JP2012002753A - Navigation system, navigation device, navigation server, navigation method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system, a navigation device, a navigation server, a navigation method and a program which can display a current position which is more strict to a real current position without fixedly displaying the current position in a center of an intersection, even when it is in a travel mode without a route or even if the current position is near the intersection.SOLUTION: From current position information of an object vehicle by using route network data, a navigation system detects turning of the object vehicle near the intersection on the route network data, and when detecting the turning of the object vehicle near the intersection, acquires an orbital curve which relative inclination approximately comes in contact at 0 with both an entry link to the intersection and an exit link in turning direction of the object vehicle, and displays the current position information on the acquired orbital curve via a display unit.

Description

  The present invention relates to a navigation system, a navigation device, a navigation server, a navigation method, and a program.

  Conventionally, a position correction technique for correcting the position of a current position measured by a GPS positioning technique or the like on an intersection such as road network data has been disclosed.

  For example, in Patent Document 1, when route guidance is performed at an intersection or the like on a guidance route to a destination, a current position mark is displayed based on the detected current location, and the detected current location and the right on the guidance route are displayed. Compared with the intersection to be turned left, it is determined whether the vehicle has passed the intersection by determining whether the current position is within a predetermined distance from the intersection, etc. There is disclosed a vehicle navigation device that displays a fixed position mark at an intersection.

Japanese Patent No. 3129846

  However, the vehicular navigation device described in Patent Document 1 is premised on the presence of a guide route acquired by route search, and therefore cannot be applied when there is no guide route (routeless travel mode) or the like. Had problems. Also, if there is a current position near the intersection, the current position is displayed at the center of the intersection regardless of the current position, so there is a discrepancy between the actual vehicle position and the current position on the display screen, It also had the problem of giving an uncomfortable feeling.

  The present invention has been made in view of the above-described problems, and even in the driving mode without a route or when the current position is near the intersection, the present position is more realistic without being fixedly displayed at the center of the intersection. It is an object of the present invention to provide a navigation system, a navigation device, a navigation server, a navigation method, and a program capable of displaying a current position that is faithful to the current position.

  In order to achieve such an object, the navigation system of the present invention includes road network data storage means for storing road network data including at least a link representing a road connected to an intersection, and the road representing the road entering the intersection. A vehicle position display trajectory curve that has a relative inclination of approximately 0 with respect to both an incoming link that is a link and an exit link that is the link that represents the road exiting from the intersection is stored. Trajectory curve storage means, vehicle turn detection means for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle, and the target in the vicinity of the intersection by the vehicle turn detection means If a vehicle turn is detected, the approach link to the intersection and the The trajectory curve acquisition means for acquiring the trajectory curve corresponding to both the exit links in the turning direction of the elephant vehicle from the trajectory curve storage means, and the trajectory acquired by the trajectory curve acquisition means via the display unit. Vehicle position display means for displaying the current position information on a curve is provided.

  Further, the navigation system of the present invention provides road network data storage means for storing road network data including at least a link representing a road connected to the intersection, and the vicinity of the intersection on the road network data based on the current position information of the target vehicle. Vehicle turn detection means for detecting a turn of the target vehicle in the vehicle, and the link representing the road entering the intersection when the turn of the target vehicle is detected in the vicinity of the intersection by the vehicle turn detection means. A trajectory curve acquisition means for generating and acquiring a trajectory curve in which the relative inclination is approximately 0 with respect to both the approach link and the exit link, which is the link in the turning direction of the target vehicle, and display The current position on the trajectory curve acquired by the trajectory curve acquisition means via the unit Characterized by comprising a vehicle position displaying means for displaying the broadcast, the.

  The navigation system of the present invention is a navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are connected so as to be able to communicate with each other. The storage unit stores road network data storing at least road network data including a link representing a road connected to the intersection, an entrance link that is the link representing the road entering the intersection, and an exit from the intersection Trajectory curve storage means for storing a trajectory curve for displaying the vehicle position in which the relative inclination is approximately 0 with respect to both of the exit links, which are the links representing the road, and the navigation server. The control unit is configured to transmit the navigation device transmitted from the navigation device. The current position information receiving means for receiving the current position information of the target vehicle of the navigation device, and the turning of the target vehicle in the vicinity of the intersection on the road network data by the current position information received by the current position information receiving means Vehicle turning detection means for detecting the turning of the target vehicle in the vicinity of the intersection by the vehicle turning detection means, and the entry link to the intersection and the exit link in the turning direction of the target vehicle. A trajectory curve acquisition means for acquiring the trajectory curve corresponding to both from the trajectory curve storage means; and a trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device. The control unit of the navigation device is configured to control the target vehicle of the navigation device. Current position information transmitting means for transmitting location information to the navigation server, trajectory curve receiving means for receiving the trajectory curve transmitted from the navigation server, and reception by the trajectory curve receiving means via the display unit. Vehicle position display means for displaying the current position information on the trajectory curve.

  The navigation system of the present invention is a navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are connected so as to be able to communicate with each other. The storage unit includes road network data storage means for storing road network data including at least a link representing a road connected to the intersection, and the control unit of the navigation server transmits the navigation device of the navigation device. Based on current position information receiving means for receiving current position information of the target vehicle and the current position information received by the current position information receiving means, the turning of the target vehicle in the vicinity of the intersection on the road network data is detected. Vehicle turning detection means, and When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, there are an entrance link which is the link representing the road entering the intersection and the link in the turning direction of the target vehicle. A trajectory curve acquisition unit that generates and acquires a trajectory curve that has a relative inclination of approximately 0 with respect to both exit links, and the trajectory curve acquired by the trajectory curve acquisition unit is stored in the navigation device. A track curve transmitting means for transmitting, the control unit of the navigation device from the navigation server, current position information transmitting means for transmitting the current position information of the target vehicle of the navigation device to the navigation server, The trajectory curve receiving means for receiving the trajectory curve to be transmitted and the trajectory via the display section. On the path curve received by curve receiving means, characterized in that and a vehicle position display means for displaying the current position information.

  The navigation system according to the present invention is the navigation system described above, wherein the trajectory curve is compared with the trajectory curve for the exit link turning right at the intersection with the trajectory curve for the exit link turning left at the intersection. Thus, the distance from the intersection of the point in contact with the exit link is set to be small.

  In the navigation system according to the present invention, in the navigation system described above, for the exit link that turns right at the intersection, the distance from the intersection of the track curve that contacts the exit link is the distance from the intersection. Is set to be smaller than 1/2 of the width of the entry link, while for the exit link turning left at the intersection, the distance is set to be greater than 1/2 of the width of the entry link. It is characterized by.

  In the navigation system according to the present invention, in the navigation system described above, for the exit link that turns right at the intersection, the distance from the intersection of the track curve that contacts the exit link is the distance from the intersection. Is set to be smaller than 1/2 of the width of the exit link, while for the exit link turning left at the intersection, the distance is set to be greater than 1/2 of the width of the exit link. It is characterized by.

  The navigation system according to the present invention is the navigation system described above, wherein the trajectory curve is compared with the trajectory curve for the exit link turning right at the intersection with the trajectory curve for the exit link turning left at the intersection. Thus, the distance from the intersection at the point in contact with the exit link is set large.

  In the navigation system according to the present invention, in the navigation system described above, the trajectory curve is a cubic curve for the exit link turning right at the intersection, and the trajectory for the exit link turning left at the intersection. The curve is set as a quadratic curve or an arc.

  In the navigation system of the present invention, in the navigation system described above, the vehicle position display means corrects the current position information by map matching using the trajectory curve received by the trajectory curve receiving means. And displaying on the trajectory curve.

  In the navigation system according to the present invention, in the navigation system described above, the vehicle position display means uses the trajectory curve received by the trajectory curve reception means and uses the trajectory corresponding to the turning angle of the target vehicle. The current position information is displayed on a curve.

  The navigation device according to the present invention is a navigation device including at least a display unit and a control unit, which is communicably connected to a navigation server including at least a storage unit, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, an entrance link which is the link representing the road entering the intersection, and the link representing the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for displaying a vehicle position that has a relative inclination of approximately 0 with respect to both exit links, and the control unit is a target vehicle of the navigation device. Current position information transmitting means for transmitting the current position information to the navigation server; Using the road network data stored in the network data storage means, when the turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information, the approach to the intersection Via the trajectory curve receiving means for receiving from the navigation server the trajectory curve acquired from the trajectory curve storage means corresponding to both the link and the exit link in the turning direction of the target vehicle, and the display unit, Vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means is provided.

  The navigation device according to the present invention is a navigation device including at least a display unit and a control unit, which is communicably connected to a navigation server including at least a storage unit, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, and the control unit transmits current position information of a target vehicle of the navigation device to the navigation server; Generated using the road network data stored in the road network data storage means when a turn of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information. The phosphorus representing the road entering the intersection The track curve reception that receives from the navigation server a track curve that has a relative inclination of approximately 0 with respect to both the approach link and the exit link that is the link in the turning direction of the target vehicle. And vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means via the display section.

  The navigation device according to the present invention is a navigation device including at least a display unit, a storage unit, and a control unit, and the storage unit stores road network data including at least a link representing a road connected to an intersection. Relative inclination with respect to both the road network data storage means and the entrance link that is the link representing the road entering the intersection and the exit link that is the link representing the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for displaying a vehicle position that is approximately 0 in contact with the vehicle, and the control unit uses the current position information of the target vehicle of the navigation device to determine the above-mentioned on the road network data. Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of an intersection, and vehicle turning detection means When the turning of the target vehicle in the vicinity of the intersection is detected, the track curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle is stored in the track curve storage means. And a vehicle position display means for displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means via the display section. And

  The navigation device according to the present invention is a navigation device including at least a display unit, a storage unit, and a control unit, and the storage unit stores road network data including at least a link representing a road connected to an intersection. Road network data storage means, and the control unit detects vehicle turn detection means for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device; When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory with a relative slope of approximately 0 for both exit links Track curve acquisition means for generating and acquiring a line; and vehicle position display means for displaying the current position information on the track curve acquired by the track curve acquisition means via the display section. It is characterized by that.

  The navigation server of the present invention is a navigation server including at least a control unit and a storage unit that are communicably connected to the navigation device, and the storage unit includes at least a link representing a road connected to the intersection. Both road network data storage means for storing road network data including the entry link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection. And a track curve storage means for storing a track curve for displaying the vehicle position that has a relative inclination of approximately 0, and the control unit is a target of the navigation device transmitted from the navigation device. Current position information receiving means for receiving the current position information of the vehicle, and the current position information receiver; Vehicle turn detection means for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the vehicle, and turning of the target vehicle in the vicinity of the intersection by the vehicle turn detection means. A trajectory curve acquisition means for acquiring, from the trajectory curve storage means, the trajectory curve corresponding to both the approach link to the intersection and the exit link in the turning direction of the target vehicle, if detected. Trajectory curve transmission means for transmitting the trajectory curve acquired by the curve acquisition means to the navigation device.

  The navigation server of the present invention is a navigation server including at least a control unit and a storage unit that are communicably connected to the navigation device, and the storage unit includes at least a link representing a road connected to the intersection. Road network data storage means for storing road network data including the current position information receiving means for receiving the current position information of the target vehicle of the navigation device transmitted from the navigation device, and the current Vehicle turn detection means for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the position information receiving means; and the target in the vicinity of the intersection by the vehicle turn detection means. If a vehicle turn is detected, the intersection A trajectory curve that has a relative inclination of approximately 0 with respect to both the entrance link that is the link representing the road entering the road and the exit link that is the link in the turning direction of the target vehicle is generated. And a trajectory curve acquisition means for acquiring the trajectory curve acquired by the trajectory curve acquisition means, and a trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device.

  In addition, the navigation server of the present invention is a navigation server including at least a control unit and a storage unit that are communicably connected to a navigation device including at least a display unit, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, an entrance link which is the link representing the road entering the intersection, and the link representing the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for displaying a vehicle position that has a relative inclination of approximately 0 with respect to both exit links, and the control unit is a target vehicle of the navigation device. The target in the vicinity of the intersection on the road network data based on the current position information of Vehicle turning detection means for detecting both turns, and when the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the approach link to the intersection and the turning direction of the target vehicle The trajectory curve acquisition means for acquiring the trajectory curve corresponding to both exit links from the trajectory curve storage means, and display screen data displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means Vehicle position display control means for displaying the current position information on the trajectory via the display unit by transmitting to the navigation device.

  In addition, the navigation server of the present invention is a navigation server including at least a control unit and a storage unit that are communicably connected to a navigation device including at least a display unit, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, and the control unit is configured to store the road in the vicinity of the intersection on the road network data based on current position information of a target vehicle of the navigation device. Vehicle turning detection means for detecting turning of the target vehicle, and an approach link that is the link representing the road that enters the intersection when the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means And the link in the turning direction of the target vehicle. A trajectory curve acquisition unit that generates and acquires a trajectory curve having a relative inclination of approximately 0 with respect to both outgoing links, and the current position on the trajectory curve acquired by the trajectory curve acquisition unit Vehicle position display control means for displaying the current position information on the track via the display unit by transmitting display screen data displaying information to the navigation device. .

