JP5795278B2 - Navigation device, autonomous navigation support method, and autonomous navigation support program - Google Patents

Description

  The present invention relates to, for example, a navigation device that is used by being mounted on an automobile, a motorcycle, a bicycle, or the like, or is used while being held by a pedestrian, and a method and program used in the navigation device.

  Currently, many automobiles are equipped with navigation devices. The navigation device measures the current position of the vehicle using GPS (Global Positioning System), displays the position of the vehicle on a map, and provides route guidance to the destination by using voice guidance together. . Further, the navigation device has a map matching function and an autonomous navigation function using detection outputs of a speed sensor, a direction sensor (geomagnetic sensor), an acceleration sensor and the like mounted on the host vehicle. Thereby, even if an error is included in the GPS radio wave, or even when the radio wave from the GPS satellite cannot be temporarily received, the current position of the own device can be appropriately specified.

  However, the conventional navigation apparatus has a problem that it cannot be determined whether the vehicle is traveling on the highway or the general road in a place where the highway and the general road exist in parallel with each other. In addition, for example, radio waves from GPS satellites cannot be received in tunnels and underpasses, but conventional navigation devices cannot recognize why radio waves from GPS satellites cannot be received.

  In order to solve the former problem, Patent Document 1 discloses an invention for discriminating between a highway and a general road according to the travel time of the measurement section and the traffic situation of the measurement section. Patent Documents 2 and 3 disclose inventions that discriminate between highways and ordinary roads by paying attention to different driving states between highways and ordinary roads. Patent Document 4 discloses an invention for discriminating between a highway and a general road based on the length of a photographed road-like white line. As a proposal for solving the latter problem, Patent Document 5 discloses an invention for detecting whether or not a tunnel is based on a luminance feature amount and a hue feature amount of captured image data. Yes.

JP 2007-093393 A JP 2005-292052 A JP 2000-292191 A JP 2005-114535 A JP 2007-030734 A

  As described above, the conventional navigation device can specify a two-dimensional (on a plane) position, but lacks means for capturing the top and bottom (altitude) such as an expressway or a general road. In addition, there is a lack of means for determining whether or not the vehicle is in a tunnel or underpass and properly grasping its current position. Of course, it is possible to use the technique described in the above-mentioned patent document, but there is a problem in that various processing functions must be installed and the load on the navigation device increases.

  In recent years, a navigation device called PND (Portable Navigation Device), which is reduced in size and weight and can be easily attached to / detached from a dashboard of an automobile, has been widely used. Since the PND cannot receive detection outputs from various sensors mounted on an automobile like a stationary navigation device, the PND has many simplified functions compared to a stationary navigation device. In such a PND, it is desired to realize a more accurate navigation function.

  In recent years, portable information terminals such as high-function mobile phone terminals called smartphones and tablet PCs (PC is an abbreviation for personal computer) have come to be widely used. And it is desired that these high-function mobile phone terminals, tablet PCs, and the like be equipped with an accurate navigation function.

  In view of the above, an object of the present invention is to realize an accurate navigation function even in PNDs and various portable information terminals.

In order to solve the above problem, the navigation device of the invention according to claim 1 is:
A navigation device that provides route guidance by performing a matching process between the current position from the current position measurement means and the map data of the map database,
Photographing means for photographing a moving image;
A first analysis means for obtaining information about a place where the user is by analyzing the captured video;
A second analysis means for recognizing a right or left turn to obtain a movement locus of the subject by analyzing the captured image;
Based on the information about the place where the self is obtained through the first analysis means and the movement locus of the self obtained through the second analysis means , the current position from the current position measurement means and the map database Correction means for correcting the result of the matching process with the map data.

According to the navigation apparatus of the first aspect of the present invention, route guidance is performed by performing a matching process between the current position from the current position positioning means and the map data of the map database. In this case, the first analysis unit analyzes the video shot through the shooting unit and acquires information about the location where the user is. Then, the second analysis unit analyzes the video imaged through the imaging unit, thereby performing right / left turn recognition and acquiring its own movement trajectory. Thereafter, based on the information about the place where the self is obtained through the first analyzing means and the movement locus of the self obtained through the second analyzing means , the correcting means performs the current position from the above-described current position measuring means. The result of the matching process between the map data and the map data in the map database is corrected.

  In this manner, the location where the subject is on the map obtained by the matching process is corrected based on the information regarding the location where the subject is present obtained by analyzing the captured video. Thereby, a highly accurate navigation device can be realized.

  According to the present invention, an accurate navigation function can be realized in a PND and various portable information terminals by using the captured video.

