JP2008076090A - Map information processing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map information processing device capable of improving convenience of a user by performing accurately processing for adding a road having no road data to map data as a new road. <P>SOLUTION: This device is equipped with a map data storage device 103 for storing map data including road data; a position calculation means 107 for calculating a present position; a traveling locus data generation means 111 for generating traveling locus data based on a comparison result between the road data and the present position; a new road addition means 112 for detecting a new road based on generated traveling locus data, and adding the road data of the new road to the map data stored in the map data storage device; a separated main line determination means 113 for determining whether an added new road is a separated main line wherein up and down lines are separated or not; and an opposite lane addition means 114 for adding road data of an opposite lane of the added new road to the map data storage device, when determined to be a separated main line. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a map information processing apparatus for processing map data, and more particularly to a technique for detecting a new road and incorporating it into map data.

  Conventionally, navigation devices mounted on vehicles are known. A map information processing apparatus built in the navigation apparatus displays a map on a display device based on map data stored in advance. The driver can drive while confirming the position of the host vehicle by looking at the map displayed on the display device, so that the driver can arrive at the destination reliably and in a short time without getting lost.

  By the way, as such a navigation device, when traveling on a road that does not exist in the map data that it owns, there is a navigation device that detects a new road from the travel history and adds or updates it to the stored map data. It is known (see, for example, Patent Document 1). This navigation device determines a road that does not exist in the map data by comparing the travel locus of the car and the map data, and adds it to the map data as a new road.

JP 2005-172578 A

  However, for example, on highways, the upper and lower lines are often separate roads, that is, upper and lower line separation roads, and accordingly, the upper and lower lines are prepared as separate road data in the map data. For this reason, in the conventional navigation device described above, when traveling on a new extended highway, the traveled road can be added to the road data, but the opposite lane cannot be added. As a result, there is a case in which the user cannot use the vehicle on the way home even though a new road has been added, which is inconvenient for the user.

  Further, in the conventional navigation device, since it is determined whether or not the road is a new road by comparing the map data and the travel locus data, for example, a parking lot or the like is added as a road, which is convenient for the user. There is a problem that it is inferior. Further, in the conventional navigation device, it is determined whether or not the road is a new road by comparing the map data and the travel locus data, but the new road is, for example, a tunnel or a bridge. No road attribute is set. As a result, the route guidance in the navigation device may not be performed normally, and there is a problem that the convenience for the user is inferior.

  The present invention has been made in order to solve the above-described problems, and its problem is to improve the convenience of the user by accurately performing a process of adding a road having no road data as a new road to the map data. An object of the present invention is to provide a map information processing apparatus that can perform the above processing.

  In order to solve the above problems, a map information processing apparatus according to the present invention reads from a map data storage device that stores map data including road data, a position calculation means that calculates a current position, and a map data storage device. Map data comparing means for comparing the road data with the current position detected by the position calculating means, and traveling locus data generating means for generating traveling locus data indicating the traveling locus of the host vehicle based on the comparison result by the map data comparing means; A road that does not exist in the map data stored in the map data storage device is detected as a new road based on the travel locus data generated by the travel locus data generation means, and the road data of the new road is stored in the map data storage device. The new road addition means to be added to the map data and the new road added by the new road addition means are separated into vertical lines. A separation main line determining means for determining whether or not it is a separated main line, and a road in the opposite lane of the new road added by the new road adding means when the separation main line determining means determines that it is a separation main line And an opposite lane adding means for adding data to the map data storage device.

  According to the map information processing apparatus according to the present invention, a road that does not exist in the map data is detected as a new road based on the travel locus data, and the road data of the new road is added to the map data. It is determined whether or not the upper and lower lines are separated main lines, and when it is determined that they are separated main lines, the road data of the opposite lane of the added new road is added to the map data storage device. Since it comprised, the process which adds the road which does not have road data to map data as a new road can be performed correctly, and a user's convenience can be improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, the same or corresponding components will be described with the same reference numerals.
Embodiment 1 FIG. [Claim 1, Claim 2]
1 is a block diagram showing a configuration of a map information processing apparatus according to Embodiment 1 of the present invention. The map information processing apparatus includes a navigation apparatus 101, a road data processing apparatus 102, a map data storage apparatus 103, a GPS (Global Positioning System) receiver 104, and a self-contained navigation sensor 105.

  The navigation device 101 receives the road data of the new road sent from the road data processing device 102, the map data read from the map data storage device 103, the current position data sent from the GPS receiver 104, and the autonomous navigation sensor 105. Various processes for realizing the navigation function are executed based on the received positioning data. Details of the navigation device 101 will be described later. The road data processing device 102 detects a new road based on the current position data sent from the navigation device 101 and the map data read from the map data storage device 103 and stores the detected new road in the map data storage device 103. Execute processing to add to the map data that has been. Details of the road data processing apparatus 102 will be described later.

  The map data storage device 103 stores map data including road data. The map data stored in the map data storage device 103 is referred to by the navigation device 101 and the road data processing device 102, and the map data storage device 103 includes a new road generated by the road data processing device 102. Of road data is additionally stored. The GPS receiver 104 detects the current position of the own vehicle based on a signal transmitted from a GPS satellite. The current position detected by the GPS receiver 104 is sent to the navigation device 101 as a current position signal.

  The self-contained navigation sensor 105 includes an angle sensor such as a vibrating gyroscope that detects the rotation angle of the vehicle as a relative direction, and a distance sensor that outputs one pulse for each predetermined travel distance, and determines the relative position and direction of the vehicle. calculate. The relative position and direction of the vehicle calculated by the self-contained navigation sensor 105 are sent to the navigation device 101 as a positioning signal.

  Next, details of the navigation device 101 will be described. The navigation device 101 includes display means 106, position calculation means 107, route search / guidance means 108, and operation means 109. The display means 106 is composed of, for example, a liquid crystal display device, and displays a map, a route, and the like.

  The position calculation means 107 calculates the current position of the own vehicle. More specifically, the position calculation means 107 calculates the coordinates of the current position of the own vehicle based on the current position signal sent from the GPS receiver 104 and the positioning signal sent from the self-contained navigation sensor 105. Further, the position calculation means 107 calculates which road on the map indicated by the map data by using the map data read from the map data storage device 103.

  The route search / guidance means 108 corresponds to the route search means of the present invention, from the current position calculated by the position calculation means 107 or the position specified by the operation means 109 to the destination specified by the operation means 109. The route is searched based on the road data read from the map data storage device 103, and the searched route is guided. The operation unit 109 includes, for example, a remote controller, a touch panel, an operation panel, a voice input device with a voice recognition function, and the like. The user inputs various data and gives various instructions to the navigation device 101. Used for.

  Next, details of the road data processing apparatus 102 will be described. The road data processing apparatus 102 includes a map data comparison unit 110, a travel locus data generation unit 111, a new road addition unit 112, a separation main line determination unit 113, and an opposite lane addition unit 114.

  The map data comparison means 110 compares the current position data sent from the position calculation means 107 of the navigation device 101 with the map data read from the map data storage device 103. The comparison result by the map data comparison unit 110 is sent to the travel locus data generation unit 111. The travel locus data generation means 111 generates travel locus data indicating the travel locus of the host vehicle based on the comparison result sent from the map data comparison means 110. Details of the travel locus data will be described later. The travel locus data generated by the travel locus data generation unit 111 is sent to the new road addition unit 112.

  The new road addition means 112 detects a road that does not exist in the map data stored in the map data storage device 103 based on the travel locus data sent from the travel locus data generation means 111, and stores the map data as a new road. It is additionally stored in the device 103. The separation main line determination unit 113 determines whether or not the new road added by the new road addition unit 112 is a separation main line from which the vertical line is separated. The determination result by the separation main line determination unit 113 is sent to the opposite lane addition unit 114.

  The opposite lane addition means 114 obtains road data of the opposite lane of the new road added by the new road addition means 112 when the determination result sent from the separation main line determination means 113 indicates the separation main line. It is additionally stored in the map data storage device 103.

  Next, the format of map data used in the map information processing apparatus according to Embodiment 1 of the present invention will be described. Since the format of the map data itself is well known, the following description will focus on the parts related to the present invention.

