Walking route determination device, walking route determination method, and walking route determination program

Patent metadata

Field	Value
Publication number	US-11976933-B2
Application number	US-201917617984-A
Country	US
Kind code	B2
Filing date	Jun 11, 2019
Priority date	Jun 11, 2019
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

A link combination extraction unit (24) acquires all the combination of link candidates from among link candidates having an angle with respect to a movement direction of a pedestrian equal to or smaller than a threshold value among link candidates for n walking route networks. The link combination extraction unit (24) acquires all the combinations of link candidates that do not intersect with each other among the acquired combinations of link candidates. The link combination extraction unit (24) acquires all the combinations of link candidates that do not connect to each other among the acquired combinations of link candidates. The link combination extraction unit (24) acquires all the combinations of link candidates that are not on the same straight line among the acquired combinations of link candidates. A candidate determination unit (26) acquires a combination of link candidates closest to position information of a pedestrian when there are a plurality of acquired link candidates.

First claim

The invention claimed is:

1. A walking route determination device for determining a walking route of a pedestrian based on position information of the pedestrian measured by a positioning device held by the pedestrian walking at a location as identified by the position information, the walking route determination device comprising circuitry configured to execute operations comprising:
generating, based on a plurality of links in a plurality of walking route networks in ascending order of distance from the position information of the pedestrian as link candidates, wherein each link candidate indicates a link candidate in a walking route network through which the pedestrian is actually walking at the location, the walking route network includes a link as a pedestrian path in a walking route network and a node as a point on the pedestrian path, and the link connects two nodes;
generating, from the link candidates for the plurality of walking route networks, a first set of link candidates, wherein each link candidate in the first set of link candidates indicates an angle formed between a movement direction of the pedestrian walking at the location and a direction of said each link being equal to or smaller than a predetermined value;
generating, from the first set of link candidates, a second set of link candidates, wherein each link candidate in the second set of link candidates satisfies conditions including:
said each link candidate does not intersect with any other link candidate in the second set of link candidates,
said each link candidate does not connect to any other link candidate in the second set of link candidates, and
said each link candidate and any other link candidate in the second set of link candidates are not on the same straight line;

generating, from the second set of link candidates, a third set of link candidates wherein, when the second set of link candidates includes a plurality of link candidates, the third set of link candidates includes a pair of link candidates in the second set of link candidates that are the closest and the next closest to the position information of the pedestrian walking at the location;
determining, based on the third set of link candidates, walking route data of the walking route of the pedestrian walking at the location; and
transmitting the walking route data to an application configured to display the walking route.

2. A walking route determination device for determining a walking route of a pedestrian based on position information of the pedestrian measured by a positioning device held by the pedestrian walking at a location as identified by the position information, the walking route determination device comprising circuitry configured to execute operations comprising:
generating, based on a plurality of links in a plurality of walking route networks in ascending order of distance from the position information of the pedestrian as link candidates, wherein each link candidate indicates a link candidate in a walking route network through which the pedestrian is actually walking at the location, the walking route network includes a link as a pedestrian path in a walking route network and a node as a point on the pedestrian path, and the link connects two nodes;
generating, from the link candidates for the plurality of walking route networks, a first set of link candidates, wherein each link candidate of the first set includes link candidates having an angle with respect to a movement direction of the pedestrian being equal to or smaller than a predetermined value;
generating, from the first set of link candidates, a second set of link candidates, wherein the second set of link candidates includes a plurality of link candidates, and each link candidate in the second set of link candidates satisfies conditions including:
said each link candidate does not intersect with any other link candidate in the second set of link candidates,
said each link candidate does not connect to any other link candidate in the second set of link candidates, and
said each link candidate and any other link candidate in the second set of link candidates are not on the same straight line;

when the second set includes no link candidate, selecting, from the plurality of links, one link candidate that is closest to the position information of the pedestrian and having an angle with respect to the movement direction of the pedestrian being equal to or smaller than the predetermined value;
determining, based on the one link candidate, walking route data of the walking route of the pedestrian walking at the location; and
transmitting the walking route data to an application configured to display the walking route.

3. The walking route determination device according to claim 1 , the method further comprising:
determining, as the movement direction of the pedestrian, a direction that matches with a measured trajectory of the pedestrian among a forward direction and a backward direction of a direction of a link candidate for the walking route network that is closest to the position information of the pedestrian.

4. The walking route determination device according to claim 1 , the method further comprising:
calculating, when a combination of link candidates that are not on the same straight line are acquired, a sum of inner products of unit vectors →A, →B, →C, →D of vectors, which connect both end points of one link candidate to both end points of the other link candidate among the combination of link candidates, respectively, and a unit vector →L of the one link candidate;
determining that the combination of link candidates are not on the same straight line when the calculated sum of inner products is smaller than a threshold value.

5. A walking route determination method for determining a walking route of a pedestrian based on position information of the pedestrian measured by a positioning device held by the pedestrian walking at a location as identified by the position information, the walking route determination method comprising:
generating, based on a plurality of links in a plurality of walking route networks in ascending order of distance from the position information of the pedestrian as link candidates, wherein each link candidate indicates a link candidate in a walking route network through which the pedestrian is actually walking at the location, the walking route network includes a link as a pedestrian path in a walking route network and a node as a point on the pedestrian path, and the link connects two nodes;
generating, the link candidates for the plurality of walking route networks, a first set of link candidates, wherein each link candidate of the first set includes a link candidate having an angle with respect to a movement direction of the pedestrian being equal to or smaller than a predetermined value;
generating, from the first set of link candidates, one or more link candidates, wherein the second set of link candidates includes a plurality of link candidates, and each link candidate in the second set of link candidates satisfies conditions including:
said each link candidate does not intersect with any other link candidate in the second set of link candidates,
said each link candidate does not connect to each other, and
said each link candidate and any other link candidate in the second set of link candidates are not on the same straight line;

when the second set includes a plurality of acquired combinations of link candidates, generating, from the second set of link candidates, a third set of link candidates, wherein, when the second set of link candidates includes a plurality of link candidates, the third set of link candidates includes a pair of link candidates in the second set of link candidates that are the closest and the next closest to the positio

Assignees

• Nippon Telegraph & Telephone

Inventors

• Abe Hirofumi
• Ochiai Keihiro
• Seshimo Hitoshi

Classifications

• G01C21/367 Primary

  Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker · CPC title

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/362

  received from an external device or application, e.g. PDA, mobile phone or calendar application · CPC title

• G01S19/393

  Trajectory determination or predictive tracking, e.g. Kalman filtering · CPC title

• G01S19/40

  Correcting position, velocity or attitude · CPC title