It is a block diagram for demonstrating the structural example of the mobile telephone terminal 1 of embodiment. It is a figure which shows the example of the picked-up image | video analyzed by the image | video analysis part 151. FIG. It is a figure which shows the example of the picked-up image | video analyzed by the image | video analysis part 151. FIG. 4 is a flowchart for explaining an outline of navigation processing executed in the mobile phone terminal 1; 5 is a flowchart for explaining an acquisition process of information relating to a place where the user is present, which is executed in the mobile phone terminal 1;

  Hereinafter, embodiments of the apparatus, method, and program of the present invention will be described with reference to the drawings. Note that the present invention can be applied to a PND having a camera function capable of photographing the traveling direction, or a portable information terminal such as a smart phone or a tablet PC. In the embodiment described below, in order to simplify the description, a case where the present invention is applied to a high-function mobile phone terminal having a widely used camera function will be described as an example.

[Configuration example of high-function mobile phone terminal 1]
A high-performance mobile phone terminal (hereinafter simply referred to as a mobile phone terminal) 1 according to this embodiment is easily attached to and detached from a frame that is simply attached to a dashboard of an automobile by, for example, a suction cup or double-sided tape. It is possible. The mobile phone terminal can be used as a navigation device when attached to the frame. Of course, it can be used by attaching it to a motorcycle, a bicycle, or the like, or it can be used as a navigation device for pedestrians while it is held by a user.

  In the following, a case where the vehicle is mounted on a frame on a dashboard of an automobile and used as a navigation apparatus for an automobile will be described as an example. First, the configuration of the mobile phone terminal 1 of this embodiment will be described. FIG. 1 is a block diagram for explaining a configuration example of the mobile phone terminal 1 of this embodiment.

[Basic components of mobile phone terminal 1]
The control unit 100 controls each unit of the cellular phone terminal 1, and is a computer in which a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, and a RAM (Random Access Memory) 103 are connected through a CPU bus 104. Device. The storage device 110 includes a nonvolatile memory as a recording medium, and performs writing / recording holding / reading / deleting various application programs and data obtained by various processes to the nonvolatile memory. The storage device 110 also records and holds voice data and the like for emitting voice guidance for navigation.

  The transmission / reception antenna 111 and the wireless communication unit 112 realize a function of performing communication through a wide area network such as a mobile phone network or the Internet. A handset (speaker) 113 and a handset (microphone) 114 are for making a call. That is, the wireless communication unit 112 connects a call line to the other party through the mobile phone network, and enables a call through the handset (speaker) 113 and the handset (microphone) 114. In addition, the wireless communication unit 112 is connected to the Internet, enables transmission / reception of data through the Internet, transmission / reception of electronic mail, browsing of Web pages disclosed on the Internet, and the like.

  The key operation unit 121 includes hardware keys provided in the mobile phone terminal 1 and accepts operation inputs from the user. The display processing unit 122 and the display unit 123 are for displaying display information such as various images (images) and display messages. The touch panel 124 is affixed to the display screen of the display unit 123, detects a contact position (contact coordinates) by an indicator such as a user's finger, and notifies the control unit 100 of this. Therefore, the touch panel 124 constitutes an input interface together with display information displayed on the display screen of the display unit 123 whose display position is controlled by the control unit 100. The audio output unit 125 and the speaker 126 are for outputting various audio information.

  The camera unit 127 includes an imaging lens, an imaging device, a camera signal processing circuit, and the like. The camera unit 127 captures a video (image) of a subject and captures the video as video (image) data of a digital signal. It has a function of recording in the recording area. In the mobile phone terminal 1 of this embodiment, the camera unit 127 is provided on the surface of the display unit 123 opposite to the display screen. When the mobile phone terminal 1 is placed on the dash board in the automobile, the photographing lens of the camera unit 127 is directed to the traveling direction of the automobile (the front outside of the automobile), and photographs the image in the traveling direction. Will be possible. Therefore, the display screen of the display unit 123 provided on the surface opposite to the camera unit 127 is directed to the inside of the automobile so that the driver can view it.

  In the mobile phone terminal 1 of this embodiment, as will be described in detail later, when the navigation function is executed, the mobile phone terminal 1 performs video analysis of the shot video (video data) shot through the camera unit 127, Get information about where you are. It has a function of correcting the current position of the self using the acquired information on the place where the self is. Note that when the navigation function is executed, navigation information such as a map is displayed on the display unit 123, so that the video corresponding to the video data from the camera unit 127 is subject to video analysis. It is never displayed.

  A map database (hereinafter referred to as map DB) 131 is created on a large-capacity recording medium such as a non-volatile memory, and map data (map drawing data) such as vector data and raster data for drawing a map. Is stored in association with latitude / longitude information. The map is displayed on the display unit 123 when the navigation function is executed. The map DB 131 also associates so-called guidance data such as text data such as note data, direction signboards, intersection names, names of tunnels and underground passages, and image information thereof, which are displayed on the map, in association with latitude / longitude information. Keep in memory. The time control unit 132 manages the current date, current day of the week, and the current time, and also has a function as a timer that measures the time from a predetermined time point.