  The navigation method of the present invention is a navigation method executed in a navigation system, and the navigation system stores road network data storage means for storing road network data including at least a link representing a road connected to an intersection; The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing a track curve for vehicle position display, vehicle turn detection means, track curve acquisition means, and vehicle position display means, wherein the vehicle turn detection means includes current position information of the target vehicle. The target vehicle in the vicinity of the intersection on the road network data A vehicle turning detection step for detecting a turn of the vehicle, and the track curve acquisition means, when the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the approach link to the intersection and the The track curve acquisition step for acquiring the track curve corresponding to both the exit links in the turning direction of the target vehicle from the track curve storage means, and the vehicle position display means acquires the track curve via the display unit. And a vehicle position display step of displaying the current position information on the trajectory curve acquired in the step.

  The navigation method of the present invention is a navigation method executed in a navigation system, and the navigation system stores road network data storage means for storing road network data including at least a link representing a road connected to an intersection; Vehicle turning detection means, track curve acquisition means, and vehicle position display means, wherein the vehicle turning detection means is configured to detect the target vehicle in the vicinity of the intersection on the road network data based on the current position information of the target vehicle. The vehicle turn detection step for detecting a turn, and the trajectory curve acquisition means, when the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turn detection step, the road representing the road entering the intersection An approach link that is a link and the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve that has a relative inclination of approximately 0 with respect to both of the exit links, which are the links in the turning direction, and the vehicle position display means includes the display And a vehicle position display step for displaying the current position information on the track curve acquired in the track curve acquisition step.

  Further, the navigation method of the present invention is a navigation executed in a navigation system in which a navigation server including at least a control unit and a storage unit and a navigation device including at least a display unit and a control unit are communicably connected. The storage unit includes road network data storage means for storing road network data including at least a link representing a road connected to an intersection, and an entrance link that is the link representing the road entering the intersection, And a track curve storage means for storing a track curve for displaying the vehicle position that has a relative inclination of approximately 0 with respect to both of the exit links, which are the links representing the road exiting from the intersection, And executed in the control unit of the navigation device, A current position information transmitting step for transmitting the current position information of the target vehicle of the navigation device to the navigation server, and the current position information transmitted from the navigation device, which is executed in the control unit of the navigation server. Based on the current position information received step and the current position information received in the current position information reception step executed in the control unit of the navigation server, the target vehicle in the vicinity of the intersection on the road network data. When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step executed in the control unit of the navigation server and the vehicle turning detection step for detecting turning, the above-mentioned to the intersection Approach link and the pair A trajectory curve acquisition step for acquiring the trajectory curve corresponding to both of the exit links in the turning direction of the vehicle from the trajectory curve storage means; and the trajectory curve acquisition step executed in the control unit of the navigation server. A trajectory curve transmitting step for transmitting the trajectory curve acquired in this way to the navigation device, and a trajectory curve receiving step for receiving the trajectory curve transmitted from the navigation server, which is executed in the control unit of the navigation device; Vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display unit, which is executed in the control unit of the navigation device. It is characterized by including.

  Further, the navigation method of the present invention is a navigation executed in a navigation system in which a navigation server including at least a control unit and a storage unit and a navigation device including at least a display unit and a control unit are communicably connected. The navigation unit includes a road network data storage unit that stores road network data including at least a link representing a road connected to an intersection, and is executed in the control unit of the navigation device. A current position information transmitting step for transmitting the current position information of the target vehicle of the device to the navigation server; and a current position for receiving the current position information transmitted from the navigation device, executed in the control unit of the navigation server A turn of the target vehicle in the vicinity of the intersection on the road network data by the information receiving step and the current position information received in the current position information receiving step executed in the control unit of the navigation server. The road that enters the intersection when the turning of the target vehicle is detected in the vicinity of the intersection in the vehicle turning detection step that is executed in the vehicle turning detection step that is detected in the vehicle turning detection step and in the control unit of the navigation server A trajectory obtained by generating a trajectory curve having a relative inclination of approximately 0 with respect to both the approach link that represents the link and the exit link that is the link in the turning direction of the target vehicle. A curve acquisition step and an upper step executed in the control unit of the navigation server; A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device, and a trajectory curve transmitted from the navigation server, which is executed in the control unit of the navigation device. A vehicle position for displaying the current position information on the track curve received in the track curve receiving step via the display unit, which is executed in the track curve receiving step and the control unit of the navigation device. And a display step.

  The navigation method of the present invention is a navigation method that is executed in a navigation device that includes at least a display unit and a control unit, and is communicably connected to a navigation server that includes at least a storage unit. Is a road network data storage means for storing road network data including at least a link representing a road connected to the intersection, an entrance link that is the link representing the road entering the intersection, and the exit from the intersection A track curve storage means for storing a track curve for displaying a vehicle position that has a relative inclination of approximately 0 with respect to both of the exit links, which are the links representing the road, and is executed by the control unit The current position information of the target vehicle of the navigation device is Using the current position information transmission step to be transmitted to the server and the road network data stored in the road network data storage means, the current vehicle is used to turn the target vehicle in the vicinity of the intersection on the road network data. A trajectory for receiving, from the navigation server, the trajectory curve acquired from the trajectory curve storage means corresponding to both the approach link to the intersection and the exit link in the turning direction of the target vehicle when detected. A curve reception step; and a vehicle position display step for displaying the current position information on the track curve received in the track curve reception step via the display unit.

  The navigation method of the present invention is a navigation method that is executed in a navigation device that includes at least a display unit and a control unit, and is communicably connected to a navigation server that includes at least a storage unit. Comprises road network data storage means for storing road network data including at least a link representing a road connected to the intersection, and the current position information of the target vehicle of the navigation device is executed in the control unit. Using the current position information transmission step to be transmitted to the road network data and the road network data stored in the road network data storage means, the current position information detects turning of the target vehicle in the vicinity of the intersection on the road network data. If The relative inclination is approximately 0 for both the generated entrance link that is the link representing the road entering the intersection and the exit link that is the link in the turning direction of the target vehicle. The vehicle position at which the current position information is displayed on the track curve received in the track curve receiving step via the display unit and the track curve receiving step of receiving the track curve in contact with the navigation server And a display step.

  The navigation method of the present invention is a navigation method executed in a navigation device having at least a display unit, a storage unit, and a control unit, and the storage unit includes at least a link representing a road connected to an intersection. For both the road network data storage means for storing the road network data, the entrance link that is the link representing the road entering the intersection, and the exit link that is the link representing the road exiting from the intersection Current position information of the target vehicle of the navigation device, which is executed in the control unit, and has a track curve storage means for storing a track curve for displaying the vehicle position with which the relative inclination is approximately zero. To turn the target vehicle near the intersection on the road network data. When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step to detect and the vehicle turning detection step, the entry link to the intersection and the exit link in the turning direction of the target vehicle The trajectory curve acquisition step of acquiring the trajectory curve corresponding to both from the trajectory curve storage means, and the current position information on the trajectory curve acquired in the trajectory curve acquisition step via the display unit A vehicle position display step for displaying.

  The navigation method of the present invention is a navigation method executed in a navigation device having at least a display unit, a storage unit, and a control unit, and the storage unit includes at least a link representing a road connected to an intersection. Road network data storage means for storing road network data, and turning of the target vehicle in the vicinity of the intersection on the road network data according to the current position information of the target vehicle of the navigation device executed in the control unit A vehicle turning detection step for detecting the turn, and an approach link that is the link representing the road entering the intersection when the turning of the target vehicle is detected in the vicinity of the intersection in the vehicle turn detection step, and Exit that is the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve that is substantially zero in contact with the relative slope, and the trajectory curve acquisition step via the display unit. And a vehicle position display step for displaying the current position information on a trajectory curve.

  The navigation method of the present invention is a navigation method that is executed in a navigation server having at least a control unit and a storage unit that are communicably connected to a navigation device, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, an entrance link which is the link representing the road entering the intersection, and the link representing the road exiting from the intersection Track navigation means for storing a track curve for displaying a vehicle position that has a relative inclination of approximately zero with respect to both exit links, and is executed in the control unit. Receiving the current position information of the target vehicle of the navigation device transmitted from Current position information receiving step, vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step, When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, A trajectory curve acquisition step acquired from the trajectory curve storage means; and a trajectory curve transmission step of transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device.

  The navigation method of the present invention is a navigation method that is executed in a navigation server having at least a control unit and a storage unit that are communicably connected to a navigation device, and the storage unit is connected to an intersection. Road network data storage means for storing road network data including at least a link representing a road, and receives current position information of a target vehicle of the navigation device transmitted from the navigation device, which is executed in the control unit. A current position information receiving step; a vehicle turning detection step for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step; In the turning detection step When a turn of the target vehicle in the vicinity of the point is detected, both an entrance link that is the link representing the road entering the intersection and an exit link that is the link in the turn direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve with a relative inclination of approximately 0, and a trajectory curve transmission for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device. And a step.

  Further, the navigation method of the present invention is a navigation method executed in a navigation server having at least a control unit and a storage unit, which is communicably connected to a navigation device having at least a display unit. Is a road network data storage means for storing road network data including at least a link representing a road connected to the intersection, an entrance link that is the link representing the road entering the intersection, and the exit from the intersection A track curve storage means for storing a track curve for displaying a vehicle position that has a relative inclination of approximately 0 with respect to both of the exit links, which are the links representing the road, and is executed by the control unit The road network is determined based on the current position information of the target vehicle of the navigation device. A vehicle turning detection step for detecting a turn of the target vehicle in the vicinity of the intersection on the work data, and a turn of the target vehicle in the vicinity of the intersection detected in the vehicle turn detection step; A trajectory curve acquisition step for acquiring the trajectory curve corresponding to both the approach link and the exit link in the turning direction of the target vehicle from the trajectory curve storage means, and the trajectory curve acquired in the trajectory curve acquisition step A vehicle position display control step for displaying the current position information on the track via the display unit by transmitting display screen data on which the current position information is displayed to the navigation device. It is characterized by.

  Further, the navigation method of the present invention is a navigation method executed in a navigation server having at least a control unit and a storage unit, which is communicably connected to a navigation device having at least a display unit. Comprises road network data storage means for storing road network data including at least a link representing a road connected to the intersection, and the road is determined by the current position information of the target vehicle of the navigation device executed in the control unit. A vehicle turn detection step for detecting a turn of the target vehicle in the vicinity of the intersection on the network data, and a turn of the target vehicle in the vicinity of the intersection is detected in the vehicle turn detection step, the vehicle enters the intersection. The approach that is the link representing the road A trajectory curve acquisition step for generating and acquiring a trajectory curve in which the relative inclination is approximately 0 with respect to both the link and the exit link, which is the link in the turning direction of the target vehicle, and the trajectory By transmitting display screen data displaying the current position information on the trajectory curve acquired in the curve acquisition step to the navigation device, the current position information is displayed on the trajectory via the display unit. And a vehicle position display control step.

  Further, the program of the present invention is a program for causing a navigation device including at least a display unit and a control unit to be communicably connected to a navigation server including at least a storage unit. Road network data storage means for storing road network data including at least a link representing a road connected to the intersection; an entrance link which is the link representing the road entering the intersection; and the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for vehicle position display that has a relative inclination of approximately 0 with respect to both of the exit links that represent the link, and in the control unit, Current position for transmitting current position information of the target vehicle of the navigation device to the navigation server When the turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information using the road network data stored in the road network data storage means, A trajectory curve receiving step of receiving from the navigation server the trajectory curve acquired from the trajectory curve storage means corresponding to both the approach link to the intersection and the exit link in the turning direction of the target vehicle; A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step is performed via a display unit.

  Further, the program of the present invention is a program for causing a navigation device including at least a display unit and a control unit to be communicably connected to a navigation server including at least a storage unit. Road network data storage means for storing road network data including at least a link representing a road connected to the intersection, and the control unit transmits current position information of the target vehicle of the navigation device to the navigation server When a turn of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information using the position information transmission step and the road network data stored in the road network data storage means. Generated at the intersection A trajectory curve that has a relative inclination of approximately 0 with respect to both the entrance link that is the link representing the road to be entered and the exit link that is the link in the turning direction of the target vehicle, A track curve receiving step received from the navigation server and a vehicle position display step for displaying the current position information on the track curve received in the track curve receiving step via the display unit are executed. It is characterized by that.

  The program of the present invention is a program for causing a navigation device including at least a display unit, a storage unit, and a control unit to execute the program, wherein the storage unit includes at least a link representing a road connected to an intersection. For both the road network data storage means for storing network data, the entry link that is the link representing the road entering the intersection, and the exit link that is the link representing the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for displaying the vehicle position with which the relative inclination is approximately 0, and in the control unit, the road is determined based on the current position information of the target vehicle of the navigation device. A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the network data. And when the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the entry link to the intersection and the exit link in the turning direction of the target vehicle are both A vehicle position for displaying the current position information on the track curve acquired in the track curve acquisition step via the display unit and a track curve acquisition step of acquiring a track curve from the track curve storage means And a display step.

  The program of the present invention is a program for causing a navigation device including at least a display unit, a storage unit, and a control unit to execute the program, wherein the storage unit includes at least a link representing a road connected to an intersection. A vehicle for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device in the control unit; When a turning of the target vehicle in the vicinity of the intersection is detected in the turning detection step and the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the target vehicle Relative to both exit links, which are the links in the turning direction A trajectory curve acquisition step of generating and acquiring a trajectory curve with which a slight slope is approximately 0 and the current position information on the trajectory curve acquired in the trajectory curve acquisition step via the display unit And a vehicle position display step for displaying.

