AU2020200674B2 - Navigation support server and navigation support system - Google Patents

Abstract

NAVIGATION SUPPORT SERVER AND NAVIGATION SUPPORT SYSTEM ABSTRACT A navigation support server (10) receives location information and function identifying information transmitted by at least one transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to forma database. The navigation support server (10) determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle. The navigation support server (10) distributes the accessibility determination result to a receiving vehicle that includes a communication device.

Description

NAVIGATION SUPPORT SERVER AND NAVIGATION SUPPORT SYSTEM BACKGROUND

[0001] 1. Field

[0002] The present disclosure relates to a navigation support server and a navigation support

system.

[0003] 2. Description of Related Art

[0004] A known navigation device installed in a vehicle is configured to search for a route in

accordance with the size of the vehicle (refer to Japanese Laid-Open Patent Publication No.

2016-80362).

[0005] Also, a known in-vehicle device is configured to perform navigation that reduces

instances in which a user has to determine whether the vehicle can travel along the proposed

route (refer to Japanese Laid-Open Patent Publication No. 2011-185668). The in-vehicle

device determines whether the vehicle meets a condition subject to a restriction. When the in

vehicle device determines that the vehicle meets a condition subject to a restriction, the in

vehicle device identifies roads included in a region where the restriction is imposed and avoids

such roads when searching for a route to a destination of the vehicle. In Japanese Laid-Open

Patent Publication No. 2011-185668, when a restriction is set in advance, roads where

restrictions are imposed can be avoided. This allows for roads where restrictions are not

imposed to be searched for.

SUMMARY

[0006] Roads are not limited to paved roads and include unpaved roads, for example, muddy

roads, gravel roads, dirt roads, and the like. Further, roads may not be shown in a roadmap.

Moreover, a road that was accessible may become inaccessible due to, for example, flooding caused by a change in weather. In this case, if a road manager is not aware that the road has become inaccessible, a conventional navigation device may consider the inaccessible road as being an accessible spot when searching for a route. In such a case, the navigation devices of the above publications cannot perform an appropriate search.

[0006a] It is an object of the present invention to substantially overcome, or at least ameliorate, at least one disadvantage of present arrangements.

[0007] Some embodiments of the present disclosure are intended to provide a navigation support server and a navigation support system that are configured to present determination result of accessibility of spots in accordance with function identifying information on a real-time basis to a vehicle provided with the function identifying information.

[0008] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0008a] One aspect of the present disclosure provides a navigation support server including a road network database, wherein the road network database includes node data and link data, the node data each include a node number of a node that indicates a spot and coordinate values of the node in longitude and latitude, the link data each use a line segment connecting the node data to indicate a route, the link data each include a link number of a link and node numbers of nodes forming the link, the navigation support server receives location information and function identifying information transmitted by at least one transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database, the navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle, the navigation support server distributes the accessibility determination result to a receiving vehicle that includes a communication device, when the navigation support server receives the location information from the transmitting vehicle, the navigation support server determines whether the location information is located on a registered link that is already registered in the road network database, when the navigation support server determines that the location information of the transmitting vehicle is not located on the registered link, the navigation support server determines whether the location information is located on an extension of a temporarily registered link, the temporarily registered link being a link that is temporarily registered in a temporary registration process, the navigation support

2a

server executes the temporary registration process when the navigation support server determines that the location information of the transmitting vehicle is not located on the extension of the temporarily registered link, in the temporary registration process, the navigation support server assigns a temporary node number to a spot corresponding to the location information of the transmitting vehicle, and spots that form the temporarily registered link include the spot to which the temporary node number is assigned.

[0008b] One aspect of the present disclosure provides a navigation support system, including: communication devices, each installed in at least one vehicle to transmit location information and function identifying information of the corresponding at least one vehicle; and a navigation support server including a road network database, wherein the road network database includes node data and link data, the node data each include a node number of a node that indicates a spot and coordinate values of the node in longitude and latitude, the link data each use a line segment connecting the node data to indicate a route, the link data each include a link number of a link and node numbers of nodes forming the link, the navigation support server receives the location information and the function identifying information transmitted by a transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database, the navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle, the navigation support server distributes the accessibility determination result to a receiving vehicle including one of the communication devices, when the navigation support server receives the location information from the transmitting vehicle, the navigation support server determines whether the location information is located on a registered link that is already registered in the road network database, when the navigation support server determines that the location information of the transmitting vehicle is not located on the registered link, the navigation support server determines whether the location information is located on an extension of a temporarily registered link, the temporarily registered link being a link that is temporarily registered in a temporary registration process, the navigation support server executes the temporary registration process when the navigation support server determines that the location information of the transmitting vehicle is not located on the extension of the temporarily registered link, in the temporary registration process, the navigation support server assigns a temporary node number to a spot corresponding to the location information of the transmitting vehicle, and spots that form the temporarily registered link include the spot to which the temporary node number is assigned.

2b

[0009] In one general aspect, a navigation support server receives location information and function identifying information transmitted by at least one transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database. The navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle. The navigation support server distributes the accessibility determination result to a receiving vehicle that includes a communication device.

[0010] In another general aspect, a navigation support system includes communication devices and a navigation support server. The communication devices are each installed in at least one vehicle to transmit location information and function identifying information of the corresponding at least one vehicle. The navigation support server receives the location information and the function identifying information transmitted by a transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database. The navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle. The navigation support server distributes the accessibility determination result to a receiving vehicle including one of the communication devices.

[0011] Other features and aspects will be apparent from the following detailed description,

the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Fig. 1 is a block diagram showing a navigation support system of a first embodiment.

[0013] Fig. 2 is a block diagram showing a support server of the first embodiment.

[0014] Fig. 3 is a block diagram showing an in-vehicle device of the first embodiment.

[0015] Fig. 4 is a diagram illustrating one example of a function identifying information

database.

[0016] Fig 5 is a diagram illustrating a reference grid square.

[0017] Fig. 6 is a diagram illustrating node data.

[0018] Fig. 7 is a diagram illustrating link data.

[0019] Fig. 8 is a flowchart illustrating a program executed by a spot determination unit of

the support server.

[0020] Fig. 9 is a diagram illustrating a case where link L4, which is off-road terrain, is

registered between node Ni and node N3.

[0021] Fig. 10 is a diagram illustrating the link data to which the off-road terrain is

registered.

