Navigation system and navigation program

Abstract

To provide a navigation system and a navigation program capable of smoothly switching from a wide-area route search to a detailed route search (route guidance) while avoiding or suppressing an increase in power consumption and an increase in load of calculation processing on a mobile terminal side.SOLUTION: A navigation system 100 includes: a mobile terminal 10 that transmits radio waves SL for identifying a self-location upon completing a wide-area route search; and a facility-side system 50 that identifies a location of the mobile terminal 10 based on reception of the radio waves SL for identifying the self-location.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a navigation system and a navigation program for providing route guidance to a destination. [Background technology]

[0002] For example, a location information providing device (see Patent Document 1) is known that transmits location information to a mobile terminal equipped with an autonomous navigation function by short-distance wireless communication such as NFC when the mobile terminal approaches. Also, a location information providing system (see Patent Document 2) is known that specifies the location of a mobile terminal from arrival angle information in communication between a wireless terminal installed at a predetermined location and the mobile terminal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-183921 A [Patent Document 2] JP 2005-303723 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned Patent Document 1, it may not be possible to perform detailed navigation or position estimation outside the range of short-range wireless communication, and since autonomous navigation performs sensing (position estimation) inside the mobile terminal, there is a risk that the power consumption of the mobile terminal will become excessive.

[0005] Furthermore, the above-mentioned Patent Document 2 makes no mention of providing location information in areas where arrival angle information is not available, and it is unclear whether location information can be provided over a wide range.

[0006] Furthermore, even if the matters described in the above patent documents are taken into consideration, it is not necessarily possible to quickly or smoothly transition from wide-area (rough) route guidance to detailed route search (direction guidance).

[0007] The present invention has been made in consideration of the above-mentioned points, and aims to provide a navigation system and navigation program that smoothly switches from a wide-area route search to a detailed route search (route guidance) while avoiding or suppressing increases in power consumption and processing load on the mobile terminal. [Means for solving the problem]

[0008] A navigation system for achieving the above object includes a mobile terminal that transmits radio waves for self-location determination upon completion of a wide-area route search, and an equipment-side system that determines the location of the mobile terminal based on the received radio waves for self-location determination.

[0009] In the above navigation system, the equipment side system is responsible for identifying the location of the mobile terminal, so that it is possible to avoid or suppress an increase in power consumption and an increase in the load of calculation processing on the mobile terminal side. In addition, when the mobile terminal completes a wide-area route search, it transmits radio waves for self-location identification, and the equipment side system receives the radio waves for self-location identification, so that it is possible to smoothly switch from the wide-area route search to a detailed route search (route guidance).

[0010] In a specific aspect of the present invention, the facility-side system returns information on the location of the mobile terminal determined based on the received self-location radio wave to the mobile terminal. In this case, the mobile terminal can realize its own location by receiving the return message without having to determine its own location by itself.

[0011] In another aspect of the present invention, when the mobile terminal arrives at a first destination based on the wide-area route search, the mobile terminal starts transmitting radio waves for self-location identification, and searches for a route to a second destination located within the first destination based on a reply from the equipment-side system to the radio waves for self-location identification. In this case, transition to the second destination located within the first destination can be performed smoothly.

[0012] In yet another aspect of the present invention, the mobile terminal has map information about the first destination, and when it is found that the mobile terminal has moved away from the first destination during a route search to the second destination, the mobile terminal resumes a wide-area route search. In this case, even if the mobile terminal moves away from the first destination, the mobile terminal can continue to perform a rapid and accurate route search.

[0013] In yet another aspect of the present invention, the mobile terminal transmits the self-location radio wave with ID information and information about the second destination, and the equipment-side system identifies the mobile terminal based on the ID information and replies to the mobile terminal with response information to the information about the second destination. In this case, it is also possible to identify the mobile terminal, which is necessary for transmission and reception for route search.

[0014] In yet another aspect of the present invention, the facility-side system has a plurality of receivers installed at different locations and each of which receives the self-location radio wave, and the facility-side system detects the arrival angle by utilizing a phase difference between a plurality of receiving antennas provided for each of the plurality of receivers to identify the location of the mobile terminal. In this case, the location of the mobile terminal can be accurately identified based on the reception of the self-location radio wave.

[0015] To achieve the above objective, a navigation program searches for a route from the current location to a first destination along a wide-area route, and upon detecting arrival at the first destination, transmits radio waves for self-location determination, and searches for a route to a second destination based on the reply received to the radio waves for self-location determination.