  Further, the program of the present invention is a program for causing a navigation server connected to a navigation device to be communicable and having at least a control unit and a storage unit, wherein the storage unit is a road connected to an intersection. Road network data storage means for storing road network data including at least a link representing the road, an entrance link which is the link representing the road entering the intersection, and the link representing the road exiting from the intersection Track curve storage means for storing a track curve for displaying the vehicle position that has a relative inclination of approximately 0 with respect to both of the exit links, and is transmitted from the navigation device in the control unit. The current position information receiving step for receiving the current position information of the target vehicle of the navigation device. And a vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step; and When the turning of the target vehicle in the vicinity of the intersection is detected, the trajectory curve corresponding to both the approach link to the intersection and the exit link in the turning direction of the target vehicle is obtained from the trajectory curve storage means. A trajectory curve acquisition step for acquiring and a trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device are executed.

  Further, the program of the present invention is a program for causing a navigation server connected to a navigation device to be communicable and having at least a control unit and a storage unit, wherein the storage unit is a road connected to an intersection. Road network data storage means for storing road network data including at least a link representing the current position information received by the control unit for receiving the current position information of the target vehicle of the navigation device transmitted from the navigation device A vehicle turn detection step for detecting a turn of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information reception step, and a vehicle turn detection step. The target vehicle near the intersection Relative to both the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link in the turning direction of the target vehicle. A trajectory curve acquisition step of generating and acquiring a trajectory curve that is substantially touching at 0, and a trajectory curve transmission step of transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device. It is characterized by that.

  Further, the program of the present invention is a program for causing a navigation server including at least a control unit and a storage unit, which is connected to a navigation device including at least a display unit to be communicable, the storage unit including: Road network data storage means for storing road network data including at least a link representing a road connected to the intersection; an entrance link which is the link representing the road entering the intersection; and the road exiting from the intersection Trajectory curve storage means for storing a trajectory curve for vehicle position display that has a relative inclination of approximately 0 with respect to both of the exit links that represent the link, and in the control unit, Based on the current position information of the target vehicle of the navigation device, A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of a point, and the approach link and the target to the intersection when the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step. The trajectory curve acquisition step for acquiring the trajectory curve corresponding to both the exit links in the turning direction of the vehicle from the trajectory curve storage means, and the current position on the trajectory curve acquired in the trajectory curve acquisition step By transmitting display screen data displaying information to the navigation device, a vehicle position display control step for displaying the current position information on the trajectory is performed via the display unit. .

  Further, the program of the present invention is a program for causing a navigation server including at least a control unit and a storage unit, which is connected to a navigation device including at least a display unit to be communicable, the storage unit including: Road network data storage means for storing road network data including at least a link representing a road connected to the intersection. In the control unit, on the road network data, the current position information of the target vehicle of the navigation device is used. The vehicle turning detection step for detecting the turning of the target vehicle in the vicinity of the intersection, and the road entering the intersection when the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step. The approach link that is the above link and the target vehicle The trajectory curve acquisition step for generating and acquiring a trajectory curve with which the relative inclination is approximately 0 with respect to both of the exit links, which are the links in the turning direction, and the trajectory curve acquisition step. Vehicle position display control step for displaying the current position information on the track via the display unit by transmitting display screen data displaying the current position information on the track curve to the navigation device; , Is executed.

  According to the present invention, the navigation system stores road network data including at least a link representing a road connected to the intersection in the storage unit, an entrance link that is a link representing a road entering the intersection, and an exit from the intersection. A vehicle position display trajectory curve that has a relative inclination of approximately 0 with respect to both exit links that are links representing roads to be stored is stored in the storage unit, and the road network is determined based on the current position information of the target vehicle. When the turn of the target vehicle is detected near the intersection in the data, and the turn of the target vehicle is detected near the intersection, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turn direction of the target vehicle Can be acquired from the storage unit, and the current position information can be displayed on the acquired trajectory curve via the display unit. As a result, the present invention provides a current position that is more faithful to the actual current position without causing the current position to be fixedly displayed at the center of the intersection, even in the driving mode without a route or when the current position is near the intersection. There is an effect that can be displayed. In particular, the drawing of the position of the target vehicle in the vicinity of the intersection where the turning behavior is detected is close to the actual behavior of the target vehicle, and the present turning target can be presented to the user in an easy-to-understand manner. .

  According to this invention, the navigation system stores road network data including at least a link representing a road connected to the intersection in the storage unit, and the current position information of the target vehicle indicates the target vehicle near the intersection on the road network data. When turning is detected and turning of the target vehicle in the vicinity of the intersection is detected, both the entry link, which is a link representing the road entering the intersection, and the exit link, which is a link representing the road exiting from the intersection Thus, it is possible to generate and acquire a trajectory curve for displaying the vehicle position where the relative inclination is approximately 0, and to display the current position information on the acquired trajectory curve via the display unit. As a result, the present invention provides a current position that is more faithful to the actual current position without causing the current position to be fixedly displayed at the center of the intersection, even in the driving mode without a route or when the current position is near the intersection. There is an effect that can be displayed. In particular, the drawing of the position of the target vehicle in the vicinity of the intersection where the turning behavior is detected is close to the actual behavior of the target vehicle, and the present turning target can be presented to the user in an easy-to-understand manner. .

  According to the present invention, the navigation system stores road network data including at least a link representing a road connected to the intersection in the storage unit, an entrance link that is a link representing a road entering the intersection, and an exit from the intersection. A vehicle position display trajectory curve that contacts the exit link, which is a link representing a road to be moved, with a relative inclination of approximately 0 is stored in the storage unit, and the navigation device target transmitted from the navigation device When the current position information of the vehicle is received and the turn of the target vehicle is detected near the intersection on the road network data based on the received current position information, and the turn of the target vehicle is detected near the intersection, the approach to the intersection is entered. Track curves corresponding to both the link and the exit link in the turning direction of the target vehicle are taken from the storage unit. The acquired trajectory curve is transmitted to the navigation device, the navigation device transmits the current position information of the target vehicle of the navigation device to the navigation server, receives the trajectory curve transmitted from the navigation server, and passes through the display unit. The current position information can be displayed on the received trajectory curve. As a result, the present invention provides a current position that is more faithful to the actual current position without causing the current position to be fixedly displayed at the center of the intersection, even in the driving mode without a route or when the current position is near the intersection. There is an effect that can be displayed. In particular, the drawing of the position of the target vehicle in the vicinity of the intersection where the turning behavior is detected is close to the actual behavior of the target vehicle, and the present turning target can be presented to the user in an easy-to-understand manner. .

  According to this invention, the navigation system stores road network data including at least a link representing a road connected to the intersection in the storage unit, receives current position information of the target vehicle of the navigation device transmitted from the navigation device, An incoming link that is a link representing a road entering the intersection when the turning of the target vehicle in the vicinity of the intersection on the road network data is detected based on the received current position information, and the turning of the target vehicle in the vicinity of the intersection is detected, and , Generating and acquiring a vehicle position display track curve that has a relative inclination of approximately 0 with respect to both of the exit links, which are links representing roads exiting from the intersection. Transmitted to the navigation device, the navigation device presents the current vehicle of the navigation device It sends location information to the navigation server receives a path curve transmitted from the navigation server, via the display unit, on the received trajectory curve, it is possible to display the current position information. As a result, the present invention provides a current position that is more faithful to the actual current position without causing the current position to be fixedly displayed at the center of the intersection, even in the driving mode without a route or when the current position is near the intersection. There is an effect that can be displayed. In particular, the drawing of the position of the target vehicle in the vicinity of the intersection where the turning behavior is detected is close to the actual behavior of the target vehicle, and the present turning target can be presented to the user in an easy-to-understand manner. .

  Further, according to the present invention, the trajectory curve for the exit link turning right at the intersection is smaller than the trajectory curve for the exit link turning left at the intersection. Set. Thereby, the present invention has an effect that it is possible to display more faithfully the actual current position of the target vehicle in consideration of the difference in behavior of the target vehicle at the time of turning left or right.

  Further, according to the present invention, for the exit link that turns right at the intersection, the distance from the intersection of the point in contact with the exit link of the trajectory curve is set to be smaller than 1/2 of the width of the entrance link. On the other hand, for an exit link that turns left at the intersection, this distance is set to be larger than ½ of the width of the entrance link. Accordingly, the present invention has an effect that it is possible to display more faithfully the actual current position of the target vehicle in consideration of the difference between the width of the road entering the intersection and the behavior of the target vehicle at the time of turning left and right. Play.

  Further, according to the present invention, for the exit link that turns right at the intersection, the distance from the intersection of the trajectory curve that touches the exit link is set to be smaller than 1/2 of the width of the exit link. On the other hand, for the exit link that turns left at the intersection, this distance is set to be larger than ½ of the width of the exit link. As a result, the present invention has the effect of being able to display more faithfully the actual position of the target vehicle in consideration of the difference in the behavior of the target vehicle at the time of turning left and right and the width of the road exiting from the intersection. Play.

  Further, according to the present invention, the trajectory curve for the exit link that turns right at the intersection is larger than the trajectory curve for the exit link that makes a left turn at the intersection. Set. Thereby, the present invention has an effect that it is possible to display more faithfully the actual current position of the target vehicle in consideration of the difference in behavior of the target vehicle at the time of turning left or right.

  Further, according to the present invention, the trajectory curve for the exit link turning right at the intersection is a cubic curve, and the trajectory curve for the exit link turning left at the intersection is a secondary curve or arc. Thereby, the present invention has an effect that it is possible to display more faithfully the actual current position of the target vehicle using a curve close to the trajectory of the target vehicle at the time of turning left or right.

  Further, according to the present invention, the navigation device further corrects the current position information by map matching using the received trajectory curve and displays the current position information on the trajectory curve. Thus, the present invention has an effect that it is possible to perform display more faithful to the current position of the actual target vehicle by performing map matching.

  Further, according to the present invention, the navigation device further displays the current position information on the track curve corresponding to the turning angle of the target vehicle using the received track curve. Accordingly, the present invention has an effect that it is possible to perform display more faithful to the actual current position of the target vehicle in consideration of the turning angle of the target vehicle.

  In the above description, the navigation system of the present invention has been described as an example. However, the navigation apparatus, the navigation server, the navigation method, and the program have the same effect.

FIG. 1 is a block diagram illustrating an example of a configuration of a navigation system according to the first embodiment. FIG. 2 is a flowchart illustrating an example of processing of the navigation system according to the first embodiment. FIG. 3 is a diagram illustrating an example of a trajectory curve acquired by the trajectory curve acquisition unit 202d. FIG. 4 is a diagram illustrating an example of setting a trajectory curve. FIG. 5 is a block diagram illustrating an example of a configuration of the navigation server 200 according to the second embodiment. FIG. 6 is a flowchart illustrating an example of processing of the navigation server 200 according to the second embodiment. FIG. 7 is a block diagram illustrating an example of a configuration of the navigation device 100 according to the third embodiment. FIG. 8 is a flowchart illustrating an example of processing of the navigation device 100 according to the third embodiment.

  Embodiments of a navigation system, a navigation device, a navigation server, a navigation method, and a program according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  Hereinafter, with regard to the configuration and processing of the present invention, the first embodiment (navigation system), the second embodiment (navigation server (server-driven type)), and the third embodiment (navigation device (stand-alone type)). Details will be described in order.

[First Embodiment]
First, a first embodiment (navigation system) of the present invention will be described below with reference to FIGS. However, the following first embodiment exemplifies a navigation system for embodying the technical idea of the present invention, and is not intended to specify the present invention in this navigation system. It is equally applicable to the navigation systems of other embodiments that fall within the scope of the claims. For example, the form of function distribution on the server side and the terminal side in the navigation system exemplified in the first embodiment is not limited to the following, and functionally or physically in arbitrary units as long as similar effects and functions can be achieved. It can be configured to be distributed and integrated.

[Navigation system configuration]
First, an example of the configuration of the navigation system in the first embodiment will be described below with reference to FIG. Here, FIG. 1 is a block diagram showing an example of the configuration of the navigation system in the first embodiment, and conceptually shows only the portion related to the present invention in the configuration. In the first embodiment, a navigation system that provides communication-type navigation will be described as a specific example. However, the present invention is not limited to this and can be applied to a stand-alone navigation system.

  As shown in FIG. 1, the navigation system of this embodiment schematically includes a navigation server 200 including at least a control unit 202 and a storage unit 206, a position acquisition unit 112, a display unit 114, and a control unit 102. The navigation device 100 including at least the storage unit 106 is connected to be communicable. As an example, the communication includes remote communication such as wired / wireless communication via the network 300. Each part of these navigation systems is communicably connected via an arbitrary communication path.