  FIG. 2 is a diagram showing an overall format of map data stored in the map data storage device 103. The map data is composed of a header, road data, background data, and character data. FIG. 3 is a diagram showing a format of road data. The road data is composed of node data representing nodes such as intersections and link data representing roads between nodes. The node data is composed of the number of node records and a plurality of node records # 1 to # n-1. Each node record includes “node coordinates” representing the position of the node, “node attributes” representing node attributes (for example, intersections), “number of connected links” representing the number of links connected to the node, and the number of connected links. It consists of “link record number” of the number of links indicated.

  The link data is composed of the number of link records and a plurality of link records # 0 to # n-1. Each link record includes a “start node record number” indicating the node record number of the link start point, an “end node record number” indicating the node record number of the link end point, a “link type” indicating the link type, "Link attribute" that indicates the attribute, "New road flag" that indicates whether the road has been added to the link, "Display flag" that indicates whether the link is a display target, or the length of the link It is composed of “link length” and “link shape” representing the link shape. As the link type, a non-separated main line, a separated main line, a connection path link, and the like are defined. Here, the separated main line is a road in which an upstream line and a downstream line are distinguished by a central separator or the like, and the upstream line and the downstream line are defined as different links.

  FIG. 4 is a diagram showing a format of background data. The background data is composed of the number of background data records and a plurality of background data records. The background data record includes a type of background data, the number of shape coordinates, and a plurality of shape coordinates. As the background data type, railway, green space, river, sea, parking lot, apartment, etc. are defined.

  Next, traveling locus data used for adding road data of a new road to map data will be described. FIG. 5 is a diagram showing a format of travel locus data. The travel locus data includes a start point side link number, an end point side link number, a number of travel locus coordinates, and a plurality of travel locus coordinates # 0 to #n. Based on the travel locus data, a shape is formed by connecting a plurality of travel locus coordinates # 0 to #n between the road indicated by the start point side link number and the road indicated by the end point side link number. A new road is added.

  Next, the concept of adding a new road performed by the map information processing apparatus according to Embodiment 1 of the present invention will be described with reference to FIG.

  FIG. 6A shows a road state. Reference numerals 201 to 203 denote existing roads, and reference numerals 204 and 205 denote new roads. The existing roads 201 and 202 and the new roads 204 and 205 are separated main lines, and the existing road 203 is a non-separated main line. In addition, the existing road 201 and the existing road 202 are in the opposite lane relationship. Similarly, the new road 204 and the new road 205 are in opposite lane relations.

  FIG. 6B shows map data before the new roads 204 and 205 shown in FIG. 6A are added. Reference numerals 206, 207, and 210 indicate link data, and reference numerals 208 and 209 indicate node data. The node data 206 corresponds to the existing road 201, the node data 207 corresponds to the existing road 202, and the node data 210 corresponds to the existing road 203.

  FIG. 6C shows map data after a new road is added. Reference numerals 211, 213, and 214 indicate link data, and reference numeral 212 indicates node data. The link data 211 corresponds to the new road 204 shown in FIG. The link data 213 and 214 are obtained by dividing the link data 210 shown in FIG. 6B into two by the node data 212.

  FIG. 6D shows map data after adding a new road in the opposite lane, and reference numeral 215 indicates link data. The link data 215 corresponds to the new road 205 shown in FIG. FIG. 6E shows another map data after adding a new road in the opposite lane. Reference numerals 216, 218, and 219 indicate link data, and reference numeral 217 indicates node data. The link data 216 corresponds to the new road 205 shown in FIG. The link data 218 and 219 are obtained by dividing the node data 214 into two by the node data 217.

  Next, the operation of the map information processing apparatus according to Embodiment 1 of the present invention configured as described above will be described with reference to the flowcharts shown in FIGS.

  FIG. 7 is a flowchart showing a basic process that is a basic process for adding a new road. Assume that the map data is in the state shown in FIG. In the basic process, first, a new road addition process is performed (step ST11). In this new road addition process, details will be described later, but new data that does not exist on the map data stored in the map data storage device 103 by the map data comparison unit 110, the travel locus data generation unit 111, and the new road addition unit 112. A process of adding the road to the map data in the map data storage device 103 is performed. Details of this new road addition processing will be described later.

  Next, it is checked whether or not the new road added in step ST11 is a separated main line (step ST12). That is, the separation main line determination unit 113 determines whether the new road added by the new road addition unit 112 is a separation main line from which the vertical line is separated, and the determination result is sent to the opposite lane addition unit 114. send. If it is determined in this step ST12 that it is a separation main line, an opposite lane addition process is performed (step ST13). That is, if the determination result sent from the separation main line determination means 113 indicates that the separation lane is a separation main line, the opposite lane addition means 114 indicates the road data of the opposite lane of the new road added by the new road addition means 112. And is additionally stored in the map data storage device 103. Details of this opposite lane addition processing will be described later. Thereafter, the basic process ends. On the other hand, if it is determined in step ST12 that the main line is not separated, the basic processing ends.

  Next, the details of the new road addition process performed in step ST11 of the basic process will be described with reference to the flowchart shown in FIG. In the new road addition process, first, the travel locus data of the new road is generated (step ST21). That is, the map data comparison means 110 compares the current position data sent from the position calculation means 107 of the navigation device 101 with the map data read from the map data storage device 103, and the comparison result is generated as travel locus data generation. Send to means 111. Based on the comparison result sent from the map data comparison unit 110, the travel locus data generation unit 111 generates running locus data indicating the traveling locus of the vehicle and sends it to the new road addition unit 112. The following processing is executed by the new road adding means 112.

  Next, the link type of the start point side link of the travel locus data generated in step ST21 is acquired (step ST22). Next, it is checked whether or not the link type acquired in step ST22 indicates a separated main line (step ST23). If it is determined in this step ST23 that the link type indicates the separation main line, the link type of the new road is set to the separation main line (step ST24). Thereafter, the sequence proceeds to step ST28.

  If it is determined in step ST23 that the link type does not indicate the main separation line, then the link type of the end point side link of the travel locus data generated in step ST21 is acquired (step ST25). Next, it is checked whether or not the link type acquired in step ST25 indicates a separated main line (step ST26). If it is determined in this step ST26 that the link type indicates the separation main line, the sequence proceeds to step ST24, and as described above, the link type of the new road is set to the separation main line. Thereafter, the sequence proceeds to step ST28.

  On the other hand, if it is determined in step ST26 that the link type does not indicate the separation main line, then the link type of the new road is set to the link type of the start point side link (step ST27). Thereafter, the sequence proceeds to step ST28. In step ST28, a display flag is set. When this display flag is set, the road data of the new road generated by the above-described processing is sent to the navigation device 101 and displayed on the display means 106 by the display processing (to be described later) executed subsequently. The

  Next, a new road addition process is performed (step ST29). That is, the road data of the new road generated by the above-described processing is sent to the map data storage device 103 and added to the map data stored in the map data storage device 103. With the above new road addition process, the map data is in the state shown in FIG.

  Next, details of the opposite lane addition process performed in step ST13 of the basic process will be described with reference to the flowchart shown in FIG. In the opposite lane addition process, first, an opposite lane travel locus data generation process is performed (step ST31). Details of this opposite lane travel locus data generation process will be described later. Next, a display flag is set (step ST32). The process in step ST32 is the same as the process in step ST28 in the flowchart shown in FIG. Next, a new road addition process for the opposite lane is performed (step ST33). That is, the road data of the opposite lane generated by the above-described process is sent to the map data storage device 103 and added to the map data stored in the map data storage device 103. Thus, the opposite lane travel locus data generation process ends.

  Next, details of the opposite lane travel locus data generation process performed in step ST31 will be described with reference to the flowchart shown in FIG. The opposite lane travel locus data generation process is executed by the opposite lane adding means 114.

  In the opposite lane travel locus data generation process, first, the travel locus data of the new road generated in step ST21 of the new road addition process shown in FIG. 8 is acquired (step ST41). Next, the link type of the start point side link of the travel locus data acquired in step ST41 is acquired (step ST42). Next, the leading traveling locus coordinate # 0 is obtained from the traveling locus data obtained in step ST41 (step ST43). Here, it is assumed that the travel locus coordinate # 0 is (X0, Y0).