[0016] The above navigation program can accurately perform a route search to a first destination as a wide-area route search, and a route search to a second destination using radio waves for self-location identification as a detailed route search (route guidance), and can smoothly switch from a wide-area route search to a detailed route search (route guidance) by transmitting radio waves for self-location identification when it is detected that the first destination has been reached. In this case, the calculation process for location identification in the route search to the second destination can be performed on the side receiving the radio waves for self-location identification, and an increase in power consumption and an increase in the load of calculation processing on the side transmitting the radio waves for self-location identification can be avoided or suppressed. [Brief description of the drawings]

[0017] [Figure 1] 1A and 1B are conceptual diagrams for explaining an outline of the operation of an application example of a navigation system according to an embodiment, and FIG. 1C is a schematic diagram showing an outline of an example configuration of the navigation system. [Diagram 2] (A) is a conceptual diagram showing the guidance display by a navigation system based on wide-area route search, (B) is a partially enlarged view of (A), and (C) is a partially enlarged view of (B). [Diagram 3] FIG. 1 is a conceptual plan view showing an example of an overview of a facility-side system that constitutes a navigation system. [Figure 4] FIG. 13 is a conceptual plan view showing a guidance situation based on a narrow area route search using a facility-side system. [Diagram 5] FIG. 1A is a diagram showing how a call is made from a mobile terminal and how it is received on the equipment side, and FIGS. 1B to 1D are conceptual diagrams for explaining one mode of reception. [Figure 6] FIG. 2 is a block diagram for explaining a configuration example of a navigation system and a navigation program. [Figure 7] 4 is a flowchart for explaining a series of operations in the navigation system. [Figure 8]FIG. 1 is a conceptual diagram showing an overview of a navigation system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] An example of a navigation system according to an embodiment will be described below with reference to Fig. 1 etc. Fig. 1(A) and Fig. 1(B) are conceptual diagrams for explaining an outline of the operation in an application example of a navigation system 100 according to the present embodiment, and Fig. 1(C) is a schematic diagram showing an outline of an example of the configuration of the navigation system 100.

[0019] First, as shown in Fig. 1(A) and the like, the navigation system 100 in this embodiment is typically a system for providing route guidance in road traffic, and is composed of a mobile terminal 10 and a facility-side system 50, and provides route guidance via the mobile terminal 10 mounted on the vehicle VE when the vehicle VE travels to a destination. Particularly, in this embodiment, route guidance is provided in two stages: route guidance in a wide range as exemplified in Fig. 1(A) and route guidance in a narrow range as exemplified in Fig. 1(B).

[0020] The above two-stage route guidance will be described in detail in order. First, as a first stage, as shown in FIG. 1(A), a mobile terminal 10 mounted on a vehicle VE acquires the vehicle VE's own position information using a GNSS (Global Navigation Satellite System) satellite ST, such as a GPS system, and acquires route information including traffic conditions using a traffic information service (road information server) RS. With this information, the mobile terminal 10 grasps the current position of the traveling vehicle VE using the GNSS satellite ST and updates it each time, while searching for a route over a wide area based on the information from the road information server RS, and navigates to the location of a first destination DS1, which is a general destination (landmark-like) such as a large shopping facility or an airport. In the figure, the first destination DS1 is indicated by hatching.

[0021] In addition, as a second stage, the navigation system 100 navigates to a second destination DS2, which is a more specific location (pinpoint target point) such as a specific entrance among multiple entrances of a large shopping facility, among the first destination DS1, which is a general destination as described above, as shown in Fig. 1(B). The second stage navigation is performed using communication between the mobile terminal 10 mounted on the vehicle VE and the facility-side system 50 installed at the first destination DS1. In the figure, the second destination DS2 is indicated by hatching.

[0022] In particular, when the navigation system 100 of this embodiment completes guidance to the first destination DS1 by wide-area route search, which is the first stage of the above-mentioned two-stage route guidance, it starts a route search (narrow-area route search) to the second destination DS2 located within the first destination DS1, which is the second stage. Note that, as described above, a typical example of the second destination DS2 is assumed to be a specific entrance / exit among multiple entrances / exits provided at a large shopping facility or the like serving as the destination DS1, or a specific store among many stores.