  The sensor unit 141 includes an acceleration sensor and an orientation sensor (geomagnetic sensor). The acceleration sensor detects the inclination of the mobile phone terminal 1 in order to specify, for example, the posture of the mobile phone terminal 1. The direction sensor detects which direction the mobile phone terminal 1 is facing by detecting geomagnetism. With this azimuth sensor, when taking a picture using the camera unit 127, it is possible to detect which direction is taken. The sensor unit 141 may be a triaxial (front / rear, left / right, up / down) acceleration sensor or a 6-axis sensor that combines an acceleration sensor and an angular velocity sensor. The GPS unit 142 and the GPS antenna 143 are for positioning the current position of the own device. Although not shown in FIG. 1, the cellular phone terminal 1 of this embodiment also includes a vibrator, a ringer, and the like for notifying the occurrence of an incoming call or warning.

  The cellular phone terminal 1 having these configurations can make and receive calls. It is also possible to create and refer to an e-mail, access the Internet to send and receive e-mail, browse a web page, and use SNS (Social Networking Service).

  Further, as shown in FIG. 1, the navigation function can be provided by the function of the navigation processing unit included in the control unit 100. In this case, the control unit 100 performs a route search from the departure point to the destination input by the user using the map data of the map DB 131. And the control part 100 displays the map according to the map data of map DB131 on the display part 123 through the display process part 122. FIG. Further, the control unit 100 uses the current position from the GPS unit 142 and also uses the detection output from the sensor unit 141 to indicate the current position of the own device on the displayed map, and displays information and audio information. Thus, route guidance (navigation) to the destination can be performed.

[About the navigation support using the captured video]
The mobile phone terminal 1 according to this embodiment includes a video analysis unit 151, a distance acquisition unit 152, a speed calculation unit 153, and a place correction unit 154 as parts for performing navigation support using the captured video. . As these units function, the result of matching processing between the current position from the GPS unit 142 and the map data in the map DB 131 is corrected to realize a highly accurate navigation function.

  The video analysis unit 151 analyzes the video (video data) obtained by shooting through the camera unit 127, thereby acquiring information on the location where the user is. In the video analysis unit 151, for example, edge detection is performed on a captured video to recognize the shape of an object included in the captured video, and pattern matching is performed on the recognized shape of the object to identify what the object is, Recognize text information included in captured images. And the video analysis part 151 acquires the information regarding the place where self exists based on the recognition result.

  Here, the process performed by the video analysis unit 151 will be specifically described. 2 and 3, when the mobile phone terminal 1 is placed on the dashboard in the automobile and the navigation function is executed, the shooting is performed in the traveling direction as indicated by the dotted line in FIGS. 2 and 3. The example of the image | video currently image | photographed by the camera part 127 to which the lens is directed is shown.

[Obtaining information about where you are based on guide signs]
As shown in FIG. 2A, it is assumed that a guide sign such as a direction signboard is included in the captured video. In this case, the video analysis unit 151 first recognizes the presence of a guide sign such as a direction signboard, and recognizes (character recognition) character information described on the guide sign. In the example shown in FIG. 2A, the characters “Shiroishi Zao”, “24”, and “Exit 1 km” can be recognized. For this reason, at the time of capturing the captured video, the mobile phone terminal 1 can acquire information regarding the location where the mobile phone terminal 1 is located “1 km before the exit of Zao Shiraishi on the highway”.

  Further, as described above, the map DB 131 of this embodiment also stores an image of a direction sign (guide sign) and position information indicating a position where the direction sign is provided. For this reason, by matching the image of the direction signboard included in the captured video shown in FIG. 2A with the direction signboard stored in the map DB 131, the position where the direction signboard is installed can be specified. In this case, it is also known that the direction signboard is installed on the expressway, and that it is on the expressway and that the location signboard installation position (latitude and longitude) included in the captured video is self. It can be acquired as information about the place.

  Further, as shown in FIG. 2B, it is assumed that a signboard attached to a building is included in the captured video. In this case, the video analysis unit 151 first recognizes the existence of a building and a signboard attached to the building, and recognizes (character recognition) character information described on the signboard. In the case of the example shown in FIG. 2B, the character “XX hospital” can be recognized. For this reason, on the map including the current position acquired from the GPS unit 142 most recently, by identifying the location of “XX hospital”, the place where the person is is in the vicinity of “XX hospital” You can get information about where you are.

