CN102735239A - Navigation device, method and system - Google Patents
Navigation device, method and system Download PDFInfo
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- CN102735239A CN102735239A CN201110361997XA CN201110361997A CN102735239A CN 102735239 A CN102735239 A CN 102735239A CN 201110361997X A CN201110361997X A CN 201110361997XA CN 201110361997 A CN201110361997 A CN 201110361997A CN 102735239 A CN102735239 A CN 102735239A
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Abstract
The invention provides a navigation device which can perform route searches in a short time. A map DB (22) stores multiple blocks each having position information of a node and forming a road map. A traffic information acquiring part (24) acquires position information representing the current position of a vehicle and information representing the position of a target place. A block-inside information storage part (26) stores block-inside route information representing the route from an entrance node to an exit node after the nodes on the boundaries of adjacent blocks are defined as an entrance nodes and/or an exit node. The block-inside route generating part (28) searches the optimum route from the entrance node to the exit node of each block and updates the searched route information as the block-inside route information. An integral route search part (30) combines the multiple pieces of block-inside route information and generates the route information from a current position to a fore-mentioned target place.
Description
Technical field
The present invention relates to provide the guider of the routing information of indicating the path that arrives the destination.
Background technology
In the guider of uses such as auto-navigation system, possesses the function in the path of search from the departure place to the destination.As the method for route searching,, confirm that through for example Di Jiesitela (Dijkstra) method the total cost that arrives the destination is minimum path to constituting the node and/or the link setting weighting coefficient (cost parameter) of path network.As cost parameter, for example use distance, road type, have a lot of social connections, have or not teleseme, about parameter such as turn round.
In addition, in patent documentation 1, disclose a kind of guider, it sets the cost table of carrying cost parameter respectively by each predetermined region, uses these cost tables to calculate the path cost that arrives the destination.
And then; In patent documentation 2; Disclose a kind of navigational system, it possesses a plurality of cost tables, based on the parameter of such short term variations of time period and/or ordinary day/off-day; Use the highest cost table of Bayesian network select tape conditional probability, can search for the path of reaction driver hobby thus.
Patent documentation 1: the spy opens the 2005-181063 communique;
Patent documentation 2: the spy opens the 2007-10571 communique.
But the technology of above-mentioned patent documentation record is because to all paths of (terminal point) carrying out route searching from the current location (starting point) of vehicle to the destination, so there is the problem of route searching spended time.Especially; Omit the memory storage of store map data and use the central server that is connected with vehicle to concentrate the function of carrying out route searching more satisfactory from the guider that loads at vehicle from the viewpoint that reduces installation cost; But; The technology of above-mentioned patent documentation record is being carried out under the situation of route searching request from a plurality of vehicles simultaneously, can not promptly carry out route searching.
Summary of the invention
The present invention In view of the foregoing realizes that its purpose is to provide the guider that can carry out route searching in the short time effectively.
Guider of the present invention has following structure, promptly possesses: information obtains portion, and it obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination; Map information, its storage constitutes the positional information of a plurality of node that each comprised of road-map; Piece internal information storage part, it is to each of above-mentioned, will be decided to be with the borderline node of adjacent piece to change node over to and/or produce node, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to; Path generation portion in the piece, its search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node, and upgrade above-mentioned interior routing information with the routing information that is searched; And whole route search unit, it generates the routing information on the ground from above-mentioned current location to above-mentioned purpose with a plurality of above-mentioned interior routing information combinations.
Through this structure, because to each compute best paths of piece that road-map is split to form,, extract thus from currently to the routing information of destination, so can shorten the required time of route searching the optimal path information combination of each piece that obtains.
In guider of the present invention, piece internal information storage part possesses the optimal path table, and this optimal path table and above-mentioned interior routing information are stored from the above-mentioned node that changes over to the above-mentioned link cost information that produces the path of node accordingly.Thus, owing to can use road type and/or the such link cost of congestion to come the optimal path in the search block, so raising that can the realizing route search.
In guider of the present invention; Piece internal information storage part possesses the mobile probability tables of the mobile probability between the adjacent node of expression in the piece, and the mobile probability that above-mentioned interior path generation portion is based on above-mentioned mobile probability tables storage is searched for from the above-mentioned node that changes over to the above-mentioned optimal path that produces node.Preferably; The link cost table of the internodal above-mentioned link cost in possessing the pheromones scale of the internodal pheromones amount in the expression piece and representing above-mentioned; Above-mentioned interior path generation portion upgrades above-mentioned pheromones scale and/or above-mentioned link cost table by per schedule time, and upgrades above-mentioned mobile probability based on above-mentioned internodal above-mentioned pheromones amount and above-mentioned link cost.Thus, owing to can optimal path be confirmed as in the combination of moving the highest node of probability, so can extract optimal path efficiently.