[0023] In order to realize the above-mentioned aspect, in this embodiment, the navigation system 100 is equipped with the portable terminal 10 as described above on the side receiving navigation, such as a vehicle VE, while an equipment-side system 50 is provided at the first destination DS1, which is the general destination described above, and the portable terminal 10 and the equipment-side system 50 work together to realize the above-mentioned two-stage navigation, i.e., navigation using narrow area route search.

[0024] Hereinafter, an overview of one configuration example of a navigation system 100 for performing the above-mentioned two-stage navigation will be described with reference to the schematic diagram shown in Fig. 1(C). Note that the mobile terminal 10 can be configured, for example, by installing an app on a smartphone as necessary, accessing a specific site, and then operating each unit provided on the smartphone.

[0025] First, the mobile terminal 10 includes a wide-area route search unit 11w for navigating to the first destination DS1, and a narrow-area route search unit 11n for navigating to the second destination DS2. The equipment-side system 50 includes a receiving system 20 and a detailed position estimation processing unit 30. Here, as an example, in order to perform a route search for a narrowly limited range (narrow area) based on a position estimation using an AOA (Angle of Arrival) positioning method, the mobile terminal 10 transmits a self-location-specific radio wave SL, while the equipment-side system 50 includes a receiving system 20 having AOA signal receivers RE1, RE2, ... as a plurality of receivers. The receiving system 20 receives the self-location-specific radio wave SL, and the detailed position estimation processing unit 30 specifies (estimates) the position of the mobile terminal 10 based on the received content.

[0026] In the mobile terminal 10, the wide-area route search unit 11w includes, for example, a wide-area route navigation system WN and a position estimation processing unit WP, and performs the first stage of route guidance. For example, the wide-area route navigation system WN acquires information about traffic from the road information server RS ​​shown in Fig. 1(A), and the position estimation processing unit WP acquires information from the GNSS satellite ST shown in Fig. 1(A).

[0027] The narrow area route search unit 11n of the mobile terminal 10 includes, for example, an AOA signal transmitter TR and a position correction unit CO, and performs the second stage of route guidance in cooperation with each unit of the facility side system 50. Specifically, when the AOA signal transmitter TR of the narrow area route search unit 11n transmits the self-location-specifying radio wave SL, as described above, the AOA signal receivers RE1, RE2, ... constituting the receiving system 20 receive the signal and perform processing for specifying the direction (angular direction) of the transmission source, and the detailed position estimation processing unit 30 performs processing for estimating (specifying) the detailed position of the transmission source, i.e., the detailed position of the mobile terminal 10. The processing result of the detailed position estimation processing unit 30, i.e., the calculation result of the estimated position, is transmitted (returned) to the mobile terminal 10, and the mobile terminal 10 performs position correction in the position correction unit CO as necessary to perform route guidance.

[0028] The conceptual diagram shown in FIG. 2(A) shows an example of the state of guidance display by a navigation system based on a wide-area route search. In FIG. 2(A), an image GG1 shows an overall route R1 from the current location to the destination (first destination DS1) on a map by the guidance based on the wide-area route search, i.e., the first stage of route guidance. An image GG2 shown in FIG. 2(B) is a partially enlarged view of the image GG1. In such route guidance based on a wide-area route search, as shown in the image GG2, for example, when the user arrives at the road immediately before entering the first destination DS1, the guidance ends there. However, as described above, if the first destination DS1 has a wide area such as a large facility, it is assumed that the second destination DS2 existing within the first destination DS1 is the final destination desired by the user, as shown in the image GG3 in FIG. 2(C) as a partially enlarged view of the image GG2. Therefore, in this embodiment, a second stage of route guidance is performed to provide route guidance for a route R2 that extends from the end point of the route R1 toward a second destination DS2.

[0029] Hereinafter, an example of the configuration of the facility-side system 50 and guidance based on a narrow-area route search (second-stage route guidance) will be described with reference to Fig. 3 and other figures. The plan view shown in Fig. 3 conceptually shows an example of the outline of the facility-side system 50 constituting the navigation system 100, and in particular shows the state at the time when guidance based on a wide-area route search (first-stage route guidance) to a first destination DS1 where the facility-side system 50 is installed has ended (completed). Also, the plan view shown in Fig. 4 conceptually shows the state of guidance based on a narrow-area route search using the facility-side system 50 (second-stage route guidance).