[0022] Fig. 11 is a flowchart illustrating a program executed by a spot accessibility

determination unit of the support server.

[0023] Fig. 12 is a diagram illustrating an example in which a candidate spot is displayed on

a display screen of a display device.

[0024] Fig. 13 is a diagram illustrating an example in which a candidate spot is displayed on

the display screen of the display device.

[0025] Fig. 14 is a diagram illustrating an example in which a candidate spot is displayed on

the display screen of the display device.

[0026] Fig. 15 is a block diagram showing an in-vehicle device of a second embodiment.

[0027] Fig. 16 is a block diagram showing a support server of the second embodiment.

[0028] Throughout the drawings and the detailed description, the same reference numerals

refer to the same elements. The drawings may not be to scale, and the relative size,

proportions, and depiction of elements in the drawings may be exaggerated for clarity,

illustration, and convenience.

DETAILED DESCRIPTION

[0029] This description provides a comprehensive understanding of the methods,

apparatuses, and/or systems described. Modifications and equivalents of the methods,

apparatuses, and/or systems described are apparent to one of ordinary skill in the art.

Sequences of operations are exemplary, and may be changed as apparent to one of ordinary

skill in the art, with the exception of operations necessarily occurring in a certain order.

Descriptions of functions and constructions that are well known to one of ordinary skill in the

art may be omitted.

[0030] Exemplary embodiments may have different forms, and are not limited to the

examples described. However, the examples described are thorough and complete, and

convey the full scope of the disclosure to one of ordinary skill in the art.

[0031] First Embodiment

[0032] The first embodiment of a navigation support system and a navigation support server

will now be described with reference to Figs. 1 to 14.

[0033] As shown in Fig. 1, the navigation support system includes the navigation support

server (hereafter, support server 10) and a plurality of in-vehicle devices 20. The support

server 10 and the in-vehicle devices 20 are connected via a network 80 such as a mobile

wireless communication network in a manner allowing for communication. Each in-vehicle

device 20 corresponds to a communication device. Further, the support server 10 is connected

to a weather information providing server 30 and a road management server 60 via the network

in a manner allowing for communication.

[0034] As shown in Fig. 1, the in-vehicle devices 20 are respectively installed in a plurality

of vehicles An and Bn. Here, "n" is a positive integer such as 1, 2, 3...

[0035] Support Server 10

[0036] As shown in Fig. 2, the support server 10 is configured by a versatile computer and

the like including a communication unit 11, a controller 12, a map database 13A, a road

network database 13B, a weather information database 13C, and a function identifying

information database 13D. Each database is configured by a computer readable and writable

recording medium formed solely by a non-volatile memory or a combination of non-volatile

memories such as a hard disc, a magnet-optical disc device, a flash memory, a random memory

(RAM), and the like. Further, the databases do not necessarily have to be provided inside the

support server 10 and may be provided outside the support server 10 as dedicated devices.

[0037] The communication unit 11 is configured by a modem and the like. The communication unit 11 communicates with the in-vehicle devices 20 of the vehicles An and Bn via the network 80 and receives location information and function identifying information transmitted from the in-vehicle devices 20. The location information is information regarding current locations of the vehicles An and Bn including the in-vehicle devices 20. The function identifying information identifies functions of the vehicles An and Bn including the in-vehicle devices 20. Specifically, the function identifying information is a vehicle identification number (vehicle VIN).

[0038] The vehicle identification number is a number defined in accordance with

International Organization for Standardization (ISO) 3833 and is a unique code including a

serial number that is used to identify the vehicle.

[0039] Each in-vehicle device 20 transmits the above-described information in

predetermined time intervals of, for example, several dozen milliseconds. The time interval is

only an example and may be another value.

[0040] The map database 13A stores regional division data that is divided into

predetermined regions. The map database 13A accumulates various types of map information

such as vector data and raster data. The vector data and raster data are associated with latitude

and longitude information and used to display a map. For example, each predetermined type

(layer) includes the map information of rivers, mountains, deserts, roads, railroads, residences,

facilities, and bridges.

[0041] The regional division may be a division of any units. The present embodiment

employs the Standard Grid Square, in which regions are systematically divided by longitudes

and latitudes. Here, the Standard Grid Square is prepared using a method (latitude-longitude

method) that partitions the entire country into grids with certain longitudes and latitudes. The

Standard Grid Square includes primary, secondary, and tertiary grids, and codes are set based

on latitudes and longitudes. Generally, the tertiary grid (square having sides of approximately

1 kilometer) is referred to as a reference grid square.

[0042] The primary grid is obtained by dividing the entire country at every degree in latitude

and every forty minutes in longitude. The secondary grid is obtained by dividing the primary

grid vertically and horizontally into eight parts. The tertiary grid is obtained by dividing the

secondary grid vertically and horizontally into ten parts. The primary grid, secondary grid,

and tertiary grid may be selected in any manner.

[0043] The road network database 13B is road network data including node data and link

data and provided for each reference grid square. The road network database 13B may be

provided for each grid square that is not a reference grid square.

[0044] Fig 5 is a diagram illustrating a reference grid square. Figs. 6 and 7 show examples

of the node data and the link data.

[0045] As shown in Fig. 6, the node data is spot data including the number of the node

(hereafter, node number) that indicates a spot, coordinate values of the node in longitude and

latitude, the type of the node (e.g., road intersection, branching point, curving point, or building,

facility, and the like), and the like.

[0046] The link data shown in Fig. 7 uses line segments connecting the node data to indicate

routes accessible by an automobile such as national roads, prefectural roads, city/town/village

roads, and private roads. In addition to the roads, the link data that is characteristic to the

present embodiment includes mountainous regions, desert regions (that is, sandy region),

unpaved grasslands and gravel lands not managed by a road manager such as a municipality or

the like, and off-road terrain of mud, rocks, and fords where a person will have difficulty

walking.

[0047] As shown in Fig. 7, each link data includes the number of the link (hereafter, referred

to as link number), the node numbers forming the link, a link cost, and a link type. Further, if

a number is officially assigned to a road, the link data includes information such as the road number, attribute of the road, and the like.

[0048] Moreover, the link data stores shape interpolation point data (not shown) and image

names. The shape interpolation point data identifies the shape of a road between nodes which

form a link. The image name identifies a video file transmitted from the vehicle that is

traveling on the link or has traveled on the link and stored in an image file memory (not shown).