[Configuration of Navigation Server 200]
Here, in FIG. 1, the navigation server 200 receives the current position information of the target vehicle of the navigation device 100 transmitted from the navigation device 100, and the target vehicle near the intersection on the road network data based on the received current position information. When a turn of the target vehicle is detected in the vicinity of the intersection, a trajectory curve corresponding to both the approach link to the intersection and the exit link of the turn direction of the target vehicle is generated, or the storage unit 106 And acquiring the acquired trajectory curve or the like to the navigation device 100. The navigation server 200 is connected to the navigation apparatus 100 through the communication control interface unit 204 via the network 300 so as to be communicable with each other, and includes a control unit 202 and a storage unit 206. The control unit 202 is a control unit that performs various processes, and performs a process for detecting turning of the target vehicle. The communication control interface unit 204 is an interface connected to a communication device (not shown) such as an antenna or a router connected to a communication line, a telephone line, etc., and performs communication control between the navigation server 200 and the network 300. Has the function to perform. That is, the communication control interface unit 204 has a function of communicating data with the navigation device 100 or the like via a communication line. The storage unit 206 is a storage unit such as a fixed disk device, and stores various databases and tables (a road network database 206a, a track curve file 206b, and the like).

  Of these components of the storage unit 206, the road network database 206a is road network data storage means for storing road network data. Here, the road network data stored in the road network database 206a is data that defines a road network. As an example, node data of nodes that are nodes on the road network expression such as intersections, and roads between nodes This is network data expressed by a combination with link data of a link that is a section. The node data may include a node number, position coordinates such as latitude and longitude, a node type, the number of links to be connected, a connection node number, an intersection name, and the like. The link data includes link number, type of road to be connected, route number of national road, prefectural road, city road, etc., important route information, attribute information of administrative area where link exists, link length, road service status, abnormal Traffic restrictions such as traffic restrictions, vehicle weight restrictions, vehicle height restrictions, width, road width classification, number of lanes, speed limit, in-link attributes such as overpasses, tunnels and bridges, and names etc. Good. These road network data are stored in advance in the road network database 206a, and the control unit 202 of the navigation server 200 periodically sends the latest data via an external device (for example, a map that provides road network data). The road network data downloaded from the providing server) and stored in the road network database 206a may be updated.

  In addition, the trajectory curve file 206b has an approximate relative inclination with respect to both an incoming link that is a link that represents a road that enters the intersection and an outgoing link that is a link that represents a road that exits the intersection. It is a track curve storage means for storing a track curve for displaying the vehicle position in contact with 0. The trajectory curve stored in the trajectory curve file 206b is a straight line along the center line of the road between the nodes at the intersection of the road network data links (entrance links, exit links, etc.) stored in the road network database 206a. In many cases, the correction curve is used to approximate the actual travel trajectory of the target vehicle at the time of a left turn or right turn at an intersection instead of these links. As an example, in the track curve file 206b, the track curve for the exit link turning right at the intersection is compared with the track curve for the exit link turning left at the intersection, and the distance from the intersection at the point in contact with the exit link is shown. It may be set small. For example, in the trajectory curve file 206b, for the exit link turning right at the intersection, the distance from the intersection of the trajectory curve that touches the exit link is set to be smaller than ½ of the width of the entrance link. On the other hand, for an exit link that turns left at the intersection, this distance may be set to be greater than ½ of the width of the entrance link. Further, in the trajectory curve file 206b, for the exit link that turns right at the intersection, the distance from the intersection of the trajectory curve that touches the exit link is set to be smaller than ½ of the width of the exit link. On the other hand, for an exit link that turns left at the intersection, this distance may be set to be greater than ½ of the width of the exit link. Contrary to the above, in the track curve file 206b, the track curve for the exit link turning right at the intersection is compared with the track curve for the exit link turning left at the intersection. The distance from may be set large. In the track curve file 206b, the track curve for the exit link turning right at the intersection may be a cubic curve, and the track curve for the exit link turning left at the intersection may be a quadratic curve or an arc. The trajectory curve may be set as a clothoid curve. These track curve data are stored in advance in the track curve file 206b, and the control unit 202 of the navigation server 200 periodically provides the latest data via an external device (for example, track curve data). The trajectory curve downloaded from the map providing server) and stored in the trajectory curve file 206b may be updated. The navigation server 200 may acquire the trajectory curve file 206b by generating the trajectory curve described above in the control unit 202 without providing the trajectory curve file 206b in the storage unit 206.

  The control unit 202 has an internal memory for storing a control program such as an OS (Operating System), a program that defines various processing procedures, and necessary data. And the control part 202 performs the information processing for performing various processes with these programs. The control unit 202 is functionally conceptually configured to include a current position information receiving unit 202a, a vehicle turning detection unit 202c, a track curve acquisition unit 202d, and a track curve transmission unit 202e.

  Among these, the current position information receiving unit 202a is current position information receiving means for receiving the current position information of the target vehicle of the navigation device 100 transmitted from the navigation device 100.

  Further, the vehicle turning detection unit 202c detects turning of the target vehicle near the intersection on the road network data stored in the road network database 206a based on the current position information received by the current position information receiving unit 202a. Means. For example, the vehicle turning detection unit 202c detects whether or not the current position based on the current position information exists in the vicinity of an intersection on the road network data and there is a turn of the target vehicle. Here, the vehicle turning detection unit 202c may calculate the turning angle of the target vehicle based on the azimuth information included in the current position information, or may calculate from the update history (travel locus) of the current position information. Alternatively, it may be calculated from the link shape of the map matching target. For example, the vehicle turning detection unit 202c may correct the current position information by map matching for turning detection. Here, as an example, the map matching is performed by comparing the current position, travel distance, traveling direction, and the like based on the current position information of the target vehicle with the road network data near the current position of the target vehicle, and the optimum (the most reliable) This is a technique for detecting a point on a road link and correcting the detected point as the position of the target vehicle. As the map matching method, a projection method may be used in which the current position of the target vehicle is projected onto the nearest road link of the road network data, and the current position of the target vehicle is corrected on the correct road. A pattern matching method may be used in which a current road information update history (travel locus) and a road pattern in the road network data are compared to search for a correct road while traveling and to correct the road on the road. Then, the vehicle turning detection unit 202c corrects the current position information received by the current position information receiving unit 202a by map matching using road network data stored in the road network database 206a, and corrects the current position information. May be. Further, the vehicle turning detection unit 202c detects whether or not the position based on the corrected current position information exists in the vicinity of the intersection on the road network data as a result of the map matching and the target vehicle is turning. Also good.

  The track curve acquisition unit 202d corresponds to both the entry link to the intersection and the exit link in the turning direction of the target vehicle when the vehicle turn detection unit 202c detects the turn of the target vehicle near the intersection. It is a track curve acquisition means for acquiring a track curve. For example, the trajectory curve acquisition unit 202d may acquire the trajectory curve from the trajectory curve file 206b, and the trajectory curve corresponding to both the entry link and the exit link is not stored in the trajectory curve file 206b. Alternatively, it may be obtained by generating a trajectory curve having a relative inclination of approximately 0 with respect to both the approach link and the exit link. The trajectory curve acquisition unit 202d may set a newly generated trajectory curve in the trajectory curve file 206b. More specifically, the trajectory curve acquisition unit 202d compares the trajectory curve for the exit link turning right at the intersection from the intersection at the point in contact with the exit link compared to the trajectory curve for the exit link turning left at the intersection. The trajectory curve may be generated by setting the distance small. In addition, for the exit link that turns right at the intersection, the track curve acquisition unit 202d sets the distance from the intersection of the track curve that touches the exit link to be smaller than ½ of the width of the entrance link. On the other hand, for the exit link turning left at the intersection, the distance may be set to be larger than ½ of the width of the entrance link to generate the trajectory curve. Further, the track curve acquisition unit 202d sets the distance from the intersection of the point in contact with the exit link of the track curve to be less than 1/2 of the width of the exit link for the exit link turning right at the intersection. On the other hand, for the exit link turning left at the intersection, a trajectory curve may be generated by setting this distance to be larger than ½ of the width of the exit link. Contrary to the above, the trajectory curve acquisition unit 202d determines that the trajectory curve for the exit link that makes a right turn at the intersection is the intersection of the point that touches the exit link compared to the trajectory curve for the exit link that makes a left turn at the intersection. The trajectory curve may be generated so that the distance from is set large. The trajectory curve acquisition unit 202d may generate a trajectory curve for the exit link turning right at the intersection with a cubic curve and a trajectory curve for the exit link turning left at the intersection with a quadratic curve or arc. The trajectory curve may be generated as a clothoid curve.

  The trajectory curve transmission unit 202e is a trajectory curve transmission unit that transmits the trajectory curve acquired by the trajectory curve acquisition unit 202d to the navigation device 100. Here, the track curve transmission unit 202e, when the turning of the target vehicle in the vicinity of the intersection is not detected by the vehicle turning detection unit 202c, the road network data such as a link or a node that is a target of the map matching is the navigation device. 100 may be transmitted.

[Configuration of Navigation Device 100]
In FIG. 1, the navigation device 100 transmits the current position information of the target vehicle of the navigation device 100 to the navigation server 200, receives the trajectory curve transmitted from the navigation server 200, and receives it via the display unit. The current position information of the target vehicle is displayed on the track curve. The navigation device 100 is, for example, a commercially available information processing device such as a desktop or notebook personal computer, a portable navigation device such as a mobile phone, PHS, or PDA, or various navigation devices such as a PND (Portable Navigation Device). Etc. In the present embodiment, the navigation device 100 may be an in-vehicle information processing terminal that performs car navigation. For example, the navigation device 100 is supplied with electric power from a vehicle and is detachably fixed to a vehicle body such as a dashboard with an attachment or the like. In addition, the apparatus main body (local) does not have a large-capacity storage, can communicate with an ECU (Electronic Control Unit) or an Engine Control Unit (ECU) mounted on the vehicle, and signals from the vehicle (for example, vehicle speed pulse, fuel consumption, etc.) ), The communication module is built-in, and it is possible to communicate with the navigation server 200 or the like via the network 300 within the communication range, and data such as map data is downloaded from the navigation server 200 and updated. Is also possible equipment May be. In addition to the display unit 114 and the input unit 116, the navigation device 100 may include a position acquisition unit 112 having a GPS function, an IMES function, and the like so that the current position can be acquired in real time. Here, the display unit 114 is a display unit that displays a display screen showing the vehicle position of the target vehicle based on the track curve received from the navigation server 200 (for example, a display or a monitor composed of a liquid crystal, an organic EL, or the like). ). The input unit 116 is input means (for example, a key input unit, a touch panel, a keyboard, a microphone, etc.). The input / output control interface unit 108 controls the position acquisition unit 112, the display unit 114, the input unit 116, and the like.

  Here, the position acquisition unit 112 may be, for example, a position acquisition unit that receives a position information signal transmitted from the position transmission device 500. Here, the position transmitting device 500 may be a GPS device that transmits a position information signal (GPS signal) such as satellite orbit data and time information, and uses a position information signal having characteristics similar to the GPS signal. It may be an IMES device that realizes an IMES (Indoor Message System) technology that enables positioning. The IMES technology is a system developed from the framework of the quasi-zenith satellite, which is a positioning satellite system. The position transmitter 500 may be a GPS repeater that transmits a received GPS signal in a tunnel or underground. Further, the position transmission device 500 may be a small transmission device that is arbitrarily installed on each floor of a building (for example, a multilevel parking lot) or an underground structure (for example, a tunnel, an underground parking lot). Good. In addition, self-position information (position ID etc.) according to an installation place is allocated to this small transmitter. When the navigation device 100 enters the communicable range, the navigation device 100 receives the self-position information transmitted from the small transmitter as a position information signal. The communication method at this time may be, for example, various short-range wireless methods such as an RFID (Radio Frequency Identification) tag system and Bluetooth (registered trademark), an infrared communication method, and the like. Further, the position transmission device 500 may be a wireless LAN access point. In the present embodiment, the control unit 102 may calculate position information including latitude, longitude, and height information from the position information signal acquired by the position acquisition unit 112. Further, the position acquisition unit 112 may acquire access point identification information by receiving a wireless LAN signal or the like. In the present embodiment, the control unit 102 may acquire the position information by specifying the position of the access point from the identification information unique to the access point acquired by the position acquisition unit 112.

  In addition, the position acquisition unit 112, for example, based on the direction information such as the traveling direction of the target vehicle of the navigation device 100 detected by the direction sensor, the distance information detected by the distance sensor, and the map data. Position information indicating the current position of the target vehicle may be acquired. Here, a geomagnetic sensor that detects the absolute traveling direction of the target vehicle of the navigation device 100 and an optical gyro that detects the relative traveling direction of the target vehicle of the navigation device 100 may be used as the direction sensor. Further, the direction sensor may be an electronic compass that can acquire information related to the direction and inclination of the target vehicle by combining a geomagnetic sensor and an acceleration sensor. The distance sensor may generate a pulse signal in proportion to the number of rotations of the axle of the target vehicle, and detect a movement distance in proportion to the number of pulse signals. The position acquisition unit 112 may be communicably connected to the ECU, and may acquire azimuth information, distance information, and the like from the ECU. Moreover, the position acquisition part 112 may acquire the positional information which shows the own vehicle position from the vehicle-to-vehicle communication of the communication apparatus mounted in each vehicle.