[0030] In this example, within the premises of the first destination DS1, there is a building BD that the vehicle VE can enter, and a dedicated passage PA that is located around the building BD, and by utilizing the self-location determining radio waves SL emitted by the vehicle VE, route guidance is provided for the vehicle VE to pass through part of the dedicated passage PA and reach the second destination DS2 (final destination), which is a specific vehicle entrance.

[0031] As already described, the equipment side system 50 comprises a receiving system 20 composed of a plurality of AOA signal receivers RE1, RE2, ... that receive self-location determining radio waves SL from the mobile terminal 10, and a detailed position estimation processing unit 30 that is connected to each AOA signal receiver RE1, RE2, ... and estimates the detailed location of the mobile terminal 10 based on information from these. In this example, as shown in the figure, a plurality of AOA signal receivers RE1, RE2, ... are installed at appropriate intervals so that position estimation based on reception of self-location determining radio waves SL can be performed thoroughly within the range of the dedicated passage PA of the first destination DS1. In the figure, areas AR1 to AR7, ... surrounded by dashed lines indicate ranges in which reception is possible by two or more of the multiple AOA signal receivers RE1, RE2, .... For example, in area AR1, the AOA signal receiver RE1 and the AOA signal receiver RE2 can receive radio waves SL for self-location determination, and the detailed position estimation processing unit 30 can estimate the location of the mobile terminal 10 in detail based on the direction (angular direction) of the mobile terminal 10 estimated (calculated) as a detection result by the AOA signal receiver RE1 and the direction (angular direction) of the mobile terminal 10 estimated (calculated) as a detection result by the AOA signal receiver RE2.

[0032] In the above case, first, as shown in Fig. 3, when the first stage of route guidance along the route R1 is completed, that is, when the first destination DS1 is reached based on the wide-area route search, the mobile terminal 10 starts transmitting the self-location-specific radio waves SL as shown in Fig. 4. At this time, the vehicle VE is within the area AR1. This allows the facility-side system 50 to receive the self-location-specific radio waves SL by the AOA signal receiver RE1 and the AOA signal receiver RE2 as multiple receivers installed at different locations. The facility-side system 50 returns information on the location of the mobile terminal 10 identified (estimated) based on the self-location-specific radio waves SL received by the AOA signal receivers RE1 and RE2 to the mobile terminal 10.

[0033] In the above, the self-location radio wave SL is transmitted with information about the second destination DS2, so that the reply can guide the vehicle VE to the second destination DS2. That is, as shown in the figure, a route search to the second destination DS2 located within the first destination SL is performed for the vehicle VE based on the reply 50 from the equipment side system to the self-location radio wave SL. In the example shown in the figure, the vehicle VE travels from the area AR1 to the area AR2, AR3, and AR4 in order along the route R2, and arrives at the second destination DS2. During this route search, the self-location radio wave SL transmitted from the mobile terminal 10 is received at least by the AOA signal receivers RE3 and RE4 in the area AR2, by the AOA signal receivers RE5 and RE6 in the area AR3, and by the AOA signal receivers RE7 and RE8 in the area AR4, thereby maintaining a state in which the self-location radio wave SL is received at different locations.

[0034] Hereinafter, with reference to FIG. 5, a description will be given of one aspect of the transmission of the self-location identifying radio waves SL from the mobile terminal 10 and the reception of the self-location identifying radio waves SL in the facility-side system 50. FIG.

[0035] First, as shown in Fig. 5(A), when transmitting and receiving the self-location radio wave SL, the self-location radio wave SL transmitted from the mobile terminal 10 in various directions is received by, for example, the AOA signal receiver RE1 and the AOA signal receiver RE2. Each of the AOA signal receivers RE1, RE2, ... estimates the arrival angle (azimuth angle and elevation angle) of the self-location radio wave SL using a conventionally known arrival angle estimation algorithm such as the MUSIC (Multiple Signal Classification) method. For this reason, for each of the AOA signal receivers RE1, RE2, ..., for example, the AOA signal receiver RE1 has multiple (two or more) receiving antennas AT1a, AT1b, ..., and the AOA signal receiver RE2 has multiple (two or more) receiving antennas AT2a, AT2b, ....

[0036] Each AOA signal receiver RE1, RE2, ... calculates (estimates) the arrival angle of the self-location radio wave SL based on the phase difference of the self-location radio wave SL detected during reception. Note that, when viewed three-dimensionally, the arrival angle is considered as an azimuth angle and an elevation angle, but in Fig. 5(B) and subsequent figures, in order to simplify the explanation, the angle of incidence to the receiving antennas AT1a, AT1b, ... when viewed two-dimensionally (when viewed in cross section) is explained as the arrival angle.