When a distribution demand or a download demand is made by the vehicles An and Bn, the

image file is configured to be streamed or downloaded in the vehicles.

[0049] The road attribute can be updated in the link data. Specifically, when the link type

is a road (national road, prefectural road, city/town/village road, private road, or the like) and

not off-road terrain, the road attribute is set to a default of "accessible". Further, when the link

type is a road (national road, prefectural road, city/town/village road, private road, or the like)

and not off-road terrain and if a vehicle, including a 4WD vehicle, cannot access the road based

on weather information or information notified by the road management server 60 (e.g.,

disaster information, restriction information, and the like), the road attribute is rewritten to

"inaccessible".

[0050] In contrast, when the link type is "off-road terrain" and the road attribute is set to

"accessible" or "inaccessible", functional item information, which will be described later, is

also written. Specifically, when the link type is "off-road terrain", "accessible by 4WD with

certain function" or "inaccessible by 4WD with certain function" is indicated.

[0051] Further, when the attribute of the road (including off-road terrain) is "inaccessible"

and if the road cannot be accessed for a reason based on, for example, the weather information

of the corresponding area or the information (weather information, disaster information, and

the like) notified by the road management server 60, this information is also associated and

accumulated in the link data. Here, the certain function is a function conforming to the

functional item information, which will be described later, of the vehicle that is identified based on the function identifying information.

[0052] The link cost represents the load on the vehicle when traveling on the link. The link

cost is set in accordance with the length of the link or the amount of time required for traveling

on the link. The link cost is referenced when searching for a route that has the smallest link

cost using the Dijkstra's algorithm. The Dijkstra's algorithm is a mathematical theory related

to a graph including a set of nodes and a set of edges and used for obtaining the shortest path

between two peaks of the graph.

[0053] The link type is information that indicates whether the corresponding link is a

highway, a national road, a prefectural road, a city/town/village road, a private road, or off-road

terrain. In addition, the link data includes detailed information such as the road width of the

corresponding link.

[0054] The communication unit 11 transmits "spot accessibility determination", which will

be described later, to the in-vehicle devices 20 of the vehicles An and Bn. Further, the

communication unit 11 receives the weather information transmitted from the weather

information providing server 30 and accumulates the received weather information in the

weather information database 13C for each country and region.

[0055] The weather information accumulated in the weather information database 13C

includes present, past, and predicted information related to countries and regions obtainable

from government organizations, local government offices, or private institutions. The weather

information includes the weather, precipitation, amount of snow fall, amount of snow

accumulation, fog, atmospheric pressure, cloud, temperature, wind direction, wind velocity,

thunder storm, and the like.

[0056] The weather information are present, past, and predicted values, but may be values

for predetermined time units such as every one hour or three hours, or values of a time frame

such as half-day.

[0057] Also, the weather information includes an advisory, warning, special warning, and

alert related to the weather of a country or a region. For example, an advisory may be an

advisory of wind and rain, snowstorm, heavy rain, heavy snow, and the like, an earthquake

advisory, a volcanic phenomenon (eruption, ash fall, and the like) advisory, land phenomenon

(land slip, landslide, and the like) advisory, tsunami advisory, storm surge advisory, wave

advisory, inundation advisory, flood advisory, dense fog advisory, thunder advisory, tornado

advisory, avalanche advisory, snow accretion advisory, and the like.

[0058] Further, a warning and a special warning may be related to heavy rain, heavy snow,

flood, storm surge, wave, storm, blizzard, and the like. The above examples may include

other examples. For example, a warning and a special warning may include a sandstorm

advisory (or sandstorm warning), tornado advisory (or tornado warning), avalanche warning,

high temperature or low temperature warning, and the like.

[0059] In the function identifying information database 13D, the function identifying

information (vehicle identification number) of vehicles are associated with the functional item

information of the corresponding vehicles. The function identifying information database

13D allows for a search of the functional item information of the vehicles based on the function

identifying information of the corresponding vehicles.

[0060] As shown in Fig. 4, the functional items of the vehicles are, for example, functions

unique to a 4WD. Specifically, the functional items include vehicle size, driving modes

(2WD, 4WD (full-time, part-time)), multi-terrain select, crawl control, obstacle angle relative

to the ground (approach angle, departure angle, ramp breakover angle, maximum stable

inclination angle, gradability), maximum fording performance, minimum ground clearance,

and the like.

[0061] Among these items, the function such as 4WD, multi-terrain select, crawl control,

obstacle angle relative to the ground (approach angle, departure angle, ramp breakover angle, maximum stable inclination angle, gradability), maximum fording performance, minimum ground clearance, and the like are useful when traveling on off-road terrain. The off-road terrain handling capability becomes greater as values of the maximum fording performance and the obstacle angle relative to ground are increased.

[0062] The approach angle refers to an angle formed by the ground and a line connecting a

front bumper and a front wheel. Further, the departure angle refers to an angle formed by the

ground and a line connecting a rear bumper and a rear wheel. The ramp breakover angle

refers to an angle formed by a line connecting a point where the front wheel touches the ground

and the central part of the vehicle body (bottom of center of wheelbase) and a line connecting a

point where the rear wheel touches the ground and the central part of the vehicle body.

[0063] In 4WD, a vehicle with the multi-terrain select includes, for example, a system

configured to select one out of multiple modes such as MUD & SAND, LOOSE ROCK,

MOGUL, ROCK & DIRT, ROCK, and the like. The system is configured to control the

engine throttle characteristics and an oil pressure of a brake in an active traction control in

accordance with each selected mode in an optimal manner and handle off-roading.

[0064] When traveling on rough off-road terrain, a slippery road surface, or a steep slope, a

4WD vehicle with the crawl control is configured to travel at a very low-speed while only

steering is operated, that is, without operating an accelerator or a brake. Fig. 4 shows only

part of the functional item information in the function identifying information database 13D.

[0065] The controller 12 is configured by a memory, a central processing unit (CPU), and

thelike. The controller 12 controls the support server 10 and communicates with the in

vehicle devices 20 of the vehicles An and Bn via the communication unit 11. The controller

12 performs various types of processes based on various types of information transmitted from

the in-vehicle devices 20 of the vehicles An and Bn and transmits various types of data to the

in-vehicle devices 20 of the vehicles An and Bn in response to demands from the vehicles An and Bn.