[Obtaining information about where you are based on surrounding equipment, facilities, road conditions, etc.]
In addition, as shown in FIG. 2A, when it is recognized that a plurality of white dotted lines are provided in a direction intersecting with the traveling direction of the road in the captured image, the road being used is provided with a plurality of lanes. It is possible to obtain information on the place where the self is a big road. In addition, by analyzing the captured video and detecting the presence of a median strip or guardrail, it is possible to acquire information about a place where the user is present, such as whether the road on which the vehicle is traveling is a large road or a small road. In addition, according to the difference between white dotted lines provided on the road, it is possible to acquire information on the location where the self is, such as whether the road where the self is located is an expressway or a general road. This is because the distance between the white dotted lines provided on the road is determined to be 20 m for a highway and 10 m for a general road.

  Further, as shown in FIG. 3A, it is assumed that a traffic light installed at an intersection is included in the captured video. In this case, as described above, the video analysis unit 151 can recognize the presence of the traffic light by shape recognition and pattern matching for the recognized shape. Therefore, it is possible to acquire at least information regarding the location where the vehicle is located, that is, the location where the traffic light is located. In addition, as shown in FIG. 3A, a traffic signal at a relatively large intersection is provided with a display board indicating the name of the intersection where the signal is installed on the upper side, lower side, or side of the signal portion. Yes.

  In this case, as in the case described with reference to FIG. 2, the name of the intersection where the traffic signal is installed can be identified by recognizing the characters written on the display board provided in the traffic signal. . In the case of the example shown in FIG. 3A, it can be specified that the vehicle is in the vicinity of the intersection “ΔΔ 1-chome”. Then, by identifying the location of the intersection corresponding to the identified intersection name on the map including the current position acquired from the GPS unit 142 most recently, it is said that the location where the self is is near the location of the identified intersection In this way, it is possible to obtain information on the place where the person is.

  In addition, when it is not possible to recognize the presence of any traffic light from the captured image while traveling, it is recognized that the road is a large road with multiple lanes, or a large road with a median strip or guardrail. The traveling road can be recognized as an expressway.

[Obtaining information about where you are when you enter a tunnel or underpass]
Further, since the radio wave from the GPS satellite cannot be received in the tunnel or the underground passage, the current position cannot be acquired through the GPS unit 142. Therefore, the video analysis unit 151 of the mobile phone terminal 1 according to this embodiment identifies the case where the mobile phone terminal 1 is in a tunnel or an underpass as follows. First, as described above, the video analysis unit 151 performs self-recognition of a name sign of a tunnel or an underground passage provided at the upper part of the entrance of the tunnel or the underground passage, for example, so that the self enters the tunnel or the underground passage. I can recognize that.

  In addition, when the current position of the user cannot be measured through the GPS unit 142, it is assumed that the captured video from the camera unit 127 is captured in the tunnel as illustrated in FIG. 3B. In this case, the video analysis unit 151 determines whether or not the installation position of the illumination is upward (obliquely upward) from the light arrival direction, and whether or not the illumination is provided at regular intervals from the light / dark state of the illumination accompanying the movement. Is determined. Thus, when the installation position of the illumination (light source) is upward and the arrangement pattern of the illumination is regular, there is a high possibility that it is in a tunnel or an underground passage.

  In the video analysis unit 151, as described above, character recognition of the names of tunnels and underground passages, lost GPS (disappearance of radio waves from GPS satellites), and the position and interval of the light source (illumination) are constant. Comprehensively consider whether it is inside a tunnel or underpass. It may be determined whether the illumination color is orange. This is because many low-pressure sodium lamps that emit orange light that is not easily affected by exhaust gas, dust, and the like and easily pass through are used in tunnels and underground passages.

  As a result, it is possible to obtain information about the place where the user is (whether or not it is in a tunnel or an underpass). Then, for example, by specifying on the map a tunnel or an underground passage in the vicinity of the current position acquired from the GPS unit 142 most recently, the location where the user is located can be accurately specified.

  As described above, the video analysis unit 151 can appropriately acquire information regarding the location where the user is by analyzing the video shot through the camera unit 127. The information about where you are is not only able to specify the position on the plane, but also on the expressway, the general road, the place where you are, including the inside of the tunnel or underpass, that is, in the 3D space. You can identify where your self is.

[Calculation of moving speed using video recognition]
Then, as will be described below, the video analysis unit 151 cooperates with the distance acquisition unit 152 and the time control unit 132 to make it possible to grasp its own moving speed. The distance acquisition unit 152 acquires the distance between two points for calculating its own moving speed in cooperation with the video analysis unit 151 described above. As described above, the video analysis unit 151 analyzes the captured video to display “character information related to the position (information indicating the position of a guide sign known to the map (an intersection name given to a direction signboard or a traffic light). Board))) ”. For this reason, the distance acquisition unit 152 calculates the distance between the two locations based on the detection results of the two “positionally related character information” recognized by the video analysis unit 151. Obtained from the map data in the map DB 131.