In guider of the present invention, whole route search unit will be regarded a link from the above-mentioned node that changes over to as to the above-mentioned path of producing node what above-mentioned optimal path table was stored, generate the routing information on the ground from above-mentioned current location to above-mentioned purpose.Thus, owing to press the predetermined optimal path of each piece, can search for the path that arrives the destination, so can carry out route searching effectively in the short time through combination.
Guider of the present invention has the structure of the interior path of the above-mentioned of optimal path information that possesses above-mentioned of a plurality of renewals generation portion.Through this structure,, handle the required time so can shorten the extraction of optimal path owing to can carry out the search of a plurality of optimal path concurrently.
Air navigation aid of the present invention has following formation, promptly comprises: information obtains step, obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination; Piece internal information storing step to constituting each of a plurality of of road-map, will be decided to be with the borderline node of adjacent piece and change node over to and/or produce node, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to; The path generates step in the piece, search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node, and upgrade above-mentioned interior routing information with the routing information that is searched; And whole route searching step, with a plurality of above-mentioned interior routing information combinations, generate the routing information on ground from above-mentioned current location to above-mentioned purpose.Through this formation,,, through with they combinations, extract from currently to the routing information of destination, so can shorten the required time of route searching also owing to calculate to constitute the optimal path of each piece of road-map with likewise above-mentioned.
Navigational system of the present invention possesses: road-map is divided into a plurality of and generate a plurality of paths generating apparatus of the optimal path information in each piece cut apart; With the guider that is connected with above-mentioned path generating apparatus, above-mentioned guider possesses: information obtains portion, and it obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination; Map information, its storage constitutes the positional information of a plurality of node that each comprised of road-map; The optimal path storage part, it is to each of above-mentioned, will be decided to be with the borderline node of adjacent piece to change node over to and/or produce node, and storage representation is from the above-mentioned node optimal path information in the piece of the above-mentioned optimal path that produces node that changes over to; And whole route search unit; It is with a plurality of above-mentioned interior routing information combinations; The routing information on generation ground from above-mentioned current location to above-mentioned purpose; Above-mentioned path generating apparatus possesses: piece internal information storage part, and it is to each of above-mentioned, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to; And path generation portion in the piece; Its search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node; And be updated to above-mentioned interior optimal path information with the routing information that is searched; Wherein, above-mentioned guider upgrades above-mentioned interior optimal path information based on the above-mentioned routing information by above-mentioned interior path generation portion search.According to this formation,,, through with they combinations, and extract from currently to the routing information of destination, so can shorten the required time of route searching also owing to calculate the optimal path of each piece that constitutes road-map with above-mentioned same.
According to the present invention, because road-map is divided into a plurality of, calculate the optimal path of each piece, and with the optimal path combination of this each piece, extract thus from currently to the routing information of destination, so can carry out route searching effectively in the short time.
Description of drawings
Fig. 1 is that expression is from the block scheme of the related guider of embodiment of the present invention to the example of vehicle transmit path information.
Fig. 2 is the block scheme of the structure of the related guider of expression embodiment of the present invention.
Fig. 3 is the key diagram that expression is divided into road-map a plurality of example.
Fig. 4 is the key diagram of an example of the interior path profile of the piece of expression formation road-map.
Fig. 5 is the key diagram of the example that constitutes of the data of expression piece internal information storage part.
Fig. 6 is position relation and the key diagram of each parameter of expression between adjacent node.
Fig. 7 is the key diagram of the example that constitutes of the data of expression pheromones scale.
Fig. 8 is the key diagram of the example that constitutes of the data of expression main body routing table.
Fig. 9 is the key diagram of the example that constitutes of the data of expression optimal path table.
Figure 10 is the key diagram of expression by an example of the driving path of certain main body acquisition.
Figure 11 is the key diagram of expression by an example of the driving path of another main body acquisition.
Figure 12 is the key diagram of an example in the path that searched of expression.
Figure 13 is the process flow diagram of an example of the update processing of the various tables of expression in the piece.
Figure 14 is the process flow diagram of an example of the path search processing of expression from the current location of vehicle to the destination.
Figure 15 is the block scheme of the structure of the related navigational system of expression another embodiment of the present invention.
Figure 16 is the block scheme of the structure of the related navigational system of expression another embodiment of the invention.
Figure 17 is the block scheme of structure of guider and the path generating apparatus of the expression system that constitutes Figure 15.