[0066] As shown in Fig. 2, the controller 12 includes a communication controller 14, an area

determination unit 15, an area weather information selection unit 16, a spot determination unit

17, a spot accessibility determination unit 18, and the like. The communication controller 14,

area determination unit 15, area weather information selection unit 16, spot determination unit

17, and spot accessibility determination unit 18 are connected to one another via buses. The

controller 12 executes various types of processes, which will be described later, in accordance

with various types of programs stored in a memory (not shown).

[0067] The area determination unit 15 determines an area to which the weather information

transmitted from the weather information providing server 30 is to be distributed. For

example, the weather information is associated with a distribution subject area (for example, in

units of country, local government (state, prefecture, county, region of city/town/village, and

the like)). Thus, the area determination unit 15 determines an area to which the weather

information is to be distributed based on the distribution subject area. The distribution subject

area does not have to be set in units of country, local government, or the like and may be set in

grid units. A grid code may be assigned to each grid to identify a corresponding division in

the Standard Grid Square. The weather information of which the area is determined by the

area determination unit 15 is accumulated in the weather information database 13C for each

determined area.

[0068] When a demand for the weather information related to a requested area (i.e.,

distribution subject area) is made by the in-vehicle devices 20 of the vehicles An and Bn, the

area weather information selection unit 16 reads the weather information related to the

requested distribution subject area from the weather information database 13C and transmits to

the in-vehicle devices 20 of the vehicles An and Bn, which made the demand.

[0069] The spot determination unit 17 determines the route (spot) in a grid in the road network of the road network database 13B including the location information transmitted from the vehicles An and Bn. Then, the spot determination unit 17 executes several processes, which will be described later, based on the determination result.

[0070] Based on the information of an area where access is requested or the location

information and the function identifying information of the vehicle transmitted from the

vehicles An and Bn, in a case where the requested area includes off-road terrain, the spot

accessibility determination unit 18 determines whether the requesting vehicle can access the

off-road terrain (i.e., performs spot accessibility determination). Then, the spot accessibility

determination unit 18 transmits the result of the spot accessibility determination to the vehicle

which transmitted the function identifying information.

[0071] In-Vehicle Device 20

[0072] The in-vehicle devices 20 respectively installed in the vehicles An and Bn will now

be described with reference to Fig. 3. In the present embodiment, the in-vehicle devices 20 of

the vehicles An and Bn include common functions, which will be described later, to facilitate

understanding.

[0073] Each in-vehicle device 20 includes a GPS (Global Positioning System) receiver 21, a

memory 22, a controller 23, a display device 24, an operation input unit 25, an imaging unit 27,

and the like.

[0074] The GPS receiver 21 receives satellite signals transmitted from GPS satellites and

measures the position of the corresponding vehicle (present location of corresponding vehicle)

based on the received satellite signals. Then, the GPS receiver 21 provides the location

information indicating the measured vehicle location to the controller 23.

[0075] The memory 22 is configured, for example, by a hard disc or the like and stores

information necessary for a route search or display of the map information (road information)

or various types of images. Further, the memory 22 stores the function identifying information of the corresponding vehicle that includes the host in-vehicle device 20.

[0076] The controller 23 reads information in response to a demand, which is input by a

driver of the vehicle through operation of the operation input unit 25, and provides the

information to the controller 23.

[0077] The controller 23 is configured by, for example, a CPU, a read only memory (ROM),

a random access memory (RAM), a built-in timer, and the like. The controller 23 has the

CPU execute programs stored in the ROM to control the in-vehicle device 20. Further, the

controller 23 transmits the measured vehicle location information and the function identifying

information of the corresponding vehicle stored in the memory 22 to the support server 10 via a

communication unit 26 periodically, for example, in intervals of a few hundred milliseconds.

Moreover, when the driver operates the operation input unit 25 to demand for an accessible

spot in the area where the vehicle is currently travelling, the controller 23 transmits the demand

information via the communication unit 26 to the support server 10.

[0078] Subsequently, the support server 10 transmits candidate information of an accessible

spot in response to the demand information, and the controller 23 displays a spot corresponding

to the candidate information. For example, the spot corresponding to the candidate

information is displayed on a map image on the display device 24 in a color differing from that

of spots not included in the candidate information.

[0079] When the support server 10 transmits information on an inaccessible spot together

with the candidate information in response to the demand information, the controller 23

controls the display device 24 as described below. Specifically, based on the transmitted

information, the controller 23 combines an inaccessible mark (for example, "x ") with the

inaccessible link in the map image on the display device 24 and displays a spot corresponding

to the candidate information, for example, in a color that differs from the color of a spot not

included in the candidate information. The spot corresponding to the candidate information and the spot not included in the candidate information do not have to be displayed in different display colors and may be displayed in another visually recognizable manner. For example, different road widths or types of lines may be displayed differently using dotted lines, solid lines, and the like.

[0080] The operation input unit 25 is configured by, for example, a touch panel provided on

a front surface of the display device 24, an operation button, and the like and receives an

operation content input by the driver. The operation input unit 25 may be a remote controller.

[0081] The display device 24 is configured by, for example, a liquid crystal display or the

like that displays a map image (road image) and the like. When the operation input unit 25 is

operated to demand a search of a destination or an accessible spot, the support server 10

transmits the candidate information. The display device 24 displays a map image on which an

image corresponding to the candidate information is combined.

[0082] The communication unit 26 is configured by a wireless communication terminal and

thelike. The communication unit 26 communicates with the support server 10 via the

network 80 and transmits and receives necessary information to and from the support server 10

and the corresponding in-vehicle device 20.

[0083] The imaging unit 27 captures a video of a road the vehicle is traveling on. The

video corresponds to an ambient environment image. The video captured by the imaging unit

27 is transmitted by the controller 23 via the communication unit 26 to the support server 10

and converted to a video file stored in an image file memory (not shown) of the support server

10.

[0084] Operation of First Embodiment

[0085] Accumulation of Data Related to Off-Road Terrain

[0086] In a case described below, the vehicle An (n=1) is a 4WD vehicle and the vehicle An

(n=1) travels on off-road terrain, which is not stored in the road network database 13B, from node NI to node N3 of Fig. 5 instead of the roads of links LI and L2 for the first time.