  More specifically, (1) the distance between the two direction signboards whose contents are recognized by being photographed, and (2) the distance between the two traffic lights whose intersection names are recognized by being photographed. Etc. Of course, these are only examples. If there is a target with a fixed shape on the map and a fixed shape, the distance between the two predetermined targets recognized by shooting You can also get the distance.

  Further, in order to calculate the moving speed, it is necessary to acquire the moving time between the two predetermined locations in addition to the distance between the two predetermined locations. For this reason, in the cellular phone terminal 1 according to this embodiment, the time control unit 132 presently detects the “character information related to the position” at two positions separated by the distance recognized by the video analysis unit 151. Get the time. And the movement time between the two places can be obtained by obtaining the difference between the current times obtained at the two places.

  That is, when detecting “character information related to a predetermined position”, the video analysis unit 151 acquires the current time from the time control unit 132 through the control unit 100 and supplies this to the speed calculation unit 153. Then, when the video analysis unit 151 detects another “character information related to a predetermined position” next time, the video analysis unit 151 acquires the current time from the time control unit 132 through the control unit 100, and sends this to the speed calculation unit 153. Supply.

  The speed calculation unit 153 calculates the distance between the two “character information related to the position” that are separated by the distance acquired by the distance acquisition unit 152 at the two locations supplied from the time control unit 132. Dividing by the moving time obtained by taking the difference of the current time, the self moving speed is calculated. And the mobile telephone terminal 1 of this embodiment is provided with the direction sensor in the sensor part 141, and can recognize a moving direction. Therefore, even if the current position cannot be measured temporarily through the GPS unit 142, the current position can be grasped by considering the moving direction and moving speed and the map data in the map DB 131.

[Obtaining other information using video analysis]
Further, by performing video analysis of a shot video shot through the camera unit 127, right / left turn recognition can be performed depending on whether the video flows to the left or to the right. Therefore, it is also possible to acquire and hold the own movement trajectory using such right / left turn recognition. The movement trajectory can be used for map matching. Also, the moving speed can be recognized from the speed of the flow before and after the video. That is, by analyzing how fast the image based on the image data from the camera unit 127 is changing, it is possible to obtain the moving speed of itself. Then, as described above, the actual moving speed is determined based on the own moving speed determined according to the distance between the two points and the moving time, and the moving speed determined according to the moving speed of the image. You can also. Of course, only one of the moving speeds may be used.

[Function of the location correction unit 154]
Then, the location correction unit 154 is grasped by the function as the navigation processing unit of the control unit 100 in consideration of the information on the location where the video analysis unit 151 is located, the moving speed calculated by the speed calculation unit 153, and the like. Correct the current position of the self. That is, in the cellular phone terminal 1, the function as the navigation processing unit realized by the control unit 100 uses the map data of the map DB 131, the current position from the GPS unit 142, and the detection output from the sensor unit 141, Know your current location and provide route guidance to your destination.

  However, it is not possible to distinguish whether the vehicle is running on a highway or a general road in a section where the highway and a general road run side by side only from the current position mainly from the GPS unit 142. In addition, when entering a tunnel or an underground passage, radio waves from GPS satellites cannot be received, so that the current position of the user cannot be grasped. In addition, even in places where the road width is narrow and there are many high-rise buildings, it is difficult to receive radio waves from GPS satellites, and it is impossible to accurately grasp the current position of itself.

  Therefore, the location correction unit 154 is based on the information about the location where the user is present obtained by the video analysis unit 151, the information calculated by the speed calculation unit 153, the detection output of the sensor unit 141, and the like. The current position specified by the control unit 100 that functions as the current position is corrected. Thereby, route guidance (navigation) to the destination can be performed appropriately.

  Therefore, while driving on the highway, “Please turn left at the next traffic light” or on the general road, “Please get off the highway at the next XX exit.” You can avoid giving guidance. Also, even if you enter a relatively long tunnel or underpass, you can identify the tunnel or underpass that has entered, and also know your own speed and direction of movement, so you can correctly grasp your current location. , Can guide appropriately. Moreover, even when it is behind a high-rise building and cannot receive radio waves from GPS satellites, it is possible to correctly grasp its own current position and properly provide guidance based on information such as a signboard included in the captured video.