Symbol description:
10,70,80 guiders, 12 vehicles, 22 map DB, 24 transport information obtain 26,88 internal information storage parts of portion; 28,72 interior path generation portions, 30 whole route search unit, 40 road-maps, 42,44; 50 pheromones scales, 52 move probability tables, 54 link cost tables, 56 main body routing tables; 58 optimal path tables, 74,90 path generation units, 82 path generating apparatus, 86 optimal path storage parts.
Embodiment
(first embodiment)
Below, with reference to accompanying drawing the related guider of first embodiment of the present invention is described.In Fig. 1; The related guider of this embodiment 10 is connected with a plurality of vehicles 12 in travels down through wireless communication line for example; When having received the path request of arrival destination from vehicle 12; Through after the step stated search for the path that arrives the destination, as routing information vehicle 12 is sent.In addition, guider 10 is connected with VICS center 14, receives various transport information such as congestion information and/or traffic restricted information.
In Fig. 2, guider 10 possesses: Department of Communication Force 20, map DB22, transport information obtain portion 24, piece internal information storage part 26, path generation portion 28, whole route search unit 30, and control its work by not shown control circuit.
Department of Communication Force 20 is the wireless communication modules that for example can be connected with network line, receives the path request of the information that comprises current location and destination from vehicle 12, and to the vehicle that sends path request 12 transmit path information.In addition, Department of Communication Force 20 possesses the receiving element of reception from the transport information at VICS center 14.In addition, Department of Communication Force 20 also can possess and communicator between carry out the wireless communication module that the transmission of information receives, said communicator for example with vehicle between carry out communicating by letter between known bus.
Map DB22 comprise each interval (link) that constitutes road-map positional information, each link end points (node) positional information, expression node and link cost cost information (for example, distance, road type, the degree of having a lot of social connections, blocking up, traffic limit has or not, the having or not of teleseme, about information such as turn round), the data such as facilities information on the road.Information in this map DB22 is based on for example upgrading from the transport information at VICS center 14.
As shown in Figure 3, the included road-map 40 of map DB22 is divided into a plurality of 42, and the information (for example, the positional information of borderline node) of the boundary position of each piece of dividing of storage representation.In addition, as the dividing method of road-map 40, be not limited to lattice shape shown in Figure 3, and also can for example form independent piece by each district, city village.
Fig. 4 has amplified a piece 44 of the road-map of pie graph 3.Piece 44 for example have with the border of adjacent piece on the node N1～N4 of end points of link in the node O1～O3, D1～D3, expression piece 44 that are provided with.In addition, in Fig. 4, the arrow 46 expression roads (link) in the piece 44.In addition, the positional information of these nodes and link is stored in map DB22.
In Fig. 4, what be expressed as " O1 " is the node (changing node over to) that vehicle passes through when getting into this piece, and what be expressed as " D1 " is the node (producing node) that vehicle is passing through when this piece is driven out to another piece.In the example of Fig. 4, expression is via situation about being connected with adjacent block through the road of node O1～O3, D1～D3.These change node over to each limit that constitutes piece are set.That is, to constituting every limit up and down of each piece, setting changes node over to and produces node, and the example that changes node over to is set on the left side that in Fig. 4, is illustrated in piece.In addition, set the example that changes node over to about other limits to piece, since identical with the example of Fig. 4, so omit explanation.
In addition, in the example of Fig. 4, change node O1～O3 over to and produce node D1～D3 and respectively be provided with three, be not limited thereto with the quantity that produces node but change node over to, and can confirm to change over to node and produce node according to the quantity of the road of crossing over piece.In addition, in the example of Fig. 4, be not provided with at the bottom and upper segment of piece and change node over to and/or to produce node, but under the situation that has top or following road through piece, will be provided with certainly and change node over to and/or produce node.
In Fig. 2; Transport information obtains positional information and the destination information that portion 24 obtains the vehicle 12 that has sent path request, and obtains the identification information of the piece corresponding with the place of this vehicle 12 and destination with reference to the positional information of the boundary node of each piece of in map DB22, storing.In addition, transport information obtains the temporary transient storage of portion 24 from various transport information such as the congestion information at VICS center 14 and/or traffic restricted informations, and upgrades the information in the map DB22.
26 storages of piece internal information storage part constitute the information of each piece of road-map, and as shown in Figure 5, it possesses: pheromones scale 50, mobile probability tables 52, link cost table 54, main body routing table 56, optimal path table 58.These various tables 50～58 are provided with by each piece that constitutes road-map.