  The communication control interface unit 104 is an interface connected to a communication device (not shown) such as an antenna or a router connected to a communication line, a telephone line, etc., and communicates between the navigation device 100 and the network 300. It has a function to perform control. That is, the communication control interface unit 104 has a function of communicating data with the navigation server 200 or the like via a communication line. The network 300 has a function of mutually connecting the navigation device 100 and an external device (for example, the navigation server 200 or an external map providing server), for example, the Internet, a telephone line network (portable terminal line network), and the like. Or a general telephone line network), an intranet, power line communication (PLC), or the like.

  The storage unit 106 is storage means configured using a hard disk device, SRAM (Static Random Access Memory), or the like, and stores various files and tables (such as the map database 106a). Here, the storage unit 106 may temporarily store various files and the like.

  Among these, the map database 106a is map data storage means for storing map data. As an example, the map data stored in the map database 106a is data for drawing a map, for example, drawing data for drawing a landform such as a building, a road, and a mountain / river. As an example, this map data may be data representing one area, site, area, road shape, etc. on a map with polygonal polygons, and is data for two-dimensional display or three-dimensional display. Also good. Further, the map data may be map data such as road maps of the whole country and each region, and map data partitioned in units of longitude and latitude meshes (for example, JIS standard first to third region partition meshes). Data and 100 m mesh data). These map data are stored in advance in the map database 106a, and the control unit 102 of the navigation device 100 periodically sends the latest data to an external device (for example, a map providing server that provides map data) via the network 300. The map data downloaded from the above and stored in the map database 106a may be updated.

  The control unit 102 includes an internal memory for storing a control program such as an OS, a program defining various processing procedures, and necessary data. And the control part 102 performs the information processing for performing various processes by these programs. The control unit 102 includes a current position information acquisition unit 102a, a current position information transmission unit 102b, a track curve reception unit 102c, and a vehicle position display unit 102d in terms of functional concept.

  Among these, the current position information acquisition unit 102 a is current position information acquisition means for acquiring current position information of the target vehicle of the navigation device 100. Here, the current position information acquisition unit 102a may acquire the current position information of the target vehicle of the navigation device 100 every predetermined cycle (for example, every second). In addition, the current position information acquisition unit 102 a may acquire the position information calculated from the position information signal acquired from the position transmission device 500 by the position acquisition unit 112 as the current position information of the target vehicle of the navigation device 100. Furthermore, the current position information acquisition unit 102 a may acquire azimuth information such as the traveling direction of the navigation device 100 detected by the azimuth sensor of the position acquisition unit 112 as current position information of the target vehicle of the navigation device 100. In addition, the current position information acquisition unit 102a may acquire the position coordinates and the like of the current position input by the user via the input unit 116 as the current position information of the target vehicle of the navigation device 100. Here, the current position input by the user via the input unit 116 may be a position where the target vehicle actually exists, and a virtual current position arbitrarily selected by the user (for example, Tokyo It may be an arbitrary point of the target vehicle in Osaka selected by a user in Specifically, the current position information acquisition unit 102a is designated on the display screen that displays the map data displayed on the display unit 114 to the user via the input unit 116 (for example, on the touch panel display unit 114). The coordinates that have been designated) may be acquired as the current position information of the target vehicle of the navigation device 100. Furthermore, the current position information acquisition unit 102a may include the azimuth information specified on the display screen displaying the map data displayed on the display unit 114 via the input unit 116 in the current position information.

  The current position information transmission unit 102b is a current position information transmission unit that transmits the current position information of the target vehicle of the navigation device 100 acquired by the current position information acquisition unit 102a to the navigation server 200.

  The track curve receiving unit 102c is a track curve receiving unit that receives a track curve, road network data, and the like transmitted from the navigation server 200.

  The vehicle position display unit 102d is vehicle position display means for displaying the current position information on the track curve received by the track curve receiving unit 102c via the display unit 114. That is, the vehicle position display unit 102d corrects the current position information acquired by the current position information acquisition unit 102a on the track curve received by the track curve receiving unit 102c, and the corrected vehicle position of the target vehicle is corrected. It is displayed on the display unit 114 with a mark or the like. Here, when the road network data is received by the track curve receiving unit 102c, the vehicle position display unit 102d may display the current position information on a link or a node based on the road network data. In addition, the vehicle position display unit 102d corrects the current position information acquired by the current position information acquisition unit 102a by map matching using the track curve and road network data received by the track curve reception unit 102c. It may be displayed on a trajectory curve, a link or a node. The vehicle position display unit 102d corrects the current position information on the track curve corresponding to the turning angle of the target vehicle using the track curve received by the track curve receiving unit 102c and displays the vehicle position of the target vehicle. You may let them. Further, the vehicle position display unit 102d may superimpose and display the vehicle position of the target vehicle based on the current position information corrected as described above on the map data display screen stored in the map database 106a.

  Above, description of an example of a structure of the navigation system in 1st Embodiment is finished.

[Navigation system processing]
Next, an example of processing of the navigation system according to the first embodiment configured as described above will be described in detail with reference to FIG. 2 and FIG. Here, FIG. 2 is a flowchart showing an example of processing of the navigation system in the first embodiment.

  As shown in FIG. 2, first, the current position information acquisition unit 102a of the navigation device 100 acquires current position information of the target vehicle of the navigation device 100 (step SA-1). For example, the current position information acquisition unit 102a proceeds with the position information based on the position information signal received from the position transmission device 500 by the position acquisition unit 112 or the progress of the target vehicle detected by the direction sensor or the distance sensor of the position acquisition unit 112 Current position information of the target vehicle of the navigation device 100 including direction information such as direction and distance information is acquired. Here, when the location information signal transmitted from the location transmission device 500 cannot be received, the current location information acquisition unit 102a receives the map data displayed on the display unit 114 via the input unit 116. The coordinates specified on the displayed display screen (for example, the specifying operation on the touch panel display unit 114) and the direction information may be acquired as the current position information of the target vehicle of the navigation device 100.

  Then, the current position information transmission unit 102b of the navigation device 100 transmits the current position information of the target vehicle acquired by the current position information acquisition unit 102a to the navigation server 200 (step SA-2).

  Then, the current position information receiving unit 202a of the navigation server 200 receives the current position information transmitted from the navigation device 100 (step SA-3).

  Then, the vehicle turning detection unit 202b of the navigation server 200 detects the turning of the target vehicle near the intersection on the road network data stored in the road network database 206a based on the current position information received by the current position information receiving unit 202a. (Step SA-4). For example, the vehicle turning detection unit 202b compares the current position, travel distance, traveling direction, and the like based on the current position information of the target vehicle with road network data in the vicinity of the current position of the target vehicle, and determines the optimum point on the road link. By detecting, turning of the target vehicle in the vicinity of the intersection is detected. Here, the vehicle turning detection unit 202b performs map matching using the road network data stored in the road network database 206a on the basis of the current position information received by the current position information receiving unit 202a. The turning of the target vehicle at may be detected. Further, the vehicle turning detection unit 202b may calculate the turning angle of the target vehicle based on the azimuth information of the target vehicle included in the current position information, or may be calculated from the update history (travel locus) of the current position information. Alternatively, it may be calculated from the link shape of the map matching target by map matching.

  Then, the vehicle turning detection unit 202c of the navigation server 200 determines whether or not there is a turning of the target vehicle near the intersection on the road network data (step SA-5). For example, the vehicle turning detection unit 202b determines that the target vehicle is turning near the intersection when the turn is near the intersection and the turning angle is equal to or greater than a predetermined value.

  When the vehicle turning detection unit 202b determines that there is a turning of the target vehicle near the intersection (step SA-5, Yes), the trajectory curve acquisition unit 202d of the navigation server 200 determines the approach link to the intersection and the link Trajectory curves corresponding to both exit links in the turning direction of the target vehicle are acquired (step SA-6). For example, the trajectory curve acquisition unit 202d may acquire a corresponding trajectory curve from the trajectory curve file 206b, or may acquire it by generating a trajectory curve. For example, when the trajectory curve corresponding to both the approach link and the exit link is not stored in the trajectory curve file 206b, the trajectory curve acquisition unit 202d is relative to both the entrance link and the exit link. It may be obtained by generating a trajectory curve with a general inclination of approximately 0, or a newly generated trajectory curve may be set in the trajectory curve file 206b. Here, FIG. 3 is a diagram illustrating an example of a trajectory curve acquired by the trajectory curve acquisition unit 202d. FIG. 3 schematically shows a crossroad including an intersection, and it is assumed that the target vehicle enters the intersection from the lower side of the figure on the vertical road. In FIG. 3, white circles indicate nodes at intersections to be turned by the target vehicle, black circles indicate four corners at the intersections, and gray circles indicate points where the track curve touches the link. Yes. In the case of this example, a link is set along the center line of the road, and the double arrows represent a distance that is 1/2 of the width of each road. In the example of FIG. 3, when the vehicle turning detection unit 202c detects a left turn of the target vehicle, the track curve acquisition unit 202d selects and acquires a left turn track curve in the drawing, and turns the vehicle. When the right turn of the target vehicle is detected by the detection unit 202c, the right turn trajectory curve in the figure is selected and acquired.

  As shown in FIG. 3, the road network data links (incoming links, outgoing links, etc.) stored in the road network database 206a are expressed as straight lines along the center line of the road between nodes at the intersection. On the other hand, the track curve acquired by the track curve acquisition unit 202d is a curve that is close to the actual travel locus of the target vehicle at the time of a left turn or a right turn at an intersection. More specifically, the track curve acquired by the track curve acquisition unit 202d is relatively inclined with respect to both the approach link to the intersection of the target vehicle and the exit link in the turning direction of the target vehicle. Are curves (quadratic curves, cubic curves, arcs, clothoid curves, etc.) that are approximately 0-tangent. More specifically, as shown in FIG. 3, the track curve at the time of the right turn is set to have a smaller distance from the intersection of the point in contact with the exit link than the track curve at the time of the left turn. In more detail, the point that touches the exit link of the trajectory curve when turning right is set so that the distance from the intersection is less than 1/2 of the width of the entrance link, while the exit link of the trajectory curve when turning left The contact point is set such that the distance from the intersection is larger than ½ of the width of the approach link (see the arrow from the dotted line in the figure). In addition, the point that contacts the exit link of the track curve at the time of a right turn is not limited to this, and the distance from the intersection is set to be smaller than ½ of the width of the exit link. The contact point may be set such that the distance from the intersection is greater than ½ of the width of the exit link.

  Returning to FIG. 2 again, the trajectory curve transmission unit 202e of the navigation server 200 uses the trajectory curve acquired by the trajectory curve acquisition unit 202d or the road network data such as links and nodes subjected to map matching as a navigation device. 100 (step SA-7). That is, the track curve transmission unit 202e acquires the track curve acquired by the track curve acquisition unit 202d when the vehicle turn detection unit 202c determines that there is a turn of the target vehicle near the intersection (step SA-5, Yes). Is transmitted to the navigation device 100, and the vehicle turning detection unit 202c determines that there is a turning of the target vehicle near the intersection (step SA-5, No), the link or node that is the target of the map matching, etc. The road network data is transmitted to the navigation device 100.

  Then, the track curve receiving unit 102c of the navigation device 100 receives the track curve and road network data transmitted from the navigation server 200 (step SA-8).

  Then, the vehicle position display unit 102d of the navigation device 100 corrects the current position information acquired by the current position information acquisition unit 102a on the track curve received by the track curve reception unit 102c, and the corrected vehicle of the target vehicle. The position is displayed on the display unit 114 with the vehicle mark or the like (step SA-9). Here, when the road network data is received by the trajectory curve receiving unit 102c, the vehicle position display unit 102d corrects the current position information on the link or node based on the road network data and the vehicle of the target vehicle. The position may be displayed. In addition, the vehicle position display unit 102d corrects the current position information acquired by the current position information acquisition unit 102a by map matching using the track curve and road network data received by the track curve reception unit 102c. You may display the vehicle position of a target vehicle on a track curve, a link, or a node. In addition, the vehicle position display unit 102d displays the vehicle position of the target vehicle on the track curve corresponding to the turning angle of the target vehicle based on the current position information, using the track curve received by the track curve receiving unit 102c. May be. Further, the vehicle position display unit 102d may display the above-described vehicle position of the target vehicle superimposed on the map data display screen stored in the map database 106a.

  Above, description of an example of the process of the navigation system in 1st Embodiment is finished.

[Example of trajectory curve setting]
Here, an example of the setting process of the trajectory curve generated by the trajectory curve acquisition unit 202d will be described with reference to FIG. FIG. 4 is a diagram illustrating an example of setting a trajectory curve. Similar to FIG. 3 described above, FIG. 4 schematically shows a crossroad including an intersection, and it is assumed that the target vehicle enters the intersection from the lower side of the figure in the vertical direction. In FIG. 4, as in FIG. 3, white circles indicate intersection nodes to be turned by the target vehicle, black circles indicate four corners at the intersections, and gray circles indicate track curves linked. It represents the point that touches. In this case, a link is set in the road network database 206a along the center line of the road, and the double arrows indicate a distance that is ½ of the width of each road link.

  As an example, as shown in FIG. 4, the trajectory curve acquisition unit 202d is inscribed in the corners of four intersections from the width data of the entrance link and the exit link based on the road network data stored in the road network database 206a. In addition, a square having a corner on the link (a broken line portion in the figure) is created.