  Of course, when the radio wave from the GPS satellite cannot be received (in the case of GPS lost), the location correction unit 154 cooperates with the control unit 100 to add the information obtained by the above-described video recognition to the sensor unit 141. By combining the information obtained from the acceleration sensor and the direction sensor, it is possible to map match the self position to the position closest to the route on the map. That is, the cellular phone terminal 1 of this embodiment also has a map matching function and an autonomous navigation function.

[Summary of processing when the navigation function is executed]
Next, the navigation processing executed in the mobile phone terminal 1 of this embodiment described above will be summarized with reference to a flowchart. FIG. 4 is a flowchart for explaining an outline of navigation processing executed in the mobile phone terminal 1. The process shown in FIG. 4 is performed by a navigation program (application program) prepared in the mobile phone terminal 1 and is controlled by selecting execution of the navigation program from a predetermined menu of the mobile phone terminal 1. It is executed in the unit 100.

  When the processing shown in FIG. 4 is executed, the control unit 100 functions as a navigation processing unit, and obtains the current position of the own device acquired from the GPS unit 142, the map data of the map DB 131, and the detection output from the sensor unit 141. Based on the above, navigation processing is started (step S101). Although not shown in the drawing, in step S101, an operation input from the user is accepted, and an input of the departure place and the destination is accepted, and a route search process from the departure place to the destination is also performed. Then, a map including the current position of the mobile phone terminal 1 is displayed on the display screen of the display unit 123, the current position on the map, the route to be traveled, and the like are shown, and the route is also guided by voice. .

  Next, the control unit 100 controls the camera unit 127 to start capturing an image in the traveling direction (step S102). And the control part 100 performs the process which controls the image | video analysis part 151, the distance acquisition part 152, the time control part 132, and the speed calculation part 153, and acquires the information regarding the place where self exists, and its moving speed ( Step S103). Details of the process performed in step S103 will be described later.

  Thereafter, the location correction unit 154 functions to identify the location where the subject is present based on the information regarding the location where the subject is present acquired in step S103 and the own moving speed (step S104). Then, the location correction unit 154 determines the matching result between the current position from the GPS unit 142 and the map data of the map DB 131, which is performed by the function of the navigation processing unit realized by the control unit 100, in step S104. The correction is made based on the location (step S105).

  Then, it is determined whether or not an operation for ending the navigation process has been performed by arriving at the set destination (step S106). If it is determined in step S106 that the operation to be ended is not performed, the process from step S103 is repeated, and the navigation process is continued. If it is determined in the determination process in step S106 that an operation to be ended has been performed, the process shown in FIG. 4 ends.

  As described above, in the navigation processing performed in the mobile phone terminal 1 of this embodiment, the information obtained by analyzing the captured video by the processing of step S102 to step S105 shown in FIG. You can correct your current position correctly.

[Acquisition processing of information about where you are]
Next, a specific description will be given of the process for acquiring information on the place where the user is, which is performed in step S103 of the process shown in FIG. FIG. 5 is a flowchart for explaining an acquisition process of information on a place where the user is present. When the processing shown in FIG. 5 is executed, first, the video analysis unit 151 functions under the control of the control unit 100, analyzes the shot video (video data) shot through the camera unit 127, and is present. A process for acquiring information about a place is performed (step S201). Specifically, in step S201, as described with reference to FIG. 2 and FIG. 3A, (1) acquisition of information related to the place where the user is based on the guide signs, and (2) surrounding facilities, facilities, road conditions, etc. The information about the place where the self is based on is acquired.

  Then, as described above, the video analysis unit 151 relates to the “position” such as the intersection name given to the direction signboard or the traffic signal that becomes the start point and the end point for acquiring the distance between the two points. It is determined whether or not “character information” has been recognized (step S202). Assume that it is determined in the determination process in step S202 that “character information related to position” as a point has been recognized. In this case, the video analysis unit 151 controls the time control unit 132 through the control unit 100, acquires the current time, and supplies this to the speed calculation unit 153 (step S203).

  Then, the video analysis unit 151 determines whether there is a point already detected before the point detected this time (step S204). If it is determined in step S204 that the detected point is present before the detected point, the video analysis unit 151 controls the distance acquisition unit 152 and the velocity calculation unit 153 through the control unit 100 to Is calculated (step S205). That is, the distance between two points is obtained from the position of the previous point and the position of the current point, and the movement time between the two points is calculated from the current time at the previous point detection and the current time at the current point detection. The movement speed is calculated from these values.

  After the process of step S205, the process proceeds to step S206. Also, when it is determined in step S202 that the “character information related to position” as a point is not recognized, it is determined in step S204 that there is no point already detected before the point detected this time. In addition, the process proceeds to step S206.