  Next, it is checked whether or not the link type acquired in step ST42 indicates a separation main line (step ST44). If it is determined in this step ST44 that the link type indicates a separation main line, the link in the opposite lane of the start point side link acquired in step ST42 is the start point side of the travel locus data for the opposite lane of the new road. It is set as a link (step ST45). Next, the node coordinates (X0 ', Y0') closer to the travel trajectory coordinate # 0 acquired in step ST43 are set as the first travel trajectory coordinates of the travel trajectory data for the opposite lane (step ST46). Thereafter, the sequence proceeds to step ST49.

  If it is determined in step ST44 that the link type does not indicate the separated main line, the start point side link acquired in step ST42 is set as the start point side link of the travel track data for the opposite lane (step ST47). ). Next, the leading traveling locus coordinate # 0 (X0, Y0) acquired in step ST43 is set as the leading traveling locus coordinate of the traveling locus data for the opposite lane (step ST48). Thereafter, the sequence proceeds to step ST49.

  In step ST49, the link type of the end point side link of the travel locus data acquired in step ST41 is acquired. Next, the last traveling locus coordinate #n (Xn, Yn) is obtained from the traveling locus data obtained in step ST41 (step ST50). Next, it is checked whether or not the link type acquired in step ST49 indicates a separated main line (step ST51). If it is determined in this step ST51 that the link type indicates a separated main line, the link in the opposite lane of the end point side link acquired in step ST49 is the end point side of the travel locus data for the opposite lane of the new road. It is set as a link (step ST52). Next, the node coordinates (Xn ′, Yn ′) closer to the travel trajectory coordinates acquired in step ST50 are set as the last travel trajectory coordinates of the travel trajectory data for the opposite lane (step ST53). Thereafter, the opposite lane travel locus data generation process ends.

  On the other hand, if it is determined in step ST51 that the link type does not indicate the separated main line, the end point side link acquired in step ST49 is set as the end point side link of the travel locus data for the opposite lane ( Step ST54). Next, the last traveling locus coordinate #n (Xn, Yn) acquired in step ST50 is set as the last traveling locus coordinate of the traveling locus data for the opposite lane (step ST55). Thereafter, the opposite lane travel locus data generation process ends.

  When the opposite lane travel locus data generation process is completed as described above, the display flag is set (step ST32), and then a new road in the opposite lane is added as described above with reference to FIG. Step ST33). By the above opposite lane addition process, the map data is in the state shown in FIG.

  When the basic processing described above is completed, display processing is then performed. FIG. 11 is a flowchart showing a display process for displaying the added new road. In this display process, first, a link display flag is acquired (step ST61). That is, the display flag included in the link record that forms the link data is acquired. Next, it is checked whether or not the display flag is set (step ST62). If it is determined in step ST62 that the display flag is set, drawing is performed (step ST63). Therefore, in the map information processing apparatus according to the first embodiment, since the display flag is set in step ST32 of the opposite lane addition process (FIG. 9), the new road is displayed immediately after the new road is added. Will be. On the other hand, if it is determined in step ST62 that the display flag is not set, the display process ends.

  As described above, according to the map information processing apparatus according to the first embodiment of the present invention, when traveling on a road that does not exist in the map data, the road data of the traveled road and the opposite lane of the road The road data of the road can be added to the map data stored in the map data storage device 103 as the road data of the new road. As a result, since a new road can be used even on the return road, convenience for the user is improved. Further, when traveling on a new road, the road data of the new road is immediately added to the map data unconditionally, so that the user can feel secure.

Embodiment 2. FIG. [Claim 3]
The map information processing apparatus according to Embodiment 2 of the present invention is the map information processing apparatus according to Embodiment 1, wherein the addition of the opposite lane of the new road is performed when actually traveling in the opposite lane. It is. The configuration of the map information processing apparatus according to Embodiment 2 is the same as the configuration of the map information processing apparatus according to Embodiment 1 shown in FIG.

  Next, the operation of the map information processing apparatus according to the second embodiment will be described with reference to the flowcharts shown in FIGS.

  FIG. 12 is a flowchart showing basic processing of the map information processing apparatus according to the second embodiment. In this basic process, first, a new road addition process is performed (step ST71). The processing in step ST71 is the same as the processing in step ST11 in the basic processing shown in the flowchart of FIG. Next, it is checked whether or not the new road added in step ST71 is a separation main line (step ST72). The process in step ST72 is the same as the process in step ST12 of the flowchart shown in FIG. If it is determined in this step ST72 that the main line is not separated, the basic processing ends.

  On the other hand, if it is determined in step ST72 that it is a separated main line, an opposite lane travel locus data generation process is executed (step ST73). The processing in step ST73 is the same as the processing in step ST31 in the flowchart shown in FIG. Next, the opposite lane travel locus recording is performed (step ST74). That is, the opposite lane travel locus data generated in step ST73 is recorded in a memory (not shown). Thus, the basic process ends.

  In the map information processing apparatus according to the second embodiment, road data in the opposite lane of the added new road is not added when the new road is added, but is added when the vehicle actually travels in the opposite lane. . FIG. 13 is a flowchart showing a process of adding a new road when traveling in the opposite lane. In this process, it is first checked whether or not the vehicle is traveling on the road indicated by the map data (step ST81). If it is determined in step ST81 that the vehicle is traveling on an existing road indicated by the map data, the process ends.

  On the other hand, when it is determined in step ST81 that the vehicle is not traveling on the existing road indicated by the map data, it is recognized that the vehicle is traveling on the new road, and the opposite lane travel recorded in step ST74 described above is performed. Trajectory data is extracted (step ST82). Next, it is checked whether or not the vehicle is traveling on the road indicated by the opposite lane travel locus data (step ST83). If it is determined in step ST83 that the vehicle is not traveling on the road indicated by the opposite lane travel locus data, the process ends.

  On the other hand, if it is determined in step ST83 that the vehicle is traveling on the road indicated by the opposite lane travel locus data, a display flag is set (step ST84), and then a new road in the opposite lane is added (step ST84). Step ST85). The processes in steps ST84 and ST85 are the same as the processes in steps ST32 and ST33 in the flowchart shown in FIG. Thereafter, the process ends.

  As described above, according to the map information processing apparatus according to the second embodiment of the present invention, when actually driving on the opposite lane of the added new road, the opposite lane is added as a new road. It will be added after it is found that there is a road in the opposite lane, and an accurate new road can be added.

Embodiment 3 FIG. [Claim 4]
The map information processing apparatus according to Embodiment 3 of the present invention is such that, in the map information processing apparatus according to Embodiment 1, addition of an opposite lane of a new road is performed when a route search is performed. is there. The configuration of the map information processing apparatus according to Embodiment 3 is the same as that of the map information processing apparatus according to Embodiment 1 shown in FIG.

  Next, the operation of the map information processing apparatus according to the third embodiment will be described. The basic processing in the map information processing apparatus according to the third embodiment is the same as the basic processing of the map information processing apparatus according to the second embodiment shown in the flowchart of FIG.

  In the map information processing apparatus according to the third embodiment, road data in the opposite lane of the added new road is not added when the new road is added, but is added when a route search is performed. FIG. 14 is a flowchart showing a process for adding a new road during route search. In this process, first, it is checked whether or not a route search operation has been performed (step ST91). That is, the opposite lane adding unit 114 checks whether or not a route search operation has been performed by the operation unit 109 of the navigation device 101. If it is determined in step ST91 that the route search operation is not performed, the process ends.

  On the other hand, if it is determined in step ST91 that a route search operation has been performed, the opposite lane travel locus data recorded in step ST74 of the flowchart shown in FIG. 12 is extracted (step ST92). Next, a display flag is set (step ST93), and then a new road in the opposite lane is added (step ST94). The processes in steps ST93 and ST94 are the same as the processes in steps ST32 and ST33 in the flowchart shown in FIG. Thereafter, the process ends.

  As described above, according to the map information processing apparatus according to the third embodiment of the present invention, when a route search is performed, an opposite lane of a new road is added. It will be added after it is known that it exists, and an accurate new road can be added.

