JP6829038B2 - Information processing equipment, information processing methods and programs - Google Patents

Description

The present invention relates to an information processing device, an information processing method and a program.

In recent years, mobile terminals having a positioning function by GPS (Global Positioning System), autonomous navigation, or the like have become widespread. The positioning function by autonomous navigation can use various sensors (for example, a geomagnetic sensor, a gyro sensor, an acceleration sensor) to position a position in a place where GPS positioning is not possible, such as underground or indoors.

The positioning function of the mobile terminal has a route matching process that identifies the user's estimated position on the guidance route based on the positioning result by autonomous navigation, and whether or not it is on the guidance route based on the positioning result by autonomous navigation. It includes a map matching process that identifies the user's estimated position at any point.

Patent Document 1 describes that a mobile navigation terminal selects and uses a route matching process or a map matching process according to a situation in which the terminal is used. Further, in Patent Document 2, in the navigation system, only route matching is performed on the terminal side, and when it is determined that the current position deviates from the guidance route, the current position information is transmitted to the server and map matching is performed on the server side. It is described that the terminal is accurately positioned by performing the above.

Japanese Unexamined Patent Publication No. 2005-241391 Japanese Unexamined Patent Publication No. 2011-47886

As a result of route matching, even if it is determined that the estimated position cannot be specified on the guide route, that is, the estimated position deviates from the guide route, the estimated position may be specified on the guide route when the position is specified by map matching. is there. However, in the conventional system such as Patent Documents 1 and 2, even in such a case, it is treated as a state deviating from the guide route (off route).

Therefore, an object of the present invention is to treat it as not an off-route, that is, a state of being on the guide route, when the estimated position is specified on the guide route even if it is once determined to be out of the guide route. To be able to do it.

The information processing device according to the present invention is an information processing device that estimates a user's position on a guidance path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. The positioning information acquisition unit that acquires positioning information including the moving direction and the positioning information acquisition unit perform route matching that specifies the estimated position of the user on the guidance path based on the positioning information, and the estimated position is placed on the guidance path. If it cannot be specified, it includes a position estimation unit that performs map matching that specifies the estimated position of the user at an arbitrary position on the road network based on the positioning information, and the position estimation unit includes the map matching unit. If the estimated position of the user can be specified on the guide route by the route matching performed again based on the estimated position specified by the user, the route matching is specified by the route matching performed again. The estimated position is displayed on the display unit as a result of route matching.

The information processing method according to the present invention is an information processing method for estimating a user's position on a guide path, and is a movement distance of the user specified based on information on the movement of the user detected by a sensor. The step of acquiring positioning information including the moving direction, the step of performing route matching for specifying the estimated position of the user on the guide path based on the positioning information, and the step of guiding the estimated position by the route matching. If it cannot be specified on the route, it is based on the process of performing map matching that specifies the estimated position of the user at an arbitrary position on the road network based on the positioning information, and the estimated position specified by the map matching. If the estimated position of the user can be specified on the guide route by the step of performing route matching again and the route matching performed again, the estimated position specified by the route matching performed again is used for route matching. As a result, it includes a step of displaying on the display unit.

In the program according to the present invention, a computer that estimates a user's position on a guidance path is positioned including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by a sensor. When the positioning information acquisition unit for acquiring information and the route matching for specifying the estimated position of the user on the guidance route are performed based on the positioning information, and the estimated position cannot be specified on the guidance route, Based on the positioning information, the position estimation unit functions as a position estimation unit that performs map matching that specifies the estimated position of the user at an arbitrary position on the road network, and the position estimation unit is set to the estimated position specified by the map matching. If the estimated position of the user can be specified on the guide route by the route matching performed again based on the route matching, the estimated position specified by the route matching performed again is the result of the route matching. Is displayed on the display unit.

According to the present invention, even if it is determined that the vehicle is once deviated from the guide route, if the estimated position is specified on the guide route, it can be treated as not being an off route, that is, being on the guide route.

The block diagram which shows the hardware composition of the mobile terminal 10 according to the embodiment of this invention. The block diagram which shows the functional structure of the mobile terminal 10 according to the embodiment of this invention. The flowchart of the route guidance processing executed in the mobile terminal 10 according to the embodiment of this invention. 4 (A) to 4 (C) are diagrams illustrating a method of specifying an estimated position of the mobile terminal 10 according to the embodiment of the present invention.