[0087] In this case, nodes Ni to N4 of Fig. 5 are described as the node data shown in Fig. 6

in the road network database 13B.

[0088] Further, links Lito L3 of Fig. 5 are described as the link data shown in Fig. 7 in the

road network database 13B.

[0089] Fig. 8 is a flowchart illustrating a program executed by the spot determination unit 17

of the support server 10. The program is executed whenever the location information and the

function identifying information are received (obtained).

[0090] SiO

[0091] In S10, the spot determination unit 17 searches the road network database 13B to

determine to which grid the received location information belongs. Then, based on the

received function identifying information, the spot determination unit 17 searches the function

identifying information database 13D to identify the functional item information of the vehicle

that transmitted the function identifying information.

[0092] S20

[0093] In S20, the spot determination unit 17 determines on which link in the grid obtained

in S10 the present location information (hereafter, present value) of the vehicle An (n=1) is

located.

[0094] Specifically, the spot determination unit 17 determines whether a present value

(location information) is located on a registered link in the grid. The registered link is a link

that is already registered. When the spot determination unit 17 determines that the present

value is not located on a registered link, the spot determination unit 17 proceeds to S30.

When the spot determination unit 17 determines that the location information of the vehicle An

(n=i) is located on a registered link in the grid, the spot determination unit 17 proceeds to S60.

[00951 S30

[0096] In S30, the spot determination unit 17 determines whether the present value is

located on an extension of a temporarily registered link. The temporarily registered link is a

link that is temporarily registered in S40, which will be described later. When the present

value is not located on an extension of a temporarily registered link, the spot determination unit

17 determines that the vehicle is traveling on an unregistered road and proceeds to S40 since

the present value was determined as not located on a registered link in S20.

[00971 S40

[0098] S40 is a step for executing a temporary registration process. Specifically, in S40,

the spot determination unit 17 assigns a temporary node number M1 to the spot corresponding

to the present value.

[0099] In more detail, if the preceding location information (hereafter, preceding value) does

not have a node number of a registered link, a temporary node number is assigned to the

preceding value. Thus, the spot determination unit 17 assigns a new node number to the

preceding value to identify the spot corresponding to the preceding value. Then, the spot

determination unit 17 assigns a temporary link number R to a link formed by the new node

number of the preceding value and the temporary node number M1 of the present value to

identify the link. If a node number of a registered link has been assigned to the preceding

value instead of a temporary node number, the spot determination unit 17 assigns a temporary

link number R to a link formed by the node number of the spot corresponding to the preceding

value and the temporary node number M1 of the present value to identify the link.

[0100] Moreover, the spot determination unit 17 assigns the link type of "off-road terrain" to

the temporary link number R and sets the attribute of "accessible by 4WD with certain

function" based on the functional item information searched in S10 with the function

identifying information.

[0101] Also, the spot determination unit 17 assigns the node type of "branching point" to the node of the new temporary node number.

[0102] Furthermore, when a video has been transmitted together with the present value, the

spot determination unit 17 converts the video into a video file and accumulates the file in the

road network database 13B in association with the link number. Therefore, the node numbers

of the temporary link number R become "Nn, M". When the process ends, the spot

determination unit 17 temporarily ends the flowchart.

[01031 S50

[0104] In S50, the spot determination unit 17 determines that the present value is located on

an extension of a temporary link as a result of a further travel of the vehicle from the temporary

link. Then, the spot determination unit 17 assigns an incremented temporary node number to

the spot corresponding to the present value to update the coordinates of the spot corresponding

to the node number of the node located on the temporary link. This updates the coordinates of

the spot forming the link related to the temporary link number R. Also, the spot determination

unit 17 maintains the attribute of "accessible by 4WD with certain function" based on the

functional item information searched in S10 with the function identifying information.

[0105] Further, the spot determination unit 17 updates the shape interpolation point data for

identifying the shape of the road between the nodes forming the link. The shape interpolation

point is set with the presently received location information. When the process ends, the spot

determination unit 17 temporarily ends the flowchart.

[01061 S60

[0107] In S60, the spot determination unit 17 determines whether the preceding value is

located on a temporary link. When the preceding value is located on a temporary link, the

spot determination unit 17 determines that the vehicle has changed the spot where the vehicle is

traveling on from a registered link to a temporary link and then proceeds to S70. When the

preceding value is located on a registered link, the spot determination unit 17 determines that the vehicle has been and is traveling on a registered link in the preceding time and the present time. Then, the spot determination unit 17 temporarily ends the flowchart.

[0108] S70

[0109] In S70, the spot determination unit 17 updates the temporary link number to an

official link number R. The temporary node numbers forming the link, to which the official

link number R is assigned, are employed as legitimate node numbers. If the spot of present

value does not have a node number, the spot determination unit 17 assigns a new node number.

[0110] When a node number has already been assigned to the spot of the present value and if

the node number is the same as the node number of the starting point of the off-road terrain, the

spot determination unit 17 sets the attribute of the off-road terrain to "inaccessible by 4WD

with certain function". When the node number of the spot of the present value is not same as

the node number of the starting point of the off-road terrain, the attribute of the off-road terrain

is set to "accessible by 4WD with certain function". Further, when the off-road terrain

attribute is set to "accessible by 4WD with certain function" and if the node type of

"intersection" is assigned to the node of the present value, the spot determination unit 17

maintains the node type. If not, the spot determination unit 17 assigns "branching point" to

the node. When the process ends, the spot determination unit 17 temporarily ends the

flowchart.

[0111] Figs. 9 and 10 show one example in which off-road terrain is registered as described

above. Fig. 9 is a diagram illustrating a case where link L4, which is off-road terrain, is

registered between node Ni and node N3. As shown in Fig. 9, link L4 is shown together with

the comment of "accessible by 4WD with certain function".

[0112] As shown in Fig. 10, the nodes, link type, and attribute related to link L4 are added to

the link data in the road network database 13B.

[0113] After Accumulation of Data Related to Off-Road Terrain

[0114] The operation of the support server 10 after the off-road terrain is accumulated in the

road network database 13B as described above will now be described.

[0115] Fig. 11 is a flowchart illustrating a program executed by the spot accessibility

determination unit 18 of the support server 10 when the vehicle Bn transmits spot search

demand information to the support server 10. The vehicle Bn transmits its function

identifying information together with the demand information to the support server 10. Inthe

description hereafter, the location information corresponds to a spot indicated as node N4, and

the destination is a spot indicated as node N3.