Embodiment 4 FIG. [Claim 5]
The map information processing apparatus according to Embodiment 4 of the present invention adds the opposite lane of the new road unconditionally, but displays the opposite lane of the new road when the vehicle actually travels in the opposite lane. It is a thing. The configuration of the map information processing apparatus according to Embodiment 4 is the same as the configuration of the map information processing apparatus according to Embodiment 1 shown in FIG.

  Next, the operation of the map information processing apparatus according to the fourth embodiment will be described. The basic process in the map information processing apparatus according to the fourth embodiment is the same as the basic process of the map information processing apparatus according to the first embodiment shown in the flowchart of FIG.

  The details of the opposite lane addition process performed in step ST13 of the basic process described above will be described with reference to the flowchart shown in FIG. In the opposite lane addition process, first, an opposite lane travel locus data generation process is performed (step ST96). The processing in step ST96 is the same as the processing in step ST31 in the flowchart shown in FIG. Next, the display flag is cleared (step ST97). Thus, even if a new road in the opposite lane is added, the new road in the opposite lane is not immediately displayed. Next, a new road addition process in the opposite lane is performed (step ST98). The processing in step ST98 is the same as the processing in step ST33 in the flowchart shown in FIG. Thus, the opposite lane addition process ends.

  In the map information processing apparatus according to the fourth embodiment, the display of the added new road is not performed when the new road is added, but is performed when the vehicle actually travels in the opposite lane. FIG. 16 is a flowchart showing a display process for displaying the added new road. In this display process, first, a display flag of a traveling link is acquired (step ST101). That is, the display flag included in the link record constituting the link data of the traveling link is acquired.

  Next, it is checked whether or not the display flag is set (step ST102). If it is determined in step ST102 that the display flag is not set, the display flag is set (step ST103). Next, drawing is performed (step ST104). Thereafter, the display process ends. If it is determined in step ST102 that the display flag is set, the display process ends.

  As described above, according to the map information processing apparatus according to the fourth embodiment of the present invention, since a new road is displayed only after actually traveling in the opposite lane, it is possible to accurately add a new road. it can.

Embodiment 5. FIG. [Claim 6]
The map information processing apparatus according to Embodiment 5 of the present invention adds the opposite lane of the new road unconditionally, but displays the opposite lane of the new road when it is used for route search. It is a thing. The configuration of the map information processing apparatus according to Embodiment 5 is the same as that of the map information processing apparatus according to Embodiment 1 shown in FIG.

  Next, the operation of the map information processing apparatus according to the fifth embodiment will be described. The basic process in the map information processing apparatus according to the fifth embodiment is the same as the basic process of the map information processing apparatus according to the first embodiment shown in the flowchart of FIG. This is the same as that according to the fourth embodiment shown in FIG.

  In the map information processing apparatus according to the fifth embodiment, the display of the added new road is not performed when the new road is added, but is performed when the route search is executed. FIG. 17 is a flowchart showing a display process for displaying the added new road. In this display process, first, a display flag of a route search link is acquired (step ST111). In other words, the display flag included in the link record constituting the link data of the link indicating the route obtained by the route search is acquired.

  Next, it is checked whether or not the display flag is set (step ST112). If it is determined in step ST112 that the display flag is not set, the display flag is set (step ST113). Next, drawing is performed (step ST114). Thereafter, the display process ends. If it is determined in step ST112 that the display flag is set, the display process ends.

  As described above, according to the map information processing apparatus according to the fifth embodiment of the present invention, when a new road in the opposite lane is searched by the route search, the new road is displayed for the first time. It can be added after it is found that there is a road in the opposite lane, and the new road can be accurately added.

Embodiment 6 FIG. [Claim 7]
In the map information processing apparatus according to Embodiment 6 of the present invention, the user is inquired about whether or not an opposite lane of a new road can be added. The configuration of the map information processing apparatus according to the sixth embodiment is the same as the configuration of the map information processing apparatus according to the first embodiment shown in FIG.

  Next, the operation of the map information processing apparatus according to the sixth embodiment will be described. FIG. 18 is a flowchart showing basic processing in the map information processing apparatus according to the sixth embodiment. In the basic process, first, a new road addition process is performed (step ST121). The process of step ST121 is the same as the process of step ST11 of the flowchart shown in FIG. Next, it is examined whether or not the new road added in step ST121 is a separated main line (step ST122). The process of step ST122 is the same as the process of step ST12 of the flowchart shown in FIG.

  If it is determined in this step ST122 that it is a separation main line, an opposite lane addition confirmation telop is displayed (step ST123). That is, the opposite lane adding means 114 sends a message asking whether or not to add the opposite lane to the navigation apparatus 101, and the navigation apparatus 101 causes the display means 106 to display the received message as a telop. The user refers to the telop displayed on the display unit 106 and operates the operation unit 109 to input whether or not to add. Data indicating whether or not addition is possible input from the operation unit 109 is sent to the road data processing apparatus 102.

  Next, it is checked whether or not addition has been selected (step ST124). That is, the opposite lane addition unit 114 checks whether or not addition is selected based on the data indicating whether or not addition is possible received from the navigation device 101. If it is determined in step ST124 that the addition is selected, the opposite lane addition process is performed (step ST125). The processing in step ST125 is the same as the processing in step ST13 in the flowchart shown in FIG. If it is determined in step ST124 that addition is not selected, the basic process ends. The basic process is also terminated when it is determined in step ST122 that the main line is not separated.

  As described above, according to the map information processing apparatus according to the sixth embodiment of the present invention, since the user can select whether or not to add a road in the opposite lane, a road in the opposite lane exists truly. You can add it after you know it, and you can add new roads accurately.

Embodiment 7 FIG. [Claim 8]
In the map information processing apparatus according to Embodiment 7 of the present invention, the added opposite lane of the new road is such that the traffic restriction is opposite to that of the new road and the shape approximates the new road. The configuration of the map information processing apparatus according to the seventh embodiment is the same as the configuration of the map information processing apparatus according to the first embodiment shown in FIG.

  Next, the operation of the map information processing apparatus according to the seventh embodiment will be described. The basic process in the map information processing apparatus according to the seventh embodiment is the same as the basic process of the map information processing apparatus according to the first embodiment shown in the flowchart of FIG. The opposite lane addition process performed in ST13 is the same as the process shown in the flowchart of FIG. 9 except for the opposite lane travel locus data generation process (except for step ST31).

  The details of the opposite lane travel locus data generation process will be described below with reference to the flowchart shown in FIG. The opposite lane travel locus data generation process is executed by the opposite lane adding means 114.

  In the opposite lane travel locus data generation process, first, the travel locus data of the new road generated in step ST21 of the new road addition process shown in FIG. 8 is acquired (step ST131). Next, the link type of the start point side link of the travel locus data acquired in step ST131 is acquired (step ST132). Next, the leading traveling locus coordinate # 0 is obtained from the traveling locus data obtained in step ST131 (step ST43). Here, it is assumed that the travel locus coordinate # 0 is (X0, Y0).

  Next, it is checked whether or not the link type acquired in step ST132 indicates a separated main line (step ST134). If it is determined in this step ST134 that the link type indicates a separated main line, the link in the opposite lane of the start point side link acquired in step ST132 is the start point side of the trajectory data for the opposite lane of the new road. It is set as a link (step ST135).

  Next, the node coordinates (X0 ', Y0') closer to the travel locus coordinate # 0 acquired in step ST133 are set as the first travel locus coordinates of the travel locus data for the opposite lane (step ST136). Next, the difference from the travel locus coordinates acquired in step ST133 is stored in dx and dy (step ST137). Specifically, “dx = X0′−X0” and “dy = Y0′−Y0” are calculated and stored.

  Next, the last traveling locus coordinate #n is acquired (step ST138). Here, the coordinate of the last traveling locus coordinate #n is (Xn, Yn). Next, the end point side link of the travel track data is set as the end point side link of the travel track data for the opposite lane (step ST139). Next, (Xn + dx, Yn + dy) is set as the last traveling locus coordinate of the traveling locus data for the opposite lane (step ST140). Thereafter, the opposite lane travel locus data generation process ends.