Next, a mode for carrying out the present invention will be described in detail with reference to the drawings.
Embodiment

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the invention is not limited to these.

FIG. 1 is a block diagram showing a hardware configuration of a mobile terminal (information processing device) 10 according to an embodiment of the present invention. The mobile terminal 10 is a mobile phone (including a smartphone), a tablet terminal, a PDA (Personal Digital Assistants), a navigation-dedicated terminal, a personal computer, and the like. As shown in FIG. 1, the mobile terminal 10 includes a control unit 11, a communication unit 12, a storage unit 13, an operation unit 14, a display unit 15, a sensor 16, and a speaker 17. The control unit 11 includes a CPU (Central Processing Unit) 11a and a memory 11b.

In the control unit 11, the CPU 11a controls the operation of various configurations included in the mobile terminal 10 by expanding and executing the program stored in the storage unit 13 or the like in the memory 11b, and also controls the execution of various processes. To do. Details of the processing executed by the control unit 11 will be described later.

The communication unit 12 is a communication interface for communicating with an external device. For example, the communication unit 12 receives data or a command from an external device, or transmits a processing result by the mobile terminal 10 to the outside.

The storage unit 13 is a non-volatile storage device, and is composed of, for example, a semiconductor memory or the like. The storage unit 13 stores various programs and various information necessary for executing the processing in the control unit 11.

The operation unit 14 is a user interface for receiving a user's instruction of the mobile terminal 10 and outputting it to the control unit 11. The operation unit 14 is composed of, for example, operation keys, a touch panel, and the like.

The display unit 15 is a user interface for displaying the processing result of the mobile terminal 10. The display unit 15 is composed of a display device using a liquid crystal, an LED (Light Emitting Diode), or the like.

The sensor 16 is composed of various sensors. The sensor 16 can include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, a barometric pressure sensor, and the like. The sensor 16 can detect various actions of the user who carries the mobile terminal 10.

The speaker 17 outputs various sounds such as voice, music, and sound effects according to the processing control by the control unit 11.

In the present embodiment, the mobile terminal 10 is configured by a single information processing device, but the present invention is not limited to this, and the configuration and functions of the mobile terminal 10 by a plurality of information processing devices capable of communicating with each other. May be realized.

FIG. 2 is a block diagram showing a functional configuration of the mobile terminal 10. The mobile terminal 10 includes a database 110, a route guidance unit 111, a signal positioning unit 112, an autonomous navigation positioning unit 113, a positioning information acquisition unit 114, a position estimation unit 115, and a display control unit 116 as functional configurations. The database 110 is implemented by the storage unit 13. Further, the functions of the route guidance unit 111, the signal positioning unit 112, the autonomous navigation positioning unit 113, the positioning information acquisition unit 114, the position estimation unit 115, and the display control unit 116 include the CPU 11a in the control unit 11 and the storage unit 13 and the like. It is realized by expanding the program stored in the memory 11b and executing it. The details of each functional configuration included in the mobile terminal 10 will be described below.

The database 110 stores various information such as information necessary for the process executed by the mobile terminal 10 and information generated by the process.

The route guidance unit 111 acquires information on the guidance route from the departure point to the destination according to the input route search condition, and presents the guidance route to the user via the display unit 15. Provide route guidance. In the present embodiment, the guide route includes any route that can be moved by the user, such as a road, a plaza, and indoor and underground corridors.

Regarding the search for the guidance route, the route guidance unit 111 refers to, for example, map data stored in the database 110 (or acquired from an external device via the communication unit 12) according to the route search condition input by the user. , The information of the guide route is acquired by executing the route search. Alternatively, the route search process according to the input route search condition may be performed by an external device, and the route guide unit 111 may acquire the process result of the route search. As the route search method, any method such as the label determination method or the Dijkstra method can be used. The optimum route means that the cost information from the starting point to the destination point is the minimum. The cost information of the link can be set according to the purpose, such as distance, required time, charge, other parameters, and any combination of various parameters.

Further, the route guidance unit 111 presents the route via the display unit 15 for route guidance, displays the information of the user's current location specified by the process described later, and outputs the voice guidance via the speaker 17. You can also do it.