Here, so-called pheromones amount is the index of amount of the vehicle of certain link of expression (between node), for example, confirms according to " is 10 under 5 situation in automobile storage " such benchmark.The pheromones amount confirms as the function of time t for example and decays along with the process of time t, for example decays with one one-tenths degree during a second.In addition, the time of decay is not limited to one second at interval, and attenuation ratio also is not limited to one one-tenth.Pheromones amount τ between nodes X and node Y
XyRepresent by for example following formula.
[formula 1]
τ
xy(t+1)＝(1-ρ)τ
xy(t)+Δτ
xy
Here, τ
Xy(t) be pheromones amount under the time t, ρ is an attenuation rate, Δ τ
XyBe to the pheromones amount that increases between the time (t+1) (passing through of the main body of afterwards stating is several) at time t.In addition, pheromones amount τ
XyBe not limited to following formula, for example, also can comprise from the component of adjacent link with certain proportion transmission (transmission pheromones).In addition, under the situation (Δ τ is zero situation in the given time) that the pheromones amount does not increase in the given time, also can the value of τ be set at zero.
So-called link cost is the weighted value η of the distance of certain link of expression (between node), and its positional information that is based on the node of map DB22 storage is calculated.The value of η is less under the short situation of the distance between link, and the value of η is bigger under the long situation of the distance of link.
In addition, move probability ρ and represent the probability from certain node motion to another adjacent node, it is big more to move probability ρ, and then the ratio passed through of vehicle is high more, and expression is best driving path.From the mobile probability ρ of nodes X to node Y
XyCan represent by for example following formula.
[formula 2]
Here, η
Xy(t) be the nodes X under the time t, the link cost between Y, α is positive constant, and β is the constant of bearing.In addition, in following formula, Y representes the node adjacent with certain nodes X.According to following formula; Under the little situation of the value of big situation of the value of pheromones amount τ and/or link cost η; Internodal mobile probability uprises, under the big situation of the value of little situation of the value of pheromones amount τ and/or link cost η, and internodal mobile probability step-down.
Fig. 6 representes an example of the relation between the adjacent node in the piece.In the example of Fig. 6, confirm and node N
xAdjacent Y1, Y2, these three nodes of Y3 between each node, confirm to move probability ρ, pheromones amount τ, link cost η, and these values are stored in pheromones scale 50 respectively, move in probability tables 52, the link cost table 54.
Fig. 7 representes the example that the data of pheromones scale 50 constitute.Pheromones scale 50 produces the data of the internodal pheromones amount τ in node D1～this piece 44 of D3 storage by each of piece 44.
In Fig. 7, τ
O1N1Pheromones amount when (D1) expression will be produced node and be set at D1, between node O1 and the node N1.In pheromones scale 50 data of the plain amount of canned data carry out at every turn by after the node searching that carries out of the main body stated upgrade when handling.Likewise, move probability tables 52, link cost table 54 and produce internodal mobile probability ρ and link cost η in node D1～D3 storage block 44 by each respectively.In addition, pheromones scale 50, to move probability tables 52, link cost table 54 (be common for O1～O3) in this embodiment for whole nodes that change over to.
The temporary transient storage of main body routing table 56 by after the main body stated carry out, arrive changing node over to and producing the path of node in the piece 44.Here; So-called main body (agent); Be illustrated in the vehicle that moves in the piece 44 hypothetically; Each main body with from a plurality of change that node confirms at random over to change node over to be starting point and be that impact point moves with the predetermined node that produces, and the internodal mobile foundation in the piece is moving the mobile probability that probability tables is stored.That is, under the situation that has a plurality of nodes adjacent (for example, the node Y1 of Fig. 6, Y2, Y3), moving between the high node of probability (for example, at ρ with certain node (for example, the nodes X of Fig. 6)
Xy1Under the maximum situation, between nodes X, Y1) probability that passes through uprises.
In addition, at main body routing table 56, be provided with and represent whether the path that main body is passed through is the best sign that changes node over to, produces internodal optimal path.The best in the optimal path table 58 that this best sign is stated after being stored in is stored under condition of different " 0 " through the storage " 1 " under the consistent situation of process node of passing through of node with main body.Whether the driving path that thus, can detect each main body is best.
Optimal path table 58 changes node and the information of the path node that produces node storage representation optimal path and the information of path over to by piece 44 interior each.In this embodiment, so-called optimal path means from changing node over to the shortest path that produces node.For example, node will be set at " O1 ", the optimal path that produces under the situation that node is set at " D1 " is node O1, node N1, node N3, node D1 will changing over to, and the formed path in this path is L11.Likewise, node will be set at " O2 ", the optimal path that produces under the situation that node is set at " D3 " is node O2, node N1, node N4, node D3 will changing over to, and the formed path in this path is L23.