  If it is determined in step ST134 that the link type does not indicate the main separation line, then the last travel locus coordinate #n is acquired (step ST141). Here, the last traveling locus coordinate is (Xn, Yn). Next, the link in the opposite lane of the start point side link acquired in step ST131 is set as the start point side link of the travel track data for the opposite lane (step ST142). Next, the node coordinates (Xn ′, Yn ′) closer to the travel trajectory coordinates acquired in step ST141 are set as the last travel trajectory coordinates of the travel trajectory data for the opposite lane (step ST143).

  Next, the difference from the travel locus coordinates acquired in step ST141 is stored in dx and dy (step ST144). Specifically, “dx = X0′−X0” and “dy = Y0′−Y0” are calculated and stored. Next, the starting point side link of the traveling locus data is set as the starting point side link of the traveling locus data for the opposite lane (step ST145). Then, (XO + dx, YO + dy) is set as the leading traveling locus coordinates of the traveling locus data for the opposite lane (step ST146). Thereafter, the opposite lane travel locus data generation process ends. By this processing, the map data is in the state shown in FIG.

  As described above, according to the map information processing apparatus according to the seventh embodiment of the present invention, the traffic restriction is opposite to the added new road, that is, the start point and the end point are opposite to the new road. Thus, since an opposite lane having a shape approximating a new road can be added, the road shape of the opposite lane is substantially correct.

Embodiment 8 FIG. [Claim 9]
In the map information processing apparatus according to the eighth embodiment of the present invention, the shape of the opposite lane of the added new road is corrected using the travel locus. The configuration of the map information processing apparatus according to the eighth embodiment is the same as the configuration of the map information processing apparatus according to the first embodiment shown in FIG.

  Next, the operation of the map information processing apparatus according to the eighth embodiment will be described. The basic processing in the map information processing apparatus according to the eighth embodiment is the same as the basic processing of the map information processing apparatus according to the first embodiment shown in the flowchart of FIG. In the map information processing apparatus according to the eighth embodiment, the new road shape correction process for correcting the shape of the opposite lane of the added new road is performed by the opposite lane adding unit 114 independently of the basic process.

  Hereinafter, the new road shape correction process will be described with reference to the flowchart shown in FIG. In the new road shape correction process, first, a start point side detection process for detecting the start point of the opposite lane of the new road to be corrected (step ST151). Details of the starting point side detection process will be described later. Next, a travel locus collection process is performed in which travel locus coordinates are collected from the start point detected in step ST151 and travel locus data is generated (step ST152). Details of the traveling locus collection process will be described later. Next, the new road subject to shape correction is deleted (step ST153). In other words, a new road that has been added by the basic processing first and whose shape is to be corrected is deleted. Next, a new road addition process is performed (step ST154). That is, the opposite lane addition process shown in the flowchart of FIG. 9 is performed based on the travel locus data generated in step ST152. However, the travel locus data generated in step ST152 is used instead of the travel locus data of the opposite lane generated in step ST31 of the flowchart shown in FIG.

  Next, details of the start point side detection process performed in step ST151 of the new road shape correction process will be described with reference to the flowchart shown in FIG. In the start point side detection process, first, a link record of the road on which the vehicle is traveling is acquired (step ST161). Next, it is checked whether or not the road indicated by the link record acquired in step ST161 is an additional road (step ST162). This is performed by checking whether or not the new road flag included in the link record is set.

  If it is determined in step ST162 that the road is a new road, the sequence returns to step ST161, and the above-described processing is repeated. On the other hand, if it is determined in step ST162 that the road is not a new road, then a link record of the road on which the vehicle is traveling is acquired (step ST163). Next, it is checked whether or not the road indicated by the link record acquired in step ST163 is an additional road (step ST164). If it is determined in step ST164 that the road is not an additional road, the sequence returns to step ST163, and the above-described processing is repeated. On the other hand, if it is determined in step ST164 that the road is an additional road, it is recognized that the link record at that time is a link record on the start point side of the additional road, and the start point detection process ends. As a result of the above processing, when the user has exited the additional road and then re-entered the additional road, it is detected that the entering side is the starting point side of the additional road.

  Next, details of the travel locus collection process performed in step ST152 of the new road shape correction process will be described with reference to the flowchart shown in FIG. In the traveling locus collection process, first, the vehicle position is collected as traveling locus coordinates (step ST171). Next, a link record of the road that is running is acquired (step ST172). Next, it is checked whether or not the road indicated by the link record acquired in step ST172 is an additional road (step ST173). If it is determined in step ST173 that the road is an additional road, the sequence returns to step ST171 and the above-described processing is repeated. By repeating this, the travel locus of the added new road is collected. On the other hand, if it is determined in step ST173 that the road is not an additional road, it is recognized that the travel on the additional road has ended, and the travel locus collection process ends.

  As described above, according to the map information processing apparatus in accordance with Embodiment 8 of the present invention, the road shape of the opposite lane can be corrected correctly, so that a new road having the correct shape can be obtained.

Embodiment 9 FIG. [Claim 10, Claim 11]
The map information processing apparatus according to Embodiment 9 of the present invention prevents a parking lot from being added as a new road when a new road is added.

  FIG. 23 is a block diagram showing the configuration of the map information processing apparatus according to Embodiment 9 of the present invention. In this map information processing apparatus, the separation main line determination means 113 and the opposite lane addition means 114 are removed from the road data processing apparatus 102 of the map information processing apparatus according to Embodiment 1, and a parking lot determination means 115 is added. Further, the function of the new road adding means 112 is changed.

  The parking lot determination unit 115 determines whether the parking lot is based on the comparison result by the map data comparison unit 110. This determination method will be described in detail later. The determination result by the parking lot determination unit 115 is sent to the new road addition unit 112. The new road adding means 112 detects a road that does not exist in the map data stored in the map data storage device 103 as a new road based on the travel locus data generated by the travel locus data generation means 111, and this detected new road Among the road data, road data that has not been determined to be a parking lot by the parking lot determination means 115 is added to the map data stored in the map data storage device 103.

  Next, the operation of the map information processing apparatus according to Embodiment 9 of the present invention configured as described above will be described with reference to the flowcharts shown in FIGS.

  FIG. 24 is a flowchart showing a basic process which is a basic process for adding a new road while excluding a parking lot. In the basic process, first, travel locus data is generated (step ST181). Next, a parking lot determination process is executed (step ST182). Details of this parking lot determination processing will be described later. Next, it is checked whether the parking lot flag is set (step ST183). If it is determined in step ST183 that the parking lot flag is not set, new road addition processing is performed (step ST184). The process of step ST184 is the same as the process of step ST11 in the basic process shown in the flowchart of FIG.

  Next, details of the parking lot determination process performed in step ST182 of the basic process shown in FIG. 24 will be described with reference to the flowchart shown in FIG. This parking lot determination process is executed by the parking lot determination means 115. In this parking lot determination process, first, the distance between the start and end points of the travel trajectory data generated in step ST181 of the basic process shown in FIG. 24, that is, the first travel trajectory coordinate and the last travel trajectory coordinate of the travel trajectory data Is calculated (step ST191). Next, it is checked whether or not the distance calculated in step ST191 is equal to or smaller than a predetermined threshold A (step ST192). If it is determined in this step ST192 that it is not less than or equal to the threshold value A, that is, greater than the threshold value A, it is recognized that it is not a parking lot, and the parking lot flag is cleared (step ST198). The parking lot flag is a flag provided inside the parking lot determination unit 115. Thereafter, the parking lot determination process ends.

  If it is determined in step ST192 that the value is equal to or less than the threshold value A, then the travel distance of the distance between the start and end points of the travel locus data, that is, from the first travel locus coordinate of the travel locus data to the last travel locus coordinate. The distance traveled is calculated (step ST193). Next, it is checked whether or not the travel distance calculated in step ST193 is equal to or less than a predetermined threshold B (step ST194). If it is determined in step ST194 that it is not less than or equal to the predetermined threshold B, that is, greater than the threshold B, the sequence proceeds to step ST198, and the parking lot flag is cleared as described above.