The signal positioning unit 112 positions the current position of the mobile terminal 10 (or the user of the mobile terminal 10) based on the GPS satellite signal received by the GPS receiver (not shown), and provides information on the positioned position (for example,). (Latitude and longitude information) is output together with the positioning time information. Further, the signal positioning unit 112 can position the current position of the mobile terminal 10 according to the signal received from the access point installed near the mobile terminal 10. Further, the mobile terminal 10 receives a signal of a radio signal transmitting device such as RFID (Radio Frequency Identifier) or Bluetooth (registered trademark), and positions the current position of the mobile terminal 10 according to the received signal. You can also. The signal positioning unit 112 performs positioning processing at arbitrary timings and time intervals (for example, every second). Hereinafter, in the present embodiment, the positioning process performed in response to a signal received from an external device such as a GPS satellite signal, a signal from an access point, and an RFID radio signal is referred to as signal positioning.

The autonomous navigation positioning unit 113 is based on the movement information of the user of the mobile terminal 10 detected by the sensor 16, and the movement distance, movement direction, and position information (latitude and longitude) of the mobile terminal 10 (or the user of the mobile terminal 10). Information) is measured by autonomous navigation and output as positioning information together with positioning time information. The autonomous navigation positioning unit 113 performs positioning processing at arbitrary timings and time intervals (for example, every second). For positioning by the autonomous navigation positioning unit 113, any autonomous navigation technique using a sensor 16 or the like can be adopted.

In order to perform positioning, the autonomous navigation positioning unit 113, for example, is the number of steps of movement from the reference position (positioning position specified at the time of the previous positioning) at the time of walking movement of the user due to the movement of the user detected by the sensor 16. And the movement direction are specified, and the information of the relative movement distance and the movement direction from the reference position is calculated based on the specified number of steps and the movement direction. The relative movement distance is, for example, multiplied by the above-specified number of steps by multiplying, for example, a standard stride when a person walks (or a pre-measured stride of the user of the mobile terminal 10) (for example, 65 cm). Calculated by. The information on the moving direction indicates the displacement in the relative moving direction (angle) from the time of the previous positioning.

The autonomous navigation positioning unit 113 positions the current position of the mobile terminal 10 based on the calculated travel distance and travel direction information from the reference position. A more accurate current position may be specified by acquiring a reference position by the positioning process of the signal positioning unit 112.

Further, the autonomous navigation positioning unit 113 determines whether or not there is an ascending / descending movement by using an escalator, an elevator, a staircase, or the like, based on the amount of change in the atmospheric pressure value with the passage of time measured by the sensor 16 (atmospheric pressure sensor). Autonomous navigation technology using a barometric pressure sensor can be used to determine the presence or absence of up / down movement. For example, the autonomous navigation positioning unit 113 outputs positioning information indicating that the ascending / descending movement is detected when an increase or decrease in the atmospheric pressure value is detected during each positioning time point.

The autonomous navigation positioning unit 113 outputs the positioning information of the mobile terminal 10 specified as described above at an arbitrary timing and time interval (for example, every second). The positioning information includes information on the relative movement distance and movement direction from the previous positioning time point, information on the number of steps since the previous positioning time point, information on the current position (latitude and longitude information), and presence / absence of detection of up / down movement. Information etc. is included.

The positioning by the autonomous navigation positioning unit 113 is effective when the mobile terminal 10 cannot receive the GPS signal or the signal from the access point (for example, when the user carrying the mobile terminal 10 is indoors or underground). Alternatively, when the mobile terminal 10 can receive the above signal but the positioning accuracy by the signal positioning unit 112 is considered to be low (for example, when the user carrying the mobile terminal 10 is in a place surrounded by an outdoor high-rise building). However, positioning by the autonomous navigation positioning unit 113 is effective. Therefore, the mobile terminal 10 can switch whether to perform positioning by the signal positioning unit 112 or the autonomous navigation positioning unit 113, for example, according to the reception status of the GPS signal or the signal from the access point.

The positioning information acquisition unit 114 receives the positioning information each time the positioning information is output from the autonomous navigation positioning unit 113, and supplies the positioning information to the position estimation unit 115.

The position estimation unit 115 performs route matching for specifying the estimated position of the mobile terminal 10 (or the estimated position of the user of the mobile terminal 10) on the guidance route based on the positioning information. Specifically, the position estimation unit 115 sets a position advanced by a predetermined distance in the direction of the destination along the guide path from the previous estimated position (the starting point position in the case of the first time) as the estimated position of the mobile terminal 10. Identify. The predetermined distance here is determined based on the positioning information output by the autonomous navigation positioning unit 113. For example, the moving distance included in the positioning information may be used as a predetermined distance. Further, a value obtained by multiplying the number of steps included in the positioning information by a preset stride may be set as a predetermined distance.