[0037] For example, as shown in FIG. 5(B), when the AOA signal receiver RE1 receives the self-location radio wave SL as coming from a direction perpendicular to the direction in which the receiving antennas AT1a, AT1b, ... are arranged, the phase difference of the self-location radio wave SL between each antenna is not detected. On the other hand, as shown in FIG. 5(C), when the self-location radio wave SL is received as coming from an oblique direction, a phase difference according to the angle is detected. Specifically, for example, as shown in FIG. 5(D) shown as another example, when N receiving antennas AT1-1, AT1-2, ..., AT1-N (N is a natural number of 3 or more) are arranged at equal intervals d, if the incident angle corresponding to the arrival angle of the self-location radio wave SL is the incident angle θ, the path difference L between adjacent antennas is L=dsinθ, and a phase difference corresponding to this is generated. Therefore, the value of the incident angle θ can be calculated based on the phase difference detected in the receiving antennas AT1-1, AT1-2, ..., AT1-N. As shown in the example of FIG. 5D, the more the number of antennas is increased, the higher the measurement accuracy of the phase difference is, and the more accurately the incident angle θ can be obtained.

[0038] 5(A), when the arrival angle of the self-location determining radio waves SL is calculated (estimated) in each of the AOA signal receivers RE1 and RE2, the calculation (estimation) result is output to the detailed position estimation processing unit 30, and the position of the mobile terminal 10 is specified (estimated) based on the received contents in the detailed position estimation processing unit 30. That is, the position where the direction of the arrival angle of the self-location determining radio waves SL estimated in the AOA signal receiver RE1 with the installation position of the AOA signal receiver RE1 as the starting point and the arrival angle (direction) of the self-location determining radio waves SL estimated in the AOA signal receiver RE2 with the installation position of the AOA signal receiver RE2 as the starting point overlap is calculated as the location of the mobile terminal 10.

[0039] The detailed position estimation processing unit 30 returns the information on the location of the mobile terminal 10 obtained as described above, as information corresponding to the self-location radio wave SL, to the mobile terminal 10. As a method of returning the information, various modes are assumed, such as the use of short-distance wireless communication or communication using a public line.

[0040] Hereinafter, an example of the configuration of the navigation system 100 will be described with reference to the block diagram shown in Fig. 6. Note that this block diagram also shows an example of the configuration of the navigation program of this embodiment.

[0041] First, regarding the mobile terminal 10 in the navigation system 100, an example of the configuration of a narrow area route search unit 11n for navigating to the second destination DS2 will be described. As shown in the figure, the narrow area route search unit 11n here includes, in addition to the AOA signal transmitter TR and position correction unit CO already described, a data management unit DM, a narrow area map data storage unit MS, and an estimation result reception unit RR, for example. The position correction unit CO also includes a mapping and update processing unit MP. As described above, the mobile terminal 10 is configured by installing the necessary apps (application programs) on a smartphone constituting a computer, and in the apps, Programs for functioning as the above-mentioned components constituting the wide area route search unit 11w and the narrow area route search unit 11n are built in.

[0042] The data management unit DM manages various data including information about the mobile terminal 10, such as the ID information of the mobile terminal 10, the set first destination DS1, and information about the smartphone. Here, when the AOA signal transmitter TR transmits the self-location radio wave SL, the data management unit DM attaches the ID information of the mobile terminal 10 and information about the set second destination DS2 to the self-location radio wave SL. That is, when the equipment side system 50 receives the self-location radio wave SL, it is possible to identify the mobile terminal 10 that transmitted the self-location radio wave SL and the second destination DS2, which is the final destination for the mobile terminal 10.

[0043] The narrow area map data storage unit MS stores map data of locations that may be the subject of second stage route guidance. In the above example, map information about the inside of the premises of the first destination DS1, i.e., the building BD and the dedicated passage PA (see Figure 3, etc.) is stored.

[0044] The estimation result receiving unit RR is an interface unit that receives information on the location of the mobile terminal 10 estimated (calculated) by the detailed location estimation processing unit 30 as an estimation result.

[0045] In the mapping / update processing unit MP, each time a new estimation result is received by the estimation result receiving unit RR, the position correction unit CO maps the new position of the mobile terminal 10 on the map data stored in the narrow area map data storage unit MS, i.e., updates the position information.