  If it is determined in step ST194 that the value is equal to or less than the predetermined threshold B, then the travel range between the start and end points of the travel locus data is calculated (step ST195). Next, it is checked whether or not the range calculated in step ST195 is equal to or smaller than a predetermined threshold C (step ST196). If it is determined in step ST196 that the threshold is not less than or equal to the predetermined threshold C, that is, greater than the threshold, the sequence proceeds to step ST198, and the parking lot flag is cleared as described above. On the other hand, when it is determined in step ST196 that the value is equal to or less than the predetermined threshold C, it is recognized that the vehicle is a parking lot and a parking lot flag is set (step ST197). Thereafter, the parking lot determination process ends.

  As described above, according to the map information processing apparatus according to the ninth embodiment of the present invention, when traveling in a parking lot, the parking lot is not mistakenly added as a new road, so that it is convenient for the user. Will improve. In addition, the distance between the start point and the end point indicated by the travel locus data generated by the travel locus data generation unit 111, the travel distance traveled between the start point and the end point, and the range traveled between the start point and the end point are respectively predetermined. Since it is determined to be a parking lot when it is equal to or less than the threshold value, it can be correctly determined as a parking lot, and user convenience is improved.

Embodiment 10 FIG. [Claim 12]
In the map information processing apparatus according to Embodiment 10 of the present invention, the map information processing apparatus according to Embodiment 9 determines whether or not it is a parking lot by determining the speeds near the start point and end point indicated by the travel locus data. It is something that is done by. The configuration of the map information processing apparatus according to the tenth embodiment is the same as the configuration of the map information processing apparatus according to the ninth embodiment shown in FIG.

  Next, the operation of the map information processing apparatus according to the tenth embodiment will be described. The basic processing in the map information processing apparatus according to the tenth embodiment is the same as the basic processing of the map information processing apparatus according to the ninth embodiment shown in the flowchart of FIG. The map information processing apparatus according to the tenth embodiment differs from the ninth embodiment in the parking lot determination process performed in step ST182 of the basic process. Below, the detail of a parking lot determination process is demonstrated, referring the flowchart shown in FIG.

  In the parking lot determination process, first, the speed near the start point of the travel locus data is calculated (step ST201). Next, it is checked whether or not the speed calculated in step ST201 is equal to or less than a predetermined threshold D (step ST202). If it is determined in step ST202 that it is not less than or equal to the threshold value D, that is, greater than the threshold value D, it is recognized that it is not a parking lot, and the parking lot flag is cleared (step ST206). Thereafter, the parking lot determination process ends.

  If it is determined in step ST202 that the value is equal to or less than the threshold value D, then the speed near the end point of the travel locus data is calculated (step ST203). Next, it is checked whether or not the speed calculated in step ST203 is equal to or less than a predetermined threshold E (step ST204). If it is determined in step ST204 that it is not less than or equal to the threshold value E, that is, greater than the threshold value E, the sequence proceeds to step ST206, and the parking lot flag is cleared as described above. On the other hand, if it is determined in step ST204 that the value is equal to or less than the threshold value E, the parking lot is recognized and a parking lot flag is set (step ST205), and then the parking lot determination process ends.

  As described above, according to the map information processing apparatus according to the tenth embodiment of the present invention, when traveling in a parking lot, the parking lot is not erroneously added as a new road, and travel locus data generation is performed. Since it is determined to be a parking lot when the speeds near the start point and the end point indicated by the travel locus data generated by the means 111 are each equal to or less than a predetermined threshold, it can be correctly determined as a parking lot. , User convenience is improved.

Embodiment 11 FIG. [Claim 13]
In the map information processing apparatus according to Embodiment 11 of the present invention, in the map information processing apparatus according to Embodiment 9, the average speed between the start and end points indicated by the travel trajectory data is determined based on whether or not it is a parking lot. It is something that is done by. The configuration of the map information processing apparatus according to the tenth embodiment is the same as the configuration of the map information processing apparatus according to the ninth embodiment shown in FIG.

  Next, the operation of the map information processing apparatus according to the eleventh embodiment will be described. The basic processing in the map information processing apparatus according to the eleventh embodiment is the same as the basic processing of the map information processing apparatus according to the ninth embodiment shown in the flowchart of FIG. The map information processing apparatus according to the eleventh embodiment differs from the ninth embodiment in the parking lot determination process performed in step ST182 of the basic process. Below, the detail of a parking lot determination process is demonstrated, referring the flowchart shown in FIG.

  In the parking lot determination process, first, an average speed between the start and end points of the travel locus data is calculated (step ST211). Next, it is checked whether or not the average speed calculated in step ST211 is equal to or less than a predetermined threshold F (step ST212). If it is determined in step ST212 that the average speed is not equal to or less than the predetermined threshold F, that is, greater than the threshold F, it is recognized that the vehicle is not a parking lot, and the parking lot flag is cleared (step ST214). Thereafter, the parking lot determination process ends. If it is determined in step ST212 that the value is equal to or less than the threshold value F, the parking lot is recognized and a parking lot flag is set (step ST213), and then the parking lot determination process ends.

  As described above, according to the map information processing apparatus according to the eleventh embodiment of the present invention, when traveling in a parking lot, the parking lot is not erroneously added as a new road, and travel locus data generation is performed. Since it is determined to be a parking lot when the average speed between the start point and the end point indicated by the travel locus data generated by the means 111 is equal to or less than a predetermined threshold, it is determined that the parking lot is correct. This improves user convenience.

Embodiment 12 FIG. [Claim 14]
In the map information processing apparatus according to the twelfth embodiment of the present invention, when a new road is added, a tunnel is identified and reflected in map data.

  FIG. 28 is a block diagram showing the structure of the map information processing apparatus in accordance with Embodiment 12 of the present invention. In this map information processing apparatus, the separation main line determination means 113 and the opposite lane addition means 114 are removed from the road data processing apparatus 102 of the map information processing apparatus according to the first embodiment, and a road attribute setting means 116 is added. Further, the functions of the travel locus data generation unit 111 and the new road addition unit 112 are changed.

  The travel locus data generation means 111 generates travel locus data indicating the travel locus of the host vehicle based on the comparison result sent from the map data comparison means 110. In this case, as shown in FIG. 5B, the traveling locus data includes a GPS reception flag. The GPS reception flag is a flag indicating whether a GPS signal has been received by the GPS receiver 104 when the travel locus data is generated. The travel locus data generated by the travel locus data generation unit 111 is sent to the new road addition unit 112. Note that the GPS reception flag in the traveling locus data can be configured to be provided for each of a plurality of traveling locus coordinates as shown in FIG. According to this configuration, the accuracy of the tunnel position can be increased.

  The road attribute setting means 116 sets the attribute of a new road to be added. Specifically, it is determined whether or not the new road is a tunnel by referring to the GPS reception flag included in the travel locus data generated by the travel locus data generation means 111. “Tunnel” is set as the road attribute of the road.

  The new road adding means 112 detects a road that does not exist in the map data stored in the map data storage device 103 as a new road based on the travel locus data generated by the travel locus data generation means 111, and this detected new road The road data for which the road attribute is set by the road attribute setting means 116 is added to the map data stored in the map data storage device 103.

  Next, the operation of the map information processing apparatus according to Embodiment 12 of the present invention configured as described above will be described with reference to the flowchart shown in FIG. First, traveling track data of a new road is generated (step ST221). That is, the map data comparison means 110 compares the current position data sent from the position calculation means 107 of the navigation device 101 with the map data read from the map data storage device 103, and the comparison result is generated as travel locus data generation. Send to means 111. The travel locus data generation means 111 generates travel locus data indicating the travel locus of the host vehicle based on the comparison result sent from the map data comparison means 110. In this case, it is determined whether or not the GPS signal is received by the GPS receiver 104, and traveling locus data including a GPS reception flag as shown in FIG. 5B is generated. The travel locus data generated in step ST221 is sent to the new road adding means 112.

  Next, a GPS reception flag is acquired from the travel locus data generated in step ST221 (step ST222). That is, the new road adding unit 112 acquires the GPS reception flag from the travel locus data received from the travel locus data generation unit 111. Next, it is checked whether or not a GPS signal is received (step ST223). This is performed by checking whether the GPS reception flag acquired in step ST222 is set. If it is determined in step ST223 that a GPS signal is received, it is recognized that the new road is not a tunnel, and the tunnel flag is cleared (step ST224). The tunnel flag is a flag provided inside the new road adding means 112. Thereafter, the sequence proceeds to step ST226.

