition, devices such as parking brake switches, brake lamp switches, steering rudder angle sensors, throttle opening sensors, etc. are used to detect the state of the vehicle's travel operation device. It may be useful. The secondary storage unit 8 may be an optical disk device such as a CD-ROM or DVD-ROM, a hard disk device, or the like.
[0062]
【The invention's effect】
As described above, according to the present invention, based on the navigation data generated by setting a node where the boundary of the search unit set by dividing the area of the route search range crosses the passage, the node moves to the search unit. By detecting a route suitable for movement based on a series of search units that specify the entrance and exit of the vehicle, it is possible to guide the pedestrian or the like with a simple configuration.
[Brief description of the drawings]
FIG. 1 is a schematic diagram used for explaining route search processing in a PDA according to a first embodiment of the present invention;
FIG. 2 is a block diagram showing a PDA according to the first embodiment of the present invention.
FIG. 3 is a plan view for explaining navigation data in the PDA of FIG. 2;
FIG. 4 is a plan view for explaining navigation data related to the station premises and the like.
FIG. 5 is a chart showing the contents of boundary point data.
FIG. 6 is a chart showing boundary point correlation cost data.
7 is a flowchart showing a processing procedure of a central processing unit in the PDA of FIG.
FIG. 8 is a schematic diagram for explaining route search in the PDA of FIG. 2;
9 is a plan view showing a display in the PDA of FIG. 2. FIG.
10 is a functional block diagram of the PDA of FIG.
FIG. 11 is a block diagram showing a second embodiment.
FIG. 12 is a plan view showing a department store.
13 is a plan view showing node settings for the route shown in FIG. 12. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... PDA, 2 ... Operation input part, 3 ... Operation processing part, 4 ... Output part, 5 ... Position detection part, 6 ... Sensor part, 7 ... Communication part, 8 ... Secondary storage Part

Claims (2)

In a navigation device for detecting a route suitable for movement based on predetermined navigation data and notifying a user,
The navigation data is
A node is set at a location where the boundary of the search unit set by dividing the region of the route search range crosses the passage, and for each search unit, the relationship with other search units based on the node, and the search Costs associated with movement between nodes within the unit,
The navigation device includes:
A route suitable for the movement is detected by calculating the cost based on the node, and detecting a route suitable for the movement based on a continuation of the search unit in which the entry and exit to the search unit are specified by the node. . The navigation apparatus according to claim 1, wherein the route suitable for movement is a route that moves by walking.

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