[0046] The above narrow area route search operation is repeated in the mobile terminal 10 until the second destination DS2 is reached.

[0047] Looking at the above from another perspective, based on a navigation program built into the mobile terminal 10, a route search is performed on the wide area route from the current location to the first destination DS1, and when arrival at the first destination DS1 is detected, a radio wave SL for determining the self-location is transmitted, and based on the reply received to the radio wave SL for determining the self-location, a route search is performed to the second destination DS2.

[0048] On the other hand, the facility side system 50 of the navigation system 100 is composed of the receiving system 20 and the detailed position estimation processing unit 30 as described above, and the receiving system 20 has a plurality (m pieces) of AOA signal receivers RE1, RE2, ..., REm. For each AOA signal receiver RE1, RE2, ..., REm composed of the same standard, for example, the AOA signal receiver RE1 is composed of a plurality (N pieces) of receiving antennas AT1-1, ..., AT1-N and an arrival angle calculation unit AC as shown in a partially enlarged view surrounded by a dashed line, and the arrival angle calculation unit AC calculates the arrival angle of the self-location radio wave SL based on the radio wave reception status (phase difference status) at the receiving antennas AT1-1, ..., AT1-N. In addition, as described above, the ID information of the mobile terminal 10 attached to the self-location radio wave SL and the information of the second destination DS2 are acquired on the detailed position estimation processing unit 30 side.

[0049] . . , REm, various pieces of information related to the self-location specifying radio waves SL as described above are acquired and analyzed by each of the AOA signal receivers RE1, RE2, .

[0050] The detailed position estimation processing unit 30 includes, for example, an ID matching unit 31, an ID database 32, a position estimation calculation processing unit 33, and an estimation result transmission unit 34 in order to perform information processing according to the above.

[0051] The ID matching unit 31 matches the ID information of the mobile terminal 10 read from the self-location radio waves SL with the data stored in the ID database 32. That is, the ID matching unit 31 identifies the mobile terminal 10 that has transmitted the self-location radio waves SL based on the ID information included in the received self-location radio waves SL.

[0052] The ID database 32 stores data on ID information related to the mobile terminals 10. For example, when an application for configuring the navigation program of this embodiment is installed on a smartphone, registration is performed, and the ID information is acquired, and the ID information corresponding to the facility in which the facility-side system 50 is installed is stored in the ID database 32 in a database form. Specifically, ID information for identifying each mobile terminal 10, and information on a reply method to each mobile terminal 10 and a reply destination such as an email address are stored. Therefore, the ID collation unit 31 can identify the mobile terminal 10 corresponding to the received self-location radio wave SL from the ID database 32, and can also read out information on the reply destination.

[0053] The position estimation calculation processing section 33 performs calculation processing for estimating the position of the mobile terminal 10 based on the angle of arrival calculated (estimated) from the self-position specifying radio wave SL.

[0054] The estimation result transmission unit 34 transmits (responds to) the calculation result of the position estimation in the position estimation calculation processing unit 33 based on the matching result in the ID matching unit 31 to the corresponding mobile terminal 10 (estimation result reception unit RR).

[0055] In this manner, the facility side system 50 identifies the mobile terminal 10 based on the ID information of the mobile terminal 10, and sends back to the mobile terminal 10 response information to the information relating to the second destination DS2.

[0056] The above-mentioned operation is repeated in the equipment side system 50 until the second destination DS2 is reached or until the reception of the self-location specifying radio wave SL is no longer detected.

[0057] An example of a series of operations in the navigation system 100 will be described below with reference to the flowchart shown in FIG.

[0058] First, when the destinations (first destination DS1 and second destination DS2) are set in the mobile terminal 10 (step S101), in order to start guidance based on a wide-area route search to the first destination DS1 (first stage route guidance), GNSS (GPS) information is acquired using the GNSS satellite ST (step S102), the location information of the mobile terminal 10 is updated (step S103), and further, the navigation content is updated using the road information server RS ​​(step S104), and it is confirmed whether or not the wide-area location of the destination (first destination DS1) has been reached (step S105).

[0059] If arrival is not confirmed in step S105 (step S105: No), the above series of processes from step S102 are repeated again, and when arrival is confirmed in step S105 (step S105: Yes), that is, when the wide-area route search is completed, the mobile terminal 10 emits (transmits) radio waves SL for identifying its own position and starts guidance based on the narrow-area route search (second stage route guidance) (step S106).