[01161 S100

[0117] In S100, the spot accessibility determination unit 18 searches the road network

database 13B to identify the grid to which the received location information belongs. Then,

based on the received function identifying information, the spot determination unit 17 searches

the function identifying information database 13D to identify the functional item information of

the vehicle that transmitted the function identifying information.

[01181 Silo

[0119] In S110, the spot accessibility determination unit 18 uses, for example, the Dijkstra's

algorithm to perform a search for a spot (link), which is located on a route connecting the spot

corresponding to the spot information and the destination. Further, the spot configures part of

a preferred link having the link data attribute of "accessible".

[0120] Further, in SI10, when the searched spot includes off-road terrain, the spot

accessibility determination unit 18 determines whether the functional item information that sets

the attribute of the off-road terrain to "accessible" coincides with the functional item

information of the vehicle Bn. Then, when the functional item information setting the

attribute of the off-road terrain to "accessible" coincides with the functional item information of

the vehicle Bn, the spot accessibility determination unit 18 selects the spot as a candidate spot.

Consequently, the spot accessibility determination unit 18 determines whether the spot is

preferred based on the Dijkstra's algorithm compared with other candidate spots.

[0121] S120

[0122] In S120, the spot accessibility determination unit 18 transmits the preferred spot as a

result of the search in S110 to the vehicle Bn, which transmitted the demand information.

[0123] The in-vehicle device 20 of the vehicle Bn displays the received preferred spot on the

display device 24.

[0124] Fig. 12 to 14 show examples in which a candidate spot is shown on a display screen

of the display device 24. Fig. 12 shows that there is no disaster information or restriction

information related to links L2 and L3 and that links L2 and L3 are accessible by 4WD

vehicles and 2WD vehicles. Thus, links L2 and L3 are displayed as links formed by preferred

spots. In Fig. 12, links L2 and L3 are indicated by bolder lines than other links to facilitate

understanding.

[0125] Fig. 13 shows preferred spots in the following situation in which there is no disaster

information or restriction information related to links L3 and LI, links L3 and L are accessible

by 4WD vehicles and 2WD vehicles, there is disaster information or restriction information

related to link L2, and link L2 is inaccessible by 4WD vehicles and 2WD vehicles.

[0126] Specifically, in the example of Fig. 13, the functional item information that sets the

attribute of link L4, which is off-road terrain, to "accessible" coincides with the functional item

information of the vehicle Bn. Consequently, the spots forming links L3, LI, and L4 are

shown as preferred candidates (that is, detour spot) in comparison with other candidate spots

based on the Dijkstra's algorithm. Further, the support server 10 transmits mark assignment

information, which indicates link L2 as inaccessible, together with the information on the

search result obtained in SI10. As shown in Fig. 13, "x" mark is displayed to indicate that

link L2 is inaccessible based on the mark assignment information.

[0127] In Fig. 13, links L3, LI, and L4 are indicated by bolder lines than other links to

facilitate understanding. Fig. 14 shows a situation in which there is no disaster information or

restriction information related to link L3, link L3 is accessible by 4WD vehicles and 2WD

vehicles, there is disaster information or restriction information related to link L2, and link L2

is inaccessible by 4WD vehicles and 2WD vehicles.

[0128] Further, in the example of Fig. 14, the functional item information that sets the

attribute of link L4, which is off-road terrain, to "accessible" does not coincide with the

functional item information of the vehicle Bn. Consequently, Fig. 14 shows an example in

which, a preferred spot could not be found from the spot corresponding to the location

information indicated as node N4 to the spot of the destination indicated as node N3.

[0129] In Fig. 14, link L3 is indicated by a bolder line than other links to facilitate

understanding. That is, the route to the spot of node N2, which is closest to the spot indicated

as node N3, is shown as the optimal spot.

[0130] In the example of Fig. 13, while the vehicle Bn is traveling on link L4, the support

server 10 may read a video file in correspondence with the presently transmitted location

information of the vehicle Bn and transmit the video to the vehicle Bn for streaming on the

display device 24 of the in-vehicle device 20.

[0131] The first embodiment has the following advantages.

[0132] (1) The support server 10 receives the location information and the function

identifying information of a plurality of vehicles and accumulates the location information and

the function identifying information for each spot included in the location information to form

adatabase. Further, the support server 10 determines the present accessibility of each spot

based on the location information and the function identifying information of the vehicle that

travels the spot. Then, the support server 10 distributes the determination result of the

accessibility of the vehicle with the function identifying information, which is used for the determination of accessibility at the spot, to the vehicle including the in-vehicle device 20

(communication device).

[0133] In this manner, in the first embodiment, the determination result of the accessibility

of the vehicle having the function identifying information, which is used for the accessibility

determination of the spot, is distributed based on the location information and the function

identifying information of the vehicle accessing the spot to the vehicle including the

communication device. Thus, the accessibility is notified to the occupant of the vehicle (for

example, driver).

[0134] When the vehicle An is currently traveling on an off-road spot, the accessibility of

the off-road spot by the vehicle Bn can also be obtained on a real-time basis. That is, the

accessibility determination result can be presented in accordance with the function identifying

information to the vehicle having that function identifying information on a real-time basis.

[0135] Furthermore, a traffic situation at a spot will be available based on the location

information uploaded to the support server 10 by each vehicle. The information can also be

provided to a local government, load manager, or country. For example, the information can

be used for smartphones, broadcast stations, disaster information control, and the like.

[0136] (2) In the support server 10 of the present embodiment, a determination reason for

accessibility of a spot, in particular, a reason for an "inaccessible" determination, includes the

weather information. As a result, in the present embodiment, an occupant of the vehicle will

know that the road is inaccessible due to the weather.

[0137] (3) When the determination result of a spot is "inaccessible" (access impossible), the

support server 10 in the present embodiment presents the vehicle with a detour spot to detour

the inaccessible spot. This notifies the occupant of the vehicle of a detour point.

[0138] (4) When a video (ambient environment image) is received with the location

information of the vehicle, the support server 10 of the present embodiment is configured to accumulate the video (ambient environment image) together with the location information and stream the video in vehicles. This allows the occupant of the vehicle to be notified of the condition of off-road terrain.