Further, the position estimation unit 115 performs map matching when the route matching fails. The case where the route matching fails is the case where the estimated position of the mobile terminal 10 cannot be specified on the guide route (off-route). For example, when it is determined that the mobile terminal 10 has traveled in a direction different from the traveling direction of the guiding route based on the information of the moving direction included in the positioning information, it is determined that the mobile terminal 10 has deviated from the guiding route. Specifically, when the moving direction included in the positioning information or the cumulative value of the moving direction included in the positioning information for a predetermined number of times differs from the traveling direction of the guiding route by a certain angle or more, the traveling direction differs from the traveling direction of the guiding route. It can be judged that it has proceeded in the direction.

Further, as another example in which it is determined that the route matching has failed, the current position of the mobile terminal 10 indicated by the latitude / longitude information included in the positioning information is off the guidance route, and the current position and guidance of the mobile terminal 10 When the shortest distance to the route (the length of the perpendicular line drawn from the current position of the mobile terminal 10 to the guide route) is equal to or more than a certain value, it may be determined that the mobile terminal deviates from the guide route.

In map matching, unlike route matching, the estimated position is not specified on the guide route based on the positioning information, but is registered in the map data based on the positioning information regardless of whether it is on the guide route or not. Identify an estimated location at any location on the road network. Specifically, the position estimation unit 115 identifies a position advanced by the movement distance included in the positioning information in the movement direction included in the positioning information from the previous estimated position as a provisional estimated position, and further, provisionally The estimated position is specified by map matching by pulling the estimated position onto the road network registered in the map data. If the provisional estimated position cannot be drawn into the road network, the estimated position may be specified at a point outside the road network.

Further, in the present embodiment, the position estimation unit 115 determines whether or not the route matching is successful by performing the route matching again using the information of the estimated position by the map matching after the route matching fails and the map matching is performed. judge. Specifically, if the estimated position by map matching is on the guide route or within a certain distance from the guide route, it is judged that the route matching is successful, and the estimated position is the result of route matching (ON). It is displayed on the display control unit 116 as a route). On the other hand, if the estimated position by map matching is not on the guide route, it is determined that the route matching has failed, and the estimated position is displayed on the display control unit 116 as the result of map matching (off-route).

As the starting point position on the guidance route, the position on the guidance route where the user of the mobile terminal 10 has started to move is set. Further, it is desirable that the information on the starting point position is set as highly reliable information as possible as the information on the position where the user actually started moving. For example, when the accuracy of positioning by the signal positioning unit 112 is high (for example, when the strength of the received GPS signal is strong), the position of the mobile terminal 10 positioned by the signal positioning unit 112 can be set as the starting position. ..

Further, when the positioning accuracy of the positioning by the signal positioning unit 112 is high (for example, when the strength of the received GPS signal is strong), the position estimation unit 115 sets the position of the mobile terminal 10 positioned by the signal positioning unit 112 as the mobile terminal. It can also be specified as an estimated position of 10.

The display control unit 116 controls the display of various information and images on the display unit 15. For example, the display control unit 116 controls the display unit 15 to display the estimated position of the user on the guide route specified by the position estimation unit 115.

(Route guidance processing)
Next, the route guidance process executed in the mobile terminal 10 will be described with reference to the flowchart of FIG.

First, in step S11, the route guidance unit 111 refers to the map data and the like stored in the database 110 according to the route search conditions input by the user of the mobile terminal 10, and executes the route search from the departure point. Acquire information on the guide route to the destination.

Next, in step S12, the position estimation unit 115 sets the starting point position of the mobile terminal 10 on the guide path searched in step S11.

Next, in step S13, the autonomous navigation positioning unit 113 performs positioning of the moving distance and moving direction of the mobile terminal 10 based on information such as the number of steps of the user of the mobile terminal 10 detected by the sensor 16.

Next, in step S14, the autonomous navigation positioning unit 113 provides positioning information including information on the moving distance and moving direction of the mobile terminal 10, information on the current position (information on latitude and longitude), information on the presence or absence of vertical movement, and the like. It is output to the positioning information acquisition unit 114.