  In this case, the video analysis unit 151 determines whether or not the GPS unit 142 can measure the current position through the control unit 100, in other words, whether or not the radio wave from the GPS satellite can be received (step S206). . It is assumed that it is determined in step S206 that the radio wave from the GPS satellite has not been received (GPS lost). In this case, as described with reference to FIG. 3B, the video analysis unit 151 performs a process of acquiring information regarding a location where the user is present when entering a tunnel, an underground passage, or the like (step S207).

  After the process of step S207, and in the determination process of step S206, if it is determined that the radio wave from the GPS satellite has been received (not the GPS lost), the process shown in FIG. 5 is terminated.

  As described above, in the cellular phone terminal 1 of this embodiment, information on the location where the user is located is obtained by the functions of the camera unit 127, the video analysis unit 151, the distance acquisition unit 152, the speed calculation unit 153, and the location correction unit 154. Can be acquired. In addition, it is possible to appropriately calculate its own moving speed. In addition, the calculation of the movement speed of the self is based on the “character information related to the position” such as the name of the intersection or the name of the direction signboard or traffic signal that becomes the start point or end point for obtaining the distance between the two points. Each time it is recognized, it can be performed continuously based on the distance between the two points and the movement time between the two points.

[Effect of the embodiment]
Users of navigation devices such as automobile drivers can recognize which lane they are driving, whether they are driving on highways or ordinary roads, tunnels, underground roads (underground), or above ground. . Therefore, what the user requests from the navigation device is that he / she wants to appropriately guide the route to the destination. However, as described above, in the case of a conventional navigation device, a two-dimensional position can be specified, but there is a lack of means for capturing up and down (altitude) such as whether it is an expressway or a general road, underground or ground. In addition, when a navigation function is realized by a portable information terminal such as a PND, a mobile phone terminal, or a tablet PC, a highly accurate vehicle speed pulse sensor or gyro mounted on a car like a car-mounted navigation device. Detection output from sensors, illumination sensors, etc. cannot be used.

  However, the mobile phone terminal 1 according to this embodiment also has information obtained by analyzing a captured image captured through the camera unit 127, various guidance data included in the map data stored in the map DB 131, and the like. By considering it, it is possible to appropriately acquire information on the location where the person is and the moving speed of the person. Here, the information about where you are can not only identify the position on the two-dimensional plane that can be specified by latitude and longitude, but also specify whether it is on a highway or a general road, in a tunnel or underpass . And, at least if the location where the self is located can be identified based on the information regarding the location where the obtained self is present, the navigation processing unit (the control unit 100) functions and identifies the location where the identified self is located. The current position of the self can be corrected.

  Of course, by considering the information about the location where the acquired self is and the moving speed of the self, and by considering one or both of various map data of the map DB 131 and the detection output of the sensor mounted on the self, It is possible to identify the place where you are more appropriately. Then, based on the identified location of the self, the current position of the self specified by the function of the navigation processing unit realized by the control unit 100 can be appropriately corrected.

  In other words, the current position of the subject can be appropriately corrected based on the information obtained by analyzing the captured image captured through the camera unit 127. Therefore, a highly accurate navigation function can be realized without specially providing various highly accurate sensors. The present invention is particularly suitable when applied to a PND or a portable information terminal, and can realize a high-performance navigation device without increasing the cost or complicating the configuration of the navigation device.

[Modifications, etc.]
Note that, in the video analysis unit 151 according to the above-described embodiment, for continuously captured video data (moving image data), a frame image at every predetermined timing is an analysis target, or a still image is taken every predetermined timing. Data can also be taken and used as an analysis target. Note that the predetermined timing for specifying a frame image and the predetermined timing for capturing a still image when the analysis target is moving image data may be a predetermined time interval, or initially a predetermined time. The predetermined timing may be changed in accordance with the movement speed calculated by the speed calculation unit 153 or the like after that.

  Further, as described above, the acquisition of the movement time of the predetermined section used for the calculation of the movement speed of the user is limited to that acquired by the difference in the current time acquired at the detection timing of “character information related to position”. Absent. For example, by using the timer function of the time control unit 132, a time interval between detection timings of “character information related to position” can be measured and acquired as a moving time between two points.

  In addition, the present invention is suitable for application to a portable information terminal such as a PND, a mobile phone terminal, or a tablet PC. However, the present invention may be applied to a navigation device installed in an automobile.

[Others]
As is clear from the description of the above-described embodiment, the camera unit 127 of the mobile phone terminal 1 realizes the function of the imaging unit of the navigation device, and the functions of the first and second analysis units of the navigation device . The function is realized by the video analysis unit 151 of the mobile phone terminal 1. The function of the correction means of the navigation device is realized by the location correction unit 154 of the mobile phone terminal 1. In addition, the function of the distance acquisition unit of the navigation device is realized by the cooperation of the video analysis unit 151 and the distance acquisition unit 152 of the mobile phone terminal 1, and the function as the movement time acquisition unit of the navigation device is the mobile phone terminal 1. The video analysis unit 151 and the time control unit 132 are realized in cooperation with each other. The function of the calculation means of the navigation device is realized by the speed calculation unit 153 of the mobile phone terminal 1.