[0139] (5) In the navigation support system of the present embodiment, the in-vehicle

devices 20 (communication device) installed in the vehicles An and Bn of the system are

configured to transmit the location information and the function identifying information of the

corresponding vehicles.

[0140] Also, the support server 10 of the system receives the location information and the

function identifying information of the vehicles and accumulates the location information and

the function identifying information for each spot included in the location information to form

a database. Further, the support server 10 determines the present accessibility for each spot

based on the location information and the function identifying information of the vehicle that

accesses the spot and distributes the accessibility determination result of the vehicle having the

function identifying information, which is used for the determination of accessibility at the spot,

to the vehicle including the in-vehicle device 20 (communication device).

[0141] Therefore, the accessibility determination result of the vehicle having the function

identifying information, which is used for the accessibility determination of a spot, is

distributed based on the location information and the function identifying information of the

vehicle accessing the spot to the vehicle including the communication device. Thus, the

occupant of the vehicle is notified of the accessibility. That is, the accessibility determination

result can be presented in accordance with the function identifying information to the vehicle

having that function identifying information on a real-time basis.

[0142] Second Embodiment

[0143] A navigation support system of the second embodiment will now be described with

reference to Figs. 15 and 16. The navigation support system of the second embodiment differs from that of the first embodiment in that each in-vehicle device 20 is electrically connected to an electronic controller unit (ECU) 28. The ECU 28 shown in Fig. 15 includes a microcomputer having, for example, a CPU, RAM, ROM, input-output interface, and the like.

The CPU executes various types of controls of the vehicle in accordance with programs stored

in the ROM. For example, the ECU 28 is configured to execute output control of the engine

(not shown), switching control of the driving state of the vehicle, and the like.

[0144] Further, the ECU 28 is configured to shift to various types of 4WD driving when the

driver operates 4WD selection switches 29, which serves as a four-wheel driving selection

device. The operation of the 4WD selection switches 29 allows for selection of one of driving

modes (2WD, 4WD (full-time, part-time)) and selection of multi-terrain select including

multiple modes such as MUD & SAND, LOOSE ROCK, MOGUL, ROCK & DIRT, and

ROCK. Moreover, the operation of the 4WD selection switches 29 allows for selection of

crawl control.

[0145] The ECU 28 executes switching control of the driving state of the vehicle and the

like in accordance with various types of the selection operations of the 4WD selection switches

29. Also, the ECU 28 sets various types of flags indicating the selected content and outputs a

control flag signal to the in-vehicle device 20.

[0146] The controller 23 of the in-vehicle device 20 transmits the control flag signal as

vehicle control information via the communication unit 26 to the support server 10 together

with the location information instead of the vehicle identification number described in the first

embodiment.

[0147] The second embodiment differs from the first embodiment in that the controller 12

includes an image analysis unit 19 in the support server 10 and that the function identifying

information database 13D accumulates different contents.

[0148] Specifically, the function identifying information database 13D associates various types of control flag signals, which are transmitted from the in-vehicle device 20 as the function identifying information of the vehicle when the 4WD selection switches 29 are selected for 4WD driving, with the functional item information of the vehicle. This allows for searching of the functional item information of the vehicle based on the function identifying information.

[0149] Further, the image analysis unit 19 executes the following process in a case where

off-road terrain is registered in the link data of the road network database 13B and the off-road

terrain is associated with a video captured by the vehicle An, which has traveled the off-road

terrain in the driving mode of 4WD.

[0150] Specifically, when a spot accessibility determination unit 18 receives demand

information to search for a preferred spot search from another vehicle 4WD, namely, the

vehicle Bn, the spot accessibility determination unit 18 searches for the function identifying

information of the vehicle Bn based on the control flag signal from the in-vehicle device 20 of

the vehicle Bn. Then, when the requested access area includes off-road terrain, the spot

accessibility determination unit 18 determines whether the vehicle can access the off-road

terrain (i.e., spot accessibility determination) based on the information of the requested access

area or the location information and the function identifying information of the vehicle. The

spot accessibility determination unit 18 transmits the result of the spot accessibility

determination to the vehicle that transmitted the function identifying information. In this case,

the image analysis unit 19 performs an image analysis on the video, which is associated with

the off-road terrain, and determines whether the vehicle Bn can access the off-road terrain

based on the function identifying information and result of the image analysis. The vehicle

accessibility determination based on the image analysis may include, for example,

determination of the dimensional relationship or the like between the vehicle body size

included in the function identifying information and the width of the off-road terrain obtained from the video. Further, the accessibility determination may include determination of accessibility based on gravel, rocks, and the like of the off-road terrain and the angle between the vehicle and ground with respect to obstacles.

[0151] In this manner, when the control flag signal is transmitted as the vehicle control

information to the support server 10 from the vehicle Bn, which is an off-road vehicle, the

support server 10 determines whether the vehicle Bn can travel off-road and transmits the

determination result to the vehicle Bn.

[0152] Therefore, in a case where the off-road terrain is accessible by the vehicle Bn, the

spot including the off-road terrain can be presented to the driver of the vehicle Bn as one of

detour spots.

[0153] Thus, the present embodiment obtains advantage (1) of the first embodiment.

[0154] Further, in the second embodiment, the accessibility of off-road terrain for a vehicle

is determined using a video captured by a vehicle that has already traveled on the off-road

terrain in addition to the function identifying information. This improves the determination

accuracy.

[0155] In particular, when the vehicle An is currently traveling off-road and the in-vehicle

device 20 of the vehicle An has been transmitting a video, the accessibility of the vehicle Bn

can be obtained on a real-time basis.

[0156] The embodiments may be modified as described below.

[0157] In the first embodiment, a video serving as the ambient environment image is

configured to be streamed in the vehicle that travels the spot where the video was captured.

Instead, the video can may be configured to be streamed in the vehicle based on the demand

information transmitted before traveling the spot where the video was captured. This allows

for the occupant of the vehicle to understand the state of the off-road terrain before traveling

the spot.

[0158] The image analysis unit 19 of the second embodiment is configured to perform an

image analysis of a video associated to off-road terrain and determines whether the vehicle Bn

can travel the off-road terrain based on the function identifying information and the result of

the image analysis. Instead, the image analysis unit 19 may be configured to perform an

image analysis of a video serving as an ambient environment image and distribute the analysis

result together with the determination result of the accessibility of the spot to the vehicle

traveling the spot where the video was captured.