  On the other hand, if it is determined in step ST223 that no GPS signal is received, it is recognized that the new road is a tunnel, and a tunnel flag is set (step ST225). Thereafter, the sequence proceeds to step ST226. In step ST226, a display flag is set. The processing in step ST226 is the same as the processing in step ST28 in the flowchart shown in FIG. Next, a new road addition process is performed reflecting the tunnel flag (step ST227). The process of step ST227 is the same as the process of step ST29 of the flowchart shown in FIG. 8 except that a road attribute indicating whether or not a tunnel is added to the road data. Thus, the process ends.

  As described above, according to the map information processing apparatus according to the twelfth embodiment of the present invention, a section of a new road that cannot receive GPS signals is generated as a tunnel. Road attributes can be set.

Embodiment 13 FIG. [Claim 15]
When adding a new road, the map information processing apparatus according to the thirteenth embodiment of the present invention discriminates an underpass formed when the new road intersects with, for example, a road or a railroad and reflects it in map data. It is what I did. The configuration of the map information processing apparatus according to the thirteenth embodiment is the same as that of the map information processing apparatus according to the twelfth embodiment shown in FIG. 28 except for the function of the road attribute setting means 116.

  The road attribute setting means 116 checks whether or not the travel trajectory data generated by the travel trajectory data generation means 111 intersects the road data read from the map data storage device 103 or the background data indicating the railway. Is determined to be an underpass, and if it is determined to be an underpass, “underpass” is set as the road attribute of the new road.

  Next, the operation of the map information processing apparatus according to Embodiment 13 of the present invention will be described with reference to the flowchart shown in FIG. First, traveling track data of a new road is generated (step ST231). Next, a GPS reception flag is acquired from the travel locus data generated in step ST231 (step ST232). Next, it is checked whether a GPS signal has been received (step ST233). The processing in steps ST231 to ST233 is the same as the processing in steps ST221 to 223 in the flowchart shown in FIG.

  If it is determined in step ST233 that a GPS signal has been received, it is recognized that the new road is not underpass, and the underpass flag is cleared (step ST234). The underpass flag is a flag provided inside the new road adding means 112. Thereafter, the sequence proceeds to step ST241. On the other hand, if it is determined in step ST233 that a GPS signal has not been received, it is then checked whether the travel locus data intersects with road data (step ST235). If it is determined in this step ST235 that the travel locus data intersects with the road data, it is recognized that the new road is underpass, and an underpass flag is set (step ST236). Thereafter, the sequence proceeds to step ST241.

  If it is determined in step ST235 that the travel locus data does not intersect with the road data, it is then checked whether the travel locus data intersects with the background data (step ST237). If it is determined in this step ST237 that the travel locus data intersects with the background data, it is then checked whether or not the background data indicates a railway (step ST238). If it is determined in this step ST238 that the background data indicates a railway, an underpass flag is set (step ST239). Thereafter, the sequence proceeds to step ST241.

  On the other hand, if it is determined in step ST238 that the background data does not indicate a railway, the underpass flag is cleared (step ST240). Thereafter, the sequence proceeds to step ST241. Also, when it is determined in step ST237 that the travel locus data does not intersect with the background data, the underpass flag is cleared (step ST240). Thereafter, the sequence proceeds to step ST241.

  In step ST241, a display flag is set. The processing in step ST241 is the same as the processing in step ST226 in the flowchart shown in FIG. Next, a new road addition process is performed reflecting the underpass flag (step ST242). The process of step ST242 is the same as the process of step ST227 of the flowchart shown in FIG. 29 except that a road attribute indicating whether an underpass is added to the road data. Thus, the process ends.

  As described above, according to the map information processing apparatus of the thirteenth embodiment of the present invention, a section of a new road that cannot receive a GPS signal, and a section in which the travel locus crosses the railway or the road Is determined to be an underpass, the correct road attribute of underpass can be set for the underpass portion of the new road.

Embodiment 14 FIG. [Claim 16]
When adding a new road, the map information processing apparatus according to Embodiment 14 of the present invention determines that the new road is a bridge when it crosses a river, lake, sea, etc., and reflects it in the map data. It is made to let you. The configuration of the map information processing apparatus according to the fourteenth embodiment is the same as that of the map information processing apparatus according to the twelfth embodiment shown in FIG. 28 except for the function of the road attribute setting means 116.

  The road attribute setting unit 116 determines whether or not the travel locus data generated by the travel locus data generation unit 111 and background data indicating, for example, a river, a lake, a road, or the sea read from the map data storage device 103 intersect. By examining whether or not the new road is a bridge, if it is determined to be a bridge, “bridge” is set as the road attribute of the new road.

  Next, the operation of the map information processing apparatus according to embodiment 14 of the present invention will be described with reference to the flowchart shown in FIG. First, traveling track data of a new road is generated (step ST251). The processing in step ST251 is the same as the processing in step ST231 in the flowchart shown in FIG. Next, it is checked whether or not the travel locus data intersects with the background data (step ST252). If it is determined in this step ST252 that the travel locus data does not intersect with the background data, it is recognized that the new road is not a bridge, and the bridge flag is cleared (step ST253). The bridge flag is a flag provided inside the new road adding means 112. Thereafter, the sequence proceeds to step ST256.

  If it is determined in step ST252 that the travel locus data intersects with the background data, it is then checked whether the background data indicates a water system (step ST254). Here, the water system means, for example, a river, a lake, or the sea. If it is determined in step ST254 that the background data indicates a water system, a bridge flag is set (step ST255). Thereafter, the sequence proceeds to step ST256. On the other hand, if it is determined in step ST254 that the background data does not indicate an aqueous system, the sequence proceeds to step ST253, and the bridge flag is cleared.

  In step ST256, a display flag is set. The processing in step ST256 is the same as the processing in step ST241 in the flowchart shown in FIG. Next, a new road addition process is performed reflecting the bridge flag (step ST257). The process of step ST257 is the same as the process of step ST242 of the flowchart shown in FIG. 30 except that the road attribute indicating whether or not there is a bridge is added to the road data. Thus, the process ends.

  As described above, according to the map information processing apparatus according to the fourteenth embodiment of the present invention, a new road is determined to be a bridge if the travel locus crosses a river, lake, or sea. The correct road attribute of a bridge can be set for the part.

It is a block diagram which shows the structure of the map information processing apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the format of the whole map data used with the map information processing apparatus concerning Embodiment 1 of this invention. It is a figure which shows the format of the road data shown in FIG. It is a figure which shows the format of the background data shown in FIG. It is a figure which shows the format of the whole traveling locus data used with the map information processing apparatus concerning Embodiment 1 of this invention. It is a figure for demonstrating the concept of addition of the new road performed with the map information processing apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the basic process for adding the new road performed in the map information processing apparatus concerning Embodiment 1 of this invention. It is a flowchart which shows the detail of the new road addition process performed by step ST11 of the basic process shown in FIG. It is a flowchart which shows the detail of the opposite lane addition process performed by step ST13 of the basic process shown in FIG. It is a flowchart which shows the detail of the opposite lane travel locus data generation process performed by step ST31 of the opposite lane addition process shown in FIG. It is a flowchart which shows the display process for displaying the added new road performed in the map information processing apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the basic process for adding the new road performed in the map information processing apparatus concerning Embodiment 2 of this invention. In the map information processing apparatus concerning Embodiment 2 of this invention, it is a flowchart which shows the process which adds a new road at the time of opposite lane driving | running | working. In the map information processing apparatus concerning Embodiment 3 of this invention, it is a flowchart which shows the process which adds a new road at the time of a route search. It is a flowchart which shows the detail of the opposite lane addition process performed in the map information processing apparatus concerning Embodiment 4 of this invention. It is a flowchart which shows the display process for displaying the added new road in the map information processing apparatus which concerns on Embodiment 4 of this invention. It is a flowchart which shows the display process for displaying the added new road in the map information processing apparatus concerning Embodiment 5 of this invention. It is a flowchart which shows the basic process in the map information processing apparatus concerning Embodiment 6 of this invention. It is a flowchart which shows the detail of the opposite lane travel locus data generation process in the map information processing apparatus concerning Embodiment 7 of this invention. It is a flowchart which shows the new road shape correction process in the map information processing apparatus concerning Embodiment 8 of this invention. It is a flowchart which shows the detail of the starting point side detection process performed by step ST151 of the new road shape correction process shown in FIG. It is a flowchart which shows the detail of the traveling locus collection process performed by step ST152 of the new road shape correction process shown in FIG. It is a block diagram which shows the structure of the map information processing apparatus concerning Embodiment 9 of this invention. It is a flowchart which shows the basic process for adding a new road, excluding the parking lot performed in the map information processing apparatus concerning Embodiment 9 of this invention. It is a flowchart which shows the detail of the parking lot determination process performed by step ST82 of the basic process shown in FIG. It is a flowchart which shows the detail of the parking lot determination process performed in the map information processing apparatus concerning Embodiment 10 of this invention. It is a flowchart which shows the detail of the parking lot determination process performed in the map information processing apparatus concerning Embodiment 11 of this invention. It is a block diagram which shows the structure of the map information processing apparatus concerning Embodiment 12 of this invention. It is a flowchart which shows operation | movement of the map information processing apparatus concerning Embodiment 12 of this invention. It is a flowchart which shows operation | movement of the map information processing apparatus concerning Embodiment 13 of this invention. It is a flowchart which shows operation | movement of the map information processing apparatus concerning Embodiment 14 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 Navigation apparatus, 102 Road data processing apparatus, 103 Map data storage apparatus, 104 GPS receiver, 105 Autonomous navigation sensor, 106 Display means, 107 Position calculation means, 108 Route search and guidance means, 109 Operation means, 110 Map data comparison Means, 111 travel locus data generation means, 112 new road addition means, 113 separation main line determination means, 114 opposite lane addition means, 115 parking lot determination means, 116 road attribute setting means.