  The processing of the flowcharts shown in FIGS. 4 and 5 is the one to which the autonomous navigation support method of the present invention is applied. Further, the program for executing the processing shown in FIGS. 4 and 5 corresponds to the autonomous navigation support program executed on the mobile phone terminal 1. Therefore, the navigation apparatus of the present invention can be realized by forming a program for executing the processing shown in FIGS. 4 and 5 and mounting the program on a portable information terminal such as a mobile phone terminal or a tablet PC, a PND, or the like.

  DESCRIPTION OF SYMBOLS 1 ... Cell-phone terminal, 100 ... Control part, 101 ... CPU, 102 ... ROM, 103 ... RAM, 104 ... CPU bus, 110 ... Memory | storage device, 111 ... Transmission / reception antenna, 112 ... Wireless communication part, 113 ... Handset, 114 ... Transmitter 121, key operation unit 122, display processing unit, 123 display unit, 124 touch panel, 125 voice output unit, 126 speaker, 127 camera unit, 131 map DB, 132 time control unit , 141 ... Sensor unit, 142 ... GPS unit, 143 ... GPS antenna, 151 ... Video analysis unit, 152 ... Distance acquisition unit, 153 ... Speed calculation unit, 154 ... Location correction unit

Claims (7)

A navigation device that provides route guidance by performing a matching process between the current position from the current position measurement means and the map data of the map database,
Photographing means for photographing a moving image;
A first analysis means for obtaining information about a place where the user is by analyzing the captured video;
A second analysis means for recognizing a right or left turn to obtain a movement locus of the subject by analyzing the captured image;
Based on the information about the place where the self is obtained through the first analysis means and the movement locus of the self obtained through the second analysis means , the current position from the current position measurement means and the map database A navigation device comprising: correction means for correcting a result of matching processing with the map data. The navigation device according to claim 1,
The navigation apparatus according to claim 1, wherein the first analysis unit acquires information about a place where the user is present by recognizing character information of a signboard or a sign included in the photographed video. The navigation device according to claim 1 or 2,
The navigation apparatus according to claim 1, wherein the first analysis unit acquires information on a location where the user is present by recognizing presence or absence of predetermined equipment and road characteristics included in the captured video. A navigation device according to any one of claims 1, 2 or 3,
The navigation apparatus according to claim 1, wherein the first analysis unit obtains information about a place where the user is present by recognizing at least a light installation position and an arrangement pattern. A navigation device according to any one of claims 1, 2, 3, or 4,
The first analysis means is information related to a location included in the captured video, and acquires location specifying information that can specify the location on the map data of the map database,
Distance acquisition means for acquiring a distance and a moving direction of a section specified by the two pieces of location specifying information sequentially acquired by the first analysis means ;
Travel time acquisition means for acquiring the travel time of the section specified by the two pieces of location specifying information acquired sequentially;
Based on the distance acquired by the distance acquisition means and the movement time acquired by the movement time acquisition means, and a calculation means for calculating its own movement speed,
The navigation device according to claim 1, wherein the correction unit corrects a result of the matching process based on the moving direction and the moving speed. An autonomous navigation support method used in a navigation device that provides route guidance by performing matching processing between the current position from the current position measurement means and the map data in the map database,
A shooting process of shooting a moving image through a shooting means while moving;
A first analysis step of obtaining information about a place where the user is present by analyzing the photographed video by the first analysis means;
A second analysis step in which the second analysis means analyzes the captured image to perform right / left turn recognition and acquire its own movement trajectory;
Based on the information about the location where the self is obtained through the first analysis step and the movement trajectory of the self obtained through the second analysis step , the correction unit includes the current position from the current position measurement unit, and And a correction step of correcting a result of the matching process with the map data of the map database. A program executed by a computer mounted on a navigation device that performs route guidance by performing matching processing between the current position from the current position measurement means and the map data of the map database,
A shooting step in which the shooting means performs a process of shooting a moving image while moving;
A first analysis step of acquiring information about a place where the user is present by analyzing the photographed video by the first analysis means;
A second analysis step in which the second analysis means analyzes the photographed video so as to perform right / left turn recognition and acquire its own movement trajectory;
Based on the information on the location where the self is obtained through the first analysis step and the movement locus of the self obtained through the second analysis step, the current position from the current position measurement unit through the correction unit, and the An autonomous navigation support program, comprising: executing a correction step for correcting a result of matching processing with map data in a map database.

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