[0159] For example, a video including the condition of the road surface (including off-road

terrain) is analyzed by an image analysis unit (not shown) of the support server 10. Whenthe

analysis result indicates that there is a fallen tree, flooding, area submerged in water (for

example, an underpass), snow, fallen rock, and the like, the image analysis unit 19 distributes

the analysis result. The above-described analysis result is only an example and not a

limitation. The image analysis result is obtained in this manner so that the accuracy of the

accessibility is increased and the occupant of a vehicle can understand the condition of the road

surface before traveling the spot.

[0160] In the second embodiment, when the 4WD selection switches 29 are selected and

operated for 4WD driving, the ECU 28 is configured to set a flag in response to the selection

operation and transmit the control flag signal from the in-vehicle device 20.

[0161] Instead, in a vehicle in which the ECU 28 is configured to automatically change to

various types of 4WD driving modes based on detections of various types of sensors or the like

detecting the traveling state of the vehicle, the ECU 28 may be configured to set a control flag

indicating the various types of 4WD driving modes and transmit the control flag signal to the

support server 10. In this case, the various types of control flag signals, which will be

transmitted, and the functional item information of the vehicle that generates the control flag

signals form a database in the function identifying information database 13D.

[0162] Therefore, the functional item information of the vehicle including the in-vehicle

device 20 can be obtained based on the various types of control flag signals transmitted from

the corresponding in-vehicle device 20. Further, the accessibility of off-road terrain can be

determined based on the functional item information.

[0163] In the first embodiment, inaccessibility of a road, which is not off-road terrain, is

obtained when disaster information or restriction information is available. However, the

support server 10 may independently determine accessibility.

[0164] For example, the support server 10 may determine that a specific spot is inaccessible

by checking the history of the location information transmitted from multiple vehicles traveling

in opposite directions. If the vehicles are returning from the specific spot or continuously

stopped at the same place for a predetermined length of time, the support server 10 may

determine that the specific spot is inaccessible by a vehicle.

[0165] The above embodiments are only examples and may be combined, changed, or

improved based on knowledge of those skilled in the art.

[0166] Various changes in form and details may be made to the examples above without

departing from the spirit and scope of the claims and their equivalents. The examples are for

the sake of description only, and not for purposes of limitation. Descriptions of features in

each example are to be considered as being applicable to similar features or aspects in other

examples. Suitable results may be achieved if sequences are performed in a different order,

and/or if components in a described system, architecture, device, or circuit are combined

differently, and/or replaced or supplemented by other components or their equivalents. The

scope of the disclosure is not defined by the detailed description, but by the claims and their

equivalents. All variations within the scope of the claims and their equivalents are included in

the disclosure.

Claims (6)

CLAIMS:

1. A navigation support server including a road network database, wherein the road network database includes node data and link data, the node data each include a node number of a node that indicates a spot and coordinate values of the node in longitude and latitude, the link data each use a line segment connecting the node data to indicate a route, the link data each include a link number of a link and node numbers of nodes forming the link, the navigation support server receives location information and function identifying information transmitted by at least one transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database, the navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle, the navigation support server distributes the accessibility determination result to a receiving vehicle that includes a communication device, when the navigation support server receives the location information from the transmitting vehicle, the navigation support server determines whether the location information is located on a registered link that is already registered in the road network database, when the navigation support server determines that the location information of the transmitting vehicle is not located on the registered link, the navigation support server determines whether the location information is located on an extension of a temporarily registered link, the temporarily registered link being a link that is temporarily registered in a temporary registration process, the navigation support server executes the temporary registration process when the navigation support server determines that the location information of the transmitting vehicle is not located on the extension of the temporarily registered link, in the temporary registration process, the navigation support server assigns a temporary node number to a spot corresponding to the location information of the transmitting vehicle, and spots that form the temporarily registered link include the spot to which the temporary node number is assigned.

2. The navigation support server according to claim 1, wherein the accessibility determination result is further determined by weather information.

3. The navigation support server according to claim 1 or 2, wherein when the accessibility determination result indicates that a spot is inaccessible, the navigation support server distributes, to the receiving vehicle, a detour spot to detour around the inaccessible spot.

4. The navigation support server according to claim 3, wherein the function identifying information includes vehicle control information, and when the vehicle control information indicates an off-road vehicle, the detour spot is configured to include off-road terrain.

5. The navigation support server according to any one of claims 1 to 4, wherein when an ambient environment image of the at least one transmitting vehicle is received together with the location information, the navigation support server accumulates the location information with the ambient environment image or an analysis result of the ambient environment image, and the navigation support server distributes the receiving vehicle, with the accessibility determination result, the ambient environment image or the analysis result.

6. A navigation support system, including: communication devices, each installed in at least one vehicle to transmit location information and function identifying information of the corresponding at least one vehicle; and a navigation support server including a road network database, wherein the road network database includes node data and link data, the node data each include a node number of a node that indicates a spot and coordinate values of the node in longitude and latitude, the link data each use a line segment connecting the node data to indicate a route, the link data each include a link number of a link and node numbers of nodes forming the link, the navigation support server receives the location information and the function identifying information transmitted by a transmitting vehicle and accumulates the location information and the function identifying information for each spot included in the location information to form a database, the navigation support server determines an accessibility result of each spot based on the location information and the function identifying information of the transmitting vehicle, the navigation support server distributes the accessibility determination result to a receiving vehicle including one of the communication devices, when the navigation support server receives the location information from the transmitting vehicle, the navigation support server determines whether the location information is located on a registered link that is already registered in the road network database, when the navigation support server determines that the location information of the transmitting vehicle is not located on the registered link, the navigation support server determines whether the location information is located on an extension of a temporarily registered link, the temporarily registered link being a link that is temporarily registered in a temporary registration process, the navigation support server executes the temporary registration process when the navigation support server determines that the location information of the transmitting vehicle is not located on the extension of the temporarily registered link, in the temporary registration process, the navigation support server assigns a temporary node number to a spot corresponding to the location information of the transmitting vehicle, and spots that form the temporarily registered link include the spot to which the temporary node number is assigned.

Toyota Shatai Kabushiki Kaisha Patent Attorneys for the Applicant SPRUSON&FERGUSON