Figure 10 representes an example of the mobile route of main body.Its node that changes over to as starting point of this main body A G1 is confirmed as " O1 ", according to internodal mobile probability, between node, moves.Main body A G1 arrives through node N2, node N3 and produces node D1 as the destination.And; Path generation portion 28 compares the process node of the formed process of this main body A G1 node with storage in optimal path table 58 in the piece; Under condition of different, the path that is judged as this main body A G1 is not best, and the best sign of the correspondence in the main body routing table 56 is set at " 0 ".
Figure 11 representes an example of the mobile route of another main body A G2.Its node that changes over to as starting point of this main body A G2 is confirmed as " O2 ", according to internodal mobile probability, between node, moves.Main body A G2 arrives through node N1, node N3 and produces node D1 as the destination.And; Path generation portion 28 compares the process node of the formed process of this main body A G2 node with storage in optimal path table 58 in the piece; Under the situation of unanimity, the path that is judged as this main body A G2 is for best, and the best sign of the correspondence in the main body routing table 56 is set at " 1 ".
That is, path generation portion 28 amounts to by the pass through number of links of each link to whole main bodys according to the process nodal information of storage in the main body routing table 56 in the piece.And, for example, the number of pass times of the main body between link XY is confirmed as the Δ τ of above-mentioned formula (1)
Xy,, upgrade the pheromones amount (local updating) between link XY according to above-mentioned formula (1).Such local update processing produces node by each link and each and carries out.
And then path generation portion 28 has passed through in existence under the situation of main body in the path consistent with the optimal path information of storage in optimal path table 58 in the piece, for the path link corresponding of passing through with this main body, to the Δ τ of above-mentioned formula (1)
XyValue add a certain amount of (overall situation upgrade).For example, exist passed through and change node " O1 " over to, to produce node " D1 " pairing best through node " O1, N1, N3, D1 " under the situation of identical main body through node, to Δ τ
O1, N1, Δ τ
N1, N3, Δ τ
N3, N1Value add a certain amount of respectively.Thus, because optimal path is compiled more pheromones, so can extract optimal path efficiently.
And path generation portion 28 upgrades each internodal mobile probability based on above-mentioned formula (2) in the piece after pheromones scale 50 is upgraded.In addition, path generation portion 28 replaces with the path of storage in this main body routing table 56 in the piece under the situation in the path that in main body routing table 56, stores lower than the path cost of in optimal path table 58, storing (distance is short).Thus, can optimal path be upgraded.
28 pairs of each pieces 44 that constitutes road-map 40 of path generation portion in the piece, the plain scale 50 of lastest imformation, mobile probability tables 52 and optimal path table 58.
Whole route search unit 30 extract with reference to the optimal path table 28 of each piece that generates by generation portion in path in the piece 28 each piece from changing node over to the range information that produces node; Through with its combination, and extract driving path from the current location of vehicle to the destination.
Figure 12 is illustrated in and extracts in the whole route search unit 30 from the example of the starting point node ON arrival corresponding with the current location of vehicle as the driving path of the peripheral node DN of the destination of vehicle.Whole route search unit 30 is based on sending from vehicle 12 and confirming 12 existing on vehicle (starting point piece) 64 and starting point node ON in the positional information that transport information obtains the vehicle of obtaining the portion 24.Likewise, confirm the peripheral node DN of existing of destination (terminal point piece) 65 and this destination based on the destination information that sends from vehicle 12.
Whole route search unit 30 reads the nodal information and the cost table of starting point piece and terminal point piece from map DB22, and changes node over to and produce the cost information (range information) between the node from the information and these that change node over to and produce node that the optimal path table 58 corresponding with the piece of the certain limit that comprises starting point piece and terminal point piece reads each piece.And whole route search unit 30 is based on the euclidean distance between node pair information that is read, and through for example Di Jiesitefa, extracts the breast the tape driving path of node DN from starting point node ON.In the example of Figure 12, obtain changing node 66 over to and producing node 67 of adjacent piece from starting point node ON, likewise calculate changing node over to and producing node of each piece later on.And, extract the driving path that arrives peripheral node DN through the changing node (piece adjacent produce node) 68 over to of terminal point piece with the terminal point piece.
Below, use Figure 13,14 process flow diagram that the work of the guider that is formed by said structure is described.Figure 13 is the process flow diagram that is illustrated in the processing of the optimal path that extracts each piece in the piece in the path generation portion 28.In the piece path generation portion 28 by each piece set as the arrival target of main body produce node (S10), select the node that changes over to of main body at random, and in the selected node configuration main body (S11) that changes over to.