  Then, the trajectory curve acquisition unit 202d generates a trajectory curve at the time of left turn by an arc connecting the square corner on the approach link and the square corner on the exit link at the left turn, and sets the trajectory curve file 206b. On the other hand, the trajectory curve acquisition unit 202d generates a trajectory curve at the time of a right turn by using a part of a cubic curve (excluding an alternate long and short dash line portion) connecting a square corner on the approach link and an intersection corner in the right turn direction. Are set in the trajectory curve file 206b.

  This makes it possible to set the point that touches the exit link of the track curve at the time of a right turn so that the distance from the intersection is smaller than 1/2 of the width of the approach link, while touching the exit link of the track curve at the time of a left turn. The point can be set such that the distance from the intersection is greater than 1/2 of the width of the incoming link. The above is an example of the setting example of the trajectory curve generated by the trajectory curve acquisition unit 202d. In addition to this, the track curve acquisition unit 202d generates various different track curves described in the description of the configuration of the track curve file 206b and sets the track curve file 206b in addition to the setting examples described above. Also good.

[Second Embodiment]
Next, a second embodiment (navigation server 200 (server-driven type)) of the present invention will be described below with reference to FIGS. Here, FIG. 5 is a block diagram showing an example of the configuration of the navigation server 200 in the second embodiment, and conceptually shows only the portion related to the present invention in the configuration.

  In the second embodiment, the navigation server 200 acquires current position information, generates display screen data to be displayed on the display unit 114 of the navigation device 100, and transmits this data to the navigation device 100. Accordingly, the display unit 114 of the navigation device 100 is caused to function. As described above, the second embodiment is different from the other embodiments in that the navigation server 200 performs server-driven processing.

[Configuration of the navigation server 200 (server-driven type)]
First, an example of the configuration of the navigation server 200 (server-driven type) in the second embodiment will be described below with reference to FIG.

  As shown in FIG. 5, the navigation server 200 according to the second embodiment of the present invention is communicably connected to a navigation device 100 including at least a position acquisition unit 112, a display unit 114, and an input unit 116, and is connected to a control unit. 202 and the memory | storage part 206 are comprised. As an example, the communication includes remote communication such as wired / wireless communication via the network 300. The navigation server 200 and the navigation device 100 are communicably connected via an arbitrary communication path.

  In FIG. 5, the navigation server 200 detects turning of the target vehicle near the intersection on the road network data based on the current position information of the target vehicle of the navigation device 100, and detects turning of the target vehicle near the intersection. A trajectory curve corresponding to both the approach link to the intersection and the exit link in the turning direction of the target vehicle is generated or acquired from the storage unit 106, and the display screen data displaying the current position information on the acquired trajectory curve is navigated. By transmitting to the apparatus 100, it has a function of displaying the current position information on the trajectory via the display unit 116.

  The communication control interface unit 204 in the navigation server 200, the functions of the road network database 206a and the trajectory curve file 206b in the storage unit 206, the position acquisition unit 112, the display unit 114, and the input unit 116 in the navigation device 100. Since the function is the same as that of the first embodiment, the description thereof is omitted. The navigation server 200 may acquire the track curve file 206b by generating a track curve in the track curve acquisition unit 206d without providing the track curve file 206b in the storage unit 206.

  In FIG. 5, a map database 206c in the storage unit 206 is map data storage means for storing map data. As an example, the map data stored in the map database 206c is data for drawing a map, for example, drawing data for drawing a landform such as a building, a road, or a mountain / river. As an example, this map data may be data representing one area, site, area, road shape, etc. on a map with polygonal polygons, and is data for two-dimensional display or three-dimensional display. Also good. Further, the map data may be map data such as road maps of the whole country and each region, and may be divided into units of longitude and latitude mesh units.

  In FIG. 5, the control unit 202 includes an internal memory for storing a control program such as an OS, a program defining various processing procedures, and required data. And the control part 202 performs the information processing for performing various processes with these programs. The control unit 202 is functionally conceptually configured to include a vehicle turning detection unit 202c, a track curve acquisition unit 202d, a position information signal reception unit 202f, a current position information acquisition unit 202g, and a vehicle position display control unit 202h. . Note that the functions of the vehicle turning detection unit 202c and the trajectory curve acquisition unit 202d are the same as those in the first embodiment, and a description thereof will be omitted.

  Among these, the position information signal receiving unit 202f is a position information signal receiving unit that receives the position information signal transmitted from the navigation device 100 and acquired by the position acquisition unit 112.

  The current position information acquisition unit 202g is current position information acquisition means for acquiring current position information of the target vehicle of the navigation device 100. For example, the current position information acquisition unit 202g may acquire the current position information of the target vehicle of the navigation device 100 based on the position information signal received by the position information signal reception unit 202f. As an example, the current location information acquisition unit 202g receives the location information calculated from the location information signal received from the location transmission device 500 by the location acquisition unit 112 received by the location information signal reception unit 202f, Direction information such as the traveling direction of the navigation device 100 detected by the direction sensor may be acquired as current position information of the target vehicle of the navigation device 100. Further, the current position information acquisition unit 202g may acquire the current position information of the target vehicle of the navigation device 100 by receiving the position coordinates and the like of the current position input by the user via the input unit 116. Good.

  Further, the vehicle position display control unit 202h transmits the display screen data displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition unit 202d to the navigation device 100. Vehicle position display control means for displaying current position information on the track. For example, the vehicle position display control unit 202h generates display screen data including the current position information on the track curve acquired by the track curve acquisition unit 202d, and transmits the display screen data to the navigation device 100, thereby performing navigation. Control is performed so that a display screen based on the display screen data is displayed on the display unit 114 of the apparatus 100. That is, the vehicle position display control unit 202h corrects the current position information acquired by the current position information acquisition unit 202g on the track curve acquired by the track curve acquisition unit 202d, and automatically determines the corrected vehicle position of the target vehicle. Display screen data represented by a car mark or the like is generated and transmitted to the navigation device 100. At that time, the vehicle position display control unit 202h corrects the current position information acquired by the current position information acquisition unit 202g by map matching using the trajectory curve acquired by the trajectory curve acquisition unit 202d. The display screen data displayed above may be generated and transmitted to the navigation device 100. The vehicle position display control unit 202h may be current position information (current position information corrected by map matching) when the turning of the target vehicle in the vicinity of the intersection is not detected by the vehicle turning detection unit 202c. .) Is generated. In addition, the vehicle position display control unit 202h uses the track curve acquired by the track curve acquisition unit 202d to track the curve corresponding to the turning angle of the target vehicle based on the current position information acquired by the current position information acquisition unit 202g. Display screen data that has been corrected to display the vehicle position of the target vehicle may be generated and transmitted to the navigation device 100. Further, the vehicle position display control unit 202h may further generate display screen data on which a display screen of map data stored in the map database 206c is superimposed and transmit the display screen data to the navigation device 100.

  Above, description of an example of a structure of the navigation server 200 in 2nd Embodiment is finished.

[Processing of navigation server 200 (server-driven type)]
Next, an example of processing of the navigation server 200 in the second embodiment configured as described above will be described in detail with reference to FIG. Here, FIG. 6 is a flowchart showing an example of processing of the navigation server 200 in the second embodiment.

  As shown in FIG. 6, first, when the position information signal acquired by the position acquisition unit 112 is transmitted from the navigation device 100 (step SB-1), the position information signal reception unit 202f of the navigation server 200 displays the position information. A signal is received (step SB-2).

  Then, the current position information acquisition unit 202g of the navigation server 200 acquires the current position information of the target vehicle of the navigation device 100 based on the position information signal received by the position information signal reception unit 202f (step SB-3). . For example, the current position information acquisition unit 202g receives the position information calculated from the position information signal received from the position transmission device 500 by the position acquisition unit 112 and the direction of the position acquisition unit 112 received by the position information signal reception unit 202f. The direction information such as the traveling direction of the navigation device 100 detected by the sensor may be acquired as the current position information of the target vehicle of the navigation device 100.

  The vehicle turning detection unit 202b of the navigation server 200 detects the turning of the target vehicle near the intersection on the road network data stored in the road network database 206a based on the current position information acquired by the current position information acquisition unit 202g. (Step SB-4). For example, the vehicle turning detection unit 202b compares the current position, travel distance, traveling direction, and the like based on the current position information of the target vehicle with road network data in the vicinity of the current position of the target vehicle, and determines the optimum point on the road link. By detecting, turning of the target vehicle in the vicinity of the intersection is detected. Here, the vehicle turning detection unit 202b performs map matching using the road network data stored in the road network database 206a based on the current position information acquired by the current position information acquisition unit 202g, so that the vicinity of the intersection The turning of the target vehicle at may be detected. Further, the vehicle turning detection unit 202b may calculate the turning angle of the target vehicle based on the azimuth information of the target vehicle included in the current position information, or may be calculated from the update history (travel locus) of the current position information. Alternatively, it may be calculated from the link shape of the map matching target.

  And the navigation server 200 is the object vehicle in the vicinity of the intersection on road network data by the process of the vehicle turning detection part 202c similarly to the process of step SA-5 and SA-6 mentioned above in 1st Embodiment. Is determined (step SB-5), and it is determined that there is a turn of the target vehicle in the vicinity of the intersection (step SB-5, Yes), the track curve acquisition unit 202d processes to enter the intersection. A track curve corresponding to both the link and the exit link in the turning direction of the target vehicle is generated or acquired from the track curve file 206b (step SB-6).

  And the vehicle position display control part 202h of the navigation server 200 produces | generates the display screen data which displayed the current position information acquired by the current position information acquisition part 202g on the track curve acquired by the track curve acquisition part 202d. (Step SB-7). That is, the vehicle position display control unit 202h corrects the current position information acquired by the current position information acquisition unit 202g on the track curve acquired by the track curve acquisition unit 202d, and automatically determines the corrected vehicle position of the target vehicle. Display screen data represented by a car mark or the like is generated. At that time, the vehicle position display control unit 202h corrects the current position information acquired by the current position information acquisition unit 202g by map matching using the trajectory curve acquired by the trajectory curve acquisition unit 202d. Display screen data displayed above may be generated. In addition, the vehicle position display control unit 202h uses the track curve acquired by the track curve acquisition unit 202d to track the curve corresponding to the turning angle of the target vehicle based on the current position information acquired by the current position information acquisition unit 202g. Display screen data in which the vehicle position of the target vehicle is displayed with correction may be generated. If the vehicle turning detection unit 202c does not determine that the target vehicle is turning near the intersection (step SB-5, No), the vehicle position display control unit 202h includes display screen data including current position information. Is generated. Further, the vehicle position display control unit 202h may further generate display screen data in which a display screen of map data stored in the map database 206c is superimposed.

  Then, the vehicle position display control unit 202h of the navigation server 200 transmits the generated display screen data to the navigation device 100 (step SB-8), thereby causing the display unit 114 of the navigation device 100 to display the display screen based on the display screen data. Is controlled to be displayed (step SB-9).

  Above, description of an example of the process of the navigation server 200 in 2nd Embodiment is finished.

[Third Embodiment]
Next, a third embodiment (navigation device 100 (stand-alone type)) of the present invention will be described below with reference to FIGS. Here, FIG. 7 is a block diagram showing an example of the configuration of the navigation device 100 according to the third embodiment, and conceptually shows only the portion related to the present invention in the configuration.

  In the third embodiment, all the functions are integrated into the navigation device 100, and the road stored in the storage unit 106 based on the current position information of the target vehicle of the navigation device 100 without being connected to the navigation server 200. Tracks corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle when the turn of the target vehicle is detected near the intersection on the network data and the turn of the target vehicle is detected near the intersection A curve is generated or acquired from the storage unit 106, and the current position information is displayed on the acquired trajectory curve via the display unit 114. Thus, the third embodiment differs from the other embodiments in that the navigation device 100 is configured as a stand-alone type and performs processing alone.

[Configuration of navigation device 100 (stand-alone type)]
First, an example of the configuration of the navigation device 100 (stand-alone type) in the third embodiment will be described below with reference to FIG.

  As illustrated in FIG. 7, the navigation device 100 according to the third embodiment of the present invention includes at least a position acquisition unit 112, a display unit 114, an input unit 116, a control unit 102, and a storage unit 106. Each unit of the navigation device 100 is connected to be communicable via an arbitrary communication path.

  In FIG. 7, the functions of the map database 106 a, the input / output control interface unit 108, the position acquisition unit 112, the display unit 114, and the input unit 116 are the same as those in the first embodiment, and thus description thereof is omitted. Also, the track curve file 106b and the road network database 106c in the storage unit 106 are the same as those in the first embodiment except that they are provided in the navigation device 100 instead of the navigation server 200. Omitted. Further, the navigation device 100 may acquire the trajectory curve file 106b by generating a trajectory curve in the control unit 102 without providing the trajectory curve file 106b in the storage unit 106.

  As for each part of the control unit 102, the navigation device 100 of the present embodiment is a stand-alone type that integrates the functions of the control unit 202 in the first embodiment, and the control unit 102 includes each transmission / reception unit. Except for this point, each function is basically the same as that of the first embodiment. That is, in FIG. 7, the control unit 102 has an internal memory for storing a control program such as an OS, a program that defines various processing procedures, and required data. And the control part 102 performs the information processing for performing various processes by these programs. The control unit 102 is functionally conceptually configured to include a current position information acquisition unit 102a, a vehicle position display unit 102d, a vehicle turning detection unit 102f, and a track curve acquisition unit 102g. Note that the functions of the current position information acquisition unit 102a and the vehicle position display unit 102d are the same as those in the first embodiment, and a description thereof will be omitted.