Claims (16)

A map data storage device for storing map data including road data;
Position calculation means for calculating the current position;
Map data comparing means for comparing the road data read from the map data storage device with the current position detected by the position calculating means;
Traveling locus data generating means for generating traveling locus data indicating the traveling locus of the own vehicle based on the comparison result by the map data comparing means;
A road that does not exist in the map data stored in the map data storage device is detected as a new road based on the travel locus data generated by the travel locus data generation means, and the road data of the new road is stored in the map data storage device. A new road adding means to add to the stored map data;
Separation main line determination means for determining whether the new road added by the new road addition means is a separation main line from which the vertical line is separated;
An opposite lane addition means for adding road data of the opposite lane of the new road added by the new road addition means to the map data storage device when it is determined by the separation main line determination means that it is a separation main line; Map information processing device provided. If the road data of the new road is added to the map data stored in the map data storage device by the new road addition means, the opposite lane addition means unconditionally adds the road data of the opposite lane to the map data storage device. The map information processing apparatus according to claim 1, wherein the map information processing apparatus is added to the stored map data. When the opposite lane adding means determines that the vehicle is traveling on the opposite lane of the new road after the road data of the new road is added to the map data stored in the map data storage device by the new road adding means. The map information processing apparatus according to claim 1, wherein road data of the opposite lane is added to map data stored in the map data storage device. A route search means for performing a route search,
The opposite lane adding means is provided when the route search is performed by the route searching means after the road data of the new road is added to the map data stored in the map data storage device by the new road adding means. The map information processing apparatus according to claim 1, wherein road data of lanes is added to map data stored in the map data storage device. A display means for displaying the road based on the road data;
If the road data of the new road is added to the map data stored in the map data storage device by the new road addition means, the opposite lane addition means unconditionally adds the road data of the opposite lane to the map data storage device. Add to the stored map data,
2. The map information processing according to claim 1, wherein when it is determined that the vehicle is traveling in the opposite lane of the new road, the road in the opposite lane is displayed on the display means based on the road data of the opposite lane. apparatus. Route search means for performing route search;
Display means for displaying roads based on road data,
If the road data of the new road is added to the map data stored in the map data storage device by the new road addition means, the opposite lane addition means unconditionally adds the road data of the opposite lane to the map data storage device. Add to the stored map data,
2. The map information processing apparatus according to claim 1, wherein when the route search means uses the route for the searched route, the display means displays the road in the opposite lane based on the road data of the opposite lane. The opposite lane adding means inquires whether or not to add the opposite lane of the new road after the road data of the new road is added to the map data stored in the map data storage device by the new road adding means. 2. The map information processing apparatus according to claim 1, wherein road data of the opposite lane is added to the map data stored in the map data storage device when it is instructed to be added in response to . The opposite lane adding means adds the road data of the new road to the map data stored in the map data storage device by the new road adding means, and then the road data of the opposite lane having a shape approximating the shape of the new road. The map information processing apparatus according to claim 1, wherein the map information is added to the map data stored in the map data storage device. The opposite lane addition means is a travel locus obtained by traveling on the opposite lane of the new road after the road data of the new road is added to the map data stored in the map data storage device by the new road addition means. 2. The map information processing apparatus according to claim 1, wherein road data of the opposite lane is generated based on the data and added to the map data stored in the map data storage device. A map data storage device for storing map data including road data;
Position calculation means for calculating the current position;
Map data comparing means for comparing the road data read from the map data storage device with the current position detected by the position calculating means;
Traveling locus data generating means for generating traveling locus data indicating the traveling locus of the host vehicle based on the comparison result by the map data comparing means;
A parking lot judging means for judging whether or not the parking lot is based on the running locus data generated by the running locus data generating means;
A road that does not exist in the map data stored in the map data storage device is detected as a new road based on the travel trajectory data generated by the travel trajectory data generation means, and among the detected road data of the new road, the road A map information processing apparatus comprising: new road addition means for adding road data that is not determined to be a parking lot by the parking lot determination means to map data stored in the map data storage device. The parking lot determination means includes a distance between the start point and the end point indicated by the travel trajectory data generated by the travel trajectory data generation means, a travel distance traveled between the start point and the end point, and a range traveled between the start point and the end point. The map information processing apparatus according to claim 10, wherein the map information processing apparatus determines that the parking area is a parking lot when each is equal to or less than a predetermined threshold. The parking lot determination means determines that the parking lot is a parking lot when the speed near the start point and the speed near the end point indicated by the travel trajectory data generated by the travel trajectory data generation means are each equal to or less than a predetermined threshold value. The map information processing apparatus according to claim 10. The parking lot determination means determines that the parking lot is a parking lot when the average speed between the start point and the end point indicated by the travel locus data generated by the travel locus data generation means is equal to or less than a predetermined threshold value. The map information processing apparatus according to claim 10. A map data storage device for storing map data including road data;
A GPS receiver that receives GPS signals from GPS satellites and detects the current position;
A self-contained navigation sensor that detects its own relative position;
Position calculating means for calculating the current position based on the current position detected by the GPS receiver and the relative position of the self detected by the autonomous navigation sensor;
Map data comparing means for comparing the road data read from the map data storage device with the current position detected by the position calculating means;
Travel locus data generation for generating travel locus data including data indicating whether or not a GPS signal has been received by the GPS receiver, based on the comparison result by the map data comparison means. Means,
Road attribute setting means for setting a road attribute of a tunnel if the travel locus data generated by the travel locus data generation means includes data indicating that no GPS signal is received by the GPS receiver; and
A road that does not exist in the map data stored in the map data storage device is detected as a new road based on the travel trajectory data generated by the travel trajectory data generation means, and the road attribute is added to the road data of the detected new road. A map information processing apparatus comprising: a new road adding means for adding to the map data stored in the map data storage device after adding the road attribute set by the setting means. The road attribute setting means includes data indicating that the GPS signal is not received by the GPS receiver in the travel trajectory data generated by the travel trajectory data generating means, and the travel trajectory data and map data are stored. The map information processing apparatus according to claim 14, wherein a road attribute called an underpass is set if road data read from the apparatus or background data indicating a railroad intersects. The road attribute setting means is used when the travel trajectory indicated by the travel trajectory data generated by the travel trajectory data generating means crosses the river, lake, or sea indicated by the background data read from the map data storage device. The map information processing apparatus according to claim 14, wherein a road attribute of a bridge is set.

Images