Then, path generation portion 28 makes main body move in piece according at the internodal mobile probability that moves probability tables 52 storages in the piece, and the information (S12) of the node (through node) that passes through in main body routing table 56 these main bodys of storage.
In the piece path generation portion 28 detect each main body whether from change over to node through mobile in the pre-determined number TH arrived set produce node (S13).Main body does not have to arrive (being " denying " among the step S13) under the situation that produces node in pre-determined number TH, delete the information of passing through node of this main body.Thus, can get rid of effectively many through the path, to the information of the inoperative main body of extraction of optimal path.
Arrived through mobile in the pre-determined number TH under the situation (in step S13, being " being ") that produces node in this main body; Path generation portion 28 detects whether m main body arrived is produced node in the piece, and whether the quantity of the main body of promptly storing at main body routing table 56 has reached m (S15).Its result (is " denying ") in step S15 under the situation that has arrived the discontented m of main body quantity that produces node, turn back to step S11 once more, other main body is configured in changes node over to, moves with the above-mentioned main body that likewise in piece, makes.Thus, can access pheromones scale 50, move the required quantity of the renewal of probability tables 52 and optimal path table 58 main body pass through nodal information.
On the other hand; (in step S15, be " being ") having arrived under the situation that the main body quantity that produces node reached m; The nodal information that passes through that the interior path generation portion 28 of piece is based on the main body of main body routing table 56 storages comes the plain scale 50 of lastest imformation, and upgrades mobile probability tables 52 (S16) based on the pheromones scale 50 after upgrading.Thus, can improve pheromones amount and mobile probability, and can extract optimal path efficiently for optimal path.
In addition; In the piece path generation portion 28 from the main body of main body routing table 56 storages pass through that nodal information obtains, from change over to node to the distance that produces node than the short situation of the distance of storage optimal path table 58 under, upgrade the information (S17) of this optimal path table 58.Thus, upgrade the optimal path of each piece.
And whether 28 pairs of whole node detection that produce of in piece, confirming of path generation portion have carried out above-mentioned processing (update processing of various tables) (S18) in the piece.Under the situation that produces node that the residual update processing that various tables are arranged does not finish, (be " denying " among the step S18), return step S10 once more, the other node that produces is carried out same update processing.
On the other hand, be through with (being " being " among the step S18) under the situation of update processing whole in the piece being produced node, the extraction processing of the optimal path in the piece finishes.Path generation portion 28 continues (perhaps with certain hour at interval) and carries out the extraction processing of above-mentioned optimal path in the piece.Thus, the whole pieces that constitute map image are carried out the extraction processing of above-mentioned optimal path.
To be expression response extract the process flow diagram of the processing of optimal path from the route searching request of vehicle 12 to Figure 14.Guider 10 detects whether receive route searching request (S20) from vehicle 12.And; (in step S20, be " being ") detecting when having received the route searching request; Transport information obtains the positional information of portion 24 based on the vehicle that has sent the route searching request, obtains the information as the starting point node and the starting point piece of starting point based on the information in the map DB22.Likewise, transport information obtains portion 24 and obtains the information (S21) as the peripheral node and the terminal point piece of destination based on the contained destination information of route searching request.
Then, whole route search unit 30 reads the optimal path table 58 (S22) corresponding with the piece of the certain limit that comprises starting point, terminal point piece from piece internal information storage part 26.And whole route search unit 30 is that unit is searched for from the breast the tape driving path (S23) of node of starting point node with the piece based on the internodal range information that changes over to, produces of each piece.Since based on the information of the optimal path that extracts with each piece, can be unit search driving path with the piece, thus the search of the driving path in each piece can be omitted, and can shorten the processing time.
Whole route search unit 30 based on the run routing information that is searched generate expression from the current place of vehicle the nodal information to the driving path of destination, guider 10 sends the nodal information that arrives destinations via Department of Communication Force 20.Thus, the information of the driving path of arrival destination shows on the display that vehicle 12 is possessed.Therefore, even in the vehicle that does not possess cartographic information, also can rake in the information of the driving path that arrives the destination.
In the above-described embodiment; As internodal cost parameter; Only use the distance of link; But the present invention is not limited to this, and the having or not of the having or not of also can consider road type (highway, national highway, country highway etc.), the degree of having a lot of social connections, blocking up, the volume of traffic, traffic restriction (no through traffic, speed limit etc.), teleseme, about the various parameters that have or not and so on of turning round confirm the value of internodal cost η.These parameters can obtain based on the road-map of for example in map DB22, storing and/or from the transport information at VICS center 14.