[0060] When the mobile terminal 10 starts transmitting the self-location radio wave SL in step S106, each of the AOA signal receivers RE1, RE2, ... that receive the self-location radio wave SL among the receiving systems 20 constituting the equipment-side system 50 performs a process of estimating the angle, i.e., calculating the arrival angle (step S107). Furthermore, the detailed position estimation processing unit 30 constituting the equipment-side system 50 estimates the position of the mobile terminal 10 based on the arrival angle estimated (calculated) in step S107 (step S108). Note that the series of processes SA in steps S107 and S108 are performed in the equipment-side system 50, not in the mobile terminal 10. This reduces the processing load on the mobile terminal 10, and thus reduces the power consumption of the mobile terminal 10.

[0061] When the mobile terminal 10 acquires detailed location information and location information based on the location estimation of the mobile terminal 10 in step S108 (step S109), it updates the navigation contents (step S110) and checks whether the mobile terminal 10 has arrived at the small area location that is the final destination (first destination DS2) (step S111).

[0062] When the arrival is confirmed in step S111, that is, when the narrow area route search is completed (step S111: Yes), the mobile terminal 10 ends the series of operations.

[0063] On the other hand, if arrival is not confirmed in step S111 (step S111: No), the mobile terminal 10 determines whether or not it is located within a wide-area location, i.e., whether or not it is within the first destination DS1, based on the map information within the first destination DS1 (map information stored in the narrow-area map data storage unit MS) (step S112).

[0064] If it is determined in step S112 that the mobile terminal 10 is located within the first destination DS1 (step S112: Yes), the mobile terminal 10 repeats the operations from step S106. On the other hand, if it is determined in step S112 that the mobile terminal 10 is not located within the first destination DS1, that is, that the mobile terminal 10 has moved away from the first destination DS1 during route search to the second destination DS2 (step S112: No), the mobile terminal 10 resumes the wide-area route search. In other words, the mobile terminal 10 returns to the guidance based on the wide-area route search from step S102 (first stage route guidance) again, and starts a series of processes related thereto.

[0065] In this manner, the navigation system 100 provides route guidance in two stages.

[0066] Hereinafter, the main points (overview) of the above-mentioned navigation system 100 will be summarized with reference to the conceptual diagram shown in Fig. 8. First, as described above, the navigation system 100 is composed of the mobile terminal 10 and the facility-side system 50.

[0067] In this embodiment, the navigation system 100 performs the first stage guidance, i.e., rough route guidance, in the above-mentioned two-stage route guidance in the mobile terminal 10. At this time, the mobile terminal 10 performs a wide-area route search for the guidance while identifying its own location. When the first stage guidance is completed, the mobile terminal 10 transmits radio waves SL for identifying its own location to start the second stage guidance. Meanwhile, the facility-side system 50 receives the radio waves SL for identifying its own location from the mobile terminal 10. With the above configuration, in the second stage guidance, the facility-side system 50 is responsible for the calculation process for identifying the location of the mobile terminal 10. That is, the facility-side system 50 identifies the location of the mobile terminal 10 based on the received radio waves SL for identifying its own location.

[0068] As described above, the navigation system 100 of this embodiment includes the mobile terminal 10 that transmits radio waves SL for self-location identification upon completion of a wide-area route search, and the facility-side system 50 that identifies the location of the mobile terminal 10 based on the reception of the radio waves SL for self-location identification. In the above navigation system 100, the facility-side system 50 is responsible for identifying the location of the mobile terminal 10, so that an increase in power consumption and an increase in the load of calculation processing on the mobile terminal 10 side can be avoided or suppressed. Furthermore, when the mobile terminal 10 completes a wide-area route search, it transmits radio waves SL for self-location identification, and the radio waves SL for self-location identification are received by the facility-side system 50, so that a smooth switch from a wide-area route search to a detailed route search (route guidance) can be performed.

[0069] 〔others〕 The present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the present invention.

[0070] First, in the above, the GPS system is given as an example of a representative GNSS in wide-area route search, but it is not limited to this and various GNSSs can be adopted as long as it is possible to obtain the necessary position information. In addition, for example, the Quasi-Zenith Satellite System (QZSS) can also be used.