Next, in step S15, the position estimation unit 115 acquires the positioning information output by the autonomous navigation positioning unit 113 from the positioning information acquisition unit 114, and moves from the previous estimated position (the starting point position in the first case) to the guide path. Along the line, the position advanced by the moving distance of the mobile terminal 10 output by the autonomous navigation positioning unit 113 is specified as the estimated position of the mobile terminal 10 (route matching).

Next, in step S16, the position estimation unit 115 determines whether or not the route matching executed in step S15 was successful. If it is determined to be successful as a result of the determination (YES), the process proceeds to step S21. On the other hand, if it is determined that the failure has occurred (NO), the process proceeds to step S17.

In step S17, the position estimation unit 115 performs map matching using the positioning information used in step S15. That is, the estimated position of the mobile terminal 10 is specified at an arbitrary position on the road network regardless of whether or not it is on the guide route.

Next, in step S18, the position estimation unit 115 executes route matching using the result of the map matching executed in step S17.

Next, in S19, the position estimation unit 115 determines whether or not the route matching executed in step S18 is successful. If it is determined to be successful as a result of the determination (YES), the process proceeds to step S21. On the other hand, if it is determined that the failure has occurred (NO), the process proceeds to step S20.

In step S20, the position estimation unit 115 causes the display control unit 116 to display the estimated position of the mobile terminal 10 by the map matching executed in step S17 as the result of map matching (off-route).

In step S21, the position estimation unit 115 causes the display control unit 116 to display the estimated position of the mobile terminal 10 by the route matching executed in step S15 or step S18 as the result of the route matching (on-route).

Next, in step S22, the route guidance unit 111 determines whether or not the estimated position of the mobile terminal 10 has reached the destination of the guide route, and if not (NO), the process proceeds to step S13. To do. On the other hand, when the destination has been reached (YES), the process ends.

4 (A) to 4 (C) are diagrams illustrating a method of specifying an estimated position of the mobile terminal 10 according to the present embodiment. In the figure, the line (U) indicates the movement of the user, and R1, R2, and R3 indicate the actual positions of the user at the times t1, t2, and t3, respectively. Further, X1, X2, and X3 indicate the estimated positions of the users specified by the position estimation unit 115 at the times t1, t2, and t3.

As shown in FIG. 4A, at time t1, the user is traveling along the guide route R, and the route matching performed based on the positioning information is successful. Therefore, the position estimation unit 115 estimates the estimated position X1 (on-route). ) Is specified.

At time t2, the user is traveling substantially along the guide path R. At this point, since the cumulative value of the moving direction included in the positioning information is not significantly different from the traveling direction of the guide route R, the route matching based on the positioning information is successful, and the position estimation unit 115 determines the estimated position X2 (on-route). Be identified.

At time t3, the user's actual position R3 does not deviate from the road W1 along the guidance route R, but since it meanders on the road W1, the cumulative value of the movement direction included in the positioning information and the guidance The difference in the traveling direction of the route R is large. Therefore, route matching is determined to be unsuccessful (off-route).

At this time, as shown in FIG. 4B, the position estimation unit 115 first sets a provisional estimated position Xm3'based on the estimated position X2 obtained by the previous route matching. Further, a process of drawing the temporary estimated position Xm3'to the road W2 is performed, and the estimated position Xm3 (off-route) by map matching is specified.

Further, as shown in FIG. 4C, the position estimation unit 115 performs route matching again using the estimated position Xm3 by map matching. Although the estimated position Xm3 is on the road W2, the route matching is successful because the distance from the road W1 is only a short distance, and the estimated position X3 (on-route) by the route matching is specified. If the estimated position Xm3 is far away from the road W1 and the route matching fails, the estimated position Xm3 (off-route) by map matching is output as the estimated position at time t3.

As described above, according to the present embodiment, the position estimation unit 115 performs map matching when it is determined that the route matching performed based on the positioning information has failed (off-route). Furthermore, if route matching is performed again using the estimated position by map matching and it succeeds, the estimated position is displayed as the result of on-route. As a result, even if it is determined that the route matching has failed, for example, when the user meanders on the road but is not (or) actually deviated from the guide route or is only a short distance away. Finally, it can be treated as being on the guide route (on-route).

Further, when it is determined that the mobile terminal 10 has traveled in a direction different from the traveling direction of the guidance route based on the information of the moving direction included in the positioning information, it is determined that the route matching has failed. Therefore, it can be determined that the user has deviated from the guidance route when the user enters the wrong road at a corner.