And then, also can the value of link cost η be changed.In this case, can upgrade the information in the link cost table 54 in the timing identical with the update processing of above-mentioned pheromones scale 50 and/or mobile probability tables 52.Thus, owing to can extract the routing information of the variation that has reflected traffic, so can improve the precision of route searching.In this case, calculated the optimal path table that changes node over to and produce the optimal path between the node owing to also possess, so can tackle path request apace from vehicle 12 by each piece.
In the above-described embodiment; Application changes node over to and the shortest path that produces between the node is used as optimal path; But the present invention is not limited to this; For example, internodal combination that also can the pheromones amount is maximum and/or the highest combination of mobile probability are confirmed as and are changed node over to and produce the shortest path between the node.The path that the pheromones amount is many, the mobile high path of probability are the paths of most of vehicle ', and be more as the situation of the driving path that is fit to, so through optimal path is confirmed as in such path, can extract suitable driving path.
In addition, the congestion information of each piece for example can use through the spy open schedule time that the method for 2007-219990 communique record calculates through after the information of forecasting that blocks up of (for example a hour after).Promptly; Obtain the amount of vehicle by each road link; And calculating comprises the function of time amount (generation pheromones) and the function of time transmission capacity (transmission pheromones) of the amount of being obtained; Based on these function of time amounts and function of time transmission capacity, can obtain the schedule time through after the information of forecasting that blocks up of (for example 5 fens kind after).Perhaps, also can congestion information that send from the VICS server and cartographic information in map DS22 storage be contrasted and obtain the congestion information of each link.
(second embodiment)
Figure 15 is the block scheme of the structure of the related guider 70 of expression second embodiment of the present invention.The related guider 70 of this second embodiment compare with first embodiment in piece path generation portion 72 comprise a plurality of paths generation unit 74 aspect different.In addition, for the identical component parts of above-mentioned first embodiment, mark identical mark and detailed.
Path generation portion 72 comprises a plurality of paths generation unit 74 in the piece, and each path generation unit 74 is assigned with at least one piece in a plurality of that constitute road-map.Path generation unit 74 likewise carries out the update processing of pheromones scale 50, mobile probability tables 52 and optimal path table 58 for the content of explaining in piece that is distributed and above-mentioned first embodiment.Whole route search unit 30 is extracted from the position of vehicle to the optimal path of destination based on the information of the optimal path table 58 that is upgraded by this a plurality of paths generation unit 74.
Like this,, carry out the update processing of the optimal path table of each piece concurrently, can shorten the required time of update processing of the optimal path table of the whole pieces that constitute road-map thus through a plurality of paths generation unit 74.
(the 3rd embodiment)
Figure 16 is the block scheme of the structure of the related navigational system of expression the 3rd embodiment of the present invention.The 3rd embodiment compare with first embodiment be provided with separately extraction from the position of vehicle to the optimal path of destination guider 80 and upgrade the path generating apparatus 82 of optimal path table of each piece and different aspect interconnected via communication line 84.In addition, for the identical component parts of above-mentioned first embodiment, mark identical mark and detailed.
Figure 17 is each the block scheme of structure of expression the 3rd embodiment of the present invention related guider 80 and path generating apparatus 82.Guider 80 possesses the piece internal information storage part that optimal path storage part 86 replaces first embodiment, and these optimal path storage part 86 storages constitute the shortest path information that changes and produce node over to and the bee-line information (perhaps minimum cost information) of each piece of road-map.
Path generation unit 90 likewise carries out the update processing of pheromones scale, mobile probability tables and optimal path table for piece that is distributed and the content of in above-mentioned first embodiment, explaining.And, the information of the optimal path table after upgrading is sent via Department of Communication Force 20 navigation device 80, and in 86 storages of optimal path storage part.The whole path generation portion 30 of guider 80 is based on optimal path storage part 86 canned datas and extracts from the position of vehicle to the optimal path of destination.
Like this; Constitute the calculating of a plurality of optimal path of road-map through the multiple arrangement that connects in order to network, can the computing of optimal path is decentralized, and; Owing to can carry out a plurality of processing concurrently, processing speed and treatment effeciency improve.
In the above-described embodiment, all carry out the search of the whole routing information of road-map, still, the middle piece that a plurality of (for example four) piece (fritter) is combined can be set also through the optimal path information combination that will cut apart each piece that road-map forms.In this case, the optimal path information of piece in can calculating based on the optimal path information of fritter, and search for the whole routing information of road-map based on the optimal path information of piece in this.
In the above-described embodiment, all to vehicle routing information is provided, still, the present invention is not limited to this, for example, the routing information that arrives the destination can be provided also to the portable terminal device that the pedestrian had.