  Among these, the vehicle turning detection unit 102f is vehicle turning detection means for detecting turning of the target vehicle near the intersection on the road network data based on the current position information acquired by the current position information acquisition unit 102a. For example, the vehicle turning detection unit 102f performs map matching using the road network data stored in the road network database 106b based on the current position information acquired by the current position information acquisition unit 102a, so that the vehicle turn detection unit 102f The turning of the target vehicle may be detected. As an example, the vehicle turning detection unit 102f detects whether or not the corrected current position exists in the vicinity of the intersection on the road network data as a result of the map matching by the map matching and the target vehicle is turning. . Here, the vehicle turning detection unit 102f may calculate the turning angle of the target vehicle based on the azimuth information included in the current position information, or may calculate from the update history (running locus) of the current position information. Alternatively, it may be calculated from the link shape of the map matching target by map matching. Further, as an example, the vehicle turning detection unit 102f uses the road network data stored in the road network database 106b to map the position (current position) corresponding to the current position information acquired by the current position information acquisition unit 102a. By correcting by matching, it is detected whether or not the vehicle is near an intersection. Here, as an example, the map matching is performed by comparing the current position, travel distance, traveling direction, and the like based on the current position information of the target vehicle with the road network data near the current position of the target vehicle, and the optimum (the most reliable) This is a technique for detecting a point on a road link and correcting the detected point as the position of the target vehicle. As the map matching method, a projection method may be used in which the current position of the target vehicle is projected onto the nearest road link of the road network data, and the current position of the target vehicle is corrected on the correct road. A pattern matching method may be used in which a current road information update history (travel locus) and a road pattern in the road network data are compared to search for a correct road while traveling and to correct the road on the road.

  The track curve acquisition unit 102g corresponds to both the approach link to the intersection and the exit link in the turn direction of the target vehicle when the vehicle turn detection unit 102f detects the turn of the target vehicle near the intersection. It is a track curve acquisition means for acquiring a track curve. For example, the trajectory curve acquisition unit 102f may acquire the trajectory curve from the trajectory curve file 106b, and when the trajectory curves corresponding to both the entry link and the exit link are not stored in the trajectory curve file 106b. Alternatively, it may be obtained by generating a trajectory curve having a relative inclination of approximately 0 with respect to both the approach link and the exit link. The trajectory curve acquisition unit 102g may set a newly generated trajectory curve in the trajectory curve file 106b.

  Above, description of an example of a structure of the navigation apparatus 100 in 3rd Embodiment is finished.

[Processing of navigation device 100 (stand-alone type)]
Next, an example of processing of the navigation device 100 according to the third embodiment configured as described above will be described in detail with reference to FIG. Here, FIG. 8 is a flowchart illustrating an example of processing of the navigation device 100 according to the third embodiment.

  As shown in FIG. 8, first, the current position information acquisition unit 102a acquires current position information of the target vehicle of the navigation device 100 (step SC-1). For example, the current position information acquisition unit 102a proceeds with the position information based on the position information signal received from the position transmission device 500 by the position acquisition unit 112 or the progress of the target vehicle detected by the direction sensor or the distance sensor of the position acquisition unit 112 Current position information of the target vehicle of the navigation device 100 including direction information such as direction and distance information is acquired. Here, when the position information signal transmitted from the position transmitter 500 cannot be received, the current position information acquisition unit 102a navigates the coordinates, direction information, and the like input by the user via the input unit 116. The current position information of the target vehicle of the device 100 may be acquired.

  Then, the vehicle turning detection unit 102f detects the turning of the target vehicle near the intersection on the road network data stored in the road network database 106c based on the current position information acquired by the current position information acquisition unit 102a (step SC). -2). For example, the vehicle turning detection unit 102f compares the current position, travel distance, traveling direction, and the like based on the current position information of the target vehicle with road network data in the vicinity of the current position of the target vehicle, and determines the optimum point on the road link. By detecting, turning of the target vehicle in the vicinity of the intersection is detected. Here, the vehicle turning detection unit 102f performs map matching using the road network data stored in the road network database 106b based on the current position information acquired by the current position information receiving unit 102a, so that the vicinity of the intersection The turning of the target vehicle at may be detected. Further, the vehicle turning detection unit 102f may calculate the turning angle of the target vehicle based on the azimuth information of the target vehicle included in the current position information, or may be calculated from the update history (travel locus) of the current position information. Alternatively, it may be calculated from the link shape of the map matching target by map matching.

  Then, the vehicle turning detection unit 102f determines whether or not there is a turning of the target vehicle near the intersection (step SC-3). For example, the vehicle turn detection unit 102f determines that the target vehicle is turning near the intersection when the turn is near the intersection and the turning angle is equal to or greater than a predetermined value.

  When the vehicle turning detection unit 102f determines that there is a turning of the target vehicle near the intersection (step SC-3, Yes), the track curve acquisition unit 102g turns the approach link to the intersection and the turning of the target vehicle. A trajectory curve corresponding to both the exit links in the direction is generated or acquired from the trajectory curve file 106b (step SC-4). For example, when the trajectory curve corresponding to both the entry link and the exit link is not stored in the trajectory curve file 106b, the trajectory curve acquisition unit 102g is relative to both the entrance link and the exit link. Alternatively, it may be obtained by generating a trajectory curve in which the general inclination is approximately zero. The trajectory curve acquisition unit 102g may set a newly generated trajectory curve in the trajectory curve file 106b.

  The vehicle position display unit 102d corrects the current position information acquired by the current position information acquisition unit 102a on the track curve acquired by the track curve acquisition unit 102g, and the corrected vehicle position of the target vehicle is corrected. A mark or the like is displayed on the display unit 114 (step SC-5). Here, the vehicle position display unit 102d corrects the current position information acquired by the current position information acquisition unit 102a by map matching using the trajectory curve acquired by the trajectory curve acquisition unit 102g. The vehicle position of the target vehicle may be displayed. Further, the vehicle position display unit 102d displays the vehicle position of the target vehicle on the track curve corresponding to the turning angle of the target vehicle based on the current position information, using the track curve acquired by the track curve acquisition unit 102g. May be. The vehicle position display unit 102d may display the above-described vehicle position of the target vehicle superimposed on the map data display screen stored in the map database 106a. If the vehicle turning detection unit 102f does not determine that the target vehicle is turning near the intersection (step SC-3, No), the vehicle position display unit 102d determines the vehicle position of the target vehicle based on the current position information. Is displayed.

  Then, when the current position information acquired by the current position information acquisition unit 102a is updated (step SC-6, Yes), the navigation device 100 repeats the processing of steps SC-2 to SC-5 described above, If the position information is not updated (step SC-6, No), the process ends. Above, description of an example of the process of the navigation apparatus 100 in 3rd Embodiment is finished.

[Other embodiments]
Although the embodiments of the present invention have been described so far, the present invention can be implemented in various different embodiments within the scope of the technical idea described in the claims other than the above-described embodiments. It may be done.

  In addition, among the processes described in the embodiment, all or part of the processes described as being automatically performed can be performed manually, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method.

  In addition, unless otherwise specified, the processing procedures, control procedures, specific names, information including registration data for each processing, parameters such as search conditions, screen examples, and database configurations shown in the above documents and drawings Can be changed arbitrarily.

  Further, regarding the navigation device 100 and the navigation server 200, each illustrated component is functionally conceptual and does not necessarily need to be physically configured as illustrated.

  For example, the processing functions provided in each device of the navigation device 100 and the navigation server 200, in particular, the processing functions performed by the control unit 102 and the control unit 202 are all or any part of the processing functions. (Central Processing Unit) and a program interpreted and executed by the CPU, or can be realized as hardware by wired logic. The program is recorded on a recording medium to be described later, and is mechanically read by the navigation device 100 and the navigation server 200 as necessary. That is, the storage unit 106 such as the ROM or the HD, the storage unit 206, and the like store computer programs for giving instructions to the CPU in cooperation with the OS and performing various processes. This computer program is executed by being loaded into the RAM, and constitutes a control unit in cooperation with the CPU.

  The computer program may be stored in the navigation apparatus 100 and an application program server connected to the navigation server 200 via an arbitrary network 300, and all or part of the computer program is stored as necessary. It can also be downloaded.

  In addition, the program according to the present invention may be stored in a computer-readable recording medium, and may be configured as a program product. Here, the “recording medium” is any memory card, USB memory, SD card, flexible disk, magneto-optical disk, ROM, EPROM, EEPROM, CD-ROM, MO, DVD, Blu-ray Disc, etc. "Portable physical medium" or "communication medium" that holds the program in a short time, such as a communication line or carrier wave when transmitting the program via the network 300 represented by LAN, WAN, or the Internet Shall be included.

  The “program” is a data processing method described in an arbitrary language or description method, and may be in any format such as source code or binary code. Note that the “program” is not necessarily limited to a single configuration, and functions are achieved in cooperation with a separate configuration such as a plurality of modules and libraries or a separate program represented by the OS. Including things. Note that a well-known configuration and procedure can be used for a specific configuration for reading a recording medium, a reading procedure, an installation procedure after reading, and the like in each device described in the embodiment.

  Various databases and the like (map databases 106a and 206c, track curve files 106b and 206b, road network databases 106c and 206a, etc.) stored in the storage unit 106 and the storage unit 206 are stored in memory devices such as RAM and ROM, hard disks These are storage means such as fixed disk devices, flexible disks, optical disks, etc., and store various programs, tables, databases, web page files, etc. used for various processing and website provision.

  The navigation server 200 may be configured as an information processing apparatus such as a known personal computer or workstation, or may be configured by connecting an arbitrary peripheral device to the information processing apparatus. The navigation server 200 may be realized by installing software (including programs, data, and the like) that causes the information processing apparatus to realize the method of the present invention.

  Furthermore, the specific form of distribution / integration of the devices is not limited to that shown in the figure, and all or a part of them may be functional or physical in arbitrary units according to various additions or according to functional loads. Can be distributed and integrated. That is, the above-described embodiments may be arbitrarily combined and may be selectively implemented.

  As described above in detail, according to the present invention, even in the driving mode without a route or when there is a current position near an intersection, the current position is more realistically displayed without fixing the current position at the center of the intersection. Since a navigation system, navigation device, navigation server, navigation method, and program that can display the current position faithful to the position can be provided, information devices and information processing fields that support the current position display can be provided. It is extremely useful in various fields.

100 Navigation device 102 Control unit
102a Current position information acquisition unit
102b Current position information transmitter
102c orbit curve receiver
102d Vehicle position display part
102f Vehicle turning detection unit
102g orbit curve acquisition unit 104 communication control interface unit 106 storage unit
106a Map database
106b Orbit curve file
106c road network database 108 input / output control interface unit 112 position acquisition unit 114 display unit 116 input unit 200 navigation server 202 control unit
202a Current position information receiver
202c Vehicle turning detection unit
202d orbit curve acquisition unit
202e orbital curve transmitter
202f Position information signal receiver
202g Current location information acquisition unit
202h Vehicle position display control unit 204 Communication control interface unit 206 Storage unit
206a Road network database
206b Orbit curve file
206c Map database 300 Network 500 Location transmitter

Claims (39)

Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle;
When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, Trajectory curve acquisition means for acquiring from the trajectory curve storage means;
Vehicle position display means for displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means via a display unit;
A navigation system characterized by comprising: Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle;
When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory curve acquisition means for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of a certain outgoing link;
Vehicle position display means for displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means via a display unit;
A navigation system characterized by comprising: A navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are communicably connected,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
The control unit of the navigation server is
Current position information receiving means for receiving current position information of a target vehicle of the navigation device transmitted from the navigation device;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the current position information receiving means;
When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, Trajectory curve acquisition means for acquiring from the trajectory curve storage means;
A trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device;
With
The control unit of the navigation device includes:
Current position information transmitting means for transmitting the current position information of the target vehicle of the navigation device to the navigation server;
A trajectory curve receiving means for receiving the trajectory curve transmitted from the navigation server;
Vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means via the display section;
A navigation system characterized by comprising: A navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are communicably connected,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
The control unit of the navigation server is
Current position information receiving means for receiving current position information of a target vehicle of the navigation device transmitted from the navigation device;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the current position information receiving means;
When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory curve acquisition means for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of a certain outgoing link;
A trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device;
With
The control unit of the navigation device includes:
Current position information transmitting means for transmitting the current position information of the target vehicle of the navigation device to the navigation server;
A trajectory curve receiving means for receiving the trajectory curve transmitted from the navigation server;
Vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means via the display section;
A navigation system characterized by comprising: The navigation system according to any one of claims 1 to 4,
The trajectory curve is
The trajectory curve for the exit link turning right at the intersection is set to have a smaller distance from the intersection at the point in contact with the exit link than the trajectory curve for the exit link turning left at the intersection. Features a navigation system. The navigation system according to claim 5, wherein
The trajectory curve is
For the exit link that turns right at the intersection, the distance from the intersection of the track curve that touches the exit link is set to be less than 1/2 the width of the entrance link, The navigation system according to claim 1, wherein the distance is set to be larger than ½ of the width of the entry link for the exit link that turns left. The navigation system according to claim 5, wherein
The trajectory curve is
For the exit link that makes a right turn at the intersection, the distance from the intersection of the track curve that touches the exit link is set to be less than ½ of the width of the exit link. The navigation system according to claim 1, wherein the distance is set to be larger than ½ of the width of the exit link for the exit link turning left. The navigation system according to any one of claims 1 to 4,
The trajectory curve is
Compared with the trajectory curve for the exit link turning left at the intersection, the trajectory curve for the exit link turning right at the intersection is set to have a larger distance from the intersection at the point in contact with the exit link. Features a navigation system. The navigation system according to any one of claims 1 to 8,
The trajectory curve is
A navigation system, wherein the trajectory curve for the exit link turning right at the intersection is a cubic curve, and the trajectory curve for the exit link turning left at the intersection is a quadratic curve or an arc. The navigation system according to any one of claims 1 to 9,
The vehicle position display means includes
A navigation system, wherein the current position information is corrected by map matching using the trajectory curve received by the trajectory curve receiving means and displayed on the trajectory curve. The navigation system according to any one of claims 1 to 10,
The vehicle position display means includes
A navigation system, wherein the current position information is displayed on the track curve corresponding to the turning angle of the target vehicle using the track curve received by the track curve receiving means. A navigation device including at least a display unit and a control unit, connected to a navigation server including at least a storage unit so as to be able to communicate,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
The control unit
Current position information transmitting means for transmitting the current position information of the target vehicle of the navigation device to the navigation server;
Using the road network data stored in the road network data storage means, when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information, the road to the intersection A trajectory curve receiving means for receiving the trajectory curve acquired from the trajectory curve storage means corresponding to both the approach link and the exit link in the turning direction of the target vehicle;
Vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means via the display section;
A navigation device comprising: A navigation device including at least a display unit and a control unit, connected to a navigation server including at least a storage unit so as to be able to communicate,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
The control unit
Current position information transmitting means for transmitting the current position information of the target vehicle of the navigation device to the navigation server;
The intersection generated when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information using the road network data stored in the road network data storage means A trajectory curve that has a relative inclination of approximately 0 with respect to both the approach link that is the link representing the road entering the road and the exit link that is the link in the turning direction of the target vehicle. Orbital curve receiving means for receiving from the navigation server;
Vehicle position display means for displaying the current position information on the trajectory curve received by the trajectory curve receiving means via the display section;
A navigation device comprising: A navigation device comprising at least a display unit, a storage unit, and a control unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
The control unit
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data, based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, Trajectory curve acquisition means for acquiring from the trajectory curve storage means;
Vehicle position display means for displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means via the display section;
A navigation device comprising: A navigation device comprising at least a display unit, a storage unit, and a control unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
The control unit
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data, based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory curve acquisition means for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of a certain outgoing link;
Vehicle position display means for displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means via the display section;
A navigation device comprising: A navigation server including at least a control unit and a storage unit, connected to a navigation device so as to be communicable,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
The control unit
Current position information receiving means for receiving current position information of a target vehicle of the navigation device transmitted from the navigation device;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the current position information receiving means;
When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, Trajectory curve acquisition means for acquiring from the trajectory curve storage means;
A trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device;
A navigation server comprising: A navigation server including at least a control unit and a storage unit, connected to a navigation device so as to be communicable,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
The control unit
Current position information receiving means for receiving current position information of a target vehicle of the navigation device transmitted from the navigation device;
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received by the current position information receiving means;
When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory curve acquisition means for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of a certain outgoing link;
A trajectory curve transmission means for transmitting the trajectory curve acquired by the trajectory curve acquisition means to the navigation device;
A navigation server comprising: A navigation server including at least a control unit and a storage unit, which is communicably connected to a navigation device including at least a display unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
The control unit
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data, based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle, Trajectory curve acquisition means for acquiring from the trajectory curve storage means;
By transmitting display screen data displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means to the navigation device, the current position information is displayed on the trajectory via the display unit. Vehicle position display control means for displaying;
A navigation server comprising: A navigation server including at least a control unit and a storage unit, which is communicably connected to a navigation device including at least a display unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
The control unit
Vehicle turning detection means for detecting turning of the target vehicle in the vicinity of the intersection on the road network data, based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected by the vehicle turning detection means, an approach link that is the link representing the road entering the intersection and the link in the turning direction of the target vehicle A trajectory curve acquisition means for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of a certain outgoing link;
By transmitting display screen data displaying the current position information on the trajectory curve acquired by the trajectory curve acquisition means to the navigation device, the current position information is displayed on the trajectory via the display unit. Vehicle position display control means for displaying;
A navigation server comprising: A navigation method executed in a navigation system,
The above navigation system
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection, an entrance link that is the link representing the road entering the intersection, and the road exiting from the intersection A track curve storage means for storing a vehicle position display track curve that has a relative inclination of approximately 0 with respect to both of the exit links that represent the above-mentioned links, a vehicle turning detection means, and a track curve acquisition means And vehicle position display means,
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle;
When the trajectory curve acquisition means detects the turning of the target vehicle in the vicinity of the intersection in the vehicle turning detection step, both the entry link to the intersection and the exit link in the turning direction of the target vehicle. A trajectory curve acquisition step for acquiring the trajectory curve corresponding to the trajectory curve from the trajectory curve storage means;
The vehicle position display means displays the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A navigation method comprising: A navigation method executed in a navigation system,
The above navigation system
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection, vehicle turning detection means, track curve acquisition means, and vehicle position display means,
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle;
When the trajectory curve acquisition means detects the turning of the target vehicle in the vicinity of the intersection in the vehicle turning detection step, the approach link that is the link representing the road entering the intersection, and the target A trajectory curve acquisition step for generating and acquiring a trajectory curve that contacts the exit link, which is the link in the turning direction of the vehicle, with a relative inclination of approximately 0;
A vehicle position display step in which the vehicle position display means displays the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A navigation method comprising: A navigation method executed in a navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are communicably connected,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
Executed in the control unit of the navigation device;
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
Executed in the control unit of the navigation server,
A current position information receiving step for receiving the current position information transmitted from the navigation device;
Executed in the control unit of the navigation server,
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
Executed in the control unit of the navigation server,
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
Executed in the control unit of the navigation server,
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
Executed in the control unit of the navigation device;
A trajectory curve receiving step for receiving the trajectory curve transmitted from the navigation server;
Executed in the control unit of the navigation device;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A navigation method comprising: A navigation method executed in a navigation system in which a navigation server including at least a control unit and a storage unit, and a navigation device including at least a display unit and a control unit are communicably connected,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
Executed in the control unit of the navigation device;
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
Executed in the control unit of the navigation server,
A current position information receiving step for receiving the current position information transmitted from the navigation device;
Executed in the control unit of the navigation server,
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
Executed in the control unit of the navigation server,
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
Executed in the control unit of the navigation server,
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
Executed in the control unit of the navigation device;
A trajectory curve receiving step for receiving the trajectory curve transmitted from the navigation server;
Executed in the control unit of the navigation device;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A navigation method comprising: A navigation method executed in a navigation device having at least a display unit and a control unit, which is communicably connected to a navigation server having at least a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
Executed in the control unit,
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
Using the road network data stored in the road network data storage means, when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information, the road to the intersection A trajectory curve receiving step of receiving from the navigation server the trajectory curve acquired from the trajectory curve storage means corresponding to both the approach link and the exit link in the turning direction of the target vehicle;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A navigation method comprising: A navigation method executed in a navigation device having at least a display unit and a control unit, which is communicably connected to a navigation server having at least a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
Executed in the control unit,
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
The intersection generated when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information using the road network data stored in the road network data storage means A trajectory curve that has a relative inclination of approximately 0 with respect to both the approach link that is the link representing the road entering the road and the exit link that is the link in the turning direction of the target vehicle. A trajectory curve receiving step received from the navigation server;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A navigation method comprising: A navigation method executed in a navigation device including at least a display unit, a storage unit, and a control unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
Executed in the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
A vehicle position display step for displaying the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A navigation method comprising: A navigation method executed in a navigation device including at least a display unit, a storage unit, and a control unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
Executed in the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
A vehicle position display step for displaying the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A navigation method comprising: A navigation method that is executed in a navigation server that is connected to a navigation device in a communicable manner and includes at least a control unit and a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
Executed in the control unit,
A current position information receiving step for receiving current position information of the target vehicle of the navigation device transmitted from the navigation device;
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
A navigation method comprising: A navigation method that is executed in a navigation server that is connected to a navigation device in a communicable manner and includes at least a control unit and a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
Executed in the control unit,
A current position information receiving step for receiving current position information of the target vehicle of the navigation device transmitted from the navigation device;
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
A navigation method comprising: A navigation method executed in a navigation server including at least a control unit and a storage unit, connected to a navigation device including at least a display unit in a communicable manner,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
Executed in the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
By transmitting display screen data indicating the current position information on the trajectory curve acquired in the trajectory curve acquisition step to the navigation device, the current position information on the trajectory is transmitted via the display unit. Vehicle position display control step for displaying
A navigation method comprising: A navigation method executed in a navigation server including at least a control unit and a storage unit, connected to a navigation device including at least a display unit in a communicable manner,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
Executed in the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
By transmitting display screen data indicating the current position information on the trajectory curve acquired in the trajectory curve acquisition step to the navigation device, the current position information on the trajectory is transmitted via the display unit. Vehicle position display control step for displaying
A navigation method comprising: A program for causing a navigation device including at least a display unit and a control unit to be communicably connected to a navigation server including at least a storage unit.
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
In the control unit,
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
Using the road network data stored in the road network data storage means, when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information, the road to the intersection A trajectory curve receiving step of receiving from the navigation server the trajectory curve acquired from the trajectory curve storage means corresponding to both the approach link and the exit link in the turning direction of the target vehicle;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A program for running A program for causing a navigation device including at least a display unit and a control unit to be communicably connected to a navigation server including at least a storage unit.
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
In the control unit,
Transmitting the current position information of the target vehicle of the navigation device to the navigation server;
The intersection generated when turning of the target vehicle in the vicinity of the intersection on the road network data is detected by the current position information using the road network data stored in the road network data storage means A trajectory curve that has a relative inclination of approximately 0 with respect to both the approach link that is the link representing the road entering the road and the exit link that is the link in the turning direction of the target vehicle. A trajectory curve receiving step received from the navigation server;
A vehicle position display step for displaying the current position information on the trajectory curve received in the trajectory curve receiving step via the display section;
A program for running A program for causing a navigation device including at least a display unit, a storage unit, and a control unit to execute the program,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
In the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
A vehicle position display step for displaying the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A program for running A program for causing a navigation device including at least a display unit, a storage unit, and a control unit to execute the program,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
In the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
A vehicle position display step for displaying the current position information on the track curve acquired in the track curve acquisition step via the display unit;
A program for running A program for causing a navigation server connected to the navigation device to be communicable and having at least a control unit and a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
In the control unit,
A current position information receiving step for receiving current position information of the target vehicle of the navigation device transmitted from the navigation device;
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
A program for running A program for causing a navigation server connected to the navigation device to be communicable and having at least a control unit and a storage unit,
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
In the control unit,
A current position information receiving step for receiving current position information of the target vehicle of the navigation device transmitted from the navigation device;
A vehicle turning detection step for detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on the current position information received in the current position information receiving step;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
A trajectory curve transmission step for transmitting the trajectory curve acquired in the trajectory curve acquisition step to the navigation device;
A program for running A program for causing a navigation server including at least a control unit and a storage unit to be communicably connected to a navigation device including at least a display unit.
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
The relative inclination of the entrance link, which is the link representing the road entering the intersection, and the exit link, which is the link representing the road exiting from the intersection, are approximately 0 with respect to each other. Track curve storage means for storing track curves for vehicle position display;
With
In the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When the turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, the trajectory curve corresponding to both the entry link to the intersection and the exit link in the turning direction of the target vehicle A trajectory curve acquisition step acquired from the trajectory curve storage means;
By transmitting display screen data indicating the current position information on the trajectory curve acquired in the trajectory curve acquisition step to the navigation device, the current position information on the trajectory is transmitted via the display unit. Vehicle position display control step for displaying
A program for running A program for causing a navigation server including at least a control unit and a storage unit to be communicably connected to a navigation device including at least a display unit.
The storage unit
Road network data storage means for storing road network data including at least a link representing a road connected to the intersection;
With
In the control unit,
A vehicle turning detection step of detecting turning of the target vehicle in the vicinity of the intersection on the road network data based on current position information of the target vehicle of the navigation device;
When turning of the target vehicle in the vicinity of the intersection is detected in the vehicle turning detection step, an entrance link that is the link representing the road entering the intersection, and the link in the turning direction of the target vehicle A trajectory curve acquisition step for generating and acquiring a trajectory curve having a relative inclination of approximately 0 with respect to both of the outgoing links,
By transmitting display screen data indicating the current position information on the trajectory curve acquired in the trajectory curve acquisition step to the navigation device, the current position information on the trajectory is transmitted via the display unit. Vehicle position display control step for displaying
A program for running

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