Further, when the current position of the mobile terminal 10 indicated by the latitude / longitude information included in the positioning information is off the guidance route and the shortest distance between the current position of the mobile terminal 10 and the guidance route is a certain value or more, Since it is determined that the route matching has failed, it can be determined that the guide route has been deviated regardless of whether or not there is a corner.

The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above embodiments are merely exemplary in all respects and are not to be construed as limiting.

In addition, each processing step included in the above processing flow can be arbitrarily changed in order or executed in parallel within a range that does not cause a contradiction in the processing contents, and other steps can be inserted between each processing step. You may add it. Further, the steps described as one step for convenience can be executed by being divided into a plurality of steps, while those described as one step can be grasped as one step for convenience.

Further, the program of the present invention can be installed or loaded on a computer by downloading through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network or the like. ..

10 Mobile terminal, 11 Control unit, 12 Communication unit, 13 Storage unit, 14 Operation unit, 15 Display unit, 16 Sensor, 17 Speaker, 110 Database, 111 Route guidance unit, 112 Signal positioning unit, 113 Autonomous navigation positioning unit, 114 Positioning information acquisition unit, 115 position estimation unit, 116 display control unit

Claims (5)

An information processing device that estimates the user's position on the guidance route.
A positioning information acquisition unit that acquires positioning information including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by the sensor.
Route matching is performed to specify the estimated position of the user on the guidance route based on the positioning information, and when the estimated position cannot be specified on the guidance route, the road network is based on the positioning information. A position estimation unit that performs map matching that specifies the estimated position of the user at an arbitrary position of the user is provided.
The position estimation unit
Route matching is performed again based on the estimated position specified by the map matching, and if the estimated position of the user can be specified on the guide route by the route matching performed again, the route matching performed again is performed. The identified estimated position is displayed on the display unit as a result of route matching, and when the estimated position of the user cannot be specified on the guide route by the route matching performed again, the specified estimated position is specified by the map matching. An information processing device that displays the estimated position on the display unit as a result of map matching . The position estimation unit
When it is determined that the user has traveled in a direction different from the traveling direction of the guide route based on the information of the movement direction included in the positioning information, the estimated position is set to the guide route by the route matching. The information processing apparatus according to claim 1, wherein it is determined that the above cannot be specified, and the map matching is performed. The position estimation unit
When the current position of the user is deviated from the guide route based on the positioning information and the shortest distance between the current position of the user and the guide route is a certain value or more, the route matching is performed. The information processing device according to claim 1, wherein it is determined that the estimated position cannot be specified on the guide path, and the map matching is performed. It is an information processing method that estimates the position of the user on the guidance route.
A process of acquiring positioning information including the movement distance and movement direction of the user specified based on the movement information of the user detected by the sensor, and
A step of performing route matching for specifying the estimated position of the user on the guide route based on the positioning information, and
When the estimated position cannot be specified on the guide route by the route matching, a step of performing map matching to specify the estimated position of the user at an arbitrary position on the road network based on the positioning information, and a step of performing map matching.
The process of performing route matching again based on the estimated position specified by the map matching, and
When the estimated position of the user can be specified on the guide route by the route matching performed again, the estimated position specified by the route matching performed again is displayed on the display unit as the result of the route matching . When the estimated position of the user cannot be specified on the guide route by the route matching performed again, the step of displaying the estimated position specified by the map matching on the display unit as a result of the map matching. Information processing methods including ,. A computer that estimates the user's position on the guidance route,
A positioning information acquisition unit that acquires positioning information including the movement distance and movement direction of the user, which is specified based on the movement information of the user detected by the sensor.
Route matching is performed to specify the estimated position of the user on the guidance route based on the positioning information, and when the estimated position cannot be specified on the guidance route, the road network is based on the positioning information. It functions as a position estimation unit that performs map matching that specifies the estimated position of the user at an arbitrary position of
The position estimation unit
Route matching is performed again based on the estimated position specified by the map matching, and if the estimated position of the user can be specified on the guide route by the route matching performed again, the route matching performed again is performed. The identified estimated position is displayed on the display unit as a result of route matching, and when the estimated position of the user cannot be specified on the guide route by the route matching performed again, the specified estimated position is specified by the map matching. A program that displays the estimated position on the display unit as a result of map matching .