[0071] Furthermore, with regard to communication using the AOA positioning method among the above, various wavelength bands and methods such as Bluetooth (registered trademark) and UWB can be used as long as a necessary communication distance can be ensured.

[0072] Furthermore, in the AOA positioning, the number of receivers (AOA signal receivers) capable of receiving simultaneously is not limited to two, but may be three or more. Furthermore, the combination of a plurality of receivers is not limited to a fixed one, but may be variously changed depending on the location of the mobile terminal 10. For example, in FIG. 3, the combination of the AOA signal receiver RE1 is not limited to the AOA signal receiver RE2, and the AOA signal receiver RE1 and the AOA signal receiver RE9 may be combined to receive the self-location radio wave SL and estimate the location of the mobile terminal 10.

[0073] In addition, in the above, a smartphone is shown as an example of a device constituting the mobile terminal 10, but the present invention is not limited to this, and various devices can be used as the mobile terminal 10. For example, when it is assumed that the mobile terminal 10 is mounted on the vehicle VE as described above, it is also possible to treat a car navigation system as the mobile terminal 10 carried in the vehicle VE.

[0074] Moreover, the mobile terminal 10 is not limited to being carried in the vehicle VE, but may be carried by various moving bodies such as a person (pedestrian) or a bicycle. Also, a mode is assumed in which the mobile terminal 10 is initially carried by a person in the vehicle VE, and after parking the vehicle VE, the person who gets off the vehicle continues to carry the mobile terminal 10 and receives guidance. Furthermore, in this case, for example, the first destination DS1 may be a large shopping mall, the second destination DS2 as an intermediate destination may be the parking lot of the large shopping mall, and the third destination as the final destination may be a specific store in the large shopping mall, and guidance may be received in three stages. [Explanation of symbols]

[0075] 10... mobile terminal, 11n... narrow area route search unit, 11w... wide area route search unit, 20... receiving system, 30... detailed position estimation processing unit, 31... ID matching unit, 32... ID database, 33... position estimation calculation processing unit, 34... estimation result transmission unit, 50... equipment side system, 100... navigation system, AC... arrival angle calculation unit, AR1 to AR7... area, AT1-1, AT1-N, AT1a, AT1b, AT2a, AT2b... receiving antenna, BD... building, CO... position correction unit, DM... data data management unit, DS1...first destination, DS2...second destination, L...route difference, MP...mapping and update processing unit, MS...narrow area map data storage unit, PA...dedicated passage, R1, R2...route, RE1-RE14...AOA signal receiver, RR...estimated result reception unit, RS...information provision service (road information provision server), SL...radio wave for self-location determination, ST...GNSS satellite, TR...AOA signal transmitter, VE...vehicle, WN...wide area route navigation system, WP...position estimation processing unit, d...spacing, θ...incidence angle

Claims

1. When the wide-area route search is completed, a mobile terminal that transmits radio waves for self-location determination; an equipment side system that identifies the location of the mobile terminal based on reception of the self-location identification radio wave; A navigation system comprising:

2. The navigation system according to claim 1 , wherein the facility-side system transmits, to the mobile terminal, information on the location of the mobile terminal that is determined based on the received radio wave for self-location determination.

3. 3. The navigation system according to claim 2, wherein when the mobile terminal reaches a first destination based on the wide-area route search, the mobile terminal starts transmitting the radio waves for self-location determination, and performs a route search to a second destination located within the first destination based on a reply from the equipment side system to the radio waves for self-location determination.

4. The navigation system according to claim 3 , wherein the mobile device has map information of the first destination, and when it is determined that the mobile device has moved away from the first destination during a route search to the second destination, the mobile device resumes the wide-area route search.

5. the mobile terminal transmits the self-location identifying radio wave by attaching ID information and information about the second destination, The navigation system according to claim 3 , wherein the facility-side system identifies the mobile terminal based on the ID information, and sends a reply to the mobile terminal together with response information to the information relating to the second destination.

6. the facility-side system has a plurality of receivers installed at different locations and each of which receives the self-location radio wave, 2. The navigation system according to claim 1, wherein the facility-side system detects an angle of arrival by utilizing a phase difference between a plurality of receiving antennas provided for each of the plurality of receivers, and identifies the position of the portable terminal.

7. A navigation program that searches for a route from a current location to a first destination along a wide area route, transmits radio waves for self-location determination upon detecting arrival at the first destination, and searches for a route to a second destination based on a reply received to the radio waves for self-location determination.

Images