As described above, according to the present invention, can arrive the route searching of destination effectively, as guider and useful in the short time.
Claims (8)
1. guider is characterized in that possessing:
Information obtains portion, and it obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination;
Map information, its storage constitutes the positional information of a plurality of node that each comprised of road-map;
Piece internal information storage part, it is to each of above-mentioned, will be decided to be with the borderline node of adjacent piece to change node over to and/or produce node, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to;
Path generation portion in the piece, its search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node, and upgrade above-mentioned interior routing information with the routing information that is searched; And
Whole route search unit, it generates the routing information on the ground from above-mentioned current location to above-mentioned purpose with a plurality of above-mentioned interior routing information combinations.
2. guider according to claim 1 is characterized in that,
Above-mentioned internal information storage part possesses the optimal path table, and this optimal path table and above-mentioned interior routing information are stored from the above-mentioned node that changes over to the above-mentioned link cost information that produces the path of node accordingly.
3. guider according to claim 2 is characterized in that,
Above-mentioned internal information storage part possesses the mobile probability tables of the mobile probability between the adjacent node in the expression piece,
The mobile probability that above-mentioned interior path generation portion is based on above-mentioned mobile probability tables storage is searched for from the above-mentioned node that changes over to the above-mentioned optimal path that produces node.
4. guider according to claim 3 is characterized in that,
The link cost table of the internodal above-mentioned link cost in above-mentioned internal information storage part possesses the pheromones scale of the internodal pheromones amount in representing above-mentioned and represent above-mentioned,
Above-mentioned interior path generation portion upgrades above-mentioned pheromones scale and/or above-mentioned link cost table by per schedule time, and upgrades above-mentioned mobile probability based on above-mentioned internodal above-mentioned pheromones amount and above-mentioned link cost.
5. according to each the described guider in the claim 2～4, it is characterized in that,
Above-mentioned whole route search unit will be regarded a link from the above-mentioned node that changes over to as to the above-mentioned path of producing node what above-mentioned optimal path table was stored, generate the routing information on the ground from above-mentioned current location to above-mentioned purpose.
6. according to each the described guider in the claim 1～5, it is characterized in that,
The interior path of the above-mentioned of optimal path information generation portion that possesses above-mentioned of a plurality of renewals.
7. an air navigation aid is characterized in that, comprising:
Information obtains step, obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination;
Piece internal information storing step to constituting each of a plurality of of road-map, will be decided to be with the borderline node of adjacent piece and change node over to and/or produce node, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to;
The path generates step in the piece, search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node, and upgrade above-mentioned interior routing information with the routing information that is searched; And
Whole route searching step with a plurality of above-mentioned interior routing information combinations, generates the routing information on the ground from above-mentioned current location to above-mentioned purpose.
8. navigational system is characterized in that having: road-map is divided into a plurality of and generate a plurality of paths generating apparatus of the optimal path information in each piece of being cut apart; With the guider that is connected with above-mentioned path generating apparatus,
Above-mentioned guider possesses:
Information obtains portion, and it obtains the positional information of the current location of representing vehicle and the destination information of the position of expression destination;
Map information, its storage constitutes the positional information of a plurality of node that each comprised of road-map;
The optimal path storage part, it is to each of above-mentioned, will be decided to be with the borderline node of adjacent piece to change node over to and/or produce node, and storage representation is from the above-mentioned node optimal path information in the piece of the above-mentioned optimal path that produces node that changes over to; And
Whole route search unit, it generates the routing information on the ground from above-mentioned current location to above-mentioned purpose with a plurality of above-mentioned interior routing information combinations, and above-mentioned path generating apparatus possesses:
Piece internal information storage part, it is to each of above-mentioned, and storage representation is from the above-mentioned node routing information in the piece in the above-mentioned path of producing node that changes over to; And
Path generation portion in the piece, its search for each above-mentioned from the above-mentioned node that changes over to the above-mentioned optimal path that produces node, and upgrade above-mentioned interior optimal path information with the routing information that is searched,
Wherein, above-mentioned guider upgrades above-mentioned interior optimal path information based on the above-mentioned routing information by above-mentioned interior path generation portion search.
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| JP072321/2011 | 2011-03-29 | ||
| JP2011072321 | 2011-03-29 |
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| CN111868801A (en) * | 2018-03-23 | 2020-10-30 | 三菱电机株式会社 | Route generation device and vehicle control system |
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| JP5608185B2 (en) | 2014-10-15 |
| JP2012215571A (en) | 2012-11-08 |
| CN102735239B (en) | 2015-06-10 |
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